+ python -m lidar_slam --no-model /working/656bf4ad-117b-411f-8e6d-11390ced8143 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/656bf4ad-117b-411f-8e6d-11390ced8143 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 0.000281693 Adjusted end_distance from 9.223372036854776e+18 to 472.290281693 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.000281693 meters Centerline goodness : 0.653288 Centerline is valid? [0, False] SLAMing on 0.030281693 meters Centerline goodness : 0.476676 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999925e-01 -3.83343479e-04 5.62650347e-05 1.89940256e-04] [ 3.83352930e-04 9.99999912e-01 -1.68051870e-04 7.31956765e-04] [-5.62006081e-05 1.68073426e-04 9.99999984e-01 -4.14996660e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.060281693 meters Centerline goodness : 0.487730 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99998616e-01 -1.66237577e-03 7.25611810e-05 1.47110076e-03] [ 1.66238485e-03 9.99998610e-01 -1.25195194e-04 -1.60935449e-03] [-7.23529587e-05 1.25315646e-04 9.99999990e-01 -1.02354131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.090281693 meters Centerline goodness : 0.515414 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99981037e-01 -6.15603429e-03 1.69444899e-04 3.01964517e-03] [ 6.15665583e-03 9.99973241e-01 -3.95126560e-03 -3.65703766e-03] [-1.45116239e-04 3.95223388e-03 9.99992179e-01 -1.71111494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.120281693 meters Centerline goodness : 0.505378 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99979713e-01 -6.36581081e-03 2.23802175e-04 3.64852289e-03] [ 6.36653585e-03 9.99973940e-01 -3.40378671e-03 -7.55452375e-03] [-2.02128481e-04 3.40514250e-03 9.99994182e-01 -2.50550288e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.150281693 meters Centerline goodness : 0.387479 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99975055e-01 -7.00961629e-03 8.69082021e-04 4.10560715e-03] [ 7.01194177e-03 9.99971765e-01 -2.70225552e-03 -1.42622785e-02] [-8.50115708e-04 2.70828206e-03 9.99995971e-01 -2.47157095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.180281693 meters Centerline goodness : 0.324190 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.02, Z:-0.00 [[ 0.99997709 -0.00668648 0.00104962 0.00447586] [ 0.0066885 0.99997575 -0.00193959 -0.01955829] [-0.00103662 0.00194657 0.99999757 -0.00325639] [ 0. 0. 0. 1. ]] SLAMing on 0.210281693 meters Centerline goodness : 0.462274 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.03, Z:-0.00 [[ 0.99997945 -0.00629028 0.00123749 0.00469179] [ 0.00629162 0.99997962 -0.00108487 -0.02554826] [-0.00123064 0.00109263 0.99999865 -0.0038317 ] [ 0. 0. 0. 1. ]] SLAMing on 0.240281693 meters Centerline goodness : 0.441472 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.03, Z:-0.00 [[ 9.99981027e-01 -5.77679530e-03 2.13888452e-03 4.30541465e-03] [ 5.77709998e-03 9.99983303e-01 -1.36296169e-04 -3.26317290e-02] [-2.13806146e-03 1.48650133e-04 9.99997703e-01 -3.92824515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.27028169300000005 meters Centerline goodness : 0.447746 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.03, Z:-0.00 [[ 9.99981747e-01 -5.46145585e-03 2.58425954e-03 3.79741513e-03] [ 5.46092304e-03 9.99985066e-01 2.13185070e-04 -3.43774283e-02] [-2.58538525e-03 -1.99068736e-04 9.99996638e-01 -3.82162767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.300281693 meters Centerline goodness : 0.448181 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.04, Z:-0.00 [[ 9.99983435e-01 -5.07591753e-03 2.71373051e-03 4.07793374e-03] [ 5.07468081e-03 9.99987017e-01 4.62415844e-04 -3.61591153e-02] [-2.71604246e-03 -4.48636868e-04 9.99996211e-01 -3.89015213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.330281693 meters Centerline goodness : 0.447097 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:-0.01 [[ 9.99986220e-01 -4.52148105e-03 2.66767553e-03 5.83166129e-03] [ 4.51895146e-03 9.99989335e-01 9.53503642e-04 -3.94502096e-02] [-2.67195832e-03 -9.41435406e-04 9.99995987e-01 -5.25666518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.360281693 meters Centerline goodness : 0.456062 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.9999915 -0.00331272 0.00245424 0.01075815] [ 0.0033081 0.99999275 0.00188347 -0.04588825] [-0.00246046 -0.00187533 0.99999521 -0.0079993 ] [ 0. 0. 0. 1. ]] SLAMing on 0.39028169300000004 meters Centerline goodness : 0.460113 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99999312 -0.00293789 0.00226411 0.01303097] [ 0.00293289 0.99999326 0.00221071 -0.04758125] [-0.00227059 -0.00220406 0.99999499 -0.00983877] [ 0. 0. 0. 1. ]] SLAMing on 0.420281693 meters Centerline goodness : 0.404013 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.05, Z:-0.01 [[ 0.99999771 -0.00122627 0.00175142 0.02092711] [ 0.00122002 0.9999929 0.00356405 -0.05386918] [-0.00175578 -0.0035619 0.99999212 -0.01449315] [ 0. 0. 0. 1. ]] SLAMing on 0.450281693 meters Centerline goodness : 0.469103 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.06, Z:-0.02 [[ 9.99998634e-01 -7.05890083e-04 1.49424561e-03 2.37155243e-02] [ 6.99691994e-04 9.99991167e-01 4.14443859e-03 -5.77037807e-02] [-1.49715793e-03 -4.14338742e-03 9.99990295e-01 -1.67043710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.480281693 meters Centerline goodness : 0.461950 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.02 [[ 9.99999031e-01 -3.01820959e-04 1.35877628e-03 2.56043761e-02] [ 2.95463070e-04 9.99989020e-01 4.67690067e-03 -6.11858953e-02] [-1.36017295e-03 -4.67649467e-03 9.99988140e-01 -1.85054160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.510281693 meters Centerline goodness : 0.462994 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:-0.02 [[ 9.99998880e-01 7.90765122e-04 1.27061552e-03 2.97969034e-02] [-7.98092516e-04 9.99982996e-01 5.77668537e-03 -6.72837174e-02] [-1.26602591e-03 -5.77769297e-03 9.99982508e-01 -2.07284717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5402816930000001 meters Centerline goodness : 0.368856 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:-0.02 [[ 0.99999867 0.00117619 0.00112604 0.03193483] [-0.00118316 0.99998004 0.00620595 -0.06977141] [-0.00111872 -0.00620728 0.99998011 -0.02253235] [ 0. 0. 0. 1. ]] SLAMing on 0.570281693 meters Centerline goodness : 0.428432 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:-0.02 [[ 9.99998394e-01 1.53743298e-03 9.21533877e-04 3.43319393e-02] [-1.54348459e-03 9.99977012e-01 6.60255467e-03 -7.22486594e-02] [-9.11361708e-04 -6.60396644e-03 9.99977778e-01 -2.44739600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.600281693 meters Centerline goodness : 0.457252 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:-0.03 [[ 9.99997832e-01 1.97291868e-03 6.65911944e-04 3.71084436e-02] [-1.97752027e-03 9.99973672e-01 6.98177303e-03 -7.47797218e-02] [-6.52119942e-04 -6.98307475e-03 9.99975405e-01 -2.64565193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.630281693 meters Centerline goodness : 0.468274 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:-0.03 [[ 9.99992004e-01 3.99885749e-03 2.63179770e-05 4.59658111e-02] [-3.99893997e-03 9.99959867e-01 8.01703284e-03 -7.86953336e-02] [ 5.74205097e-06 -8.01707398e-03 9.99967863e-01 -3.14862804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.660281693 meters Centerline goodness : 0.414227 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:-0.03 [[ 9.99990117e-01 4.43475970e-03 -3.13637222e-04 4.91488934e-02] [-4.43210734e-03 9.99958141e-01 8.00454478e-03 -7.78345677e-02] [ 3.49122326e-04 -8.00307560e-03 9.99967914e-01 -3.34204788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.690281693 meters Centerline goodness : 0.414227 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:-0.03 [[ 9.99990117e-01 4.43475970e-03 -3.13637222e-04 4.91488934e-02] [-4.43210734e-03 9.99958141e-01 8.00454478e-03 -7.78345677e-02] [ 3.49122326e-04 -8.00307560e-03 9.99967914e-01 -3.34204788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.720281693 meters Centerline goodness : 0.479163 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.08, Z:-0.04 [[ 9.99974159e-01 7.13296154e-03 -8.95383816e-04 5.77191939e-02] [-7.12465109e-03 9.99934434e-01 8.96473403e-03 -7.60684703e-02] [ 9.59270212e-04 -8.95812307e-03 9.99959415e-01 -3.86555879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.750281693 meters Centerline goodness : 0.444939 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.07, Z:-0.04 [[ 0.99997034 0.00758971 -0.00131015 0.06110356] [-0.00757784 0.99993225 0.00883595 -0.07462066] [ 0.00137712 -0.00882576 0.9999601 -0.04052478] [ 0. 0. 0. 1. ]] SLAMing on 0.780281693 meters Centerline goodness : 0.474843 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.07, Z:-0.04 [[ 0.99996759 0.00787167 -0.00169062 0.06421279] [-0.00785665 0.99993116 0.00871439 -0.07350102] [ 0.0017591 -0.00870082 0.9999606 -0.04238954] [ 0. 0. 0. 1. ]] SLAMing on 0.810281693 meters Centerline goodness : 0.399707 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.07, Z:-0.05 [[ 0.99995377 0.00934064 -0.00228269 0.07219789] [-0.00931977 0.99991615 0.00899081 -0.07177812] [ 0.00236648 -0.00896912 0.99995698 -0.04703499] [ 0. 0. 0. 1. ]] SLAMing on 0.840281693 meters Centerline goodness : 0.483707 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.07, Z:-0.05 [[ 0.9999542 0.00927076 -0.00237732 0.0736354 ] [-0.00925017 0.99992084 0.00852966 -0.06844321] [ 0.00245621 -0.00850728 0.9999608 -0.04809465] [ 0. 0. 0. 1. ]] SLAMing on 0.870281693 meters Centerline goodness : 0.493551 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.07, Z:-0.05 [[ 0.99995481 0.00919958 -0.00239519 0.07478393] [-0.00917999 0.99992532 0.00806695 -0.06503297] [ 0.00246923 -0.0080446 0.99996459 -0.04878423] [ 0. 0. 0. 1. ]] SLAMing on 0.9002816929999999 meters Centerline goodness : 0.489833 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.06, Z:-0.05 [[ 0.9999557 0.00925187 -0.00173203 0.07588803] [-0.009239 0.99993069 0.00729821 -0.05934384] [ 0.00179944 -0.00728189 0.99997187 -0.04882869] [ 0. 0. 0. 1. ]] SLAMing on 0.930281693 meters Centerline goodness : 0.495540 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.06, Z:-0.05 [[ 0.99995673 0.00914609 -0.0016966 0.07657682] [-0.00913433 0.99993506 0.00681509 -0.05607808] [ 0.00175882 -0.0067993 0.99997534 -0.04929351] [ 0. 0. 0. 1. ]] SLAMing on 0.960281693 meters Centerline goodness : 0.473136 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.05, Z:-0.05 [[ 0.99995753 0.00904386 -0.00177325 0.0780401 ] [-0.00903264 0.99993976 0.00623553 -0.05200629] [ 0.00182954 -0.00621925 0.99997899 -0.05004769] [ 0. 0. 0. 1. ]] SLAMing on 0.990281693 meters Centerline goodness : 0.483495 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.04, Z:-0.05 [[ 0.99995363 0.00946986 -0.00174755 0.08141084] [-0.00946067 0.99994178 0.00518967 -0.04273938] [ 0.00179659 -0.0051729 0.99998501 -0.05093649] [ 0. 0. 0. 1. ]] SLAMing on 1.020281693 meters Centerline goodness : 0.484680 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.04, Z:-0.05 [[ 0.99995358 0.00942253 -0.00201141 0.08389605] [-0.00941342 0.99994561 0.00448949 -0.03755741] [ 0.0020536 -0.00447035 0.9999879 -0.0521724 ] [ 0. 0. 0. 1. ]] SLAMing on 1.050281693 meters Centerline goodness : 0.417666 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:-0.05 [[ 0.99994891 0.00986473 -0.00220629 0.08867197] [-0.009857 0.99994533 0.00348982 -0.02885801] [ 0.0022406 -0.0034679 0.99999148 -0.05407773] [ 0. 0. 0. 1. ]] SLAMing on 1.080281693 meters Centerline goodness : 0.413869 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:-0.06 [[ 0.99994998 0.00970689 -0.00240993 0.09077215] [-0.00969963 0.99994844 0.00300524 -0.02534608] [ 0.00243898 -0.00298172 0.99999258 -0.0553612 ] [ 0. 0. 0. 1. ]] SLAMing on 1.110281693 meters Centerline goodness : 0.406015 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.06 [[ 0.99995055 0.00959978 -0.00259608 0.09264825] [-0.00959268 0.99995025 0.00273486 -0.02362762] [ 0.00262221 -0.00270982 0.99999289 -0.05652494] [ 0. 0. 0. 1. ]] SLAMing on 1.140281693 meters Centerline goodness : 0.061017 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.02, Z:-0.06 [[ 0.99995351 0.00930696 -0.00252189 0.09587621] [-0.00930071 0.99995367 0.0024812 -0.02243816] [ 0.00254486 -0.00245763 0.99999374 -0.0577856 ] [ 0. 0. 0. 1. ]] SLAMing on 1.170281693 meters Centerline goodness : 0.452125 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.02, Z:-0.06 [[ 0.99995373 0.00919831 -0.00281647 0.09826596] [-0.00919132 0.99995467 0.00248604 -0.02240694] [ 0.00283921 -0.00246004 0.99999294 -0.0592524 ] [ 0. 0. 0. 1. ]] SLAMing on 1.200281693 meters Centerline goodness : 0.405631 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.02, Z:-0.06 [[ 0.99995386 0.00908259 -0.00312643 0.10119233] [-0.00907471 0.99995563 0.00252678 -0.02270327] [ 0.00314924 -0.00249829 0.99999192 -0.06129847] [ 0. 0. 0. 1. ]] SLAMing on 1.230281693 meters Centerline goodness : 0.397221 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.02, Z:-0.06 [[ 0.99995336 0.00902103 -0.00344983 0.1040502 ] [-0.00901184 0.99995583 0.00266966 -0.02360073] [ 0.00347376 -0.00263845 0.99999049 -0.06298274] [ 0. 0. 0. 1. ]] SLAMing on 1.260281693 meters Centerline goodness : 0.413609 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.02, Z:-0.07 [[ 0.99997096 0.00635372 -0.00420918 0.11279537] [-0.00635816 0.99997924 -0.00104271 -0.01912408] [ 0.00420247 0.00106944 0.9999906 -0.06722795] [ 0. 0. 0. 1. ]] SLAMing on 1.290281693 meters Centerline goodness : 0.399491 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.02, Z:-0.07 [[ 0.99996941 0.00642081 -0.00446604 0.11551488] [-0.0064256 0.99997879 -0.0010598 -0.01864554] [ 0.00445914 0.00108846 0.99998947 -0.06902316] [ 0. 0. 0. 1. ]] SLAMing on 1.3202816929999999 meters Centerline goodness : 0.381391 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.02, Z:-0.07 [[ 0.99996781 0.00642265 -0.0048084 0.11824919] [-0.00642852 0.99997861 -0.00120711 -0.01728329] [ 0.00480054 0.00123798 0.99998771 -0.07053466] [ 0. 0. 0. 1. ]] SLAMing on 1.350281693 meters Centerline goodness : 0.353893 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.02, Z:-0.07 [[ 0.99996524 0.00649631 -0.00522738 0.12181629] [-0.0065033 0.99997798 -0.00132196 -0.01592934] [ 0.00521868 0.00135591 0.99998546 -0.07264714] [ 0. 0. 0. 1. ]] SLAMing on 1.380281693 meters Centerline goodness : 0.369370 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:-0.08 [[ 0.99995711 0.0070122 -0.00605112 0.13228063] [-0.0070203 0.99997449 -0.0013187 -0.0152195 ] [ 0.00604172 0.00136113 0.99998082 -0.07926528] [ 0. 0. 0. 1. ]] SLAMing on 1.410281693 meters Centerline goodness : 0.386582 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:-0.08 [[ 0.99995466 0.00714438 -0.00629576 0.13446566] [-0.00715191 0.99997374 -0.00117436 -0.01641685] [ 0.00628721 0.00121933 0.99997949 -0.08050608] [ 0. 0. 0. 1. ]] SLAMing on 1.440281693 meters Centerline goodness : 0.386658 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:-0.08 [[ 9.99953130e-01 7.31612810e-03 -6.34129498e-03 1.37500247e-01] [-7.32075079e-03 9.99972954e-01 -7.06077400e-04 -2.02130594e-02] [ 6.33595772e-03 7.52467346e-04 9.99979645e-01 -8.12394752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.470281693 meters Centerline goodness : 0.091761 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:-0.11 [[ 0.99997982 0.00571955 0.00276667 0.14366386] [-0.00571505 0.99998234 -0.00163163 -0.01976324] [-0.00277595 0.00161578 0.99999484 -0.10559116] [ 0. 0. 0. 1. ]] SLAMing on 1.500281693 meters Centerline goodness : 0.316098 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:-0.11 [[ 0.99998055 0.0057087 0.00251099 0.14589915] [-0.0057053 0.9999828 -0.00136084 -0.02185951] [-0.00251872 0.00134649 0.99999592 -0.10664057] [ 0. 0. 0. 1. ]] SLAMing on 1.530281693 meters Centerline goodness : 0.370885 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:-0.11 [[ 0.99998066 0.00578158 0.00229118 0.14767625] [-0.00577919 0.99998275 -0.00104657 -0.02404769] [-0.00229719 0.00103331 0.99999683 -0.10730534] [ 0. 0. 0. 1. ]] SLAMing on 1.560281693 meters Centerline goodness : 0.305978 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.03, Z:-0.11 [[ 9.99979335e-01 5.94690076e-03 2.44206824e-03 1.50132779e-01] [-5.94559969e-03 9.99982179e-01 -5.39688378e-04 -2.83486567e-02] [-2.44523420e-03 5.25157666e-04 9.99996873e-01 -1.07241308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5902816929999999 meters Centerline goodness : 0.255055 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.03, Z:-0.11 [[ 9.99978776e-01 6.11586695e-03 2.24591504e-03 1.52012891e-01] [-6.11496791e-03 9.99981221e-01 -4.06948252e-04 -2.94332369e-02] [-2.24836171e-03 3.93205916e-04 9.99997395e-01 -1.07873216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.620281693 meters Centerline goodness : 0.214279 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.03, Z:-0.11 [[ 9.99977956e-01 6.29745382e-03 2.10471664e-03 1.53450091e-01] [-6.29673990e-03 9.99980116e-01 -3.45658567e-04 -2.97533238e-02] [-2.10685155e-03 3.32398094e-04 9.99997725e-01 -1.08369033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.650281693 meters Centerline goodness : 0.239291 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:-0.11 [[ 9.99975010e-01 6.72346948e-03 2.18482678e-03 1.57073451e-01] [-6.72289382e-03 9.99977364e-01 -2.70720511e-04 -2.98144953e-02] [-2.18659751e-03 2.56025387e-04 9.99997577e-01 -1.09261574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.680281693 meters Centerline goodness : 0.192716 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:-0.11 [[ 9.99975378e-01 6.75538319e-03 1.89940641e-03 1.59597740e-01] [-6.75486791e-03 9.99977147e-01 -2.77572636e-04 -2.96308453e-02] [-1.90123811e-03 2.64735562e-04 9.99998158e-01 -1.10600962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.710281693 meters Centerline goodness : 0.058749 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:-0.11 [[ 9.99975835e-01 6.76543704e-03 1.59927246e-03 1.62314906e-01] [-6.76497575e-03 9.99977074e-01 -2.93673011e-04 -2.93461509e-02] [-1.60122262e-03 2.82846875e-04 9.99998678e-01 -1.11940737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.740281693 meters Centerline goodness : 0.128159 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:-0.11 [[ 9.99976573e-01 6.64058132e-03 1.65999222e-03 1.65047999e-01] [-6.63978151e-03 9.99977838e-01 -4.86863123e-04 -2.81408844e-02] [-1.66318849e-03 4.75829732e-04 9.99998504e-01 -1.11912878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.770281693 meters Centerline goodness : 0.218963 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:-0.11 [[ 9.99976621e-01 6.68684534e-03 1.42981352e-03 1.67525199e-01] [-6.68617491e-03 9.99977535e-01 -4.73159494e-04 -2.80228115e-02] [-1.43294534e-03 4.63588449e-04 9.99998866e-01 -1.13084439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8002816929999998 meters Centerline goodness : 0.272568 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:-0.11 [[ 9.99977064e-01 6.68153896e-03 1.10846547e-03 1.70047129e-01] [-6.68101103e-03 9.99977567e-01 -4.79284513e-04 -2.80906463e-02] [-1.11164296e-03 4.71867851e-04 9.99999271e-01 -1.13993793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8302816929999999 meters Centerline goodness : 0.223923 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:-0.12 [[ 9.99980754e-01 6.20026285e-03 2.20462278e-04 1.80843070e-01] [-6.20008028e-03 9.99980444e-01 -8.19367676e-04 -2.64530428e-02] [-2.25538261e-04 8.17985023e-04 9.99999640e-01 -1.20025755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.860281693 meters Centerline goodness : 0.083840 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:-0.12 [[ 9.99981632e-01 6.06069203e-03 -6.51373209e-05 1.83393682e-01] [-6.06075159e-03 9.99981176e-01 -9.56728030e-04 -2.54647359e-02] [ 5.93376608e-05 9.57105238e-04 9.99999540e-01 -1.21257150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.890281693 meters Centerline goodness : 0.075431 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:-0.12 [[ 9.99982254e-01 5.94002904e-03 -4.54917482e-04 1.86569271e-01] [-5.94052852e-03 9.99981745e-01 -1.10459110e-03 -2.43399009e-02] [ 4.48347874e-04 1.10727395e-03 9.99999286e-01 -1.22521761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.920281693 meters Centerline goodness : 0.315846 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:-0.13 [[ 0.99998099 0.00593061 -0.00168646 0.19943117] [-0.00593296 0.99998143 -0.00139278 -0.0213466 ] [ 0.00167817 0.00140276 0.99999761 -0.12987216] [ 0. 0. 0. 1. ]] SLAMing on 1.950281693 meters Centerline goodness : 0.059806 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:-0.13 [[ 0.99998107 0.005814 -0.00201407 0.20226052] [-0.00581749 0.99998158 -0.00173254 -0.01873048] [ 0.00200396 0.00174422 0.99999647 -0.131193 ] [ 0. 0. 0. 1. ]] SLAMing on 1.980281693 meters Centerline goodness : 0.343102 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:-0.13 [[ 0.99998185 0.00558676 -0.00225734 0.20728026] [-0.00559202 0.99998165 -0.00233119 -0.01401733] [ 0.00224427 0.00234377 0.99999473 -0.13275819] [ 0. 0. 0. 1. ]] SLAMing on 2.0102816929999996 meters Centerline goodness : 0.219284 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:-0.13 [[ 0.99998137 0.00554202 -0.00255796 0.20993404] [-0.00554817 0.99998172 -0.00240338 -0.01361797] [ 0.00254459 0.00241753 0.99999384 -0.13374465] [ 0. 0. 0. 1. ]] SLAMing on 2.040281693 meters Centerline goodness : 0.076700 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:-0.13 [[ 0.99998097 0.00546982 -0.00285372 0.21243433] [-0.00547664 0.99998216 -0.00238415 -0.01415151] [ 0.00284063 0.00239973 0.99999309 -0.13458528] [ 0. 0. 0. 1. ]] SLAMing on 2.0702816929999996 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 2.100281693 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 2.1302816929999997 meters Centerline goodness : 0.130710 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.01, Z:-0.14 [[ 0.9999826 0.00448315 -0.00383343 0.22815052] [-0.00449336 0.99998638 -0.00265681 -0.01387946] [ 0.00382146 0.00267399 0.99998912 -0.1412479 ] [ 0. 0. 0. 1. ]] SLAMing on 2.160281693 meters Centerline goodness : 0.132342 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.01, Z:-0.14 [[ 0.99998135 0.00454323 -0.00408227 0.23029636] [-0.00455393 0.99998621 -0.00261558 -0.01452591] [ 0.00407033 0.00263413 0.99998825 -0.14177276] [ 0. 0. 0. 1. ]] SLAMing on 2.1902816929999998 meters Centerline goodness : 0.129891 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.01, Z:-0.15 [[ 0.99998573 0.00466215 0.00260779 0.27220447] [-0.0046571 0.99998728 -0.00193831 -0.01478995] [-0.00261679 0.00192614 0.99999472 -0.14539437] [ 0. 0. 0. 1. ]] SLAMing on 2.2202816929999996 meters Centerline goodness : 0.131270 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.01, Z:-0.15 [[ 0.99998633 0.00467263 0.00234711 0.27458236] [-0.00466798 0.99998714 -0.00198409 -0.01430652] [-0.00235635 0.00197311 0.99999528 -0.14618829] [ 0. 0. 0. 1. ]] SLAMing on 2.250281693 meters Centerline goodness : 0.137573 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.02, Z:-0.15 [[ 0.99998623 0.00477256 0.0021818 0.2786255 ] [-0.0047686 0.99998698 -0.00181549 -0.0160104 ] [-0.00219044 0.00180506 0.99999597 -0.1473272 ] [ 0. 0. 0. 1. ]] SLAMing on 2.2802816929999996 meters Centerline goodness : 0.128974 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.02, Z:-0.15 [[ 0.99998663 0.00479384 0.00193985 0.28150181] [-0.00479041 0.99998696 -0.00177121 -0.01659275] [-0.00194832 0.00176189 0.99999655 -0.14852717] [ 0. 0. 0. 1. ]] SLAMing on 2.310281693 meters Centerline goodness : 0.133207 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.02, Z:-0.15 [[ 0.99998702 0.00482613 0.00163297 0.28406427] [-0.00482332 0.99998689 -0.00172161 -0.01685642] [-0.00164125 0.00171372 0.99999718 -0.14933431] [ 0. 0. 0. 1. ]] SLAMing on 2.3402816929999997 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 2.370281693 meters Centerline goodness : 0.151039 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.02, Z:-0.15 [[ 0.99998734 0.00482542 0.00142873 0.29092177] [-0.00482298 0.99998691 -0.00170949 -0.01703429] [-0.00143696 0.00170258 0.99999752 -0.15138496] [ 0. 0. 0. 1. ]] SLAMing on 2.4002816929999997 meters Centerline goodness : 0.135382 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.02, Z:-0.15 [[ 0.99998765 0.00484748 0.00109681 0.29400413] [-0.00484568 0.99998691 -0.00164202 -0.01800258] [-0.00110476 0.00163668 0.99999805 -0.15258383] [ 0. 0. 0. 1. ]] SLAMing on 2.4302816929999995 meters Centerline goodness : 0.492453 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.02, Z:-0.15 [[ 9.99988880e-01 4.68896473e-03 5.04103116e-04 2.99706407e-01] [-4.68825230e-03 9.99988023e-01 -1.40527429e-03 -1.98024946e-02] [-5.10686360e-04 1.40289530e-03 9.99998886e-01 -1.54525137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4602816929999998 meters Centerline goodness : 0.066774 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.02, Z:-0.16 [[ 9.99989384e-01 4.60342875e-03 2.02647688e-04 3.02154240e-01] [-4.60317518e-03 9.99988643e-01 -1.23445053e-03 -2.14440265e-02] [-2.08328092e-04 1.23350460e-03 9.99999218e-01 -1.55225285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4902816929999996 meters Centerline goodness : 0.077016 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.02, Z:-0.16 [[ 9.99989420e-01 4.59836937e-03 -1.25609276e-04 3.04934625e-01] [-4.59849019e-03 9.99988948e-01 -9.79155455e-04 -2.37676060e-02] [ 1.21105370e-04 9.79722708e-04 9.99999513e-01 -1.56071227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.520281693 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 2.5502816929999996 meters Centerline goodness : 0.509890 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.02, Z:-0.16 [[ 9.99990643e-01 4.28631470e-03 -5.84461242e-04 3.15202071e-01] [-4.28695821e-03 9.99990201e-01 -1.10424922e-03 -2.48148554e-02] [ 5.79722355e-04 1.10674445e-03 9.99999220e-01 -1.60547330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.580281693 meters Centerline goodness : 0.495035 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.02, Z:-0.16 [[ 9.99990491e-01 4.26002700e-03 -9.33232981e-04 3.18017035e-01] [-4.26123423e-03 9.99990082e-01 -1.29546038e-03 -2.32099342e-02] [ 9.27705029e-04 1.29942478e-03 9.99998725e-01 -1.61411382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6102816929999997 meters Centerline goodness : 0.495035 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.02, Z:-0.16 [[ 9.99990491e-01 4.26002700e-03 -9.33232981e-04 3.18017035e-01] [-4.26123423e-03 9.99990082e-01 -1.29546038e-03 -2.32099342e-02] [ 9.27705029e-04 1.29942478e-03 9.99998725e-01 -1.61411382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6402816929999995 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 2.6702816929999997 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 2.7002816929999995 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 2.730281693 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 2.7602816929999996 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 2.790281693 meters Centerline goodness : 0.489415 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:-0.16 [[ 0.99991211 0.01162645 -0.00637226 0.45760691] [-0.01164538 0.99992786 -0.00294166 -0.01460145] [ 0.0063376 0.00301561 0.99997537 -0.15578267] [ 0. 0. 0. 1. ]] SLAMing on 2.8202816929999996 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 2.850281693 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 2.8802816929999997 meters Centerline goodness : 0.275957 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.00, Z:-0.16 [[ 9.99868698e-01 1.62030276e-02 -2.20420269e-04 5.07271598e-01] [-1.62030224e-02 9.99868722e-01 2.54772188e-05 -2.67164622e-03] [ 2.20804140e-04 -2.19023990e-05 9.99999975e-01 -1.62128658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9102816929999995 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 2.9402816929999998 meters Centerline goodness : 0.169356 Centerline is valid? [False, False] Translation: X:0.52, Y:0.01, Z:-0.17 [[ 0.99984681 0.01745465 -0.00130364 0.52092483] [-0.01745632 0.99984681 -0.00127982 0.01326129] [ 0.0012811 0.00130238 0.99999833 -0.16829145] [ 0. 0. 0. 1. ]] SLAMing on 2.9702816929999996 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 3.000281693 meters Centerline goodness : 0.170378 Centerline is valid? [False, False] Translation: X:0.57, Y:0.02, Z:-0.18 [[ 0.99985427 0.01638689 0.0047857 0.56797019] [-0.01637718 0.99986376 -0.00206124 0.02440778] [-0.00481882 0.00198256 0.99998642 -0.17541486] [ 0. 0. 0. 1. ]] SLAMing on 3.0302816929999996 meters Centerline goodness : 0.172605 Centerline is valid? [False, False] Translation: X:0.57, Y:0.03, Z:-0.18 [[ 0.99986212 0.01598416 0.00449887 0.57011838] [-0.01597306 0.99986932 -0.00249138 0.02715155] [-0.00453811 0.00241918 0.99998678 -0.17560375] [ 0. 0. 0. 1. ]] SLAMing on 3.060281693 meters Centerline goodness : 0.098043 Centerline is valid? [False, False] Translation: X:0.57, Y:0.03, Z:-0.18 [[ 0.99987035 0.01555424 0.0041657 0.57269548] [-0.01554219 0.99987498 -0.00290799 0.02973678] [-0.00421042 0.00284287 0.9999871 -0.17621136] [ 0. 0. 0. 1. ]] SLAMing on 3.0902816929999997 meters Centerline goodness : 0.177313 Centerline is valid? [False, False] Translation: X:0.60, Y:0.04, Z:-0.17 [[ 9.99950148e-01 9.98273072e-03 2.17252869e-04 5.97544501e-01] [-9.98222646e-03 9.99947734e-01 -2.21006973e-03 3.55401007e-02] [-2.39304046e-04 2.20779089e-03 9.99997534e-01 -1.72059520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.120281693 meters Centerline goodness : 0.175633 Centerline is valid? [False, False] Translation: X:0.62, Y:0.04, Z:-0.17 [[ 0.99997662 0.00594584 -0.00337594 0.61935998] [-0.00595037 0.99998141 -0.00133316 0.03826921] [ 0.00336795 0.00135322 0.99999341 -0.17042851] [ 0. 0. 0. 1. ]] SLAMing on 3.1502816929999997 meters Centerline goodness : 0.178438 Centerline is valid? [False, False] Translation: X:0.63, Y:0.04, Z:-0.18 [[ 0.9999819 0.00391094 -0.00457246 0.63027671] [-0.00392014 0.99999031 -0.00200557 0.03843338] [ 0.00456458 0.00202346 0.99998754 -0.17559903] [ 0. 0. 0. 1. ]] SLAMing on 3.1802816929999995 meters Centerline goodness : 0.095501 Centerline is valid? [False, False] Translation: X:0.63, Y:0.04, Z:-0.18 [[ 0.99998133 0.00352586 -0.0049898 0.63329517] [-0.00353481 0.99999216 -0.00178527 0.03588559] [ 0.00498347 0.00180288 0.99998596 -0.17664509] [ 0. 0. 0. 1. ]] SLAMing on 3.2102816929999998 meters Centerline goodness : 0.125898 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.18 [[ 0.99998054 0.00311307 -0.00540653 0.6363069 ] [-0.00312089 0.9999941 -0.00143793 0.03215999] [ 0.00540202 0.00145478 0.99998435 -0.17767965] [ 0. 0. 0. 1. ]] SLAMing on 3.2402816929999996 meters Centerline goodness : 0.115893 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.18 [[ 9.99979879e-01 8.68213777e-04 -6.28397640e-03 6.44638388e-01] [-8.78521482e-04 9.99998273e-01 -1.63774128e-03 2.59003685e-02] [ 6.28254363e-03 1.64322893e-03 9.99978914e-01 -1.81353063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.270281693 meters Centerline goodness : 0.131862 Centerline is valid? [False, False] Translation: X:0.65, Y:0.02, Z:-0.18 [[ 9.99974438e-01 -2.90338387e-04 -7.14416495e-03 6.52064641e-01] [ 2.77340672e-04 9.99998305e-01 -1.82027047e-03 2.27478464e-02] [ 7.14468133e-03 1.81824257e-03 9.99972823e-01 -1.84795642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3002816929999996 meters Centerline goodness : 0.112531 Centerline is valid? [False, False] Translation: X:0.66, Y:0.02, Z:-0.19 [[ 0.99996535 -0.00212945 -0.00804714 0.66042157] [ 0.00211526 0.99999619 -0.00177121 0.01521276] [ 0.00805088 0.00175413 0.99996605 -0.18800811] [ 0. 0. 0. 1. ]] SLAMing on 3.330281693 meters Centerline goodness : 0.095384 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:-0.21 [[ 9.99996066e-01 -2.72027664e-03 6.83858363e-04 6.74220865e-01] [ 2.72172440e-03 9.99994038e-01 -2.12510533e-03 1.05228394e-02] [-6.78073411e-04 2.12695824e-03 9.99997508e-01 -2.11349859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3602816929999997 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 3.3902816929999995 meters Centerline goodness : 0.644442 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.21 [[ 9.99994418e-01 -3.34077966e-03 -5.38299235e-05 6.79863177e-01] [ 3.34071564e-03 9.99993760e-01 -1.14850633e-03 8.30680081e-05] [ 5.76664942e-05 1.14832009e-03 9.99999339e-01 -2.12436562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4202816929999997 meters Centerline goodness : 0.110521 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:-0.21 [[ 9.99995055e-01 -3.12847079e-03 -3.19953456e-04 6.81737217e-01] [ 3.12836246e-03 9.99995049e-01 -3.38532052e-04 -6.02222938e-03] [ 3.21010960e-04 3.37529447e-04 9.99999892e-01 -2.12844486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4502816929999995 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 3.480281693 meters Centerline goodness : 0.098044 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:-0.22 [[ 0.99999322 -0.00331696 -0.00159913 0.69534706] [ 0.00331915 0.99999355 0.00137232 -0.02184991] [ 0.00159457 -0.00137762 0.99999778 -0.2189634 ] [ 0. 0. 0. 1. ]] SLAMing on 3.5102816929999996 meters Centerline goodness : 0.675579 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.22 [[ 0.99999442 -0.00246224 -0.00225639 0.70088893] [ 0.00246847 0.99999314 0.00276093 -0.03184371] [ 0.00224958 -0.00276648 0.99999364 -0.22079932] [ 0. 0. 0. 1. ]] SLAMing on 3.540281693 meters Centerline goodness : 0.111975 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.22 [[ 0.99999456 -0.00210012 -0.00254287 0.70264282] [ 0.00210821 0.99999272 0.00318156 -0.03445162] [ 0.00253617 -0.0031869 0.99999171 -0.22081767] [ 0. 0. 0. 1. ]] SLAMing on 3.5702816929999996 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 3.6002816929999994 meters Centerline goodness : 0.100389 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.04, Z:-0.22 [[ 0.99997333 0.00417614 -0.00599232 0.72762982] [-0.00415831 0.9999869 0.00298413 -0.04349631] [ 0.0060047 -0.00295913 0.99997759 -0.21563024] [ 0. 0. 0. 1. ]] SLAMing on 3.6302816929999997 meters Centerline goodness : 0.097879 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.05, Z:-0.22 [[ 0.99996988 0.00451969 -0.00630955 0.7297 ] [-0.00449876 0.99998435 0.00332727 -0.04548619] [ 0.00632449 -0.00329878 0.99997456 -0.21609035] [ 0. 0. 0. 1. ]] SLAMing on 3.6602816929999995 meters Centerline goodness : 0.109654 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.05, Z:-0.22 [[ 0.99996475 0.00504906 -0.00670847 0.73266943] [-0.00502242 0.99997946 0.00398226 -0.04960392] [ 0.00672844 -0.00394842 0.99996957 -0.21656074] [ 0. 0. 0. 1. ]] SLAMing on 3.6902816929999998 meters Centerline goodness : 0.107352 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.05, Z:-0.22 [[ 0.99996163 0.00528342 -0.00698776 0.73437721] [-0.00525376 0.99997714 0.0042558 -0.05116286] [ 0.00701008 -0.00421893 0.99996653 -0.21672036] [ 0. 0. 0. 1. ]] SLAMing on 3.7202816929999996 meters Centerline goodness : 0.111260 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:-0.22 [[ 0.99995902 0.00547705 -0.00720889 0.73585405] [-0.00544516 0.99997534 0.00443521 -0.05216806] [ 0.00723301 -0.00439577 0.99996418 -0.21707363] [ 0. 0. 0. 1. ]] SLAMing on 3.750281693 meters Centerline goodness : 0.106369 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:-0.22 [[ 0.99995516 0.00573672 -0.00753429 0.73790085] [-0.00570222 0.9999732 0.00459269 -0.05277711] [ 0.00756043 -0.00454952 0.99996107 -0.21753643] [ 0. 0. 0. 1. ]] SLAMing on 3.7802816929999996 meters Centerline goodness : 0.161759 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:-0.22 [[ 0.99994378 0.00683435 -0.00810786 0.7419343 ] [-0.00679553 0.99996536 0.00480638 -0.05219927] [ 0.00814043 -0.00475101 0.99995558 -0.21850954] [ 0. 0. 0. 1. ]] SLAMing on 3.810281693 meters Centerline goodness : 0.082571 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:-0.22 [[ 0.99993845 0.00716104 -0.00847466 0.74400171] [-0.00712247 0.99996418 0.00457236 -0.04965989] [ 0.0085071 -0.00451172 0.99995364 -0.21873424] [ 0. 0. 0. 1. ]] SLAMing on 3.8402816929999997 meters Centerline goodness : 0.092446 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.05, Z:-0.22 [[ 0.99993258 0.00747685 -0.00888385 0.74629443] [-0.00743991 0.99996357 0.00418417 -0.04591574] [ 0.00891481 -0.00411779 0.99995178 -0.2190501 ] [ 0. 0. 0. 1. ]] SLAMing on 3.8702816929999995 meters Centerline goodness : 0.085035 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.04, Z:-0.22 [[ 0.99992627 0.00784926 -0.00926548 0.74845265] [-0.00781394 0.99996209 0.00384197 -0.04238203] [ 0.00929528 -0.00376929 0.99994969 -0.21937412] [ 0. 0. 0. 1. ]] SLAMing on 3.9002816929999997 meters Centerline goodness : 0.114099 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.04, Z:-0.22 [[ 0.99990133 0.00991304 -0.00995313 0.7554737 ] [-0.00986881 0.99994125 0.00448302 -0.0389402 ] [ 0.00999699 -0.00438436 0.99994042 -0.2227474 ] [ 0. 0. 0. 1. ]] SLAMing on 3.9302816929999995 meters Centerline goodness : 0.082108 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.04, Z:-0.22 [[ 0.99989744 0.01000627 -0.01024615 0.75712488] [-0.00996324 0.99994137 0.00424175 -0.03699588] [ 0.01028799 -0.00413923 0.99993851 -0.22291681] [ 0. 0. 0. 1. ]] SLAMing on 3.9602816929999998 meters Centerline goodness : 0.086774 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.04, Z:-0.23 [[ 0.99993579 0.01082248 0.00336028 0.76246415] [-0.01083356 0.99993588 0.00329683 -0.03590768] [-0.00332438 -0.00333302 0.99998892 -0.23174631] [ 0. 0. 0. 1. ]] SLAMing on 3.9902816929999996 meters Centerline goodness : 0.082446 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.03, Z:-0.23 [[ 9.99967448e-01 7.61311415e-03 2.67272266e-03 7.66887853e-01] [-7.61097367e-03 9.99970708e-01 -8.10118600e-04 -3.34647620e-02] [-2.67881190e-03 7.89750207e-04 9.99996100e-01 -2.33035106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.020281692999999 meters Centerline goodness : 0.099317 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.03, Z:-0.23 [[ 9.99994389e-01 3.20917308e-03 -9.60665470e-04 7.86328346e-01] [-3.20865960e-03 9.99994709e-01 5.35561498e-04 -3.33142270e-02] [ 9.62379096e-04 -5.32476045e-04 9.99999395e-01 -2.28983093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.050281693 meters Centerline goodness : 0.084447 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.23 [[ 9.99996577e-01 2.25718731e-03 -1.32364405e-03 7.88706715e-01] [-2.25611001e-03 9.99997123e-01 8.14822766e-04 -3.77266366e-02] [ 1.32547945e-03 -8.11833690e-04 9.99998792e-01 -2.29225329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.080281693 meters Centerline goodness : 0.083449 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.23 [[ 9.99996212e-01 2.20102274e-03 -1.65302237e-03 7.90576307e-01] [-2.19942170e-03 9.99997111e-01 9.69747117e-04 -3.87214557e-02] [ 1.65515203e-03 -9.66107750e-04 9.99998164e-01 -2.29588046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.110281692999999 meters Centerline goodness : 0.083911 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.23 [[ 0.99999572 0.00222786 -0.00189589 0.79198186] [-0.00222585 0.99999696 0.00105965 -0.03927754] [ 0.00189825 -0.00105542 0.99999764 -0.22991183] [ 0. 0. 0. 1. ]] SLAMing on 4.1402816929999995 meters Centerline goodness : 0.085039 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.23 [[ 0.99999398 0.00258012 -0.00232009 0.79478111] [-0.00257671 0.9999956 0.00147225 -0.04160251] [ 0.00232388 -0.00146627 0.99999622 -0.23066874] [ 0. 0. 0. 1. ]] SLAMing on 4.170281693 meters Centerline goodness : 0.085267 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.04, Z:-0.23 [[ 0.99999287 0.00275586 -0.00258227 0.7959762 ] [-0.00275178 0.99999496 0.00158191 -0.04207481] [ 0.00258661 -0.00157479 0.99999541 -0.23047805] [ 0. 0. 0. 1. ]] SLAMing on 4.200281693 meters Centerline goodness : 0.086082 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.04, Z:-0.23 [[ 0.9999919 0.00288275 -0.00280747 0.79702285] [-0.00287808 0.99999447 0.00166592 -0.04233347] [ 0.00281226 -0.00165782 0.99999467 -0.23028562] [ 0. 0. 0. 1. ]] SLAMing on 4.230281692999999 meters Centerline goodness : 0.085616 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.04, Z:-0.23 [[ 0.9999899 0.00313944 -0.00321721 0.79914917] [-0.00313315 0.99999317 0.00195966 -0.04389985] [ 0.00322334 -0.00194956 0.9999929 -0.22986118] [ 0. 0. 0. 1. ]] SLAMing on 4.260281693 meters Centerline goodness : 0.128781 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:-0.23 [[ 0.99998874 0.00330054 -0.00341088 0.80029182] [-0.00329261 0.99999187 0.00232653 -0.04613078] [ 0.00341853 -0.00231527 0.99999148 -0.23014889] [ 0. 0. 0. 1. ]] SLAMing on 4.290281693 meters Centerline goodness : 0.157394 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:-0.23 [[ 0.99998754 0.00342659 -0.00363015 0.80164728] [-0.00341703 0.99999069 0.00263621 -0.04799914] [ 0.00363915 -0.00262378 0.99998994 -0.2305678 ] [ 0. 0. 0. 1. ]] SLAMing on 4.320281693 meters Centerline goodness : 0.089475 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:-0.23 [[ 0.99998655 0.00352677 -0.00380312 0.80254555] [-0.00351635 0.99999006 0.00274272 -0.04845461] [ 0.00381275 -0.00272931 0.99998901 -0.23062184] [ 0. 0. 0. 1. ]] SLAMing on 4.3502816929999994 meters Centerline goodness : 0.092805 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:-0.23 [[ 0.99998278 0.00406274 -0.00423368 0.80493015] [-0.00405133 0.99998815 0.00269958 -0.04684195] [ 0.0042446 -0.00268239 0.99998739 -0.23050177] [ 0. 0. 0. 1. ]] SLAMing on 4.380281693 meters Centerline goodness : 0.093186 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.05, Z:-0.23 [[ 0.99998094 0.00423808 -0.00449048 0.80637881] [-0.00422657 0.99998776 0.00257056 -0.04561209] [ 0.00450132 -0.00255153 0.99998661 -0.23107661] [ 0. 0. 0. 1. ]] SLAMing on 4.410281693 meters Centerline goodness : 0.090980 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.04, Z:-0.23 [[ 0.9999786 0.0044014 -0.00484005 0.80843941] [-0.00438993 0.99998754 0.0023766 -0.04387556] [ 0.00485045 -0.0023553 0.99998546 -0.23197594] [ 0. 0. 0. 1. ]] SLAMing on 4.440281692999999 meters Centerline goodness : 0.094773 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.04, Z:-0.23 [[ 0.99997362 0.00508461 -0.00518729 0.81062304] [-0.00507393 0.99998499 0.00206904 -0.03986693] [ 0.00519774 -0.00204267 0.99998441 -0.23247511] [ 0. 0. 0. 1. ]] SLAMing on 4.470281693 meters Centerline goodness : 0.095154 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.04, Z:-0.23 [[ 0.99997188 0.00513435 -0.00546518 0.81176535] [-0.00512413 0.9999851 0.00188248 -0.03843398] [ 0.00547476 -0.00185442 0.99998329 -0.23225426] [ 0. 0. 0. 1. ]] SLAMing on 4.500281693 meters Centerline goodness : 0.095154 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.04, Z:-0.23 [[ 0.99997188 0.00513435 -0.00546518 0.81176535] [-0.00512413 0.9999851 0.00188248 -0.03843398] [ 0.00547476 -0.00185442 0.99998329 -0.23225426] [ 0. 0. 0. 1. ]] SLAMing on 4.530281693 meters Centerline goodness : 0.095986 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.04, Z:-0.23 [[ 0.9999704 0.00516279 -0.00570444 0.81296134] [-0.00515355 0.99998538 0.00163447 -0.03672777] [ 0.0057128 -0.00160503 0.99998239 -0.23173431] [ 0. 0. 0. 1. ]] SLAMing on 4.560281692999999 meters Centerline goodness : 0.097796 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.03, Z:-0.23 [[ 0.9999701 0.00503016 -0.00587346 0.81377888] [-0.00502292 0.99998661 0.00124762 -0.03434884] [ 0.00587966 -0.00121808 0.99998197 -0.23191388] [ 0. 0. 0. 1. ]] SLAMing on 4.590281693 meters Centerline goodness : 0.097287 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.03, Z:-0.23 [[ 9.99969583e-01 4.83934924e-03 -6.11663885e-03 8.14991559e-01] [-4.83477374e-03 9.99988022e-01 7.62606493e-04 -3.14198711e-02] [ 6.12025610e-03 -7.33010732e-04 9.99981002e-01 -2.32195219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.620281693 meters Centerline goodness : 0.096001 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.03, Z:-0.23 [[ 9.99969376e-01 4.56681231e-03 -6.35540490e-03 8.16212477e-01] [-4.56493646e-03 9.99989533e-01 3.09632481e-04 -2.88680593e-02] [ 6.35675241e-03 -2.80610980e-04 9.99979756e-01 -2.32482428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.650281692999999 meters Centerline goodness : 0.100449 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.03, Z:-0.23 [[ 9.99970083e-01 3.71614955e-03 -6.78403806e-03 8.18271967e-01] [-3.71816938e-03 9.99993047e-01 -2.85145981e-04 -2.70115290e-02] [ 6.78293124e-03 3.10361653e-04 9.99976947e-01 -2.32787311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6802816929999995 meters Centerline goodness : 0.102785 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.03, Z:-0.23 [[ 9.99969259e-01 3.35890326e-03 -7.08506558e-03 8.19357065e-01] [-3.36221831e-03 9.99994244e-01 -4.56033106e-04 -2.67854492e-02] [ 7.08349303e-03 4.79840624e-04 9.99974797e-01 -2.32656340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.710281693 meters Centerline goodness : 0.105659 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.02, Z:-0.23 [[ 9.99975596e-01 8.13953441e-04 -6.93867232e-03 8.16676943e-01] [-8.31079221e-04 9.99996615e-01 -2.46563794e-03 -2.31985717e-02] [ 6.93664192e-03 2.47134436e-03 9.99972887e-01 -2.29692270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.740281693 meters Centerline goodness : 0.102340 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.23 [[ 9.99943476e-01 -4.65950769e-03 -9.55687018e-03 8.42057627e-01] [ 4.66697553e-03 9.99988821e-01 7.59257716e-04 -2.07701303e-02] [ 9.55322558e-03 -8.03816479e-04 9.99954044e-01 -2.28634543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.770281692999999 meters Centerline goodness : 0.107892 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.23 [[ 9.99938677e-01 -5.03146525e-03 -9.86538745e-03 8.43492018e-01] [ 5.03955066e-03 9.99986985e-01 7.94885491e-04 -2.19571318e-02] [ 9.86125962e-03 -8.44553867e-04 9.99951020e-01 -2.29088707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.800281693 meters Centerline goodness : 0.107655 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.23 [[ 9.99934477e-01 -5.34410062e-03 -1.01233521e-02 8.44771715e-01] [ 5.35299689e-03 9.99985310e-01 8.51894671e-04 -2.30918491e-02] [ 1.01186508e-02 -9.06029124e-04 9.99948395e-01 -2.29584609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.830281693 meters Centerline goodness : 0.106491 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.02, Z:-0.23 [[ 9.99930465e-01 -5.62052663e-03 -1.03670218e-02 8.45931799e-01] [ 5.62933765e-03 9.99983818e-01 8.20924502e-04 -2.35343962e-02] [ 1.03622400e-02 -8.79226885e-04 9.99945924e-01 -2.29893319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.860281692999999 meters Centerline goodness : 0.097449 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.03, Z:-0.24 [[ 0.99994798 -0.00948746 -0.00374443 0.86478112] [ 0.00951368 0.99992992 0.00704623 -0.02514745] [ 0.00367732 -0.00708149 0.99996816 -0.23507421] [ 0. 0. 0. 1. ]] SLAMing on 4.8902816929999995 meters Centerline goodness : 0.096877 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.02, Z:-0.23 [[ 0.99994514 -0.00961194 -0.00416162 0.86623956] [ 0.00964096 0.99992896 0.0070094 -0.02475178] [ 0.00409395 -0.00704914 0.99996677 -0.23474276] [ 0. 0. 0. 1. ]] SLAMing on 4.920281693 meters Centerline goodness : 0.105024 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.23 [[ 9.99951191e-01 -7.29522794e-03 -6.66296346e-03 8.86569098e-01] [ 7.30004662e-03 9.99973110e-01 6.99169224e-04 -2.32251257e-02] [ 6.65768369e-03 -7.47775042e-04 9.99977558e-01 -2.29386195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.950281693 meters Centerline goodness : 0.093542 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.23 [[ 9.99949937e-01 -7.24118060e-03 -6.90573206e-03 8.87727934e-01] [ 7.24548077e-03 9.99973572e-01 5.97882095e-04 -2.23933044e-02] [ 6.90122019e-03 -6.47887512e-04 9.99975976e-01 -2.29288249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.980281692999999 meters Centerline goodness : 0.093874 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.23 [[ 9.99948400e-01 -7.21381723e-03 -7.15252117e-03 8.88913970e-01] [ 7.21771471e-03 9.99973817e-01 5.19247057e-04 -2.16699168e-02] [ 7.14858814e-03 -5.70845121e-04 9.99974286e-01 -2.29710847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.010281693 meters Centerline goodness : 0.101732 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.23 [[ 9.99974763e-01 -6.63590773e-03 -2.53725219e-03 8.40651716e-01] [ 6.63687457e-03 9.99977906e-01 3.72827101e-04 -2.07071859e-02] [ 2.53472208e-03 -3.89657117e-04 9.99996712e-01 -2.32132956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.040281693 meters Centerline goodness : 0.101217 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.02, Z:-0.23 [[ 0.99999231 -0.00211623 -0.00330121 0.86675731] [ 0.00210156 0.99998793 -0.00444077 -0.01888495] [ 0.00331057 0.00443379 0.99998469 -0.23263368] [ 0. 0. 0. 1. ]] SLAMing on 5.070281692999999 meters Centerline goodness : 0.101421 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.02, Z:-0.23 [[ 9.99992944e-01 1.36498087e-03 -3.49979079e-03 8.67503036e-01] [-1.36549935e-03 9.99999057e-01 -1.45762124e-04 -2.13636605e-02] [ 3.49958853e-03 1.50540058e-04 9.99993865e-01 -2.32725213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1002816929999994 meters Centerline goodness : 0.100944 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.02, Z:-0.23 [[ 9.99992312e-01 1.27675424e-03 -3.70749499e-03 8.68367202e-01] [-1.27891717e-03 9.99999013e-01 -5.81080548e-04 -1.87923848e-02] [ 3.70674943e-03 5.85817659e-04 9.99992958e-01 -2.32908970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.130281693 meters Centerline goodness : 0.102211 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.23 [[ 9.99992371e-01 3.87854115e-03 4.64083046e-04 8.19565416e-01] [-3.87876035e-03 9.99992366e-01 4.72363496e-04 -1.42732545e-02] [-4.62247422e-04 -4.74159960e-04 9.99999781e-01 -2.34153827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.160281693 meters Centerline goodness : 0.099565 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.23 [[ 9.99987052e-01 4.31244837e-03 -2.70145295e-03 8.66524935e-01] [-4.31012084e-03 9.99990336e-01 8.66812325e-04 -1.12697090e-02] [ 2.70516493e-03 -8.55157513e-04 9.99995975e-01 -2.33162463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.190281692999999 meters Centerline goodness : 0.099080 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.23 [[ 9.99987043e-01 4.17841009e-03 -2.90766852e-03 8.67016698e-01] [-4.17739932e-03 9.99991212e-01 3.53609758e-04 -8.35626740e-03] [ 2.90912050e-03 -3.41458684e-04 9.99995710e-01 -2.32816573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.220281693 meters Centerline goodness : 0.097267 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.23 [[ 9.99987818e-01 3.85278405e-03 -3.08544620e-03 8.67753497e-01] [-3.85301073e-03 9.99992575e-01 -6.75244585e-05 -6.53631877e-03] [ 3.08516314e-03 7.94118932e-05 9.99995238e-01 -2.32592835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.250281693 meters Centerline goodness : 0.096196 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.23 [[ 9.99987747e-01 3.64950183e-03 -3.34466981e-03 8.68575774e-01] [-3.64995211e-03 9.99993331e-01 -1.28532612e-04 -6.69385370e-03] [ 3.34417843e-03 1.40738922e-04 9.99994398e-01 -2.32533274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.280281692999999 meters Centerline goodness : 0.094966 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.23 [[ 9.99987439e-01 3.46198221e-03 -3.62437279e-03 8.69594946e-01] [-3.46242983e-03 9.99993999e-01 -1.17236683e-04 -7.29710229e-03] [ 3.62394517e-03 1.29784347e-04 9.99993425e-01 -2.32735982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.310281692999999 meters Centerline goodness : 0.082304 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.01, Z:-0.24 [[ 9.99986797e-01 -4.34264968e-04 -5.12026969e-03 8.53419932e-01] [ 4.67985736e-04 9.99978200e-01 6.58638283e-03 -8.27224876e-03] [ 5.11729783e-03 -6.58869208e-03 9.99965201e-01 -2.36593934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.340281693 meters Centerline goodness : 0.163538 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.00, Z:-0.24 [[ 9.99999678e-01 -6.13661059e-04 -5.17350542e-04 8.69343688e-01] [ 6.10343613e-04 9.99979408e-01 -6.38833006e-03 -2.27212580e-03] [ 5.21260159e-04 6.38801224e-03 9.99979461e-01 -2.39773769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.370281693 meters Centerline goodness : 0.142525 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.01, Z:-0.24 [[ 0.99998307 -0.00374791 -0.00445085 0.85503605] [ 0.00375977 0.99998939 0.00265989 -0.00545293] [ 0.00444083 -0.00267658 0.99998656 -0.23934105] [ 0. 0. 0. 1. ]] SLAMing on 5.400281692999999 meters Centerline goodness : 0.302071 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.01, Z:-0.24 [[ 0.99998257 -0.00371291 -0.00458975 0.85560922] [ 0.00372613 0.99998892 0.00287558 -0.0066601 ] [ 0.00457903 -0.00289263 0.99998533 -0.23959631] [ 0. 0. 0. 1. ]] SLAMing on 5.4302816929999995 meters Centerline goodness : 0.973530 Centerline is valid? [False, True] Translation: X:0.86, Y:-0.01, Z:-0.24 [[ 0.99998175 -0.00362135 -0.00483489 0.85656245] [ 0.00363655 0.99998846 0.00313972 -0.00778214] [ 0.00482346 -0.00315724 0.99998338 -0.23998451] [ 0. 0. 0. 1. ]] SLAMing on 5.460281693 meters Centerline goodness : 0.089573 Centerline is valid? [True, False] Translation: X:0.86, Y:-0.01, Z:-0.24 [[ 0.99998114 -0.00360058 -0.004976 0.8570106 ] [ 0.00361605 0.99998865 0.00310374 -0.00756915] [ 0.00496476 -0.00312167 0.9999828 -0.24011388] [ 0. 0. 0. 1. ]] SLAMing on 5.490281693 meters Centerline goodness : 0.975954 Centerline is valid? [False, True] Translation: X:0.86, Y:-0.01, Z:-0.24 [[ 0.99998207 -0.00345354 -0.00489176 0.85664401] [ 0.00346868 0.99998921 0.00309047 -0.00716315] [ 0.00488104 -0.00310738 0.99998326 -0.24007336] [ 0. 0. 0. 1. ]] SLAMing on 5.520281692999999 meters Centerline goodness : 0.977684 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.01, Z:-0.23 [[ 9.99987779e-01 -4.49164196e-04 -4.92350919e-03 8.84975430e-01] [ 4.49422679e-04 9.99999898e-01 5.13934472e-05 -6.60547471e-03] [ 4.92348561e-03 -5.36055558e-05 9.99987878e-01 -2.34014144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.550281693 meters Centerline goodness : 0.978564 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.01, Z:-0.23 [[ 9.99987685e-01 6.23048284e-04 -4.92351333e-03 9.12624427e-01] [-6.22804761e-04 9.99999805e-01 5.09943826e-05 -6.66267798e-03] [ 4.92354414e-03 -4.79273670e-05 9.99987878e-01 -2.32718900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.580281693 meters Centerline goodness : 0.979103 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.01, Z:-0.23 [[ 9.99985961e-01 1.95896805e-03 -4.92352156e-03 9.40291127e-01] [-1.95874469e-03 9.99998080e-01 5.01867729e-05 -6.42826896e-03] [ 4.92361042e-03 -4.05421466e-05 9.99987878e-01 -2.32634609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.610281692999999 meters Centerline goodness : 0.982623 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.01, Z:-0.23 [[ 9.99979573e-01 4.07593740e-03 -4.92352966e-03 9.68625962e-01] [-4.07574368e-03 9.99991693e-01 4.93787614e-05 -5.43217446e-03] [ 4.92369003e-03 -2.93107078e-05 9.99987878e-01 -2.32492668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6402816929999995 meters Centerline goodness : 0.981750 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.01, Z:-0.23 [[ 9.99977339e-01 4.59140568e-03 -4.92353769e-03 9.96782232e-01] [-4.59122222e-03 9.99989459e-01 4.85648916e-05 -5.30880362e-03] [ 4.92370877e-03 -2.59587354e-05 9.99987878e-01 -2.33960703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.670281693 meters Centerline goodness : 0.984572 Centerline is valid? [True, True] Translation: X:1.03, Y:-0.01, Z:-0.23 [[ 9.99977189e-01 4.62393905e-03 -4.92354018e-03 1.02603496e+00] [-4.62375723e-03 9.99989309e-01 4.83117069e-05 -5.36114760e-03] [ 4.92371093e-03 -2.55453504e-05 9.99987878e-01 -2.32129323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.700281693 meters Centerline goodness : 0.983877 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.01, Z:-0.23 [[ 9.99980769e-01 3.77102309e-03 -4.92354215e-03 1.05513141e+00] [-3.77083192e-03 9.99992889e-01 4.81099605e-05 -5.71982571e-03] [ 4.92368856e-03 -2.95431854e-05 9.99987878e-01 -2.32171878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.730281692999999 meters Centerline goodness : 0.984844 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.01, Z:-0.23 [[ 9.99984912e-01 2.43610933e-03 -4.92354416e-03 1.08281220e+00] [-2.43590299e-03 9.99997032e-01 4.79034656e-05 -5.74178629e-03] [ 4.92364624e-03 -3.59094669e-05 9.99987878e-01 -2.33130797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.760281693 meters Centerline goodness : 0.986563 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.00, Z:-0.23 [[ 9.99987477e-01 -8.96817128e-04 -4.92354664e-03 1.11142352e+00] [ 8.97062589e-04 9.99999597e-01 4.76463801e-05 -4.64872740e-03] [ 4.92350193e-03 -5.20625130e-05 9.99987878e-01 -2.34823482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.790281693 meters Centerline goodness : 0.988000 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.00, Z:-0.23 [[ 9.99984736e-01 -2.50726955e-03 -4.92354863e-03 1.13917319e+00] [ 2.50753352e-03 9.99996855e-01 4.74401135e-05 -4.87855578e-03] [ 4.92341420e-03 -5.97853526e-05 9.99987878e-01 -2.32754865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.820281692999999 meters Centerline goodness : 0.988496 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.01, Z:-0.23 [[ 9.99977278e-01 -4.60451152e-03 -4.92355128e-03 1.16843849e+00] [ 4.60479954e-03 9.99989397e-01 4.71630510e-05 -5.50693996e-03] [ 4.92328192e-03 -6.98339461e-05 9.99987878e-01 -2.30165866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8502816929999994 meters Centerline goodness : 0.992709 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.01, Z:-0.23 [[ 9.99955461e-01 -8.05198406e-03 -4.92355325e-03 1.19730026e+00] [ 8.05231284e-03 9.99967579e-01 4.69565679e-05 -7.09465594e-03] [ 4.92301553e-03 -8.66004676e-05 9.99987878e-01 -2.26842976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.880281693 meters Centerline goodness : 0.991637 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.01, Z:-0.23 [[ 9.99945549e-01 -9.20096672e-03 -4.92355523e-03 1.22637288e+00] [ 9.20130840e-03 9.99957666e-01 4.67480163e-05 -6.95851632e-03] [ 4.92291667e-03 -9.20486209e-05 9.99987878e-01 -2.26812193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.910281693 meters Centerline goodness : 0.993365 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.01, Z:-0.23 [[ 9.99943026e-01 -9.47122773e-03 -4.92355670e-03 1.25556683e+00] [ 9.47157191e-03 9.99955143e-01 4.65930641e-05 -6.75103370e-03] [ 4.92289455e-03 -9.32242308e-05 9.99987878e-01 -2.27769185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.940281692999999 meters Centerline goodness : 0.993913 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.01, Z:-0.23 [[ 9.99960418e-01 -7.41091617e-03 -4.92356347e-03 1.28471918e+00] [ 7.41123181e-03 9.99972535e-01 4.58660609e-05 -6.66965608e-03] [ 4.92308834e-03 -8.23539157e-05 9.99987878e-01 -2.28824214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.970281693 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.01, Z:-0.23 [[ 9.99970808e-01 -5.84307842e-03 -4.92356491e-03 1.31313994e+00] [ 5.84337429e-03 9.99982926e-01 4.57107736e-05 -6.60423018e-03] [ 4.92321376e-03 -7.44796718e-05 9.99987878e-01 -2.28090041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.000281693 meters Centerline goodness : 0.995555 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.01, Z:-0.23 [[ 9.99976211e-01 -4.83072193e-03 -4.92356634e-03 1.34169799e+00] [ 4.83100478e-03 9.99988330e-01 4.55569776e-05 -5.79101985e-03] [ 4.92328880e-03 -6.93416664e-05 9.99987878e-01 -2.28754435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.030281692999999 meters Centerline goodness : 0.996625 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.01, Z:-0.23 [[ 9.99974460e-01 -5.18054145e-03 -4.92357318e-03 1.36965605e+00] [ 5.18082484e-03 9.99986578e-01 4.48051344e-05 -5.38060460e-03] [ 4.92327498e-03 -7.03121603e-05 9.99987878e-01 -2.28805263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.060281692999999 meters Centerline goodness : 0.996989 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.01, Z:-0.23 [[ 9.99969666e-01 -6.03533501e-03 -4.92357667e-03 1.39807923e+00] [ 6.03562686e-03 9.99981784e-01 4.44180867e-05 -7.20176322e-03] [ 4.92321891e-03 -7.41336110e-05 9.99987878e-01 -2.29492937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.090281693 meters Centerline goodness : 0.996954 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.01, Z:-0.23 [[ 9.99960475e-01 -7.40314566e-03 -4.92358336e-03 1.42704403e+00] [ 7.40345036e-03 9.99972593e-01 4.36639399e-05 -9.23906832e-03] [ 4.92312517e-03 -8.01137191e-05 9.99987878e-01 -2.29694725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.120281693 meters Centerline goodness : 0.997431 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.01, Z:-0.23 [[ 9.99922300e-01 -1.14521918e-02 -4.92358995e-03 1.45609969e+00] [ 1.14525418e-02 9.99934417e-01 4.29076828e-05 -1.15922066e-02] [ 4.92277566e-03 -9.92919688e-05 9.99987878e-01 -2.28913977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.150281692999999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.01, Z:-0.23 [[ 9.99894826e-01 -1.36416523e-02 -4.92359185e-03 1.48485942e+00] [ 1.36420278e-02 9.99906942e-01 4.26886895e-05 -1.35753615e-02] [ 4.92255133e-03 -1.09851977e-04 9.99987878e-01 -2.30151245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1802816929999995 meters Centerline goodness : 0.998417 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.02, Z:-0.23 [[ 9.99870080e-01 -1.53486718e-02 -4.92359360e-03 1.51310271e+00] [ 1.53490670e-02 9.99882195e-01 4.24854166e-05 -1.59408879e-02] [ 4.92236149e-03 -1.18052465e-04 9.99987878e-01 -2.27850783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.210281693 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.02, Z:-0.23 [[ 9.99861094e-01 -1.59232925e-02 -4.92359499e-03 1.54148686e+00] [ 1.59236939e-02 9.99873209e-01 4.23243050e-05 -2.22934597e-02] [ 4.92229678e-03 -1.20720245e-04 9.99987878e-01 -2.27594228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.240281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.03, Z:-0.23 [[ 9.99871282e-01 -1.52701875e-02 -4.92359634e-03 1.57145221e+00] [ 1.52705801e-02 9.99883397e-01 4.21667481e-05 -2.56532407e-02] [ 4.92237834e-03 -1.17347493e-04 9.99987878e-01 -2.29751163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.270281692999999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.03, Z:-0.23 [[ 9.99882749e-01 -1.44998690e-02 -4.92359726e-03 1.60026531e+00] [ 1.45002518e-02 9.99894865e-01 4.20583806e-05 -2.85419712e-02] [ 4.92246978e-03 -1.13446849e-04 9.99987878e-01 -2.30544836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.300281693 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.04, Z:-0.23 [[ 9.99881466e-01 -1.45880958e-02 -4.92359864e-03 1.62891548e+00] [ 1.45884788e-02 9.99893582e-01 4.18960515e-05 -3.52245603e-02] [ 4.92246350e-03 -1.13718900e-04 9.99987878e-01 -2.33632190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.330281693 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.04, Z:-0.23 [[ 9.99880638e-01 -1.46447105e-02 -4.92360494e-03 1.65744748e+00] [ 1.46450905e-02 9.99892754e-01 4.11428441e-05 -3.94671401e-02] [ 4.92247438e-03 -1.13244573e-04 9.99987878e-01 -2.32292592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.360281692999999 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.04, Z:-0.23 [[ 9.99870863e-01 -1.52975947e-02 -4.92360627e-03 1.68601678e+00] [ 1.52979818e-02 9.99882978e-01 4.09825337e-05 -4.40880766e-02] [ 4.92240317e-03 -1.16298481e-04 9.99987878e-01 -2.32072055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3902816929999995 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.05, Z:-0.23 [[ 9.99862023e-01 -1.58648565e-02 -4.92361276e-03 1.71442942e+00] [ 1.58652466e-02 9.99874138e-01 4.01871636e-05 -4.84588390e-02] [ 4.92235551e-03 -1.18295950e-04 9.99987878e-01 -2.30778717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.420281693 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.05, Z:-0.23 [[ 9.99859445e-01 -1.60264968e-02 -4.92361910e-03 1.74373658e+00] [ 1.60268850e-02 9.99871560e-01 3.93950487e-05 -4.85565487e-02] [ 4.92235535e-03 -1.18299789e-04 9.99987878e-01 -2.30634362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.450281693 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.06, Z:-0.23 [[ 9.99858068e-01 -1.61121386e-02 -4.92362534e-03 1.77220262e+00] [ 1.61125239e-02 9.99870184e-01 3.85990913e-05 -5.65110306e-02] [ 4.92236426e-03 -1.17925644e-04 9.99987878e-01 -2.31650189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.480281692999999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.06, Z:-0.23 [[ 9.99865603e-01 -1.56375615e-02 -4.92363143e-03 1.80071443e+00] [ 1.56379371e-02 9.99877719e-01 3.78058161e-05 -6.00825762e-02] [ 4.92243818e-03 -1.14796174e-04 9.99987878e-01 -2.32374060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.510281693 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.06, Z:-0.23 [[ 9.99883845e-01 -1.44240983e-02 -4.92363737e-03 1.82829825e+00] [ 1.44244554e-02 9.99895961e-01 3.70167028e-05 -6.35165371e-02] [ 4.92259119e-03 -1.08033191e-04 9.99987878e-01 -2.32384012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.540281693 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.07, Z:-0.23 [[ 9.99903250e-01 -1.30095719e-02 -4.92364050e-03 1.85661952e+00] [ 1.30099098e-02 9.99915367e-01 3.65944453e-05 -6.64490009e-02] [ 4.92274772e-03 -1.00647023e-04 9.99987878e-01 -2.32735910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.570281692999999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.07, Z:-0.23 [[ 9.99958683e-01 -7.64132508e-03 -4.92364626e-03 1.88522763e+00] [ 7.64159398e-03 9.99970802e-01 3.58027906e-05 -6.98238060e-02] [ 4.92322892e-03 -7.34258170e-05 9.99987878e-01 -2.31839256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6002816929999994 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.07, Z:-0.23 [[ 9.99979262e-01 -4.15137187e-03 -4.92365196e-03 1.91298413e+00] [ 4.15159452e-03 9.99991381e-01 3.50004586e-05 -7.09802972e-02] [ 4.92346423e-03 -5.54407392e-05 9.99987878e-01 -2.31563159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.630281693 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.07, Z:-0.23 [[ 9.99987386e-01 -9.92381384e-04 -4.92365498e-03 1.94127006e+00] [ 9.92563627e-04 9.99999507e-01 3.45704347e-05 -7.14694724e-02] [ 4.92361825e-03 -3.94570395e-05 9.99987878e-01 -2.32266794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.660281693 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.07, Z:-0.23 [[ 9.99982241e-01 3.35792528e-03 -4.92366043e-03 1.96948963e+00] [-3.35779968e-03 9.99994362e-01 3.37759895e-05 -7.31322401e-02] [ 4.92374609e-03 -1.72427242e-05 9.99987878e-01 -2.34313734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.690281692999999 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.07, Z:-0.23 [[ 9.99976619e-01 4.74533884e-03 -4.92366340e-03 1.99825427e+00] [-4.74523221e-03 9.99988741e-01 3.33384396e-05 -7.43916103e-02] [ 4.92376616e-03 -9.97373403e-06 9.99987878e-01 -2.34008649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.720281693 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.08, Z:-0.23 [[ 9.99972428e-01 5.55887652e-03 -4.92366491e-03 2.02587323e+00] [-5.55878086e-03 9.99984549e-01 3.31129759e-05 -7.58073875e-02] [ 4.92377291e-03 -5.74248858e-06 9.99987878e-01 -2.33224598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.750281693 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.08, Z:-0.23 [[ 9.99975405e-01 4.99471609e-03 -4.92366679e-03 2.05487618e+00] [-4.99461498e-03 9.99987526e-01 3.28319635e-05 -7.75880342e-02] [ 4.92376936e-03 -8.23933615e-06 9.99987878e-01 -2.34044345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.780281692999999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.08, Z:-0.23 [[ 9.99977805e-01 4.48844024e-03 -4.92366831e-03 2.08246061e+00] [-4.48833412e-03 9.99989927e-01 3.26020129e-05 -7.88333644e-02] [ 4.92376504e-03 -1.05022209e-05 9.99987878e-01 -2.34742585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.810281692999999 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.08, Z:-0.23 [[ 9.99978635e-01 4.29969537e-03 -4.92367017e-03 2.11102278e+00] [-4.29958837e-03 9.99990756e-01 3.23178739e-05 -8.03517526e-02] [ 4.92376362e-03 -1.11474284e-05 9.99987878e-01 -2.34898735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.840281693 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.08, Z:-0.23 [[ 9.99977876e-01 4.47280005e-03 -4.92367166e-03 2.13903205e+00] [-4.47269627e-03 9.99989997e-01 3.20894126e-05 -8.19857356e-02] [ 4.92376594e-03 -1.00666148e-05 9.99987878e-01 -2.34780038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.870281693 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.08, Z:-0.23 [[ 9.99963813e-01 6.93762257e-03 -4.92367351e-03 2.16635222e+00] [-6.93755007e-03 9.99975934e-01 3.18037621e-05 -8.40283627e-02] [ 4.92377566e-03 2.35562030e-06 9.99987878e-01 -2.31724390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.900281692999999 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.08, Z:-0.23 [[ 9.99951590e-01 8.51904954e-03 -4.92367622e-03 2.19531583e+00] [-8.51899831e-03 9.99963712e-01 3.13787723e-05 -8.46541488e-02] [ 4.92376486e-03 1.05675361e-05 9.99987878e-01 -2.31052344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9302816929999995 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.09, Z:-0.23 [[ 9.99940950e-01 9.68779047e-03 -4.92367765e-03 2.22365390e+00] [-9.68775452e-03 9.99953072e-01 3.11527148e-05 -8.60583026e-02] [ 4.92374839e-03 1.65485051e-05 9.99987878e-01 -2.30942606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.960281693 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.09, Z:-0.23 [[ 9.99936745e-01 1.01125528e-02 -4.92367911e-03 2.25272626e+00] [-1.01125231e-02 9.99948867e-01 3.09204850e-05 -8.84647845e-02] [ 4.92374003e-03 1.88722896e-05 9.99987878e-01 -2.33148304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.990281692999999 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.09, Z:-0.23 [[ 9.99938554e-01 9.93207191e-03 -4.92368056e-03 2.28003274e+00] [-9.93204121e-03 9.99950676e-01 3.06874153e-05 -9.29412293e-02] [ 4.92374249e-03 1.82166685e-05 9.99987878e-01 -2.33636435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.020281692999999 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.09, Z:-0.23 [[ 9.99943027e-01 9.47103869e-03 -4.92368235e-03 2.30871736e+00] [-9.47100383e-03 9.99955149e-01 3.03971131e-05 -9.40731180e-02] [ 4.92374941e-03 1.62368331e-05 9.99987878e-01 -2.32289937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.050281693 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.10, Z:-0.23 [[ 9.99956702e-01 7.89635695e-03 -4.92368376e-03 2.33757617e+00] [-7.89630413e-03 9.99968823e-01 3.01675081e-05 -9.78383860e-02] [ 4.92376847e-03 8.71270247e-06 9.99987878e-01 -2.29333401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.080281693 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.10, Z:-0.23 [[ 9.99963324e-01 7.00773109e-03 -4.92368480e-03 2.36637847e+00] [-7.00766833e-03 9.99975446e-01 2.99967733e-05 -1.00720421e-01] [ 4.92377411e-03 4.50787695e-06 9.99987878e-01 -2.29978971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.110281692999999 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.10, Z:-0.23 [[ 9.99967558e-01 6.37500104e-03 -4.92368618e-03 2.39435355e+00] [-6.37493175e-03 9.99979679e-01 2.97677022e-05 -1.02768210e-01] [ 4.92377590e-03 1.62142686e-06 9.99987878e-01 -2.30789923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1402816929999995 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.10, Z:-0.23 [[ 9.99969538e-01 6.05646464e-03 -4.92368789e-03 2.42366828e+00] [-6.05639289e-03 9.99981659e-01 2.94830602e-05 -1.04390083e-01] [ 4.92377615e-03 3.37626215e-07 9.99987878e-01 -2.31628629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.170281693 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.11, Z:-0.23 [[ 9.99966345e-01 6.56253817e-03 -4.92368926e-03 2.45142152e+00] [-6.56247369e-03 9.99978466e-01 2.92516637e-05 -1.07221707e-01] [ 4.92377520e-03 3.06090198e-06 9.99987878e-01 -2.30407985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.200281692999999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.11, Z:-0.23 [[ 9.99964187e-01 6.88348604e-03 -4.92369095e-03 2.47991807e+00] [-6.88342686e-03 9.99976309e-01 2.89644848e-05 -1.09202917e-01] [ 4.92377368e-03 4.92841908e-06 9.99987878e-01 -2.29008537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.230281692999999 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.11, Z:-0.23 [[ 9.99958676e-01 7.64218268e-03 -4.92369230e-03 2.50751456e+00] [-7.64213384e-03 9.99970798e-01 2.87337734e-05 -1.12982874e-01] [ 4.92376810e-03 8.89492951e-06 9.99987878e-01 -2.29626585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.260281693 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.11, Z:-0.23 [[ 9.99957407e-01 7.80653175e-03 -4.92369409e-03 2.53679158e+00] [-7.80648643e-03 9.99969529e-01 2.84233470e-05 -1.14889801e-01] [ 4.92376594e-03 1.00146147e-05 9.99987878e-01 -2.30949020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.290281693 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.12, Z:-0.23 [[ 9.99953639e-01 8.27506754e-03 -4.92369542e-03 2.56442745e+00] [-8.27502905e-03 9.99965761e-01 2.81905521e-05 -1.16309160e-01] [ 4.92376012e-03 1.25544775e-05 9.99987878e-01 -2.32196651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.320281692999999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.12, Z:-0.23 [[ 9.99943248e-01 9.44765615e-03 -4.92369707e-03 2.59285065e+00] [-9.44763330e-03 9.99955370e-01 2.79006101e-05 -1.17172279e-01] [ 4.92374091e-03 1.86182576e-05 9.99987878e-01 -2.32341627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3502816929999994 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.12, Z:-0.23 [[ 9.99923553e-01 1.13421561e-02 -4.92369834e-03 2.62060860e+00] [-1.13421574e-02 9.99935675e-01 2.76745051e-05 -1.15960068e-01] [ 4.92369551e-03 2.81729719e-05 9.99987878e-01 -2.30093492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.380281693 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.12, Z:-0.23 [[ 9.99912150e-01 1.23065040e-02 -4.92369990e-03 2.64969727e+00] [-1.23065183e-02 9.99924272e-01 2.73926016e-05 -1.15156375e-01] [ 4.92366415e-03 3.32034078e-05 9.99987878e-01 -2.29651780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.410281693 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.11, Z:-0.23 [[ 9.99903434e-01 1.29953666e-02 -4.92370114e-03 2.67799438e+00] [-1.29953904e-02 9.99915556e-01 2.71684479e-05 -1.14659170e-01] [ 4.92363843e-03 3.68195940e-05 9.99987878e-01 -2.29868412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.440281692999999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.11, Z:-0.23 [[ 9.99878658e-01 1.47792292e-02 -4.92370206e-03 2.70555018e+00] [-1.47792754e-02 9.99890780e-01 2.70008210e-05 -1.12744509e-01] [ 4.92356335e-03 4.57712042e-05 9.99987878e-01 -2.31563879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.470281693 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.11, Z:-0.23 [[ 9.99866260e-01 1.55954716e-02 -4.92370356e-03 2.73436604e+00] [-1.55955291e-02 9.99878382e-01 2.67237649e-05 -1.11436245e-01] [ 4.92352152e-03 5.00675713e-05 9.99987878e-01 -2.30484016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.500281693 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.11, Z:-0.23 [[ 9.99856949e-01 1.61814048e-02 -4.92370446e-03 2.76276446e+00] [-1.61814702e-02 9.99869071e-01 2.65582357e-05 -1.10018009e-01] [ 4.92348955e-03 5.31183402e-05 9.99987878e-01 -2.28434416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.530281692999999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.11, Z:-0.23 [[ 9.99848239e-01 1.67109555e-02 -4.92370563e-03 2.79117439e+00] [-1.67110284e-02 9.99860361e-01 2.63394096e-05 -1.07203312e-01] [ 4.92345824e-03 5.59447725e-05 9.99987878e-01 -2.26761168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.560281692999999 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.11, Z:-0.23 [[ 9.99847051e-01 1.67818977e-02 -4.92370679e-03 2.81986300e+00] [-1.67819726e-02 9.99859172e-01 2.61211392e-05 -1.05713287e-01] [ 4.92345175e-03 5.65123682e-05 9.99987878e-01 -2.26743647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.590281693 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.10, Z:-0.23 [[ 9.99828403e-01 1.78583958e-02 -4.92370793e-03 2.84849631e+00] [-1.78584848e-02 9.99840524e-01 2.59037890e-05 -1.02802061e-01] [ 4.92338532e-03 6.20306191e-05 9.99987878e-01 -2.27089250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.620281693 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.10, Z:-0.23 [[ 9.99813287e-01 1.86855133e-02 -4.92370906e-03 2.87603453e+00] [-1.86856134e-02 9.99825408e-01 2.56873511e-05 -1.01615571e-01] [ 4.92332940e-03 6.63199688e-05 9.99987878e-01 -2.26898987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.650281692999999 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.10, Z:-0.23 [[ 9.99796592e-01 1.95584387e-02 -4.92371045e-03 2.90534141e+00] [-1.95585506e-02 9.99808713e-01 2.54174874e-05 -1.00775298e-01] [ 4.92326574e-03 7.08883229e-05 9.99987878e-01 -2.26414194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6802816929999995 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.10, Z:-0.23 [[ 9.99781106e-01 2.03346264e-02 -4.92371155e-03 2.93356495e+00] [-2.03347489e-02 9.99793227e-01 2.52023140e-05 -9.99393659e-02] [ 4.92320594e-03 7.49256405e-05 9.99987878e-01 -2.25552880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.710281693 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.10, Z:-0.23 [[ 9.99718888e-01 2.31927344e-02 -4.92371291e-03 2.96161773e+00] [-2.31928927e-02 9.99731008e-01 2.49346914e-05 -9.60106274e-02] [ 4.92296677e-03 8.92674634e-05 9.99987878e-01 -2.25432906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.740281692999999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.09, Z:-0.23 [[ 9.99674579e-01 2.50298492e-02 -4.92371438e-03 2.99007144e+00] [-2.50300313e-02 9.99686699e-01 2.46410984e-05 -9.28469719e-02] [ 4.92278854e-03 9.86076451e-05 9.99987878e-01 -2.27654776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.770281692999999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.09, Z:-0.23 [[ 9.99624251e-01 2.69650363e-02 -4.92371547e-03 3.01853787e+00] [-2.69652430e-02 9.99636371e-01 2.44203400e-05 -8.96713412e-02] [ 4.92258356e-03 1.08358020e-04 9.99987878e-01 -2.29565423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.800281693 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.09, Z:-0.23 [[ 9.99575594e-01 2.87121872e-02 -4.92371661e-03 3.04604232e+00] [-2.87124162e-02 9.99587713e-01 2.41895637e-05 -8.69406685e-02] [ 4.92238116e-03 1.17192503e-04 9.99987878e-01 -2.30068912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.830281693 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.08, Z:-0.23 [[ 9.99524202e-01 3.04487697e-02 -4.92371811e-03 3.07495146e+00] [-3.04490213e-02 9.99536321e-01 2.38802802e-05 -8.31725924e-02] [ 4.92216221e-03 1.26053479e-04 9.99987878e-01 -2.28724753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.860281692999999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.08, Z:-0.23 [[ 9.99535698e-01 3.00689988e-02 -4.92371922e-03 3.10329068e+00] [-3.00692469e-02 9.99547818e-01 2.36478546e-05 -8.13260729e-02] [ 4.92220387e-03 1.24415654e-04 9.99987878e-01 -2.28454606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8902816929999995 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.08, Z:-0.23 [[ 9.99609650e-01 2.75010093e-02 -4.92372032e-03 3.13081110e+00] [-2.75012274e-02 9.99621769e-01 2.34160559e-05 -7.82353650e-02] [ 4.92250199e-03 1.12001437e-04 9.99987878e-01 -2.31078965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.920281693 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.08, Z:-0.23 [[ 9.99648111e-01 2.60655334e-02 -4.92372175e-03 3.16005492e+00] [-2.60657356e-02 9.99660231e-01 2.31126097e-05 -7.68930618e-02] [ 4.92265126e-03 1.05235953e-04 9.99987878e-01 -2.32189286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.950281692999999 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.08, Z:-0.23 [[ 9.99674165e-01 2.50463871e-02 -4.92372282e-03 3.18871889e+00] [-2.50465780e-02 9.99686285e-01 2.28824512e-05 -7.51700218e-02] [ 4.92275130e-03 1.00447413e-04 9.99987878e-01 -2.31638606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.980281692999999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.07, Z:-0.23 [[ 9.99676818e-01 2.49402449e-02 -4.92372389e-03 3.21611426e+00] [-2.49404357e-02 9.99688939e-01 2.26493143e-05 -7.27737920e-02] [ 4.92275719e-03 1.00157825e-04 9.99987878e-01 -2.29436561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.010281693 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.07, Z:-0.23 [[ 9.99652934e-01 2.58798722e-02 -4.92372521e-03 3.24351039e+00] [-2.58800758e-02 9.99665054e-01 2.23590289e-05 -6.88598818e-02] [ 4.92265468e-03 1.05075113e-04 9.99987878e-01 -2.26107293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.040281692999999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.07, Z:-0.23 [[ 9.99643376e-01 2.62464653e-02 -4.92372650e-03 3.27251662e+00] [-2.62466748e-02 9.99655496e-01 2.20707218e-05 -6.72413885e-02] [ 4.92260954e-03 1.07168597e-04 9.99987878e-01 -2.27042594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.070281693 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.07, Z:-0.23 [[ 9.99643845e-01 2.62286249e-02 -4.92372751e-03 3.30176374e+00] [-2.62288353e-02 9.99655965e-01 2.18439426e-05 -6.57064242e-02] [ 4.92260651e-03 1.07307475e-04 9.99987878e-01 -2.28121497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.100281693 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.06, Z:-0.23 [[ 9.99635136e-01 2.65584411e-02 -4.92372850e-03 3.33064132e+00] [-2.65586566e-02 9.99647256e-01 2.16170401e-05 -6.36999108e-02] [ 4.92256581e-03 1.09158462e-04 9.99987878e-01 -2.28358279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.130281692999999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.06, Z:-0.23 [[ 9.99635046e-01 2.65618324e-02 -4.92372952e-03 3.35861316e+00] [-2.65620491e-02 9.99647166e-01 2.13829910e-05 -5.86612029e-02] [ 4.92256023e-03 1.09409158e-04 9.99987878e-01 -2.27128954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.160281693 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.06, Z:-0.23 [[ 9.99645578e-01 2.61624793e-02 -4.92373077e-03 3.38651084e+00] [-2.61626927e-02 9.99657698e-01 2.10920809e-05 -5.61908623e-02] [ 4.92259718e-03 1.07733449e-04 9.99987878e-01 -2.26542839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.190281693 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.05, Z:-0.23 [[ 9.99668276e-01 2.52803394e-02 -4.92373196e-03 3.41498404e+00] [-2.52805434e-02 9.99680396e-01 2.08109134e-05 -5.36981429e-02] [ 4.92268442e-03 1.03670610e-04 9.99987878e-01 -2.26182559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.220281692999999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.05, Z:-0.23 [[ 9.99725801e-01 2.28927841e-02 -4.92373289e-03 3.44430368e+00] [-2.28929603e-02 9.99737922e-01 2.05876093e-05 -5.04215755e-02] [ 4.92291379e-03 9.21368574e-05 9.99987878e-01 -2.25288929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.250281693 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.05, Z:-0.22 [[ 9.99759682e-01 2.13620122e-02 -4.92373391e-03 3.47183290e+00] [-2.13621710e-02 9.99771803e-01 2.03412584e-05 -4.99609511e-02] [ 4.92304485e-03 8.48452757e-05 9.99987878e-01 -2.23501527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.280281693 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.05, Z:-0.22 [[ 9.99792262e-01 1.97785114e-02 -4.92373515e-03 3.49920651e+00] [-1.97786525e-02 9.99804383e-01 2.00347677e-05 -4.99019277e-02] [ 4.92316825e-03 7.73542409e-05 9.99987878e-01 -2.22277735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.310281693 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.05, Z:-0.22 [[ 9.99793142e-01 1.97340036e-02 -4.92373626e-03 3.52853255e+00] [-1.97341456e-02 9.99805263e-01 1.97588783e-05 -4.99256246e-02] [ 4.92316735e-03 7.74109371e-05 9.99987878e-01 -2.22133320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.340281693 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.05, Z:-0.22 [[ 9.99850551e-01 1.65720464e-02 -4.92373713e-03 3.55762719e+00] [-1.65721511e-02 9.99862672e-01 1.95396923e-05 -4.97238651e-02] [ 4.92338478e-03 6.20601436e-05 9.99987878e-01 -2.21060120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.370281692999999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.05, Z:-0.22 [[ 9.99870699e-01 1.53082340e-02 -4.92373799e-03 3.58625374e+00] [-1.53083245e-02 9.99882821e-01 1.93213635e-05 -5.04176931e-02] [ 4.92345680e-03 5.60553135e-05 9.99987878e-01 -2.21570808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.400281693 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.05, Z:-0.22 [[ 9.99888585e-01 1.40916529e-02 -4.92373889e-03 3.61541729e+00] [-1.40917297e-02 9.99900706e-01 1.90887920e-05 -5.13505862e-02] [ 4.92351899e-03 5.02973325e-05 9.99987878e-01 -2.22141845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.430281693 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.05, Z:-0.22 [[ 9.99907981e-01 1.26406657e-02 -4.92373979e-03 3.64274404e+00] [-1.26407261e-02 9.99920103e-01 1.88528141e-05 -5.34835912e-02] [ 4.92358471e-03 4.33885668e-05 9.99987878e-01 -2.23587858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.460281692999999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.06, Z:-0.23 [[ 9.99916234e-01 1.19700129e-02 -4.92374112e-03 3.67123801e+00] [-1.19700669e-02 9.99928356e-01 1.85006521e-05 -5.51684288e-02] [ 4.92360981e-03 4.04384084e-05 9.99987878e-01 -2.25639903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.490281693 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.06, Z:-0.23 [[ 9.99926486e-01 1.10805799e-02 -4.92374191e-03 3.69979077e+00] [-1.10806242e-02 9.99938608e-01 1.82873806e-05 -5.99918668e-02] [ 4.92364226e-03 3.62720974e-05 9.99987878e-01 -2.28184016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.520281693 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.06, Z:-0.23 [[ 9.99932217e-01 1.05507646e-02 -4.92374275e-03 3.72732409e+00] [-1.05508036e-02 9.99944339e-01 1.80566668e-05 -6.17168275e-02] [ 4.92365920e-03 3.38939998e-05 9.99987878e-01 -2.27078208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.550281692999999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.06, Z:-0.23 [[ 9.99936286e-01 1.01577899e-02 -4.92374379e-03 3.75598098e+00] [-1.01578256e-02 9.99948408e-01 1.77696427e-05 -6.28162925e-02] [ 4.92367026e-03 3.22460200e-05 9.99987878e-01 -2.25221739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.580281693 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.06, Z:-0.22 [[ 9.99942101e-01 9.56820402e-03 -4.92374462e-03 3.78346556e+00] [-9.56823367e-03 9.99954223e-01 1.75354459e-05 -6.40138549e-02] [ 4.92368701e-03 2.95771085e-05 9.99987878e-01 -2.22837929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.610281693 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.07, Z:-0.22 [[ 9.99958191e-01 7.70541870e-03 -4.92374564e-03 3.81198706e+00] [-7.70542719e-03 9.99970313e-01 1.72443726e-05 -6.80657728e-02] [ 4.92373235e-03 2.06959119e-05 9.99987878e-01 -2.24612364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.640281693 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.07, Z:-0.23 [[ 9.99966664e-01 6.51371402e-03 -4.92374637e-03 3.84063040e+00] [-6.51370910e-03 9.99978785e-01 1.70353054e-05 -7.00861282e-02] [ 4.92375287e-03 1.50371140e-05 9.99987878e-01 -2.27428424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.670281693 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.07, Z:-0.23 [[ 9.99972996e-01 5.45555428e-03 -4.92374715e-03 3.86957342e+00] [-5.45553766e-03 9.99985118e-01 1.68064499e-05 -7.18939150e-02] [ 4.92376556e-03 1.00556919e-05 9.99987878e-01 -2.28627723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.700281692999999 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.07, Z:-0.23 [[ 9.99973101e-01 5.43638794e-03 -4.92374773e-03 3.89732239e+00] [-5.43637193e-03 9.99985223e-01 1.66351159e-05 -7.35717855e-02] [ 4.92376540e-03 1.01326555e-05 9.99987878e-01 -2.28451712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.730281693 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.08, Z:-0.23 [[ 9.99965599e-01 6.67516490e-03 -4.92374868e-03 3.92576170e+00] [-6.67516532e-03 9.99977721e-01 1.63494424e-05 -7.60846102e-02] [ 4.92374811e-03 1.65179564e-05 9.99987878e-01 -2.25543345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.760281693 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.08, Z:-0.22 [[ 9.99963622e-01 6.96494070e-03 -4.92374942e-03 3.95353197e+00] [-6.96494574e-03 9.99975744e-01 1.61223860e-05 -7.66064872e-02] [ 4.92374228e-03 1.81718480e-05 9.99987878e-01 -2.24340015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.790281692999999 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.08, Z:-0.22 [[ 9.99969509e-01 6.06124444e-03 -4.92375033e-03 3.98195486e+00] [-6.06123992e-03 9.99981630e-01 1.58399855e-05 -7.72771626e-02] [ 4.92375589e-03 1.40045295e-05 9.99987878e-01 -2.21560678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.820281693 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.08, Z:-0.22 [[ 9.99970498e-01 5.89577884e-03 -4.92375104e-03 4.00945724e+00] [-5.89577342e-03 9.99982620e-01 1.56157092e-05 -7.80107063e-02] [ 4.92375753e-03 1.34140720e-05 9.99987878e-01 -2.19821535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.850281693 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.08, Z:-0.22 [[ 9.99968303e-01 6.25691221e-03 -4.92375191e-03 4.03862393e+00] [-6.25691254e-03 9.99980425e-01 1.53364718e-05 -7.86242823e-02] [ 4.92375149e-03 1.54714994e-05 9.99987878e-01 -2.18713048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.880281692999999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.08, Z:-0.22 [[ 9.99955023e-01 8.10607187e-03 -4.92375259e-03 4.06636854e+00] [-8.10609571e-03 9.99967145e-01 1.51138643e-05 -7.81590649e-02] [ 4.92371334e-03 2.47992252e-05 9.99987878e-01 -2.17934021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.910281693 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.08, Z:-0.22 [[ 9.99947339e-01 9.00420112e-03 -4.92375342e-03 4.09474626e+00] [-9.00423722e-03 9.99959461e-01 1.48375007e-05 -7.68934098e-02] [ 4.92368742e-03 2.94979245e-05 9.99987878e-01 -2.19174742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.940281693 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.08, Z:-0.22 [[ 9.99939543e-01 9.83193220e-03 -4.92375409e-03 4.12398508e+00] [-9.83197942e-03 9.99951665e-01 1.46147149e-05 -7.58411264e-02] [ 4.92365979e-03 3.37964175e-05 9.99987878e-01 -2.21043523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.970281692999999 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.07, Z:-0.22 [[ 9.99932484e-01 1.05253611e-02 -4.92375474e-03 4.15247868e+00] [-1.05254178e-02 9.99944606e-01 1.43913501e-05 -7.45913047e-02] [ 4.92363347e-03 3.74341973e-05 9.99987878e-01 -2.22696595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.000281693 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.07, Z:-0.22 [[ 9.99933123e-01 1.04645224e-02 -4.92375538e-03 4.18173329e+00] [-1.04645795e-02 9.99945245e-01 1.41693767e-05 -7.42620326e-02] [ 4.92363405e-03 3.73566003e-05 9.99987878e-01 -2.22589016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.030281693 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.07, Z:-0.22 [[ 9.99937753e-01 1.00123540e-02 -4.92375601e-03 4.20983845e+00] [-1.00124067e-02 9.99949875e-01 1.39471670e-05 -7.35460394e-02] [ 4.92364884e-03 3.53523488e-05 9.99987878e-01 -2.21619707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.060281693 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.07, Z:-0.22 [[ 9.99938881e-01 9.89901207e-03 -4.92375677e-03 4.23877393e+00] [-9.89906476e-03 9.99951003e-01 1.36705659e-05 -7.25881687e-02] [ 4.92365085e-03 3.50708568e-05 9.99987878e-01 -2.20687135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.090281693 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.07, Z:-0.22 [[ 9.99927438e-01 1.09942997e-02 -4.92375737e-03 4.26651688e+00] [-1.09943667e-02 9.99939560e-01 1.34510497e-05 -7.04875412e-02] [ 4.92360767e-03 4.06835206e-05 9.99987878e-01 -2.19985998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.120281692999999 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.07, Z:-0.22 [[ 9.99912767e-01 1.22561912e-02 -4.92375810e-03 4.29579387e+00] [-1.22562749e-02 9.99924889e-01 1.31781245e-05 -6.91268350e-02] [ 4.92354979e-03 4.71699580e-05 9.99987878e-01 -2.20004081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.150281693 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.07, Z:-0.22 [[ 9.99890069e-01 1.39859070e-02 -4.92375868e-03 4.32449238e+00] [-1.39860128e-02 9.99902191e-01 1.29609686e-05 -6.78262900e-02] [ 4.92345836e-03 5.59042079e-05 9.99987878e-01 -2.20242678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.180281693 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.06, Z:-0.22 [[ 9.99816472e-01 1.85142859e-02 -4.92375924e-03 4.35366072e+00] [-1.85144475e-02 9.99828593e-01 1.27440384e-05 -6.43415363e-02] [ 4.92315122e-03 7.84189826e-05 9.99987878e-01 -2.21403097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.210281692999999 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.06, Z:-0.22 [[ 9.99776354e-01 2.05669430e-02 -4.92375979e-03 4.38109153e+00] [-2.05671307e-02 9.99788474e-01 1.25252672e-05 -6.21311409e-02] [ 4.92297590e-03 8.87451451e-05 9.99987878e-01 -2.22486837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.240281693 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.06, Z:-0.22 [[ 9.99725360e-01 2.29120482e-02 -4.92376047e-03 4.40996492e+00] [-2.29122656e-02 9.99737480e-01 1.22531216e-05 -5.96436704e-02] [ 4.92274863e-03 1.00564752e-04 9.99987878e-01 -2.23064208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.270281693 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.05, Z:-0.22 [[ 9.99561145e-01 2.92108538e-02 -4.92376101e-03 4.43803789e+00] [-2.92111486e-02 9.99573263e-01 1.20346067e-05 -5.47877978e-02] [ 4.92201140e-03 1.31799389e-04 9.99987878e-01 -2.24484373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.300281692999999 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.05, Z:-0.22 [[ 9.99445285e-01 3.29375060e-02 -4.92376165e-03 4.46640528e+00] [-3.29378474e-02 9.99457402e-01 1.17633773e-05 -5.22371406e-02] [ 4.92147749e-03 1.50421258e-04 9.99987878e-01 -2.23805855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.330281693 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.05, Z:-0.22 [[ 9.99321991e-01 3.64871851e-02 -4.92376219e-03 4.49457771e+00] [-3.64875706e-02 9.99334107e-01 1.15334223e-05 -4.92179319e-02] [ 4.92090431e-03 1.68130518e-04 9.99987878e-01 -2.22678911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.360281693 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.04, Z:-0.22 [[ 9.99098766e-01 4.21593777e-02 -4.92376290e-03 4.52333036e+00] [-4.21598335e-02 9.99110879e-01 1.12248891e-05 -4.19579132e-02] [ 4.91985831e-03 1.96370251e-04 9.99987878e-01 -2.19998102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.390281692999999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.04, Z:-0.22 [[ 9.99024109e-01 4.38928882e-02 -4.92376341e-03 4.55068311e+00] [-4.38933662e-02 9.99036222e-01 1.09940468e-05 -3.83322210e-02] [ 4.91950056e-03 2.05137233e-04 9.99987878e-01 -2.18456347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.420281693 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.04, Z:-0.22 [[ 9.98978952e-01 4.49089127e-02 -4.92376403e-03 4.57931570e+00] [-4.49094044e-02 9.98991064e-01 1.07083724e-05 -3.54591127e-02] [ 4.91927717e-03 2.10425872e-04 9.99987878e-01 -2.18384155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.450281692999999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.03, Z:-0.22 [[ 9.98935057e-01 4.58749280e-02 -4.92376448e-03 4.60861723e+00] [-4.58754325e-02 9.98947168e-01 1.05005487e-05 -2.88656476e-02] [ 4.91906229e-03 2.15390459e-04 9.99987878e-01 -2.21745100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.480281693 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.02, Z:-0.22 [[ 9.98938465e-01 4.58006452e-02 -4.92376523e-03 4.63693003e+00] [-4.58011505e-02 9.98950577e-01 1.01364947e-05 -2.44017799e-02] [ 4.91906237e-03 2.15388378e-04 9.99987878e-01 -2.23383487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.510281693 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.02, Z:-0.22 [[ 9.98953978e-01 4.54610451e-02 -4.92376587e-03 4.66484886e+00] [-4.54615480e-02 9.98966089e-01 9.81280984e-06 -2.02032101e-02] [ 4.91912124e-03 2.14039473e-04 9.99987878e-01 -2.23399526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.540281692999999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.01, Z:-0.22 [[ 9.99041001e-01 4.35067272e-02 -4.92376642e-03 4.69413613e+00] [-4.35072077e-02 9.99053113e-01 9.52939655e-06 -1.20354351e-02] [ 4.91951876e-03 2.04699070e-04 9.99987878e-01 -2.19826125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.570281693 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.01, Z:-0.22 [[ 9.99094570e-01 4.22586885e-02 -4.92376686e-03 4.72202375e+00] [-4.22591550e-02 9.99106683e-01 9.29570447e-06 -8.20885929e-03] [ 4.91976120e-03 1.98786939e-04 9.99987878e-01 -2.19581297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.600281693 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.00, Z:-0.22 [[ 9.99174965e-01 4.03130924e-02 -4.92376750e-03 4.75024239e+00] [-4.03135371e-02 9.99187079e-01 8.94291767e-06 -4.39682222e-03] [ 4.92012538e-03 1.89558944e-04 9.99987878e-01 -2.19819863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.630281692999999 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:4.78, Y:0.00, Z:-0.22 [[ 9.99407622e-01 3.40611428e-02 -4.92376811e-03 4.77798424e+00] [-3.40615134e-02 9.99419738e-01 8.59139000e-06 1.34233474e-03] [ 4.92120367e-03 1.59124693e-04 9.99987878e-01 -2.21961021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.660281693 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:4.81, Y:0.00, Z:-0.22 [[ 9.99549365e-01 2.96112194e-02 -4.92376866e-03 4.80693904e+00] [-2.96115377e-02 9.99561482e-01 8.26804815e-06 3.34358005e-03] [ 4.92185432e-03 1.37536039e-04 9.99987878e-01 -2.21681736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.690281693 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:4.83, Y:0.00, Z:-0.22 [[ 9.99681121e-01 2.47671591e-02 -4.92376904e-03 4.83437971e+00] [-2.47674198e-02 9.99693240e-01 8.03644003e-06 4.89764063e-03] [ 4.92245766e-03 1.13915177e-04 9.99987878e-01 -2.20652578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.720281692999999 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:4.86, Y:0.01, Z:-0.22 [[ 9.99785929e-01 2.00961068e-02 -4.92376949e-03 4.86328721e+00] [-2.00963123e-02 9.99798049e-01 7.74795200e-06 5.70658893e-03] [ 4.92293083e-03 9.12033157e-05 9.99987878e-01 -2.19676660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.750281693 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:4.89, Y:0.01, Z:-0.22 [[ 9.99909567e-01 1.25145486e-02 -4.92376983e-03 4.89179574e+00] [-1.25146632e-02 9.99921689e-01 7.52574167e-06 6.74174905e-03] [ 4.92347842e-03 5.40942600e-05 9.99987878e-01 -2.19171902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.780281693 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:4.92, Y:0.01, Z:-0.22 [[ 9.99944222e-01 9.34391967e-03 -4.92377017e-03 4.92098485e+00] [-9.34399700e-03 9.99956344e-01 7.29863737e-06 7.46162752e-03] [ 4.92362341e-03 3.87094634e-05 9.99987878e-01 -2.20070832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.810281693 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:4.95, Y:0.01, Z:-0.22 [[ 9.99966653e-01 6.51525626e-03 -4.92377050e-03 4.94868396e+00] [-6.51530044e-03 9.99978775e-01 7.06820741e-06 8.06389489e-03] [ 4.92371204e-03 2.50118724e-05 9.99987878e-01 -2.20602942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.840281693 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:4.98, Y:0.01, Z:-0.22 [[ 9.99983568e-01 2.93592873e-03 -4.92377089e-03 4.97800141e+00] [-2.93593092e-03 9.99995690e-01 6.78253258e-06 8.61416621e-03] [ 4.92376958e-03 7.67343010e-06 9.99987878e-01 -2.18722410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.870281692999999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:5.01, Y:0.01, Z:-0.22 [[ 9.99984936e-01 2.42563564e-03 -4.92377112e-03 5.00717443e+00] [-2.42563248e-03 9.99997058e-01 6.61300056e-06 8.53213029e-03] [ 4.92377267e-03 5.33035822e-06 9.99987878e-01 -2.17579087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.900281693 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:5.03, Y:0.01, Z:-0.22 [[ 9.99984037e-01 2.77162488e-03 -4.92377141e-03 5.03467312e+00] [-2.77162703e-03 9.99996159e-01 6.38715141e-06 8.44340811e-03] [ 4.92377020e-03 7.25980849e-06 9.99987878e-01 -2.19495065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.930281693 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:5.06, Y:0.01, Z:-0.22 [[ 9.99983040e-01 3.11051233e-03 -4.92377179e-03 5.06354728e+00] [-3.11052010e-03 9.99995162e-01 6.07981537e-06 8.77220547e-03] [ 4.92376688e-03 9.23577884e-06 9.99987878e-01 -2.21925762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.960281692999999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:5.09, Y:0.01, Z:-0.22 [[ 9.99982097e-01 3.40035429e-03 -4.92377206e-03 5.09285896e+00] [-3.40036667e-03 9.99994219e-01 5.85689565e-06 9.50870389e-03] [ 4.92376350e-03 1.08858396e-05 9.99987878e-01 -2.23825344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.990281693 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:5.12, Y:0.01, Z:-0.22 [[ 9.99981950e-01 3.44326022e-03 -4.92377231e-03 5.12090071e+00] [-3.44327423e-03 9.99994072e-01 5.63197090e-06 1.05332085e-02] [ 4.92376252e-03 1.13220291e-05 9.99987878e-01 -2.22423719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.020281693 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:5.15, Y:0.01, Z:-0.22 [[ 9.99983998e-01 2.78576007e-03 -4.92377262e-03 5.14959540e+00] [-2.78576749e-03 9.99996120e-01 5.35200452e-06 1.04815629e-02] [ 4.92376842e-03 8.36456682e-06 9.99987878e-01 -2.21038385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.050281692999999 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:5.18, Y:0.01, Z:-0.22 [[ 9.99986325e-01 1.76246595e-03 -4.92377285e-03 5.17692452e+00] [-1.76246204e-03 9.99998447e-01 5.13137418e-06 1.02553245e-02] [ 4.92377424e-03 3.54665875e-06 9.99987878e-01 -2.19497638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.080281693 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:5.21, Y:0.01, Z:-0.22 [[ 9.99987814e-01 3.59023490e-04 -4.92377314e-03 5.20539598e+00] [-3.59004031e-04 9.99999936e-01 4.83582320e-06 1.03362352e-02] [ 4.92377456e-03 -3.06810986e-06 9.99987878e-01 -2.18575399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.110281693 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:5.23, Y:0.01, Z:-0.22 [[ 9.99981334e-01 -3.61787172e-03 -4.92377335e-03 5.23452653e+00] [ 3.61793827e-03 9.99993455e-01 4.61029355e-06 9.72475984e-03] [ 4.92372444e-03 -2.24241155e-05 9.99987878e-01 -2.17356093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.140281692999999 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:5.26, Y:0.01, Z:-0.22 [[ 9.99969867e-01 -6.00183861e-03 -4.92377355e-03 5.26243856e+00] [ 6.00193295e-03 9.99981988e-01 4.38536874e-06 7.83881492e-03] [ 4.92365854e-03 -3.39373953e-05 9.99987878e-01 -2.15804451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.170281693 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:5.29, Y:0.01, Z:-0.22 [[ 9.99951074e-01 -8.57939445e-03 -4.92377380e-03 5.29167437e+00] [ 8.57951856e-03 9.99963195e-01 4.08617895e-06 5.79749433e-03] [ 4.92355752e-03 -4.63295877e-05 9.99987878e-01 -2.15567085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.200281692999999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:5.32, Y:0.00, Z:-0.21 [[ 9.99911986e-01 -1.23197935e-02 -4.92377433e-03 5.32027054e+00] [ 1.23199591e-02 9.99924106e-01 3.28607939e-06 2.57032228e-03] [ 4.92336016e-03 -6.39464883e-05 9.99987878e-01 -2.14678620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.230281693 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:5.35, Y:0.00, Z:-0.21 [[ 9.99911710e-01 -1.23421770e-02 -4.92377444e-03 5.35043196e+00] [ 1.23423419e-02 9.99923830e-01 3.11482989e-06 2.59545808e-03] [ 4.92336095e-03 -6.38854626e-05 9.99987878e-01 -2.14530090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.260281693 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:5.38, Y:0.00, Z:-0.22 [[ 9.99899770e-01 -1.32743005e-02 -4.92377451e-03 5.37984358e+00] [ 1.32744762e-02 9.99911890e-01 3.00461194e-06 7.60209890e-04] [ 4.92330079e-03 -6.83648381e-05 9.99987878e-01 -2.16496093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.290281692999999 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.01, Z:-0.22 [[ 9.99896471e-01 -1.35204886e-02 -4.92377457e-03 5.40991909e+00] [ 1.35206668e-02 9.99908592e-01 2.89494971e-06 -5.50278060e-03] [ 4.92328536e-03 -6.94673653e-05 9.99987878e-01 -2.20956982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.320281693 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.01, Z:-0.22 [[ 9.99899553e-01 -1.32905910e-02 -4.92377463e-03 5.43862739e+00] [ 1.32907658e-02 9.99911674e-01 2.78572342e-06 -8.22767850e-03] [ 4.92330271e-03 -6.82261791e-05 9.99987878e-01 -2.20467600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.350281693 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.01, Z:-0.22 [[ 9.99911704e-01 -1.23425978e-02 -4.92377474e-03 5.46846842e+00] [ 1.23427602e-02 9.99923825e-01 2.58694878e-06 -1.02853319e-02] [ 4.92336774e-03 -6.33596912e-05 9.99987878e-01 -2.17667716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.380281692999999 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.01, Z:-0.22 [[ 9.99961421e-01 -7.27414994e-03 -4.92377479e-03 5.49702468e+00] [ 7.27425032e-03 9.99973542e-01 2.47806307e-06 -1.34205805e-02] [ 4.92362649e-03 -3.82947378e-05 9.99987878e-01 -2.16397256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.410281693 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.01, Z:-0.22 [[ 9.99981438e-01 -3.58880016e-03 -4.92377487e-03 5.52585031e+00] [ 3.58885507e-03 9.99993560e-01 2.31568605e-06 -1.39557536e-02] [ 4.92373485e-03 -1.99863575e-05 9.99987878e-01 -2.16594085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.440281693 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.01, Z:-0.22 [[ 9.99987559e-01 7.98318400e-04 -4.92377511e-03 5.55364906e+00] [-7.98320447e-04 9.99999681e-01 1.54966284e-06 -1.35528922e-02] [ 4.92377478e-03 2.38110679e-06 9.99987878e-01 -2.15947426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.470281692999999 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.01, Z:-0.22 [[ 9.99974459e-01 5.18044323e-03 -4.92377518e-03 5.58145239e+00] [-5.18049973e-03 9.99986581e-01 1.27804601e-06 -1.22327752e-02] [ 4.92371573e-03 2.42296026e-05 9.99987878e-01 -2.16006082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.500281693 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.01, Z:-0.22 [[ 9.99906754e-01 1.27373545e-02 -4.92377525e-03 5.60884480e+00] [-1.27375071e-02 9.99918875e-01 3.59765425e-07 -9.71833728e-03] [ 4.92338039e-03 6.23568902e-05 9.99987878e-01 -2.16750850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.530281693 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.01, Z:-0.22 [[ 9.99870138e-01 1.53448211e-02 -4.92377521e-03 5.63796987e+00] [-1.53450084e-02 9.99882258e-01 -2.73577038e-07 -9.16426564e-03] [ 4.92319128e-03 7.58289136e-05 9.99987878e-01 -2.16979038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.560281692999999 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.01, Z:-0.22 [[ 9.99847740e-01 1.67407547e-02 -4.92377519e-03 5.66728889e+00] [-1.67409601e-02 9.99859860e-01 -4.99624402e-07 -7.76767134e-03] [ 4.92307681e-03 8.29282722e-05 9.99987878e-01 -2.17356664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.590281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.00, Z:-0.22 [[ 9.99831742e-01 1.76704421e-02 -4.92377515e-03 5.69525278e+00] [-1.76706599e-02 9.99843862e-01 -7.28684563e-07 -4.22836157e-03] [ 4.92299349e-03 8.77349182e-05 9.99987878e-01 -2.18686895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.620281692999999 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.00, Z:-0.22 [[ 9.99828585e-01 1.78481849e-02 -4.92377510e-03 5.72360519e+00] [-1.78484063e-02 9.99840705e-01 -1.01308041e-06 -2.89286511e-03] [ 4.92297268e-03 8.88944451e-05 9.99987878e-01 -2.17878769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.650281693 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.00, Z:-0.22 [[ 9.99826653e-01 1.79560438e-02 -4.92377504e-03 5.75241402e+00] [-1.79562676e-02 9.99838773e-01 -1.23966247e-06 -1.39657914e-03] [ 4.92295894e-03 8.96520697e-05 9.99987878e-01 -2.18670652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.680281693 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:5.78, Y:0.00, Z:-0.22 [[ 9.99820135e-01 1.83154086e-02 -4.92377497e-03 5.78031374e+00] [-1.83156378e-02 9.99832255e-01 -1.46676699e-06 3.50877785e-03] [ 4.92292217e-03 9.16485821e-05 9.99987878e-01 -2.19665308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.710281692999999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:5.81, Y:0.01, Z:-0.22 [[ 9.99824642e-01 1.80677076e-02 -4.92377486e-03 5.80933062e+00] [-1.80679354e-02 9.99836762e-01 -1.78711833e-06 6.17125679e-03] [ 4.92293882e-03 9.07492508e-05 9.99987878e-01 -2.19675489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.740281693 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:5.84, Y:0.01, Z:-0.22 [[ 9.99826499e-01 1.79646619e-02 -4.92377476e-03 5.83717440e+00] [-1.79648895e-02 9.99838618e-01 -2.01336406e-06 8.67136047e-03] [ 4.92294399e-03 9.04680845e-05 9.99987878e-01 -2.19965711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.770281693 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:5.87, Y:0.01, Z:-0.22 [[ 9.99836792e-01 1.73823638e-02 -4.92377463e-03 5.86568551e+00] [-1.73825858e-02 9.99848911e-01 -2.29404414e-06 1.36489482e-02] [ 4.92299083e-03 8.78816047e-05 9.99987878e-01 -2.20137313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.800281692999999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:5.89, Y:0.02, Z:-0.22 [[ 9.99849685e-01 1.66242236e-02 -4.92377452e-03 5.89390838e+00] [-1.66244375e-02 9.99861804e-01 -2.51793197e-06 1.64541045e-02] [ 4.92305222e-03 8.43725354e-05 9.99987878e-01 -2.19759318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.830281693 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:5.92, Y:0.02, Z:-0.22 [[ 9.99873710e-01 1.51102980e-02 -4.92377436e-03 5.92298161e+00] [-1.51104949e-02 9.99885830e-01 -2.79618834e-06 1.89557091e-02] [ 4.92316996e-03 7.71965027e-05 9.99987878e-01 -2.19667419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.860281693 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:5.95, Y:0.02, Z:-0.22 [[ 9.99938907e-01 9.89644724e-03 -4.92377422e-03 5.95103548e+00] [-9.89658205e-03 9.99951028e-01 -3.01595027e-06 2.29345073e-02] [ 4.92350325e-03 5.17443016e-05 9.99987878e-01 -2.17730831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.890281692999999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:5.98, Y:0.02, Z:-0.22 [[ 9.99964174e-01 6.88521561e-03 -4.92377404e-03 5.98033634e+00] [-6.88531527e-03 9.99976296e-01 -3.28925070e-06 2.40054529e-02] [ 4.92363468e-03 3.71908695e-05 9.99987878e-01 -2.17646834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.920281693 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:6.01, Y:0.03, Z:-0.22 [[ 9.99981520e-01 3.56607825e-03 -4.92377389e-03 6.00774580e+00] [-3.56613875e-03 9.99993641e-01 -3.50673060e-06 2.50868961e-02] [ 4.92373007e-03 2.10655266e-05 9.99987878e-01 -2.17967034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.950281692999999 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:6.04, Y:0.03, Z:-0.22 [[ 9.99983516e-01 -2.95355136e-03 -4.92377368e-03 6.03648041e+00] [ 2.95356857e-03 9.99995638e-01 -3.77729427e-06 2.76128739e-02] [ 4.92376336e-03 -1.07654712e-05 9.99987878e-01 -2.16060434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.980281693 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:6.07, Y:0.03, Z:-0.21 [[ 9.99968367e-01 -6.24673931e-03 -4.92377351e-03 6.06539973e+00] [ 6.24679538e-03 9.99980489e-01 -3.99258132e-06 2.82938766e-02] [ 4.92370238e-03 -2.67653506e-05 9.99987878e-01 -2.14294430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.010281693 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:6.09, Y:0.03, Z:-0.21 [[ 9.99943812e-01 -9.38773113e-03 -4.92377332e-03 6.09388435e+00] [ 9.38782419e-03 9.99955933e-01 -4.21172507e-06 2.72269792e-02] [ 4.92359588e-03 -4.20120298e-05 9.99987878e-01 -2.13928469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.040281692999999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:6.12, Y:0.02, Z:-0.22 [[ 9.99861440e-01 -1.59014662e-02 -4.92377317e-03 6.12245720e+00] [ 1.59016374e-02 9.99873561e-01 -4.37528575e-06 2.31377675e-02] [ 4.92322019e-03 -7.39213763e-05 9.99987878e-01 -2.16256942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.070281693 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:6.15, Y:0.02, Z:-0.22 [[ 9.99808379e-01 -1.89462624e-02 -4.92377297e-03 6.15203802e+00] [ 1.89464695e-02 9.99820500e-01 -4.59313317e-06 2.13642245e-02] [ 4.92297617e-03 -8.86958612e-05 9.99987878e-01 -2.18288956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.100281693 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:6.18, Y:0.02, Z:-0.22 [[ 9.99757320e-01 -2.14722627e-02 -4.92377292e-03 6.18129679e+00] [ 2.14725001e-02 9.99769439e-01 -4.64721351e-06 1.93173212e-02] [ 4.92273748e-03 -1.01079629e-04 9.99987878e-01 -2.19688917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.130281692999999 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:6.21, Y:0.01, Z:-0.22 [[ 9.99649882e-01 -2.59974882e-02 -4.92377293e-03 6.21142973e+00] [ 2.59977805e-02 9.99662001e-01 -4.63918120e-06 1.33141355e-02] [ 4.92222930e-03 -1.23369611e-04 9.99987878e-01 -2.20624139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.160281693 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:6.24, Y:0.01, Z:-0.22 [[ 9.99599915e-01 -2.78525907e-02 -4.92377283e-03 6.24086966e+00] [ 2.78529049e-02 9.99612033e-01 -4.74284607e-06 9.64828585e-03] [ 4.92199466e-03 -1.32400428e-04 9.99987878e-01 -2.19515043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.190281693 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:6.27, Y:0.01, Z:-0.22 [[ 9.99546966e-01 -2.96920648e-02 -4.92377272e-03 6.27073184e+00] [ 2.96924009e-02 9.99559083e-01 -4.84642763e-06 6.27755172e-03] [ 4.92174565e-03 -1.41354402e-04 9.99987878e-01 -2.17580590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.220281692999999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:6.30, Y:0.00, Z:-0.22 [[ 9.99471084e-01 -3.21451197e-02 -4.92377261e-03 6.29949332e+00] [ 3.21454850e-02 9.99483200e-01 -4.95519303e-06 6.91652194e-04] [ 4.92138730e-03 -1.53324486e-04 9.99987878e-01 -2.17191737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.250281693 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:6.33, Y:-0.00, Z:-0.22 [[ 9.99462297e-01 -3.24171842e-02 -4.92377245e-03 6.32918065e+00] [ 3.24175520e-02 9.99474413e-01 -5.11739169e-06 -2.47253881e-03] [ 4.92135047e-03 -1.54502009e-04 9.99987878e-01 -2.18009865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.280281693 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.01, Z:-0.22 [[ 9.99485540e-01 -3.16924450e-02 -4.92377233e-03 6.35847758e+00] [ 3.16928035e-02 9.99497657e-01 -5.22560919e-06 -6.18577538e-03] [ 4.92146452e-03 -1.50825228e-04 9.99987878e-01 -2.18974515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.310281692999999 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.01, Z:-0.22 [[ 9.99593896e-01 -2.80677709e-02 -4.92377221e-03 6.38689747e+00] [ 2.80680849e-02 9.99606014e-01 -5.33649078e-06 -1.13634146e-02] [ 4.92198210e-03 -1.32866533e-04 9.99987878e-01 -2.20432190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.340281693 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.01, Z:-0.22 [[ 9.99660237e-01 -2.55962419e-02 -4.92377203e-03 6.41636438e+00] [ 2.55965251e-02 9.99672355e-01 -5.50210977e-06 -1.31603481e-02] [ 4.92229961e-03 -1.20531214e-04 9.99987878e-01 -2.20171463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.370281692999999 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.01, Z:-0.22 [[ 9.99710530e-01 -2.35502337e-02 -4.92377190e-03 6.44625029e+00] [ 2.35504916e-02 9.99722649e-01 -5.61224043e-06 -1.44542660e-02] [ 4.92253846e-03 -1.10346633e-04 9.99987878e-01 -2.20028202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.400281693 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.02, Z:-0.22 [[ 9.99785754e-01 -2.01047950e-02 -4.92377177e-03 6.47496041e+00] [ 2.01050105e-02 9.99797874e-01 -5.72240014e-06 -2.03622886e-02] [ 4.92289160e-03 -9.32713090e-05 9.99987878e-01 -2.20341300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.430281693 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.02, Z:-0.22 [[ 9.99798374e-01 -1.94671175e-02 -4.92377158e-03 6.50432343e+00] [ 1.94673245e-02 9.99810494e-01 -5.88680552e-06 -2.38689164e-02] [ 4.92295309e-03 -8.99670406e-05 9.99987878e-01 -2.18905191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.460281692999999 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.03, Z:-0.22 [[ 9.99784959e-01 -2.01442654e-02 -4.92377144e-03 6.53379186e+00] [ 2.01444800e-02 9.99797079e-01 -5.99628140e-06 -3.00946404e-02] [ 4.92289310e-03 -9.31918236e-05 9.99987878e-01 -2.15240160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.490281693 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.03, Z:-0.21 [[ 9.99765982e-01 -2.10650597e-02 -4.92377131e-03 6.56322785e+00] [ 2.10652850e-02 9.99778102e-01 -6.10603693e-06 -3.30313604e-02] [ 4.92280736e-03 -9.76160379e-05 9.99987878e-01 -2.14618654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.520281693 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.04, Z:-0.22 [[ 9.99742009e-01 -2.21736708e-02 -4.92377117e-03 6.59307932e+00] [ 2.21739090e-02 9.99754129e-01 -6.21551280e-06 -3.70087681e-02] [ 4.92269837e-03 -1.02965345e-04 9.99987878e-01 -2.15122307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.550281692999999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.05, Z:-0.22 [[ 9.99676914e-01 -2.49363927e-02 -4.92377103e-03 6.62213536e+00] [ 2.49366639e-02 9.99689033e-01 -6.32454740e-06 -4.62508733e-02] [ 4.92239761e-03 -1.16459919e-04 9.99987878e-01 -2.18820616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.580281693 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.05, Z:-0.22 [[ 9.99650942e-01 -2.59567041e-02 -4.92377081e-03 6.65081743e+00] [ 2.59569869e-02 9.99663061e-01 -6.48756656e-06 -4.93224549e-02] [ 4.92228020e-03 -1.21320952e-04 9.99987878e-01 -2.19951453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.610281693 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.05, Z:-0.22 [[ 9.99657816e-01 -2.56906168e-02 -4.92376969e-03 6.67947947e+00] [ 2.56908926e-02 9.99669935e-01 -7.25121061e-06 -5.20914154e-02] [ 4.92233081e-03 -1.19247309e-04 9.99987878e-01 -2.20323661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.640281692999999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.06, Z:-0.22 [[ 9.99709142e-01 -2.36090736e-02 -4.92376944e-03 6.70744018e+00] [ 2.36093233e-02 9.99721261e-01 -7.41421957e-06 -5.91024505e-02] [ 4.92257204e-03 -1.08834801e-04 9.99987878e-01 -2.19548984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.670281693 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.06, Z:-0.22 [[ 9.99733427e-01 -2.25572820e-02 -4.92376902e-03 6.73575751e+00] [ 2.25575176e-02 9.99745547e-01 -7.68327141e-06 -6.26732124e-02] [ 4.92268947e-03 -1.03386783e-04 9.99987878e-01 -2.18830283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.700281692999999 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.07, Z:-0.22 [[ 9.99792620e-01 -1.97603836e-02 -4.92376772e-03 6.76328173e+00] [ 1.97605816e-02 9.99804741e-01 -8.44284477e-06 -6.81506416e-02] [ 4.92297314e-03 -8.88554199e-05 9.99987878e-01 -2.17953000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.730281693 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.07, Z:-0.22 [[ 9.99814601e-01 -1.86150557e-02 -4.92376724e-03 6.79167668e+00] [ 1.86152385e-02 9.99826721e-01 -8.71302444e-06 -7.03365527e-02] [ 4.92307625e-03 -8.29456923e-05 9.99987878e-01 -2.15561656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.760281693 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.07, Z:-0.21 [[ 9.99833884e-01 -1.75488149e-02 -4.92376580e-03 6.82090701e+00] [ 1.75489810e-02 9.99846005e-01 -9.46343579e-06 -7.26310839e-02] [ 4.92317364e-03 -7.69452089e-05 9.99987878e-01 -2.13713974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.790281692999999 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.08, Z:-0.21 [[ 9.99851356e-01 -1.65233978e-02 -4.92376424e-03 6.84837920e+00] [ 1.65235479e-02 9.99863477e-01 -1.02135366e-05 -7.54063429e-02] [ 4.92326080e-03 -7.11460357e-05 9.99987878e-01 -2.13103616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.820281693 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.08, Z:-0.21 [[ 9.99862517e-01 -1.58336402e-02 -4.92376368e-03 6.87757637e+00] [ 1.58337805e-02 9.99874638e-01 -1.04796151e-05 -7.77808011e-02] [ 4.92331235e-03 -6.74836191e-05 9.99987878e-01 -2.13440947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.850281693 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.08, Z:-0.22 [[ 9.99880657e-01 -1.46433535e-02 -4.92376199e-03 6.90560387e+00] [ 1.46434758e-02 9.99892778e-01 -1.12211867e-05 -8.20245253e-02] [ 4.92339837e-03 -6.08811418e-05 9.99987878e-01 -2.17092502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.880281692999999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.08, Z:-0.22 [[ 9.99891475e-01 -1.38850573e-02 -4.92376105e-03 6.93430794e+00] [ 1.38851684e-02 9.99903596e-01 -1.16199789e-05 -8.37767720e-02] [ 4.92344772e-03 -5.67485335e-05 9.99987878e-01 -2.18617464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.910281693 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.09, Z:-0.22 [[ 9.99920524e-01 -1.16061649e-02 -4.92375919e-03 6.96204563e+00] [ 1.16062447e-02 9.99932645e-01 -1.23607395e-05 -8.92101350e-02] [ 4.92357101e-03 -4.47865971e-05 9.99987878e-01 -2.21506558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.940281693 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.09, Z:-0.22 [[ 9.99932311e-01 -1.05417875e-02 -4.92375851e-03 6.98982846e+00] [ 1.05418531e-02 9.99944433e-01 -1.26236444e-05 -9.18781756e-02] [ 4.92361799e-03 -3.92827492e-05 9.99987878e-01 -2.19328687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.970281692999999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.09, Z:-0.22 [[ 9.99943515e-01 -9.41934562e-03 -4.92375607e-03 7.01795302e+00] [ 9.41939327e-03 9.99955636e-01 -1.35131155e-05 -9.38365918e-02] [ 4.92366492e-03 -3.28664426e-05 9.99987878e-01 -2.16596659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.000281693 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.10, Z:-0.22 [[ 9.99973594e-01 -5.34483536e-03 -4.92375490e-03 7.04544590e+00] [ 5.34483157e-03 9.99985716e-01 -1.39288557e-05 -9.64514653e-02] [ 4.92375901e-03 -1.23881527e-05 9.99987878e-01 -2.15322967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.030281693 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.10, Z:-0.22 [[ 9.99986145e-01 -1.86209081e-03 -4.92375214e-03 7.07265553e+00] [ 1.86204029e-03 9.99998266e-01 -1.48438726e-05 -9.77666856e-02] [ 4.92377124e-03 5.67544206e-06 9.99987878e-01 -2.15750208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.060281692999999 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.10, Z:-0.22 [[ 9.99985004e-01 2.39748925e-03 -4.92374922e-03 7.10085433e+00] [-2.39759589e-03 9.99997126e-01 -1.57555047e-05 -9.88080646e-02] [ 4.92369729e-03 2.75604294e-05 9.99987878e-01 -2.16326239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.090281693 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.10, Z:-0.22 [[ 9.99917573e-01 1.18576341e-02 -4.92374830e-03 7.12902948e+00] [-1.18578568e-02 9.99929693e-01 -1.60389940e-05 -9.78890253e-02] [ 4.92321194e-03 7.44227743e-05 9.99987878e-01 -2.16289438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.120281692999999 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.10, Z:-0.22 [[ 9.99918112e-01 1.18121115e-02 -4.92374522e-03 7.15835739e+00] [-1.18123381e-02 9.99930232e-01 -1.69347864e-05 -9.76949789e-02] [ 4.92320166e-03 7.50943426e-05 9.99987878e-01 -2.16145019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.150281693 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.10, Z:-0.22 [[ 9.99848326e-01 1.67057101e-02 -4.92374443e-03 7.18761570e+00] [-1.67059970e-02 9.99860445e-01 -1.71589276e-05 -9.60170953e-02] [ 4.92277065e-03 9.94123850e-05 9.99987878e-01 -2.16020773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.180281693 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.09, Z:-0.22 [[ 9.99751324e-01 2.17496194e-02 -4.92374362e-03 7.21643228e+00] [-2.17499686e-02 9.99763441e-01 -1.73894199e-05 -9.41251950e-02] [ 4.92220065e-03 1.24476365e-04 9.99987878e-01 -2.15577150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.210281692999999 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.09, Z:-0.21 [[ 9.99501594e-01 3.11820418e-02 -4.92374280e-03 7.24525158e+00] [-3.11825065e-02 9.99513707e-01 -1.76186973e-05 -8.89184532e-02] [ 4.92079903e-03 1.71144558e-04 9.99987878e-01 -2.13566064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.240281693 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.09, Z:-0.21 [[ 9.99369386e-01 3.51651506e-02 -4.92374523e-03 7.27350311e+00] [-3.51656603e-02 9.99381497e-01 -1.69504077e-05 -8.52865293e-02] [ 4.92010381e-03 1.90086470e-04 9.99987878e-01 -2.11196504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.270281693 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.08, Z:-0.21 [[ 9.99243007e-01 3.85897669e-02 -4.92374108e-03 7.30144035e+00] [-3.85903237e-02 9.99255116e-01 -1.80801729e-05 -8.07183220e-02] [ 4.91937575e-03 2.08075248e-04 9.99987878e-01 -2.09083152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.300281692999999 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.08, Z:-0.21 [[ 9.99130373e-01 4.14035608e-02 -4.92374006e-03 7.33002431e+00] [-4.14041530e-02 9.99142480e-01 -1.83527066e-05 -7.53886927e-02] [ 4.91875799e-03 2.22200033e-04 9.99987878e-01 -2.08844095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.330281693 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.06, Z:-0.21 [[ 9.98966081e-01 4.51943174e-02 -4.92373923e-03 7.35742124e+00] [-4.51949566e-02 9.98978186e-01 -1.85740934e-05 -6.47904903e-02] [ 4.91786864e-03 2.41083070e-04 9.99987878e-01 -2.13767751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.360281693 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.06, Z:-0.22 [[ 9.98976849e-01 4.49556591e-02 -4.92373817e-03 7.38535048e+00] [-4.49562968e-02 9.98988954e-01 -1.88503655e-05 -5.95595098e-02] [ 4.91791261e-03 2.40184113e-04 9.99987878e-01 -2.15938702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.390281692999999 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.05, Z:-0.22 [[ 9.99186262e-01 4.00321275e-02 -4.92373711e-03 7.41419121e+00] [-4.00327068e-02 9.99198370e-01 -1.91228991e-05 -4.94793907e-02] [ 4.91902456e-03 2.16217862e-04 9.99987878e-01 -2.15682841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.420281693 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.05, Z:-0.21 [[ 9.99380369e-01 3.48516026e-02 -4.92373625e-03 7.44177600e+00] [-3.48521202e-02 9.99392480e-01 -1.93424722e-05 -4.50154521e-02] [ 4.92007086e-03 1.90933135e-04 9.99987878e-01 -2.12976240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.450281692999999 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.04, Z:-0.21 [[ 9.99752264e-01 2.17063988e-02 -4.92375352e-03 7.47035598e+00] [-2.17067357e-02 9.99764381e-01 -1.49743431e-05 -4.15756739e-02] [ 4.92226835e-03 1.21849250e-04 9.99987878e-01 -2.09023486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.480281693 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.04, Z:-0.21 [[ 9.99881564e-01 1.45813420e-02 -4.92373388e-03 7.49835876e+00] [-1.45816164e-02 9.99893682e-01 -1.98470379e-05 -4.05719947e-02] [ 4.92292100e-03 9.16406862e-05 9.99987878e-01 -2.08745582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.510281693 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.04, Z:-0.21 [[ 9.99954293e-01 8.19569408e-03 -4.92373275e-03 7.52708224e+00] [-8.19589250e-03 9.99966413e-01 -2.01231636e-05 -3.93911881e-02] [ 4.92340245e-03 6.04766282e-05 9.99987878e-01 -2.10213775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.540281692999999 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.04, Z:-0.21 [[ 9.99982922e-01 3.14844304e-03 -4.92373181e-03 7.55620521e+00] [-3.14858140e-03 9.99995043e-01 -2.03508207e-05 -3.83018650e-02] [ 4.92364333e-03 3.58532435e-05 9.99987878e-01 -2.12623134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.570281693 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.04, Z:-0.21 [[ 9.99982098e-01 -3.40021691e-03 -4.92373083e-03 7.58521054e+00] [ 3.40015677e-03 9.99994219e-01 -2.05839579e-05 -3.88551621e-02] [ 4.92377236e-03 3.84213264e-06 9.99987878e-01 -2.14653483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.600281693 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.04, Z:-0.21 [[ 9.99974034e-01 -5.26193689e-03 -4.92373010e-03 7.61273272e+00] [ 5.26189847e-03 9.99986156e-01 -2.07573560e-05 -4.00317709e-02] [ 4.92377116e-03 -5.15135087e-06 9.99987878e-01 -2.13783180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.630281692999999 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.04, Z:-0.22 [[ 9.99963226e-01 -7.02166646e-03 -4.92372886e-03 7.64105039e+00] [ 7.02164793e-03 9.99975348e-01 -2.10490293e-05 -4.27611972e-02] [ 4.92375527e-03 -1.35244353e-05 9.99987878e-01 -2.15177713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.660281693 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.04, Z:-0.22 [[ 9.99960276e-01 -7.42993194e-03 -4.92372523e-03 7.66908533e+00] [ 7.42991434e-03 9.99972398e-01 -2.18665188e-05 -4.43783056e-02] [ 4.92375179e-03 -1.47172065e-05 9.99987878e-01 -2.15979854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.690281693 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.05, Z:-0.22 [[ 9.99961056e-01 -7.32420416e-03 -4.92372393e-03 7.69681404e+00] [ 7.32418386e-03 9.99973178e-01 -2.21534628e-05 -4.63882676e-02] [ 4.92375412e-03 -1.39096593e-05 9.99987878e-01 -2.16086745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.720281692999999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.05, Z:-0.21 [[ 9.99968689e-01 -6.19499180e-03 -4.92372263e-03 7.72513999e+00] [ 6.19495641e-03 9.99980811e-01 -2.24391349e-05 -4.84927959e-02] [ 4.92376716e-03 -8.06381478e-06 9.99987878e-01 -2.13543554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.750281693 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.05, Z:-0.21 [[ 9.99973792e-01 -5.30778834e-03 -4.92372136e-03 7.75425353e+00] [ 5.30774083e-03 9.99985914e-01 -2.27158073e-05 -4.79648207e-02] [ 4.92377257e-03 -3.41862494e-06 9.99987878e-01 -2.14064478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.780281693 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.05, Z:-0.21 [[ 9.99984917e-01 -2.43355562e-03 -4.92371761e-03 7.78346402e+00] [ 2.43346941e-03 9.99997039e-01 -2.35005876e-05 -4.63797753e-02] [ 4.92376022e-03 1.15185170e-05 9.99987878e-01 -2.13334762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.810281692999999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.05, Z:-0.21 [[ 9.99987722e-01 -5.58780902e-04 -4.92371357e-03 7.81099213e+00] [ 5.58667936e-04 9.99999844e-01 -2.43185706e-05 -4.57180796e-02] [ 4.92372639e-03 2.15675512e-05 9.99987878e-01 -2.12904048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.840281693 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.04, Z:-0.21 [[ 9.99987731e-01 5.42906005e-04 -4.92371211e-03 7.83785175e+00] [-5.43033758e-04 9.99999852e-01 -2.46097425e-05 -4.44336867e-02] [ 4.92369803e-03 2.72831825e-05 9.99987878e-01 -2.13558763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.870281692999999 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.04, Z:-0.21 [[ 9.99987367e-01 1.01178478e-03 -4.92370741e-03 7.86543823e+00] [-1.01192268e-03 9.99999488e-01 -2.55175016e-05 -4.30301373e-02] [ 4.92367907e-03 3.04995904e-05 9.99987878e-01 -2.13998202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.900281693 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.04, Z:-0.21 [[ 9.99987516e-01 8.51196275e-04 -4.92370261e-03 7.89387363e+00] [-8.51336639e-04 9.99999637e-01 -2.64120173e-05 -4.13624849e-02] [ 4.92367834e-03 3.06034160e-05 9.99987878e-01 -2.12497998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.930281693 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.04, Z:-0.21 [[ 9.99987865e-01 1.62922014e-04 -4.92370136e-03 7.92321213e+00] [-1.63055171e-04 9.99999986e-01 -2.66427139e-05 -4.08115005e-02] [ 4.92369696e-03 2.74452255e-05 9.99987878e-01 -2.10711237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.960281692999999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.04, Z:-0.21 [[ 9.99985287e-01 -2.27647173e-03 -4.92371993e-03 7.95046570e+00] [ 2.27638511e-03 9.99997409e-01 -2.31971402e-05 -3.95781344e-02] [ 4.92375998e-03 1.19885161e-05 9.99987878e-01 -2.09729975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.990281693 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.04, Z:-0.21 [[ 9.99979928e-01 -3.98752803e-03 -4.92370135e-03 7.97936544e+00] [ 3.98744524e-03 9.99992050e-01 -2.66316028e-05 -3.97504828e-02] [ 4.92376840e-03 6.99807879e-06 9.99987878e-01 -2.10209141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.020281693 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.04, Z:-0.21 [[ 9.99969234e-01 -6.10645562e-03 -4.92370042e-03 8.00728888e+00] [ 6.10639767e-03 9.99981355e-01 -2.68025743e-05 -4.07402186e-02] [ 4.92377229e-03 -3.26432314e-06 9.99987878e-01 -2.11842058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.050281692999999 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.04, Z:-0.21 [[ 9.99950665e-01 -8.62699492e-03 -4.92369885e-03 8.03582775e+00] [ 8.62696612e-03 9.99962787e-01 -2.70876428e-05 -4.23622636e-02] [ 4.92374931e-03 -1.53902768e-05 9.99987878e-01 -2.12893081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.080281693 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.05, Z:-0.22 [[ 9.99920026e-01 -1.16489414e-02 -4.92371222e-03 8.06429425e+00] [ 1.16489609e-02 9.99932148e-01 -2.47145544e-05 -4.66046280e-02] [ 4.92366604e-03 -3.26435534e-05 9.99987878e-01 -2.15397082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.110281693 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.05, Z:-0.22 [[ 9.99909667e-01 -1.25065765e-02 -4.92369162e-03 8.09166373e+00] [ 1.25065887e-02 9.99921789e-01 -2.82984799e-05 -4.71037542e-02] [ 4.92366045e-03 -3.32826627e-05 9.99987878e-01 -2.15301936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.140281692999999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.05, Z:-0.21 [[ 9.99901262e-01 -1.31614377e-02 -4.92368991e-03 8.12059965e+00] [ 1.31614565e-02 9.99913384e-01 -2.85929253e-05 -4.69993310e-02] [ 4.92363977e-03 -3.62128286e-05 9.99987878e-01 -2.14199904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.170281693 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.05, Z:-0.21 [[ 9.99895782e-01 -1.35713802e-02 -4.92368531e-03 8.14844901e+00] [ 1.35714001e-02 9.99907904e-01 -2.93653839e-05 -4.89703949e-02] [ 4.92363038e-03 -3.74589799e-05 9.99987878e-01 -2.12624667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.200281692999999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.05, Z:-0.21 [[ 9.99890224e-01 -1.39748751e-02 -4.92368366e-03 8.17693363e+00] [ 1.39748985e-02 9.99902346e-01 -2.96384648e-05 -5.04858415e-02] [ 4.92361704e-03 -3.91727684e-05 9.99987878e-01 -2.12574940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.230281692999998 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.05, Z:-0.21 [[ 9.99900169e-01 -1.32442247e-02 -4.92367871e-03 8.20460960e+00] [ 1.32442354e-02 9.99912291e-01 -3.04393768e-05 -5.33988495e-02] [ 4.92365001e-03 -3.47740219e-05 9.99987878e-01 -2.14034228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.260281693 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.05, Z:-0.21 [[ 9.99914683e-01 -1.20989062e-02 -4.92367693e-03 8.23385695e+00] [ 1.20989016e-02 9.99926805e-01 -3.07245219e-05 -5.43869101e-02] [ 4.92368828e-03 -2.88491819e-05 9.99987878e-01 -2.14565860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.290281692999999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.06, Z:-0.21 [[ 9.99932633e-01 -1.05112613e-02 -4.92367187e-03 8.26160252e+00] [ 1.05112335e-02 9.99944755e-01 -3.15147939e-05 -5.57370372e-02] [ 4.92373113e-03 -2.02411940e-05 9.99987878e-01 -2.14990165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.320281693 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.06, Z:-0.21 [[ 9.99956981e-01 -7.86086072e-03 -4.92367006e-03 8.29086074e+00] [ 7.86079946e-03 9.99969103e-01 -3.17953172e-05 -5.86399106e-02] [ 4.92376787e-03 -6.91003356e-06 9.99987878e-01 -2.12148658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.350281693 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.06, Z:-0.21 [[ 9.99964620e-01 -6.82029307e-03 -4.92366477e-03 8.32013693e+00] [ 6.82021525e-03 9.99976742e-01 -3.25952813e-05 -5.93049048e-02] [ 4.92377256e-03 -9.86325394e-07 9.99987878e-01 -2.09682683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.380281692999999 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.06, Z:-0.21 [[ 9.99969895e-01 -5.99726463e-03 -4.92365930e-03 8.34888116e+00] [ 5.99717287e-03 9.99982016e-01 -3.34010786e-05 -5.97370111e-02] [ 4.92377107e-03 3.87203708e-06 9.99987878e-01 -2.07105622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.410281693 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.06, Z:-0.21 [[ 9.99974986e-01 -5.07795991e-03 -4.92365370e-03 8.37784187e+00] [ 5.07785303e-03 9.99987107e-01 -3.42077148e-05 -6.00382583e-02] [ 4.92376392e-03 9.20526922e-06 9.99987878e-01 -2.06146061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.440281693 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.06, Z:-0.21 [[ 9.99981401e-01 -3.59935593e-03 -4.92364796e-03 8.40564205e+00] [ 3.59922716e-03 9.99993522e-01 -3.50141109e-05 -6.17376981e-02] [ 4.92374209e-03 1.72921323e-05 9.99987878e-01 -2.07798614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.470281692999999 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.06, Z:-0.21 [[ 9.99982302e-01 -3.33961580e-03 -4.92364592e-03 8.43338387e+00] [ 3.33948247e-03 9.99994423e-01 -3.52992729e-05 -6.32272489e-02] [ 4.92373634e-03 1.88562190e-05 9.99987878e-01 -2.09158365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.500281693 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.07, Z:-0.21 [[ 9.99981772e-01 -3.49489520e-03 -4.92363952e-03 8.46129157e+00] [ 3.49475947e-03 9.99993893e-01 -3.61700821e-05 -6.62780384e-02] [ 4.92373586e-03 1.89624869e-05 9.99987878e-01 -2.12201601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.530281693 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.07, Z:-0.21 [[ 9.99981333e-01 -3.61826333e-03 -4.92363282e-03 8.48888396e+00] [ 3.61812471e-03 9.99993454e-01 -3.70598125e-05 -6.65472453e-02] [ 4.92373468e-03 1.92448031e-05 9.99987878e-01 -2.14475983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.560281692999999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.07, Z:-0.22 [[ 9.99983836e-01 -2.84339502e-03 -4.92362580e-03 8.51714581e+00] [ 2.84324253e-03 9.99995957e-01 -3.79703214e-05 -6.51987489e-02] [ 4.92371386e-03 2.39706454e-05 9.99987878e-01 -2.16496863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.590281693 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.06, Z:-0.22 [[ 9.99983611e-01 -2.92175769e-03 -4.92361846e-03 8.54559087e+00] [ 2.92160158e-03 9.99995731e-01 -3.88990206e-05 -6.46477041e-02] [ 4.92371110e-03 2.45135316e-05 9.99987878e-01 -2.16468911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.620281692999999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.06, Z:-0.22 [[ 9.99982814e-01 -3.18268136e-03 -4.92361096e-03 8.57381152e+00] [ 3.18252385e-03 9.99994935e-01 -3.98265075e-05 -6.47404727e-02] [ 4.92371278e-03 2.41563137e-05 9.99987878e-01 -2.16365571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.650281693 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.06, Z:-0.21 [[ 9.99982674e-01 -3.22627583e-03 -4.92360748e-03 8.60197450e+00] [ 3.22611675e-03 9.99994795e-01 -4.02526349e-05 -6.48836285e-02] [ 4.92371172e-03 2.43678049e-05 9.99987878e-01 -2.13868521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.680281693 meters Centerline goodness : 0.998499 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.06, Z:-0.21 [[ 9.99986333e-01 -1.75860323e-03 -4.92360520e-03 8.63080469e+00] [ 1.75842499e-03 9.99998453e-01 -4.05294651e-05 -6.30959923e-02] [ 4.92366886e-03 3.18711207e-05 9.99987878e-01 -2.08737522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.710281692999999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.06, Z:-0.21 [[ 9.99987833e-01 -3.04734977e-04 -4.92359852e-03 8.65854098e+00] [ 3.04535197e-04 9.99999953e-01 -4.13257713e-05 -6.12325139e-02] [ 4.92361088e-03 3.98258594e-05 9.99987878e-01 -2.08097584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.740281693 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.06, Z:-0.21 [[ 9.99987598e-01 7.50121169e-04 -4.92359613e-03 8.68673934e+00] [-7.50335126e-04 9.99999718e-01 -4.16083341e-05 -5.81910221e-02] [ 4.92356353e-03 4.53021652e-05 9.99987878e-01 -2.08681476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.770281693 meters Centerline goodness : 0.998501 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.06, Z:-0.21 [[ 9.99987879e-01 -1.84847408e-05 -4.92358856e-03 8.71590750e+00] [ 1.82757796e-05 9.99999999e-01 -4.24858035e-05 -5.63115738e-02] [ 4.92358934e-03 4.23953061e-05 9.99987878e-01 -2.08911633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.800281692999999 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.05, Z:-0.21 [[ 9.99987844e-01 -2.64138004e-04 -4.92364703e-03 8.74350280e+00] [ 2.63965173e-04 9.99999965e-01 -3.57520104e-05 -5.41337531e-02] [ 4.92365630e-03 3.44519044e-05 9.99987878e-01 -2.10863362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.830281693 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.05, Z:-0.22 [[ 9.99987782e-01 -4.41324096e-04 -4.92358084e-03 8.77098558e+00] [ 4.41116339e-04 9.99999902e-01 -4.32820827e-05 -4.86256145e-02] [ 4.92359946e-03 4.11096819e-05 9.99987878e-01 -2.15439364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.860281693 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.05, Z:-0.22 [[ 9.99987761e-01 4.85243772e-04 -4.92357817e-03 8.79853848e+00] [-4.85464242e-04 9.99999881e-01 -4.35833962e-05 -4.62892756e-02] [ 4.92355644e-03 4.59730840e-05 9.99987878e-01 -2.16480806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.890281692999999 meters Centerline goodness : 0.998667 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.04, Z:-0.22 [[ 9.99987096e-01 1.25126422e-03 -4.92357096e-03 8.82668598e+00] [-1.25149791e-03 9.99999216e-01 -4.43829729e-05 -4.39607048e-02] [ 4.92351157e-03 5.05442390e-05 9.99987878e-01 -2.15776301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.920281693 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.04, Z:-0.21 [[ 9.99985082e-01 2.36543628e-03 -4.92356277e-03 8.85498919e+00] [-2.36568786e-03 9.99997201e-01 -4.52740874e-05 -3.69393869e-02] [ 4.92344190e-03 5.69210247e-05 9.99987878e-01 -2.11410736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.950281692999999 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.03, Z:-0.21 [[ 9.99983716e-01 2.88550804e-03 -4.92355542e-03 8.88401716e+00] [-2.88576980e-03 9.99995835e-01 -4.60600959e-05 -3.31933197e-02] [ 4.92340200e-03 6.02675933e-05 9.99987878e-01 -2.10299868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.980281692999998 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.03, Z:-0.21 [[ 9.99984400e-01 2.63784127e-03 -4.92355328e-03 8.91164520e+00] [-2.63810114e-03 9.99996519e-01 -4.62877919e-05 -3.01400891e-02] [ 4.92341404e-03 5.92759014e-05 9.99987878e-01 -2.13425737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.010281693 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.03, Z:-0.22 [[ 9.99986560e-01 1.62413355e-03 -4.92355061e-03 8.93909449e+00] [-1.62438252e-03 9.99998680e-01 -4.65697051e-05 -2.93797646e-02] [ 4.92346847e-03 5.45668088e-05 9.99987878e-01 -2.15696332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.040281692999999 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.03, Z:-0.22 [[ 9.99986632e-01 1.57956465e-03 -4.92354777e-03 8.96841810e+00] [-1.57981456e-03 9.99998751e-01 -4.68682940e-05 -2.90076998e-02] [ 4.92346759e-03 5.46459599e-05 9.99987878e-01 -2.15551918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.070281693 meters Centerline goodness : 0.998392 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.03, Z:-0.22 [[ 9.99987876e-01 7.58728969e-05 -4.92354567e-03 8.99683290e+00] [-7.61056579e-05 9.99999996e-01 -4.70877294e-05 -2.74336502e-02] [ 4.92354208e-03 4.74618682e-05 9.99987878e-01 -2.16536928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.100281693 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.03, Z:-0.22 [[ 9.99986852e-01 -1.43310694e-03 -4.92354349e-03 9.02432341e+00] [ 1.43289135e-03 9.99998972e-01 -4.73146233e-05 -2.56862651e-02] [ 4.92360624e-03 4.02590984e-05 9.99987878e-01 -2.16690291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.130281692999999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.02, Z:-0.21 [[ 9.99979380e-01 -4.12283053e-03 -4.92354075e-03 9.05299074e+00] [ 4.12264614e-03 9.99991501e-01 -4.75975260e-05 -2.38092564e-02] [ 4.92369514e-03 2.72985283e-05 9.99987878e-01 -2.11284946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.160281693 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.02, Z:-0.21 [[ 9.99970199e-01 -5.94636455e-03 -4.92353855e-03 9.08089868e+00] [ 5.94620116e-03 9.99982320e-01 -4.78249585e-05 -2.33855597e-02] [ 4.92373588e-03 1.85471827e-05 9.99987878e-01 -2.09536328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.190281693 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.02, Z:-0.21 [[ 9.99934205e-01 -1.03606740e-02 -4.92353579e-03 9.10894050e+00] [ 1.03605628e-02 9.99946327e-01 -4.81066244e-05 -2.26774439e-02] [ 4.92376995e-03 -2.90714235e-06 9.99987878e-01 -2.11935711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.220281692999999 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.02, Z:-0.21 [[ 9.99911619e-01 -1.23496494e-02 -4.92353293e-03 9.13776802e+00] [ 1.23495608e-02 9.99923740e-01 -4.83977602e-05 -2.25335498e-02] [ 4.92375516e-03 -1.24099866e-05 9.99987878e-01 -2.12470875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.250281693 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.02, Z:-0.21 [[ 9.99858803e-01 -1.60665216e-02 -4.92352535e-03 9.16606944e+00] [ 1.60664744e-02 9.99870925e-01 -4.91572962e-05 -2.43243734e-02] [ 4.92367963e-03 -2.99533384e-05 9.99987878e-01 -2.11915971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.280281693 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.03, Z:-0.21 [[ 9.99836066e-01 -1.74241172e-02 -4.92352263e-03 9.19475326e+00] [ 1.74240851e-02 9.99848188e-01 -4.94278461e-05 -2.54366190e-02] [ 4.92363642e-03 -3.63681340e-05 9.99987878e-01 -2.09988945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.310281692999999 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.03, Z:-0.21 [[ 9.99812207e-01 -1.87432705e-02 -4.92351474e-03 9.22373426e+00] [ 1.87432506e-02 9.99824329e-01 -5.02017129e-05 -2.66929634e-02] [ 4.92359076e-03 -4.20903852e-05 9.99987878e-01 -2.08562492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.340281693 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.03, Z:-0.21 [[ 9.99757591e-01 -2.14596941e-02 -4.92350670e-03 9.25137583e+00] [ 2.14597033e-02 9.99769713e-01 -5.09781318e-05 -3.18371565e-02] [ 4.92346686e-03 -5.46912186e-05 9.99987878e-01 -2.07594445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.370281692999999 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.03, Z:-0.21 [[ 9.99724285e-01 -2.29589538e-02 -4.92350384e-03 9.28037073e+00] [ 2.29589798e-02 9.99736407e-01 -5.12528150e-05 -3.37650966e-02] [ 4.92338275e-03 -6.17999414e-05 9.99987878e-01 -2.08462577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.400281692999998 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.04, Z:-0.21 [[ 9.99711845e-01 -2.34944027e-02 -4.92349580e-03 9.30948818e+00] [ 2.34944314e-02 9.99723966e-01 -5.20142695e-05 -3.53479811e-02] [ 4.92335879e-03 -6.36754531e-05 9.99987878e-01 -2.09390648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.430281693 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.04, Z:-0.21 [[ 9.99733997e-01 -2.25320803e-02 -4.92348768e-03 9.33828768e+00] [ 2.25320936e-02 9.99746119e-01 -5.27719918e-05 -3.84805932e-02] [ 4.92342676e-03 -5.81785308e-05 9.99987878e-01 -2.09467377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.460281692999999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.04, Z:-0.21 [[ 9.99749207e-01 -2.18468039e-02 -4.92347947e-03 9.36745768e+00] [ 2.18468052e-02 9.99761329e-01 -5.35270711e-05 -4.01620770e-02] [ 4.92347377e-03 -5.40486500e-05 9.99987878e-01 -2.07861619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.490281693 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.04, Z:-0.21 [[ 9.99772061e-01 -2.07746123e-02 -4.92347084e-03 9.39554495e+00] [ 2.07745968e-02 9.99784183e-01 -5.43092037e-05 -4.19537735e-02] [ 4.92353653e-03 -4.79862969e-05 9.99987878e-01 -2.06320529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.520281693 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.05, Z:-0.20 [[ 9.99808080e-01 -1.89621581e-02 -4.92346634e-03 9.42413600e+00] [ 1.89621186e-02 9.99820201e-01 -5.47137397e-05 -4.57670310e-02] [ 4.92361860e-03 -3.86561136e-05 9.99987878e-01 -2.03625782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.550281692999999 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.05, Z:-0.20 [[ 9.99826123e-01 -1.79856146e-02 -4.92345765e-03 9.45241111e+00] [ 1.79855594e-02 9.99838245e-01 -5.54851702e-05 -4.74159041e-02] [ 4.92365919e-03 -3.30756176e-05 9.99987878e-01 -2.03969969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.580281693 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.05, Z:-0.20 [[ 9.99834131e-01 -1.75348282e-02 -4.92345455e-03 9.48153882e+00] [ 1.75347662e-02 9.99846253e-01 -5.57591672e-05 -4.87363431e-02] [ 4.92367531e-03 -3.05817060e-05 9.99987878e-01 -2.04609751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.610281693 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.05, Z:-0.21 [[ 9.99851137e-01 -1.65367398e-02 -4.92344576e-03 9.51036824e+00] [ 1.65366619e-02 9.99863258e-01 -5.65248125e-05 -5.28644561e-02] [ 4.92370725e-03 -2.49009599e-05 9.99987878e-01 -2.08741480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.640281692999999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.05, Z:-0.21 [[ 9.99853567e-01 -1.63891501e-02 -4.92343689e-03 9.53952678e+00] [ 1.63890667e-02 9.99865689e-01 -5.72867943e-05 -5.48139311e-02] [ 4.92371450e-03 -2.34121300e-05 9.99987878e-01 -2.09313293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.670281693 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.06, Z:-0.21 [[ 9.99869553e-01 -1.53830114e-02 -4.92342745e-03 9.56772980e+00] [ 1.53829119e-02 9.99881674e-01 -5.80870728e-05 -5.69860565e-02] [ 4.92373844e-03 -1.76571552e-05 9.99987878e-01 -2.09450757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.700281692999999 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.06, Z:-0.21 [[ 9.99928470e-01 -1.09002319e-02 -4.92342408e-03 9.59630213e+00] [ 1.09000767e-02 9.99940591e-01 -5.83714669e-05 -5.82232061e-02] [ 4.92376784e-03 4.70159169e-06 9.99987878e-01 -2.06636198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.730281692999998 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.06, Z:-0.21 [[ 9.99961325e-01 -7.28760263e-03 -4.92341466e-03 9.62457443e+00] [ 7.28739970e-03 9.99973445e-01 -5.91550618e-05 -5.77017481e-02] [ 4.92371502e-03 2.32738834e-05 9.99987878e-01 -2.06432612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.760281693 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.06, Z:-0.21 [[ 9.99981389e-01 -3.60311923e-03 -4.92341131e-03 9.65222068e+00] [ 3.60287028e-03 9.99993508e-01 -5.94329836e-05 -5.69276989e-02] [ 4.92359349e-03 4.16934652e-05 9.99987878e-01 -2.06423856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.790281692999999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.05, Z:-0.21 [[ 9.99985244e-01 2.29624481e-03 -4.92340079e-03 9.68003275e+00] [-2.29656948e-03 9.99997361e-01 -6.02920988e-05 -5.47510636e-02] [ 4.92324935e-03 7.15981411e-05 9.99987878e-01 -2.06527720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.820281693 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.05, Z:-0.21 [[ 9.99980336e-01 3.88432116e-03 -4.92339727e-03 9.70778698e+00] [-3.88466648e-03 9.99992453e-01 -6.05781621e-05 -5.25226647e-02] [ 4.92312481e-03 7.97027273e-05 9.99987878e-01 -2.07268433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.850281693 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.05, Z:-0.21 [[ 9.99979574e-01 4.07582147e-03 -4.92339231e-03 9.73660892e+00] [-4.07617109e-03 9.99991691e-01 -6.09787077e-05 -4.83838155e-02] [ 4.92310286e-03 8.10460515e-05 9.99987878e-01 -2.10183631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.880281692999999 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.05, Z:-0.21 [[ 9.99982969e-01 3.13390497e-03 -4.92338954e-03 9.76566685e+00] [-3.13424427e-03 9.99995086e-01 -6.12014317e-05 -4.61969235e-02] [ 4.92317355e-03 7.66314949e-05 9.99987878e-01 -2.10428064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.910281693 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.04, Z:-0.21 [[ 9.99986179e-01 1.84461367e-03 -4.92338671e-03 9.79430843e+00] [-1.84493846e-03 9.99998296e-01 -6.14282568e-05 -4.35064297e-02] [ 4.92326501e-03 7.05107533e-05 9.99987878e-01 -2.10864462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.940281693 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.04, Z:-0.21 [[ 9.99987842e-01 2.74974301e-04 -4.92338388e-03 9.82181437e+00] [-2.75281183e-04 9.99999960e-01 -6.16539515e-05 -3.99974678e-02] [ 4.92336673e-03 6.30085169e-05 9.99987878e-01 -2.11156772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.970281692999999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.03, Z:-0.21 [[ 9.99985354e-01 -2.24787026e-03 -4.92338007e-03 9.85064734e+00] [ 2.24759246e-03 9.99997472e-01 -6.19568518e-05 -3.26612888e-02] [ 4.92350690e-03 5.08901925e-05 9.99987878e-01 -2.09208024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.000281693 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.03, Z:-0.21 [[ 9.99981075e-01 -3.68918369e-03 -4.92337726e-03 9.87827485e+00] [ 3.68892226e-03 9.99993194e-01 -6.21792503e-05 -2.89642407e-02] [ 4.92357314e-03 4.40161176e-05 9.99987878e-01 -2.06608607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.030281693 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.03, Z:-0.20 [[ 9.99975209e-01 -5.03405355e-03 -4.92337344e-03 9.90602968e+00] [ 5.03380694e-03 9.99987328e-01 -6.24803765e-05 -2.54182277e-02] [ 4.92362558e-03 3.76955162e-05 9.99987878e-01 -2.04437880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.060281692999999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.02, Z:-0.20 [[ 9.99952256e-01 -8.44074814e-03 -4.92336254e-03 9.93448040e+00] [ 8.44053865e-03 9.99964376e-01 -6.33277831e-05 -2.10478641e-02] [ 4.92372168e-03 2.17689278e-05 9.99987878e-01 -2.03573194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.090281693 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.02, Z:-0.20 [[ 9.99922484e-01 -1.14362139e-02 -4.92335968e-03 9.96368215e+00] [ 1.14360396e-02 9.99934604e-01 -6.35490941e-05 -1.90037848e-02] [ 4.92376448e-03 7.24043181e-06 9.99987878e-01 -2.04013731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.120281692999999 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.02, Z:-0.20 [[ 9.99823128e-01 -1.81514195e-02 -4.92334918e-03 9.99132809e+00] [ 1.81513227e-02 9.99835249e-01 -6.43528062e-05 -1.50623547e-02] [ 4.92370615e-03 -2.50238757e-05 9.99987878e-01 -2.03199711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.150281692999998 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.01, Z:-0.20 [[ 9.99748635e-01 -2.18729832e-02 -4.92334543e-03 1.00196728e+01] [ 2.18729301e-02 9.99760757e-01 -6.46383596e-05 -1.32755260e-02] [ 4.92358139e-03 -4.30658786e-05 9.99987878e-01 -2.01368408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.180281693 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.01, Z:-0.20 [[ 9.99636809e-01 -2.64954940e-02 -4.92333487e-03 1.00486018e+01] [ 2.64954930e-02 9.99648931e-01 -6.54332201e-05 -1.27126633e-02] [ 4.92334012e-03 -6.50367291e-05 9.99987878e-01 -1.99089133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.210281692999999 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.01, Z:-0.20 [[ 9.99601666e-01 -2.77897537e-02 -4.92333193e-03 1.00772298e+01] [ 2.77897674e-02 9.99613788e-01 -6.56534982e-05 -1.19320290e-02] [ 4.92325497e-03 -7.11909029e-05 9.99987878e-01 -1.99895148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.240281693 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.01, Z:-0.20 [[ 9.99595064e-01 -2.80262319e-02 -4.92332129e-03 1.01058103e+01] [ 2.80262445e-02 9.99607185e-01 -6.64421034e-05 -1.11477501e-02] [ 4.92324945e-03 -7.15670074e-05 9.99987878e-01 -2.01215654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.270281693 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.01, Z:-0.20 [[ 9.99596809e-01 -2.79639079e-02 -4.92331902e-03 1.01343614e+01] [ 2.79639190e-02 9.99608931e-01 -6.66096169e-05 -9.60366319e-03] [ 4.92325633e-03 -7.10925336e-05 9.99987878e-01 -2.02675929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.300281692999999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.01, Z:-0.20 [[ 9.99641041e-01 -2.63353597e-02 -4.92330923e-03 1.01630387e+01] [ 2.63353475e-02 9.99653162e-01 -6.73251547e-05 -6.98799470e-03] [ 4.92337468e-03 -6.23560716e-05 9.99987878e-01 -2.02824520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.330281693 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.01, Z:-0.20 [[ 9.99664237e-01 -2.54396249e-02 -4.92329854e-03 1.01917755e+01] [ 2.54395980e-02 9.99676359e-01 -6.80984342e-05 -6.27814780e-03] [ 4.92343755e-03 -5.71711665e-05 9.99987878e-01 -2.02686574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.360281693 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.01, Z:-0.20 [[ 9.99687463e-01 -2.45099541e-02 -4.92329554e-03 1.02203956e+01] [ 2.45099148e-02 9.99699585e-01 -6.83146573e-05 -5.18763255e-03] [ 4.92349089e-03 -5.23762480e-05 9.99987878e-01 -2.00930263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.390281692999999 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.00, Z:-0.20 [[ 9.99692929e-01 -2.42859650e-02 -4.92329328e-03 1.02487572e+01] [ 2.42859222e-02 9.99705051e-01 -6.84767881e-05 -4.32799609e-03] [ 4.92350419e-03 -5.11109568e-05 9.99987878e-01 -1.97949948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.420281693 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.00, Z:-0.20 [[ 9.99698846e-01 -2.40411835e-02 -4.92329105e-03 1.02774924e+01] [ 2.40411370e-02 9.99710968e-01 -6.86368228e-05 -4.04780614e-03] [ 4.92351817e-03 -4.97453623e-05 9.99987878e-01 -1.95724783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.450281692999999 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.00, Z:-0.19 [[ 9.99708401e-01 -2.36405011e-02 -4.92327993e-03 1.03058780e+01] [ 2.36404458e-02 9.99720523e-01 -6.94256501e-05 -4.52852668e-03] [ 4.92354524e-03 -4.69831266e-05 9.99987878e-01 -1.94230764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.480281692999998 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.01, Z:-0.20 [[ 9.99736887e-01 -2.24035427e-02 -4.92327756e-03 1.03346861e+01] [ 2.24034716e-02 9.99749008e-01 -6.95935086e-05 -5.45206415e-03] [ 4.92360099e-03 -4.07233114e-05 9.99987878e-01 -1.95995845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.510281693 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.01, Z:-0.20 [[ 9.99758200e-01 -2.14313542e-02 -4.92327522e-03 1.03636867e+01] [ 2.14312705e-02 9.99770322e-01 -6.97585454e-05 -5.21970058e-03] [ 4.92363947e-03 -3.57703650e-05 9.99987878e-01 -1.99191717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.540281692999999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:10.39, Y:-0.01, Z:-0.20 [[ 9.99820474e-01 -1.82970134e-02 -4.92326422e-03 1.03923407e+01] [ 1.82968879e-02 9.99832595e-01 -7.05261166e-05 -5.88742792e-03] [ 4.92373046e-03 -1.95669584e-05 9.99987878e-01 -2.01044217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.570281693 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.01, Z:-0.20 [[ 9.99856292e-01 -1.62221324e-02 -4.92325248e-03 1.04206669e+01] [ 1.62219778e-02 9.99868413e-01 -7.13363087e-05 -6.00784269e-03] [ 4.92376187e-03 -8.53883553e-06 9.99987878e-01 -1.99896761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.600281693 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:10.45, Y:-0.01, Z:-0.20 [[ 9.99891156e-01 -1.39081810e-02 -4.92324931e-03 1.04493876e+01] [ 1.39079973e-02 9.99903277e-01 -7.15542964e-05 -6.27780561e-03] [ 4.92376831e-03 3.07397015e-06 9.99987878e-01 -1.98964605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.630281692999999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.01, Z:-0.20 [[ 9.99943485e-01 -9.42272612e-03 -4.92324615e-03 1.04786319e+01] [ 9.42248696e-03 9.99955605e-01 -7.17713688e-05 -6.22154427e-03] [ 4.92370386e-03 2.53780900e-05 9.99987878e-01 -1.97926979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.660281693 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.01, Z:-0.20 [[ 9.99963815e-01 -6.93756922e-03 -4.92323366e-03 1.05060136e+01] [ 6.93729576e-03 9.99975934e-01 -7.26180549e-05 -5.68378910e-03] [ 4.92361897e-03 3.84614992e-05 9.99987878e-01 -1.96896219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.690281693 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.01, Z:-0.20 [[ 9.99985280e-01 -2.28086719e-03 -4.92322706e-03 1.05346389e+01] [ 2.28053512e-03 9.99997397e-01 -7.30630620e-05 -5.61971708e-03] [ 4.92338089e-03 6.18343942e-05 9.99987878e-01 -1.98936361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.720281692999999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.00, Z:-0.20 [[ 9.99987853e-01 -2.34622335e-04 -4.92321522e-03 1.05630711e+01] [ 2.34261585e-04 9.99999970e-01 -7.38519932e-05 -4.84621982e-03] [ 4.92323240e-03 7.26977760e-05 9.99987878e-01 -2.00558795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.750281693 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.00, Z:-0.20 [[ 9.99987404e-01 9.77100927e-04 -4.92320125e-03 1.05908447e+01] [-9.77480886e-04 9.99999519e-01 -7.47716544e-05 -3.16771272e-03] [ 4.92312583e-03 7.95830477e-05 9.99987878e-01 -2.00258384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.780281693 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.00, Z:-0.20 [[ 9.99986023e-01 1.92745090e-03 -4.92318654e-03 1.06185430e+01] [-1.92784708e-03 9.99998139e-01 -7.57285545e-05 -1.91300054e-03] [ 4.92303141e-03 8.52186469e-05 9.99987878e-01 -1.99664236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.810281692999999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.00, Z:-0.20 [[ 9.99982808e-01 3.18531331e-03 -4.92317164e-03 1.06466506e+01] [-3.18572943e-03 9.99994923e-01 -7.66845645e-05 -1.53493326e-03] [ 4.92290238e-03 9.23671389e-05 9.99987878e-01 -1.96704482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.840281693 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.00, Z:-0.20 [[ 9.99979378e-01 4.12393415e-03 -4.92316702e-03 1.06755459e+01] [-4.12436310e-03 9.99991492e-01 -7.69802461e-05 -9.38867758e-04] [ 4.92280767e-03 9.72835870e-05 9.99987878e-01 -1.96526809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.870281692999999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:10.70, Y:0.00, Z:-0.20 [[ 9.99962610e-01 7.10915870e-03 -4.92316344e-03 1.07038453e+01] [-7.10962494e-03 9.99974723e-01 -7.72087315e-05 1.11603961e-03] [ 4.92249011e-03 1.12207690e-04 9.99987878e-01 -1.96822545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.900281692999998 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:10.73, Y:0.00, Z:-0.20 [[ 9.99947921e-01 8.93972825e-03 -4.92314882e-03 1.07325425e+01] [-8.94022120e-03 9.99960032e-01 -7.81298754e-05 3.04248869e-03] [ 4.92225359e-03 1.22139846e-04 9.99987878e-01 -1.95819999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.930281693 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:10.76, Y:0.00, Z:-0.20 [[ 9.99948337e-01 8.89306862e-03 -4.92314517e-03 1.07618631e+01] [-8.89356213e-03 9.99960448e-01 -7.83591729e-05 3.59980241e-03] [ 4.92225360e-03 1.22139422e-04 9.99987878e-01 -1.95675589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.960281692999999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:10.79, Y:0.01, Z:-0.19 [[ 9.99933729e-01 1.04067222e-02 -4.92314150e-03 1.07908780e+01] [-1.04072351e-02 9.99945840e-01 -7.85888940e-05 5.46011233e-03] [ 4.92205701e-03 1.29819977e-04 9.99987878e-01 -1.94856050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.990281693 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:10.82, Y:0.01, Z:-0.19 [[ 9.99931011e-01 1.06647489e-02 -4.92313778e-03 1.08185710e+01] [-1.06652662e-02 9.99943121e-01 -7.88210983e-05 8.08822567e-03] [ 4.92201716e-03 1.31322235e-04 9.99987878e-01 -1.94429190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.020281693 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:10.85, Y:0.01, Z:-0.20 [[ 9.99946002e-01 9.15187731e-03 -4.92312200e-03 1.08471265e+01] [-9.15238107e-03 9.99958113e-01 -7.98046638e-05 9.11509573e-03] [ 4.92218543e-03 1.24858643e-04 9.99987878e-01 -1.96876335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.050281693000002 meters Centerline goodness : 0.998495 Centerline is valid? [True, True] Translation: X:10.88, Y:0.01, Z:-0.20 [[ 9.99961638e-01 7.24471296e-03 -4.92313029e-03 1.08753106e+01] [-7.24519108e-03 9.99973750e-01 -7.92900087e-05 8.99534380e-03] [ 4.92242663e-03 1.14955987e-04 9.99987878e-01 -2.01103444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.080281693 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:10.90, Y:0.01, Z:-0.20 [[ 9.99974708e-01 5.13286122e-03 -4.92312570e-03 1.09037664e+01] [-5.13331516e-03 9.99986821e-01 -7.95741348e-05 8.01298270e-03] [ 4.92265238e-03 1.04844078e-04 9.99987878e-01 -2.04222370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.110281693 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:10.93, Y:0.01, Z:-0.20 [[ 9.99986611e-01 1.59377886e-03 -4.92312202e-03 1.09316277e+01] [-1.59419104e-03 9.99998726e-01 -7.98010241e-05 7.25812535e-03] [ 4.92298857e-03 8.76483527e-05 9.99987878e-01 -2.04640967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.140281693000002 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:10.96, Y:0.01, Z:-0.20 [[ 9.99987573e-01 7.85703873e-04 -4.92311744e-03 1.09606622e+01] [-7.86107655e-04 9.99999688e-01 -8.00829886e-05 8.10308474e-03] [ 4.92305298e-03 8.39520937e-05 9.99987878e-01 -2.02678139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.170281693 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:10.99, Y:0.01, Z:-0.20 [[ 9.99987646e-01 6.86562798e-04 -4.92311375e-03 1.09890523e+01] [-6.86966491e-04 9.99999761e-01 -8.03091427e-05 9.56658640e-03] [ 4.92305743e-03 8.36901647e-05 9.99987878e-01 -1.99706337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.200281693 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:11.02, Y:0.01, Z:-0.20 [[ 9.99987400e-01 9.81144689e-04 -4.92310999e-03 1.10172598e+01] [-9.81553081e-04 9.99999515e-01 -8.05386427e-05 1.04295473e-02] [ 4.92302858e-03 8.53699217e-05 9.99987878e-01 -1.99327582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.230281693000002 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:11.05, Y:0.01, Z:-0.20 [[ 9.99987218e-01 1.15150334e-03 -4.92310531e-03 1.10464987e+01] [-1.15191520e-03 9.99999333e-01 -8.08240073e-05 1.19212910e-02] [ 4.92300896e-03 8.64939741e-05 9.99987878e-01 -2.01111433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.260281693 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:11.07, Y:0.01, Z:-0.21 [[ 9.99985694e-01 2.09139801e-03 -4.92310157e-03 1.10744492e+01] [-2.09182237e-03 9.99997809e-01 -8.10512958e-05 1.48912119e-02] [ 4.92292127e-03 9.13483903e-05 9.99987878e-01 -2.05339195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.290281693 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:11.10, Y:0.02, Z:-0.21 [[ 9.99986107e-01 1.88362125e-03 -4.92309690e-03 1.11027681e+01] [-1.88404449e-03 9.99998222e-01 -8.13338300e-05 1.60429823e-02] [ 4.92293494e-03 9.06080336e-05 9.99987878e-01 -2.05254312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.320281693000002 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:11.13, Y:0.02, Z:-0.20 [[ 9.99987479e-01 8.97248954e-04 -4.92309313e-03 1.11317217e+01] [-8.97661361e-04 9.99999594e-01 -8.15609796e-05 1.66281640e-02] [ 4.92301795e-03 8.59792289e-05 9.99987878e-01 -2.03716336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.350281693 meters Centerline goodness : 0.998588 Centerline is valid? [True, True] Translation: X:11.16, Y:0.02, Z:-0.20 [[ 9.99981244e-01 -3.64345292e-03 -4.92308937e-03 1.11601793e+01] [ 3.64309441e-03 9.99993361e-01 -8.17876063e-05 1.84347907e-02] [ 4.92335467e-03 6.38507929e-05 9.99987878e-01 -1.99205220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.380281693 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:11.19, Y:0.02, Z:-0.20 [[ 9.99966464e-01 -6.54476285e-03 -4.92308555e-03 1.11878452e+01] [ 6.54443837e-03 9.99978582e-01 -8.20169010e-05 1.94452844e-02] [ 4.92351689e-03 4.97953205e-05 9.99987878e-01 -1.97058051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.410281693 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:11.22, Y:0.02, Z:-0.20 [[ 9.99947914e-01 -8.94051345e-03 -4.92308043e-03 1.12156044e+01] [ 8.94021650e-03 9.99960032e-01 -8.23229080e-05 2.06397433e-02] [ 4.92361968e-03 3.83052152e-05 9.99987878e-01 -1.95648015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.440281693 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:11.24, Y:0.02, Z:-0.20 [[ 9.99918495e-01 -1.17799341e-02 -4.92307572e-03 1.12445528e+01] [ 1.17796701e-02 9.99930614e-01 -8.26035482e-05 2.43980884e-02] [ 4.92370720e-03 2.46046075e-05 9.99987878e-01 -1.96364022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.470281693 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:11.27, Y:0.03, Z:-0.20 [[ 9.99913385e-01 -1.22059875e-02 -4.92306273e-03 1.12729742e+01] [ 1.22057250e-02 9.99925504e-01 -8.33710880e-05 2.69391301e-02] [ 4.92371360e-03 2.32743171e-05 9.99987878e-01 -1.96397810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.500281693 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:11.30, Y:0.03, Z:-0.19 [[ 9.99905431e-01 -1.28410732e-02 -4.92303987e-03 1.13014092e+01] [ 1.28408118e-02 9.99917550e-01 -8.47157978e-05 2.89378979e-02] [ 4.92372180e-03 2.14919580e-05 9.99987878e-01 -1.94835341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.530281693000003 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:11.33, Y:0.03, Z:-0.20 [[ 9.99895730e-01 -1.35754647e-02 -4.92305201e-03 1.13299846e+01] [ 1.35752156e-02 9.99907849e-01 -8.40039467e-05 3.00004559e-02] [ 4.92373874e-03 1.71636948e-05 9.99987878e-01 -1.95170641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.560281693 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:11.36, Y:0.03, Z:-0.20 [[ 9.99877707e-01 -1.48436866e-02 -4.92304914e-03 1.13592167e+01] [ 1.48434521e-02 9.99889826e-01 -8.41718983e-05 3.12074993e-02] [ 4.92375617e-03 1.10865604e-05 9.99987878e-01 -1.96419859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.590281693 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:11.39, Y:0.03, Z:-0.20 [[ 9.99844367e-01 -1.69412091e-02 -4.92303568e-03 1.13879574e+01] [ 1.69409961e-02 9.99856487e-01 -8.49523842e-05 3.14565014e-02] [ 4.92376835e-03 1.53803453e-06 9.99987878e-01 -1.96973060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.620281693000003 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:11.42, Y:0.03, Z:-0.20 [[ 9.99821300e-01 -1.82519058e-02 -4.92302132e-03 1.14166395e+01] [ 1.82517047e-02 9.99833420e-01 -8.57762273e-05 3.11231381e-02] [ 4.92376682e-03 -4.09263207e-06 9.99987878e-01 -1.95396764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.650281693 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:11.45, Y:0.03, Z:-0.20 [[ 9.99788117e-01 -1.99871420e-02 -4.92301827e-03 1.14458481e+01] [ 1.99869611e-02 9.99800237e-01 -8.59509020e-05 3.11377509e-02] [ 4.92375275e-03 -1.24634840e-05 9.99987878e-01 -1.95061599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.680281693 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:11.47, Y:0.03, Z:-0.19 [[ 9.99760048e-01 -2.13450385e-02 -4.92300391e-03 1.14742035e+01] [ 2.13448700e-02 9.99772169e-01 -8.67655641e-05 3.15034849e-02] [ 4.92373431e-03 -1.83361342e-05 9.99987878e-01 -1.94815328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.710281693000002 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:11.50, Y:0.03, Z:-0.20 [[ 9.99749592e-01 -2.18292659e-02 -4.92300084e-03 1.15030119e+01] [ 2.18291024e-02 9.99761713e-01 -8.69393445e-05 3.20140799e-02] [ 4.92372558e-03 -2.05471155e-05 9.99987878e-01 -1.95586241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.740281693 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:11.53, Y:0.03, Z:-0.19 [[ 9.99735555e-01 -2.24629454e-02 -4.92299792e-03 1.15329233e+01] [ 2.24627888e-02 9.99747676e-01 -8.71046106e-05 3.13301948e-02] [ 4.92371236e-03 -2.35026863e-05 9.99987878e-01 -1.94285301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.770281693 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:11.56, Y:0.03, Z:-0.19 [[ 9.99730625e-01 -2.26813009e-02 -4.92299592e-03 1.15624799e+01] [ 2.26811464e-02 9.99742746e-01 -8.72175448e-05 3.09135483e-02] [ 4.92370767e-03 -2.44651404e-05 9.99987878e-01 -1.93555431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.800281693000002 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:11.59, Y:0.03, Z:-0.19 [[ 9.99719147e-01 -2.31817095e-02 -4.92299388e-03 1.15919280e+01] [ 2.31815606e-02 9.99731268e-01 -8.73323280e-05 2.97948614e-02] [ 4.92369543e-03 -2.68148803e-05 9.99987878e-01 -1.92532537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.830281693 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:11.62, Y:0.03, Z:-0.19 [[ 9.99698429e-01 -2.40585780e-02 -4.92299186e-03 1.16214243e+01] [ 2.40584390e-02 9.99710550e-01 -8.74459666e-05 2.87980884e-02] [ 4.92367073e-03 -3.10199042e-05 9.99987878e-01 -1.92363164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.860281693 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:11.65, Y:0.03, Z:-0.19 [[ 9.99695824e-01 -2.41665671e-02 -4.92298985e-03 1.16497390e+01] [ 2.41664289e-02 9.99707945e-01 -8.75593743e-05 2.90072777e-02] [ 4.92366808e-03 -3.14383434e-05 9.99987878e-01 -1.94198280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.890281693000002 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:11.68, Y:0.03, Z:-0.20 [[ 9.99732723e-01 -2.25886467e-02 -4.92298683e-03 1.16785454e+01] [ 2.25884886e-02 9.99744844e-01 -8.77285449e-05 3.10889067e-02] [ 4.92371237e-03 -2.34977347e-05 9.99987878e-01 -1.95221789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.920281693 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:11.71, Y:0.03, Z:-0.20 [[ 9.99787535e-01 -2.00162077e-02 -4.92297363e-03 1.17069106e+01] [ 2.00160147e-02 9.99799656e-01 -8.84634938e-05 3.27618493e-02] [ 4.92375804e-03 -1.00936142e-05 9.99987878e-01 -1.97802840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.950281693 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:11.74, Y:0.03, Z:-0.20 [[ 9.99869852e-01 -1.53636949e-02 -4.92297057e-03 1.17350013e+01] [ 1.53634447e-02 9.99881971e-01 -8.86330064e-05 3.42752451e-02] [ 4.92375125e-03 1.29876847e-05 9.99987878e-01 -2.01896025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.980281693000002 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:11.76, Y:0.03, Z:-0.20 [[ 9.99887938e-01 -1.41377466e-02 -4.92296578e-03 1.17638214e+01] [ 1.41374802e-02 9.99900057e-01 -8.88986031e-05 3.49483909e-02] [ 4.92373059e-03 1.92903096e-05 9.99987878e-01 -2.00464552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.010281693 meters Centerline goodness : 0.998099 Centerline is valid? [True, True] Translation: X:11.79, Y:0.03, Z:-0.19 [[ 9.99878259e-01 -1.48064797e-02 -4.92295088e-03 1.17929177e+01] [ 1.48062175e-02 9.99890378e-01 -8.97160869e-05 3.42642545e-02] [ 4.92373960e-03 1.68148834e-05 9.99987878e-01 -1.89885910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.040281693 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:11.82, Y:0.03, Z:-0.20 [[ 9.99844826e-01 -1.69141635e-02 -4.92293561e-03 1.18214294e+01] [ 1.69139227e-02 9.99856945e-01 -9.05464851e-05 3.30426234e-02] [ 4.92376288e-03 7.26628219e-06 9.99987878e-01 -1.95948406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.070281693000002 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:11.85, Y:0.03, Z:-0.20 [[ 9.99808790e-01 -1.89247810e-02 -4.92293235e-03 1.18501051e+01] [ 1.89245637e-02 9.99820910e-01 -9.07229600e-05 3.11834825e-02] [ 4.92376762e-03 -2.45873385e-06 9.99987878e-01 -1.96540164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.100281693 meters Centerline goodness : 0.998354 Centerline is valid? [True, True] Translation: X:11.88, Y:0.03, Z:-0.19 [[ 9.99764967e-01 -2.11133884e-02 -4.92291684e-03 1.18784775e+01] [ 2.11131936e-02 9.99777087e-01 -9.15569390e-05 2.85826920e-02] [ 4.92375254e-03 -1.24030762e-05 9.99987878e-01 -1.93534422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.130281693 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:11.91, Y:0.03, Z:-0.20 [[ 9.99746288e-01 -2.19800772e-02 -4.92291354e-03 1.19068618e+01] [ 2.19798920e-02 9.99758409e-01 -9.17342846e-05 2.76908926e-02] [ 4.92374053e-03 -1.64940973e-05 9.99987878e-01 -2.00565296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.160281693 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:11.94, Y:0.03, Z:-0.20 [[ 9.99726258e-01 -2.28729991e-02 -4.92291026e-03 1.19357159e+01] [ 2.28728238e-02 9.99738379e-01 -9.19101166e-05 2.62097041e-02] [ 4.92372458e-03 -2.07159019e-05 9.99987878e-01 -1.99805848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.190281693 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:11.96, Y:0.02, Z:-0.20 [[ 9.99703969e-01 -2.38272662e-02 -4.92289517e-03 1.19648184e+01] [ 2.38270985e-02 9.99716090e-01 -9.27113766e-05 2.40715498e-02] [ 4.92370657e-03 -2.46143770e-05 9.99987878e-01 -1.98084169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.220281693 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:11.99, Y:0.02, Z:-0.20 [[ 9.99687550e-01 -2.45064937e-02 -4.92287974e-03 1.19939404e+01] [ 2.45063303e-02 9.99699670e-01 -9.35234534e-05 1.82662001e-02] [ 4.92369319e-03 -2.71474848e-05 9.99987878e-01 -1.95849691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.250281693 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:12.02, Y:0.02, Z:-0.20 [[ 9.99701884e-01 -2.39146200e-02 -4.92286351e-03 1.20226084e+01] [ 2.39144452e-02 9.99714004e-01 -9.43702076e-05 1.56109894e-02] [ 4.92371242e-03 -2.33854752e-05 9.99987878e-01 -1.96422490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.280281693000003 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:12.05, Y:0.01, Z:-0.20 [[ 9.99737495e-01 -2.23764881e-02 -4.92286005e-03 1.20519633e+01] [ 2.23762938e-02 9.99749615e-01 -9.45503486e-05 1.13254454e-02] [ 4.92374314e-03 -1.56298343e-05 9.99987878e-01 -1.97769200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.310281693 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:12.08, Y:0.01, Z:-0.20 [[ 9.99794011e-01 -1.96901112e-02 -4.92298892e-03 1.20792588e+01] [ 1.96899172e-02 9.99806131e-01 -8.78617160e-05 9.63409979e-03] [ 4.92376451e-03 -9.08962688e-06 9.99987878e-01 -1.97691969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.340281693 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:12.11, Y:0.01, Z:-0.20 [[ 9.99841760e-01 -1.70944428e-02 -4.92284369e-03 1.21079306e+01] [ 1.70941805e-02 9.99853879e-01 -9.53588475e-05 9.14640223e-03] [ 4.92375447e-03 1.11917795e-05 9.99987878e-01 -1.97329659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.370281693000003 meters Centerline goodness : 0.998591 Centerline is valid? [True, True] Translation: X:12.14, Y:0.01, Z:-0.19 [[ 9.99923613e-01 -1.13373024e-02 -4.92282815e-03 1.21358838e+01] [ 1.13369664e-02 9.99935730e-01 -9.61547925e-05 8.46452569e-03] [ 4.92360189e-03 4.03375101e-05 9.99987878e-01 -1.94189876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.400281693 meters Centerline goodness : 0.998489 Centerline is valid? [True, True] Translation: X:12.16, Y:0.01, Z:-0.19 [[ 9.99945418e-01 -9.21562650e-03 -4.92281252e-03 1.21649125e+01] [ 9.21526088e-03 9.99957534e-01 -9.69482864e-05 9.17674711e-03] [ 4.92349690e-03 5.15779931e-05 9.99987878e-01 -1.92811313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.430281693 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:12.19, Y:0.01, Z:-0.19 [[ 9.99958360e-01 -7.68406945e-03 -4.92279639e-03 1.21938167e+01] [ 7.68368128e-03 9.99970475e-01 -9.77602282e-05 9.69281729e-03] [ 4.92340225e-03 5.99309590e-05 9.99987878e-01 -1.92342372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.460281693000002 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:12.22, Y:0.01, Z:-0.19 [[ 9.99961229e-01 -7.30115018e-03 -4.92277994e-03 1.22226840e+01] [ 7.30075332e-03 9.99973344e-01 -9.85820283e-05 7.23839477e-03] [ 4.92336848e-03 6.26382042e-05 9.99987878e-01 -1.94224705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.490281693 meters Centerline goodness : 0.998591 Centerline is valid? [True, True] Translation: X:12.25, Y:0.01, Z:-0.20 [[ 9.99954662e-01 -8.15104426e-03 -4.92276342e-03 1.22508918e+01] [ 8.15065367e-03 9.99966778e-01 -9.94000994e-05 5.33679804e-03] [ 4.92341009e-03 5.92718531e-05 9.99987878e-01 -1.95902639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.520281693 meters Centerline goodness : 0.998494 Centerline is valid? [True, True] Translation: X:12.28, Y:0.00, Z:-0.20 [[ 9.99950178e-01 -8.68377004e-03 -4.92274438e-03 1.22785134e+01] [ 8.68338131e-03 9.99962294e-01 -1.00334144e-04 3.53264162e-03] [ 4.92343004e-03 5.75830789e-05 9.99987878e-01 -1.97227762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.550281693000002 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:12.31, Y:0.00, Z:-0.20 [[ 9.99947958e-01 -8.93575196e-03 -4.92273846e-03 1.23060743e+01] [ 8.93536486e-03 9.99960074e-01 -1.00623608e-04 2.31392954e-03] [ 4.92344107e-03 5.66319075e-05 9.99987878e-01 -2.00306085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.580281693 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:12.33, Y:0.00, Z:-0.20 [[ 9.99947571e-01 -8.97897019e-03 -4.92271931e-03 1.23341806e+01] [ 8.97857904e-03 9.99959687e-01 -1.01552292e-04 2.60201751e-03] [ 4.92343269e-03 5.73479429e-05 9.99987878e-01 -2.00201298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.610281693 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:12.36, Y:0.00, Z:-0.20 [[ 9.99955542e-01 -8.04240917e-03 -4.92271334e-03 1.23622498e+01] [ 8.04200525e-03 9.99967657e-01 -1.01840460e-04 2.12801232e-03] [ 4.92337317e-03 6.22474455e-05 9.99987878e-01 -1.95926296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.640281693000002 meters Centerline goodness : 0.998472 Centerline is valid? [True, True] Translation: X:12.39, Y:0.00, Z:-0.19 [[ 9.99963766e-01 -6.94498658e-03 -4.92269341e-03 1.23897070e+01] [ 6.94456467e-03 9.99975881e-01 -1.02795256e-04 3.22288014e-03] [ 4.92328859e-03 6.86055685e-05 9.99987878e-01 -1.94835799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.670281693 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:12.42, Y:0.01, Z:-0.20 [[ 9.99975449e-01 -4.98693132e-03 -4.92268370e-03 1.24177562e+01] [ 4.98648342e-03 9.99987562e-01 -1.03257852e-04 5.01328981e-03] [ 4.92313742e-03 7.87084358e-05 9.99987878e-01 -1.96639648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.700281693 meters Centerline goodness : 0.998118 Centerline is valid? [True, True] Translation: X:12.45, Y:0.01, Z:-0.20 [[ 9.99987883e-01 -1.77991813e-05 -4.92267772e-03 1.24458065e+01] [ 1.72896851e-05 9.99999994e-01 -1.03542358e-04 9.29245542e-03] [ 4.92267954e-03 1.03455991e-04 9.99987878e-01 -2.02877478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.730281693000002 meters Centerline goodness : 0.998520 Centerline is valid? [True, True] Translation: X:12.47, Y:0.01, Z:-0.20 [[ 9.99986913e-01 1.39342760e-03 -4.92265866e-03 1.24734252e+01] [-1.39395861e-03 9.99999023e-01 -1.04440788e-04 1.16150977e-02] [ 4.92250832e-03 1.11301403e-04 9.99987878e-01 -2.03251551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.760281693 meters Centerline goodness : 0.998107 Centerline is valid? [True, True] Translation: X:12.50, Y:0.01, Z:-0.20 [[ 9.99985939e-01 1.97210803e-03 -4.92265273e-03 1.25021247e+01] [-1.97264742e-03 9.99998049e-01 -1.04719462e-04 1.41111099e-02] [ 4.92243661e-03 1.14428648e-04 9.99987878e-01 -2.01122710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.790281693 meters Centerline goodness : 0.998270 Centerline is valid? [True, True] Translation: X:12.53, Y:0.02, Z:-0.20 [[ 9.99986098e-01 1.88989685e-03 -4.92264794e-03 1.25301713e+01] [-1.89043635e-03 9.99998208e-01 -1.04944350e-04 1.72772711e-02] [ 4.92244078e-03 1.14248844e-04 9.99987878e-01 -1.97916293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.820281693000002 meters Centerline goodness : 0.998026 Centerline is valid? [True, True] Translation: X:12.56, Y:0.02, Z:-0.19 [[ 9.99987037e-01 1.30158205e-03 -4.92264199e-03 1.25587732e+01] [-1.30211579e-03 9.99999147e-01 -1.05222709e-04 2.32305577e-02] [ 4.92250083e-03 1.11631194e-04 9.99987878e-01 -1.94518156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.850281693 meters Centerline goodness : 0.998026 Centerline is valid? [True, True] Translation: X:12.59, Y:0.02, Z:-0.19 [[ 9.99987097e-01 1.25458864e-03 -4.92263704e-03 1.25880916e+01] [-1.25512294e-03 9.99999207e-01 -1.05453562e-04 2.39487552e-02] [ 4.92250083e-03 1.11630716e-04 9.99987878e-01 -1.94373745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.880281693 meters Centerline goodness : 0.998349 Centerline is valid? [True, True] Translation: X:12.62, Y:0.03, Z:-0.19 [[ 9.99987187e-01 1.18047710e-03 -4.92263207e-03 1.26155536e+01] [-1.18101165e-03 9.99999297e-01 -1.05684893e-04 2.75349494e-02] [ 4.92250385e-03 1.11497225e-04 9.99987878e-01 -1.94575449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.910281693 meters Centerline goodness : 0.998050 Centerline is valid? [True, True] Translation: X:12.64, Y:0.04, Z:-0.19 [[ 9.99984866e-01 2.45685721e-03 -4.92262588e-03 1.26427147e+01] [-2.45740863e-03 9.99996975e-01 -1.05972523e-04 3.54424533e-02] [ 4.92235063e-03 1.18067822e-04 9.99987878e-01 -1.92997015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.940281693 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:12.67, Y:0.04, Z:-0.19 [[ 9.99982558e-01 3.26371186e-03 -4.92261996e-03 1.26713895e+01] [-3.26427440e-03 9.99994667e-01 -1.06246779e-04 4.04411882e-02] [ 4.92224695e-03 1.22313708e-04 9.99987878e-01 -1.92203368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.970281693 meters Centerline goodness : 0.998440 Centerline is valid? [True, True] Translation: X:12.70, Y:0.05, Z:-0.19 [[ 9.99980784e-01 3.76820879e-03 -4.92261500e-03 1.26985936e+01] [-3.76877857e-03 9.99992892e-01 -1.06476066e-04 4.92403243e-02] [ 4.92217879e-03 1.25026266e-04 9.99987878e-01 -1.91351889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.000281693 meters Centerline goodness : 0.998149 Centerline is valid? [True, True] Translation: X:12.73, Y:0.05, Z:-0.19 [[ 9.99984179e-01 2.72192480e-03 -4.92260882e-03 1.27270420e+01] [-2.72248331e-03 9.99996288e-01 -1.06761324e-04 5.28024491e-02] [ 4.92229995e-03 1.20161356e-04 9.99987878e-01 -1.91951078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.030281693 meters Centerline goodness : 0.998387 Centerline is valid? [True, True] Translation: X:12.75, Y:0.06, Z:-0.19 [[ 9.99987373e-01 1.01129117e-03 -4.92260411e-03 1.27549866e+01] [-1.01183003e-03 9.99999482e-01 -1.06977770e-04 5.58494105e-02] [ 4.92249338e-03 1.11957257e-04 9.99987878e-01 -1.92456420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.060281693 meters Centerline goodness : 0.998441 Centerline is valid? [True, True] Translation: X:12.78, Y:0.06, Z:-0.19 [[ 9.99987451e-01 -9.30479428e-04 -4.92259824e-03 1.27833337e+01] [ 9.29962754e-04 9.99999562e-01 -1.07247503e-04 5.89865502e-02] [ 4.92269587e-03 1.02668324e-04 9.99987878e-01 -1.93239817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.090281693 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:12.81, Y:0.07, Z:-0.19 [[ 9.99977417e-01 -4.57538313e-03 -4.92259317e-03 1.28114132e+01] [ 4.57490946e-03 9.99989529e-01 -1.07479457e-04 6.59304249e-02] [ 4.92303339e-03 8.49566116e-05 9.99987878e-01 -1.92182427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.120281693000003 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:12.84, Y:0.07, Z:-0.19 [[ 9.99970997e-01 -5.81141805e-03 -4.92258687e-03 1.28403433e+01] [ 5.81095794e-03 9.99983110e-01 -1.07767262e-04 6.94598086e-02] [ 4.92313001e-03 7.91591910e-05 9.99987878e-01 -1.89026223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.150281693 meters Centerline goodness : 0.998350 Centerline is valid? [True, True] Translation: X:12.87, Y:0.08, Z:-0.19 [[ 9.99966581e-01 -6.52728543e-03 -4.92257041e-03 1.28693802e+01] [ 6.52683032e-03 9.99978694e-01 -1.08513974e-04 7.51733622e-02] [ 4.92317383e-03 7.63815657e-05 9.99987878e-01 -1.85684608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.180281693 meters Centerline goodness : 0.998225 Centerline is valid? [True, True] Translation: X:12.90, Y:0.08, Z:-0.19 [[ 9.99962673e-01 -7.10074558e-03 -4.92255268e-03 1.28968607e+01] [ 7.10029349e-03 9.99974787e-01 -1.09312459e-04 7.83199284e-02] [ 4.92320476e-03 7.43568098e-05 9.99987878e-01 -1.86591968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.210281693000002 meters Centerline goodness : 0.998316 Centerline is valid? [True, True] Translation: X:12.93, Y:0.08, Z:-0.19 [[ 9.99947919e-01 -8.94029028e-03 -4.92254641e-03 1.29255754e+01] [ 8.93985908e-03 9.99960033e-01 -1.09594050e-04 8.12348517e-02] [ 4.92332947e-03 6.55814709e-05 9.99987878e-01 -1.90058173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.240281693 meters Centerline goodness : 0.997659 Centerline is valid? [True, True] Translation: X:12.95, Y:0.08, Z:-0.20 [[ 9.99861057e-01 -1.59259535e-02 -4.92252887e-03 1.29539658e+01] [ 1.59256031e-02 9.99873173e-01 -1.10376145e-04 8.36678105e-02] [ 4.92366241e-03 3.19665684e-05 9.99987878e-01 -1.95955076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.270281693 meters Centerline goodness : 0.997656 Centerline is valid? [True, True] Translation: X:12.98, Y:0.08, Z:-0.20 [[ 9.99779171e-01 -2.04298507e-02 -4.92252384e-03 1.29823115e+01] [ 2.04295538e-02 9.99791289e-01 -1.10600171e-04 8.42526152e-02] [ 4.92375600e-03 1.00107816e-05 9.99987878e-01 -1.96336471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.300281693000002 meters Centerline goodness : 0.997960 Centerline is valid? [True, True] Translation: X:13.01, Y:0.08, Z:-0.20 [[ 9.99686794e-01 -2.45373584e-02 -4.92251906e-03 1.30115400e+01] [ 2.45371103e-02 9.99698914e-01 -1.10812303e-04 8.44328342e-02] [ 4.92375600e-03 -1.00067976e-05 9.99987878e-01 -1.95501400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.330281693 meters Centerline goodness : 0.998008 Centerline is valid? [True, True] Translation: X:13.04, Y:0.08, Z:-0.19 [[ 9.99550747e-01 -2.95647425e-02 -4.92251658e-03 1.30400843e+01] [ 2.95645547e-02 9.99562867e-01 -1.10922499e-04 8.36633203e-02] [ 4.92364418e-03 -3.46593439e-05 9.99987878e-01 -1.93925301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.360281693 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:13.07, Y:0.08, Z:-0.20 [[ 9.99522904e-01 -3.04915400e-02 -4.92251198e-03 1.30689210e+01] [ 3.04913625e-02 9.99535024e-01 -1.11126266e-04 8.40402040e-02] [ 4.92361154e-03 -3.90208495e-05 9.99987878e-01 -1.95432830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.390281693000002 meters Centerline goodness : 0.997966 Centerline is valid? [True, True] Translation: X:13.10, Y:0.09, Z:-0.20 [[ 9.99525058e-01 -3.04208276e-02 -4.92250831e-03 1.30978641e+01] [ 3.04206484e-02 9.99537179e-01 -1.11288507e-04 8.65632461e-02] [ 4.92361556e-03 -3.85102433e-05 9.99987878e-01 -1.98987277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.420281693 meters Centerline goodness : 0.997479 Centerline is valid? [True, True] Translation: X:13.13, Y:0.09, Z:-0.20 [[ 9.99536795e-01 -3.00327135e-02 -4.92250466e-03 1.31265448e+01] [ 3.00325288e-02 9.99548916e-01 -1.11449666e-04 8.91188236e-02] [ 4.92363133e-03 -3.64372217e-05 9.99987878e-01 -1.99658626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.450281693 meters Centerline goodness : 0.997362 Centerline is valid? [True, True] Translation: X:13.16, Y:0.09, Z:-0.20 [[ 9.99549688e-01 -2.96005109e-02 -4.92248759e-03 1.31559850e+01] [ 2.96003173e-02 9.99561808e-01 -1.12198533e-04 9.11553012e-02] [ 4.92365174e-03 -3.35591859e-05 9.99987878e-01 -1.98461673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.480281693000002 meters Centerline goodness : 0.997455 Centerline is valid? [True, True] Translation: X:13.18, Y:0.09, Z:-0.20 [[ 9.99580156e-01 -2.85531008e-02 -4.92266127e-03 1.31843596e+01] [ 2.85529319e-02 9.99592276e-01 -1.04597120e-04 9.14140474e-02] [ 4.92364076e-03 -3.60032064e-05 9.99987878e-01 -2.00795452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.510281693 meters Centerline goodness : 0.997183 Centerline is valid? [True, True] Translation: X:13.21, Y:0.09, Z:-0.20 [[ 9.99566142e-01 -2.90395752e-02 -4.92247441e-03 1.32129134e+01] [ 2.90393720e-02 9.99578262e-01 -1.12754740e-04 8.92285393e-02] [ 4.92367277e-03 -3.02397451e-05 9.99987878e-01 -2.00121913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.540281693 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:13.24, Y:0.09, Z:-0.20 [[ 9.99529536e-01 -3.02733691e-02 -4.92247073e-03 1.32430545e+01] [ 3.02731801e-02 9.99541656e-01 -1.12915403e-04 8.88085957e-02] [ 4.92363287e-03 -3.61565623e-05 9.99987878e-01 -1.97161082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.570281693000002 meters Centerline goodness : 0.997140 Centerline is valid? [True, True] Translation: X:13.27, Y:0.09, Z:-0.20 [[ 9.99477811e-01 -3.19354877e-02 -4.92246806e-03 1.32714074e+01] [ 3.19353183e-02 9.99489931e-01 -1.13031583e-04 8.87650615e-02] [ 4.92356698e-03 -4.42280247e-05 9.99987878e-01 -1.96110500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.600281693 meters Centerline goodness : 0.997257 Centerline is valid? [True, True] Translation: X:13.30, Y:0.09, Z:-0.19 [[ 9.99391270e-01 -3.45377941e-02 -4.92246408e-03 1.33008949e+01] [ 3.45376555e-02 9.99403391e-01 -1.13204413e-04 8.85943371e-02] [ 4.92343713e-03 -5.68748669e-05 9.99987878e-01 -1.93733068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.630281693 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:13.33, Y:0.09, Z:-0.19 [[ 9.99381196e-01 -3.48280771e-02 -4.92246147e-03 1.33305362e+01] [ 3.48279414e-02 9.99393317e-01 -1.13318070e-04 8.89053047e-02] [ 4.92342174e-03 -5.81912513e-05 9.99987878e-01 -1.92998889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.660281693 meters Centerline goodness : 0.997127 Centerline is valid? [True, True] Translation: X:13.36, Y:0.09, Z:-0.19 [[ 9.99412292e-01 -3.39240385e-02 -4.92245881e-03 1.33588314e+01] [ 3.39238912e-02 9.99424413e-01 -1.13433187e-04 9.03837127e-02] [ 4.92347362e-03 -5.36224354e-05 9.99987878e-01 -1.93007299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.690281693 meters Centerline goodness : 0.997021 Centerline is valid? [True, True] Translation: X:13.39, Y:0.09, Z:-0.19 [[ 9.99459371e-01 -3.25074718e-02 -4.92245486e-03 1.33885251e+01] [ 3.25073066e-02 9.99471491e-01 -1.13604695e-04 9.16989443e-02] [ 4.92354630e-03 -4.64724722e-05 9.99987878e-01 -1.91320071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.720281693 meters Centerline goodness : 0.996993 Centerline is valid? [True, True] Translation: X:13.42, Y:0.09, Z:-0.19 [[ 9.99505673e-01 -3.10512223e-02 -4.92245218e-03 1.34172244e+01] [ 3.10510388e-02 9.99517794e-01 -1.13720633e-04 9.30773299e-02] [ 4.92360970e-03 -3.91828356e-05 9.99987878e-01 -1.90048340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.750281693 meters Centerline goodness : 0.996868 Centerline is valid? [True, True] Translation: X:13.45, Y:0.09, Z:-0.19 [[ 9.99525115e-01 -3.04189892e-02 -4.92244817e-03 1.34458643e+01] [ 3.04187972e-02 9.99537235e-01 -1.13893617e-04 9.35877370e-02] [ 4.92363477e-03 -3.58954225e-05 9.99987878e-01 -1.86385545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.780281693 meters Centerline goodness : 0.996962 Centerline is valid? [True, True] Translation: X:13.47, Y:0.09, Z:-0.19 [[ 9.99513772e-01 -3.07894284e-02 -4.92242955e-03 1.34748860e+01] [ 3.07892370e-02 9.99525892e-01 -1.14692789e-04 9.46463663e-02] [ 4.92362712e-03 -3.69208279e-05 9.99987878e-01 -1.85912331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.810281693 meters Centerline goodness : 0.996767 Centerline is valid? [True, True] Translation: X:13.50, Y:0.10, Z:-0.19 [[ 9.99505413e-01 -3.10596056e-02 -4.92242433e-03 1.35026412e+01] [ 3.10594163e-02 9.99517533e-01 -1.14916471e-04 9.62649237e-02] [ 4.92361869e-03 -3.80279921e-05 9.99987878e-01 -1.85900047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.840281693 meters Centerline goodness : 0.996234 Centerline is valid? [True, True] Translation: X:13.53, Y:0.10, Z:-0.19 [[ 9.99467067e-01 -3.22699990e-02 -4.92232075e-03 1.35322995e+01] [ 3.22698025e-02 9.99479187e-01 -1.19349914e-04 9.81654404e-02] [ 4.92360856e-03 -3.95560105e-05 9.99987878e-01 -1.88603974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.870281693000003 meters Centerline goodness : 0.996623 Centerline is valid? [True, True] Translation: X:13.56, Y:0.10, Z:-0.19 [[ 9.99454984e-01 -3.26420834e-02 -4.92241074e-03 1.35611277e+01] [ 3.26419104e-02 9.99467104e-01 -1.15515240e-04 9.81589574e-02] [ 4.92355826e-03 -4.52246078e-05 9.99987878e-01 -1.90044760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.900281693 meters Centerline goodness : 0.996804 Centerline is valid? [True, True] Translation: X:13.59, Y:0.10, Z:-0.19 [[ 9.99443695e-01 -3.29859273e-02 -4.92240669e-03 1.35903405e+01] [ 3.29857575e-02 9.99455815e-01 -1.15687499e-04 9.83345064e-02] [ 4.92354405e-03 -4.67461724e-05 9.99987878e-01 -1.91588536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.930281693 meters Centerline goodness : 0.996640 Centerline is valid? [True, True] Translation: X:13.62, Y:0.10, Z:-0.19 [[ 9.99444659e-01 -3.29567042e-02 -4.92240401e-03 1.36195276e+01] [ 3.29565336e-02 9.99456779e-01 -1.15801456e-04 9.90549052e-02] [ 4.92354649e-03 -4.64882262e-05 9.99987878e-01 -1.93493747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.960281693000002 meters Centerline goodness : 0.996472 Centerline is valid? [True, True] Translation: X:13.65, Y:0.10, Z:-0.19 [[ 9.99449158e-01 -3.28199798e-02 -4.92240130e-03 1.36484406e+01] [ 3.28198070e-02 9.99461278e-01 -1.15916636e-04 9.90340969e-02] [ 4.92355387e-03 -4.56994762e-05 9.99987878e-01 -1.94602738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.990281693 meters Centerline goodness : 0.996302 Centerline is valid? [True, True] Translation: X:13.68, Y:0.10, Z:-0.20 [[ 9.99470805e-01 -3.21540008e-02 -4.92239643e-03 1.36769010e+01] [ 3.21538188e-02 9.99482926e-01 -1.16122973e-04 9.66278443e-02] [ 4.92358500e-03 -4.22123220e-05 9.99987878e-01 -1.95459301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.020281693 meters Centerline goodness : 0.996333 Centerline is valid? [True, True] Translation: X:13.71, Y:0.10, Z:-0.19 [[ 9.99489159e-01 -3.15783383e-02 -4.92239240e-03 1.37053521e+01] [ 3.15781485e-02 9.99501279e-01 -1.16293408e-04 9.65590724e-02] [ 4.92360985e-03 -3.92060374e-05 9.99987878e-01 -1.94743064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.050281693000002 meters Centerline goodness : 0.996293 Centerline is valid? [True, True] Translation: X:13.73, Y:0.10, Z:-0.19 [[ 9.99505670e-01 -3.10513507e-02 -4.92237359e-03 1.37339298e+01] [ 3.10511506e-02 9.99517790e-01 -1.17084394e-04 9.71015638e-02] [ 4.92363560e-03 -3.58188478e-05 9.99987878e-01 -1.94241214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.080281693 meters Centerline goodness : 0.996314 Centerline is valid? [True, True] Translation: X:13.76, Y:0.10, Z:-0.19 [[ 9.99517242e-01 -3.06765847e-02 -4.92236957e-03 1.37631144e+01] [ 3.06763793e-02 9.99529362e-01 -1.17253044e-04 9.69641092e-02] [ 4.92364984e-03 -3.38040362e-05 9.99987878e-01 -1.93355218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.110281693 meters Centerline goodness : 0.996095 Centerline is valid? [True, True] Translation: X:13.79, Y:0.09, Z:-0.19 [[ 9.99562792e-01 -2.91546813e-02 -4.92235069e-03 1.37906312e+01] [ 2.91544535e-02 9.99574912e-01 -1.18040460e-04 9.44559125e-02] [ 4.92369968e-03 -2.55195923e-05 9.99987878e-01 -1.93969435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.140281693000002 meters Centerline goodness : 0.996662 Centerline is valid? [True, True] Translation: X:13.82, Y:0.09, Z:-0.19 [[ 9.99586767e-01 -2.83208106e-02 -4.92214552e-03 1.38206423e+01] [ 2.83205308e-02 9.99598885e-01 -1.26555558e-04 9.42416162e-02] [ 4.92375533e-03 -1.28945127e-05 9.99987878e-01 -1.94466308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.170281693 meters Centerline goodness : 0.996732 Centerline is valid? [True, True] Translation: X:13.85, Y:0.09, Z:-0.20 [[ 9.99664853e-01 -2.54155781e-02 -4.92233174e-03 1.38484709e+01] [ 2.54153010e-02 9.99676972e-01 -1.18842705e-04 9.39997333e-02] [ 4.92376214e-03 -6.29966730e-06 9.99987878e-01 -1.95255111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.200281693 meters Centerline goodness : 0.996543 Centerline is valid? [True, True] Translation: X:13.88, Y:0.09, Z:-0.19 [[ 9.99700705e-01 -2.39639741e-02 -4.92228002e-03 1.38783519e+01] [ 2.39636690e-02 9.99712823e-01 -1.20971804e-04 9.40753555e-02] [ 4.92376542e-03 2.97970853e-06 9.99987878e-01 -1.93508538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.230281693000002 meters Centerline goodness : 0.996449 Centerline is valid? [True, True] Translation: X:13.91, Y:0.09, Z:-0.19 [[ 9.99743807e-01 -2.20927900e-02 -4.92230877e-03 1.39073032e+01] [ 2.20924680e-02 9.99755924e-01 -1.19790461e-04 9.41077546e-02] [ 4.92375386e-03 1.10138228e-05 9.99987878e-01 -1.93503330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.260281693 meters Centerline goodness : 0.996716 Centerline is valid? [True, True] Translation: X:13.94, Y:0.10, Z:-0.19 [[ 9.99807698e-01 -1.89826039e-02 -4.92222186e-03 1.39354986e+01] [ 1.89822267e-02 9.99819814e-01 -1.23348410e-04 9.56539772e-02] [ 4.92367642e-03 2.98899589e-05 9.99987878e-01 -1.94345365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.290281693 meters Centerline goodness : 0.996598 Centerline is valid? [True, True] Translation: X:13.96, Y:0.10, Z:-0.20 [[ 9.99827219e-01 -1.79249554e-02 -4.92228728e-03 1.39649577e+01] [ 1.79245785e-02 9.99839335e-01 -1.20680368e-04 9.72592467e-02] [ 4.92365963e-03 3.24295924e-05 9.99987878e-01 -1.95693445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.320281693000002 meters Centerline goodness : 0.996657 Centerline is valid? [True, True] Translation: X:13.99, Y:0.10, Z:-0.20 [[ 9.99826242e-01 -1.79793306e-02 -4.92228459e-03 1.39942366e+01] [ 1.79789538e-02 9.99838358e-01 -1.20789833e-04 9.82018050e-02] [ 4.92366066e-03 3.22713176e-05 9.99987878e-01 -1.96682230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.350281693 meters Centerline goodness : 0.996428 Centerline is valid? [True, True] Translation: X:14.02, Y:0.10, Z:-0.19 [[ 9.99785040e-01 -2.01406424e-02 -4.92226558e-03 1.40230392e+01] [ 2.01402880e-02 9.99797156e-01 -1.21559760e-04 9.79375059e-02] [ 4.92371542e-03 2.23977832e-05 9.99987878e-01 -1.93451563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.380281693 meters Centerline goodness : 0.996756 Centerline is valid? [True, True] Translation: X:14.05, Y:0.10, Z:-0.19 [[ 9.99753753e-01 -2.16380418e-02 -4.92224586e-03 1.40512692e+01] [ 2.16377017e-02 9.99765870e-01 -1.22352812e-04 9.86996515e-02] [ 4.92374089e-03 1.58165955e-05 9.99987878e-01 -1.91461581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.410281693 meters Centerline goodness : 0.996183 Centerline is valid? [True, True] Translation: X:14.08, Y:0.10, Z:-0.19 [[ 9.99713938e-01 -2.34054034e-02 -4.92224168e-03 1.40797557e+01] [ 2.34050838e-02 9.99726056e-01 -1.22520725e-04 9.93629060e-02] [ 4.92376091e-03 7.28019773e-06 9.99987878e-01 -1.91876613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.440281693 meters Centerline goodness : 0.996298 Centerline is valid? [True, True] Translation: X:14.11, Y:0.10, Z:-0.19 [[ 9.99701573e-01 -2.39277441e-02 -4.92223756e-03 1.41096471e+01] [ 2.39274301e-02 9.99713691e-01 -1.22686337e-04 9.94005188e-02] [ 4.92376388e-03 4.87322852e-06 9.99987878e-01 -1.92809522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.470281693 meters Centerline goodness : 0.996706 Centerline is valid? [True, True] Translation: X:14.14, Y:0.10, Z:-0.19 [[ 9.99701821e-01 -2.39173900e-02 -4.92223482e-03 1.41390555e+01] [ 2.39170753e-02 9.99713938e-01 -1.22795900e-04 9.92186275e-02] [ 4.92376372e-03 5.03382383e-06 9.99987878e-01 -1.92963007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.500281693 meters Centerline goodness : 0.996474 Centerline is valid? [True, True] Translation: X:14.17, Y:0.10, Z:-0.19 [[ 9.99759843e-01 -2.13548199e-02 -4.92223205e-03 1.41678723e+01] [ 2.13544736e-02 9.99771960e-01 -1.22907070e-04 1.00470658e-01] [ 4.92373424e-03 1.77658793e-05 9.99987878e-01 -1.89793738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.530281693 meters Centerline goodness : 0.996685 Centerline is valid? [True, True] Translation: X:14.20, Y:0.10, Z:-0.19 [[ 9.99814760e-01 -1.86069373e-02 -4.92222097e-03 1.41963338e+01] [ 1.86065555e-02 9.99826875e-01 -1.23349164e-04 1.02084290e-01] [ 4.92366396e-03 3.17407373e-05 9.99987878e-01 -1.88269416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.560281693 meters Centerline goodness : 0.996390 Centerline is valid? [True, True] Translation: X:14.23, Y:0.10, Z:-0.19 [[ 9.99862869e-01 -1.58118361e-02 -4.92221551e-03 1.42259293e+01] [ 1.58114193e-02 9.99874984e-01 -1.23566705e-04 1.03830059e-01] [ 4.92355397e-03 4.57225470e-05 9.99987878e-01 -1.86131532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.590281693 meters Centerline goodness : 0.996697 Centerline is valid? [True, True] Translation: X:14.25, Y:0.11, Z:-0.19 [[ 9.99929149e-01 -1.08382930e-02 -4.92221269e-03 1.42545541e+01] [ 1.08378155e-02 9.99941262e-01 -1.23678843e-04 1.06188157e-01] [ 4.92326403e-03 7.03240469e-05 9.99987878e-01 -1.85651536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.620281693000003 meters Centerline goodness : 0.996443 Centerline is valid? [True, True] Translation: X:14.28, Y:0.11, Z:-0.19 [[ 9.99951109e-01 -8.57624245e-03 -4.92220848e-03 1.42836904e+01] [ 8.57573670e-03 9.99963220e-01 -1.23846329e-04 1.08732684e-01] [ 4.92308957e-03 8.16287102e-05 9.99987878e-01 -1.85556177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.650281693 meters Centerline goodness : 0.996209 Centerline is valid? [True, True] Translation: X:14.31, Y:0.11, Z:-0.19 [[ 9.99981031e-01 -3.70273478e-03 -4.92218920e-03 1.43119764e+01] [ 3.70216626e-03 9.99993139e-01 -1.24607901e-04 1.12748850e-01] [ 4.92261682e-03 1.06382775e-04 9.99987878e-01 -1.86617125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.680281693 meters Centerline goodness : 0.996311 Centerline is valid? [True, True] Translation: X:14.34, Y:0.12, Z:-0.19 [[ 9.99986800e-01 -1.47382943e-03 -4.92217122e-03 1.43403717e+01] [ 1.47323045e-03 9.99998907e-01 -1.25314040e-04 1.15296625e-01] [ 4.92235053e-03 1.18060893e-04 9.99987878e-01 -1.86762573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.710281693000002 meters Centerline goodness : 0.996621 Centerline is valid? [True, True] Translation: X:14.37, Y:0.12, Z:-0.19 [[ 9.99987411e-01 9.75297778e-04 -4.92215110e-03 1.43676147e+01] [-9.75930271e-04 9.99999516e-01 -1.26099254e-04 1.18418145e-01] [ 4.92202574e-03 1.30901342e-04 9.99987878e-01 -1.86261011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.740281693 meters Centerline goodness : 0.996621 Centerline is valid? [True, True] Translation: X:14.40, Y:0.12, Z:-0.19 [[ 9.99987453e-01 9.30321495e-04 -4.92213887e-03 1.43969275e+01] [-9.30955784e-04 9.99999559e-01 -1.26574827e-04 1.19265990e-01] [ 4.92201895e-03 1.31155533e-04 9.99987878e-01 -1.86116577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.770281693 meters Centerline goodness : 0.996354 Centerline is valid? [True, True] Translation: X:14.43, Y:0.13, Z:-0.19 [[ 9.99977966e-01 4.45420811e-03 -4.92213317e-03 1.44250616e+01] [-4.45488614e-03 9.99990069e-01 -1.26796200e-04 1.25753954e-01] [ 4.92151951e-03 1.48720949e-04 9.99987878e-01 -1.88717442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.800281693000002 meters Centerline goodness : 0.996828 Centerline is valid? [True, True] Translation: X:14.45, Y:0.13, Z:-0.19 [[ 9.99975355e-01 5.00616595e-03 -4.92212606e-03 1.44537871e+01] [-5.00685201e-03 9.99987458e-01 -1.27071511e-04 1.28912575e-01] [ 4.92142819e-03 1.51712736e-04 9.99987878e-01 -1.91349171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.830281693 meters Centerline goodness : 0.996296 Centerline is valid? [True, True] Translation: X:14.48, Y:0.13, Z:-0.19 [[ 9.99974827e-01 5.11063223e-03 -4.92212056e-03 1.44823825e+01] [-5.11132061e-03 9.99986929e-01 -1.27284184e-04 1.31366015e-01] [ 4.92140572e-03 1.52439516e-04 9.99987878e-01 -1.92442256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.860281693 meters Centerline goodness : 0.996357 Centerline is valid? [True, True] Translation: X:14.51, Y:0.14, Z:-0.19 [[ 9.99980750e-01 3.77781841e-03 -4.92211471e-03 1.45099040e+01] [-3.77849176e-03 9.99992853e-01 -1.27510155e-04 1.36856453e-01] [ 4.92159782e-03 1.46105871e-04 9.99987878e-01 -1.92465534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.890281693000002 meters Centerline goodness : 0.996628 Centerline is valid? [True, True] Translation: X:14.54, Y:0.14, Z:-0.19 [[ 9.99985870e-01 2.00869288e-03 -4.92194011e-03 1.45384068e+01] [-2.00937781e-03 9.99997972e-01 -1.34218257e-04 1.40535563e-01] [ 4.92166053e-03 1.44106398e-04 9.99987878e-01 -1.92888844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.920281693 meters Centerline goodness : 0.996604 Centerline is valid? [True, True] Translation: X:14.57, Y:0.14, Z:-0.19 [[ 9.99987066e-01 -1.28057368e-03 -4.92209960e-03 1.45656369e+01] [ 1.27995870e-03 9.99999173e-01 -1.28089782e-04 1.44876259e-01] [ 4.92225955e-03 1.21788041e-04 9.99987878e-01 -1.92771894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.950281693 meters Centerline goodness : 0.996465 Centerline is valid? [True, True] Translation: X:14.59, Y:0.15, Z:-0.19 [[ 9.99983074e-01 -3.10247752e-03 -4.92209233e-03 1.45940785e+01] [ 3.10188324e-03 9.99995181e-01 -1.28368517e-04 1.46839786e-01] [ 4.92246687e-03 1.13098588e-04 9.99987878e-01 -1.93083518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.980281693000002 meters Centerline goodness : 0.996704 Centerline is valid? [True, True] Translation: X:14.62, Y:0.15, Z:-0.19 [[ 9.99975182e-01 -5.04058492e-03 -4.92208653e-03 1.46226283e+01] [ 5.04001300e-03 9.99987291e-01 -1.28590210e-04 1.49116509e-01] [ 4.92267215e-03 1.03779638e-04 9.99987878e-01 -1.93229158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.010281693 meters Centerline goodness : 0.997000 Centerline is valid? [True, True] Translation: X:14.65, Y:0.15, Z:-0.19 [[ 9.99964578e-01 -6.82755241e-03 -4.92208076e-03 1.46515108e+01] [ 6.82700105e-03 9.99976687e-01 -1.28811012e-04 1.51184528e-01] [ 4.92284547e-03 9.52033985e-05 9.99987878e-01 -1.93680807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.040281693 meters Centerline goodness : 0.996909 Centerline is valid? [True, True] Translation: X:14.68, Y:0.15, Z:-0.19 [[ 9.99942876e-01 -9.48778644e-03 -4.92206043e-03 1.46800853e+01] [ 9.48726350e-03 9.99954987e-01 -1.29583215e-04 1.53420467e-01] [ 4.92306832e-03 8.28789288e-05 9.99987878e-01 -1.91587846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.070281693000002 meters Centerline goodness : 0.996924 Centerline is valid? [True, True] Translation: X:14.71, Y:0.15, Z:-0.19 [[ 9.99932023e-01 -1.05698890e-02 -4.92204005e-03 1.47084358e+01] [ 1.05693754e-02 9.99944134e-01 -1.30352451e-04 1.54527392e-01] [ 4.92314289e-03 7.83207007e-05 9.99987878e-01 -1.90502899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.100281693 meters Centerline goodness : 0.997153 Centerline is valid? [True, True] Translation: X:14.74, Y:0.16, Z:-0.19 [[ 9.99891966e-01 -1.38502512e-02 -4.92203572e-03 1.47367403e+01] [ 1.38497765e-02 9.99904079e-01 -1.30515964e-04 1.57510413e-01] [ 4.92337127e-03 6.23327689e-05 9.99987878e-01 -1.90140617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.130281693 meters Centerline goodness : 0.997154 Centerline is valid? [True, True] Translation: X:14.77, Y:0.16, Z:-0.19 [[ 9.99867875e-01 -1.54921245e-02 -4.92203141e-03 1.47661700e+01] [ 1.54916689e-02 9.99879988e-01 -1.30678367e-04 1.60258021e-01] [ 4.92346519e-03 5.44106209e-05 9.99987878e-01 -1.90561108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.160281693 meters Centerline goodness : 0.997224 Centerline is valid? [True, True] Translation: X:14.80, Y:0.16, Z:-0.19 [[ 9.99846496e-01 -1.68154390e-02 -4.92202835e-03 1.47950324e+01] [ 1.68149988e-02 9.99858609e-01 -1.30793262e-04 1.62665579e-01] [ 4.92353177e-03 4.80092837e-05 9.99987878e-01 -1.91244694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.190281693 meters Centerline goodness : 0.997050 Centerline is valid? [True, True] Translation: X:14.82, Y:0.16, Z:-0.19 [[ 9.99784703e-01 -2.01574162e-02 -4.92202379e-03 1.48244692e+01] [ 2.01570157e-02 9.99796818e-01 -1.30964896e-04 1.64762314e-01] [ 4.92366363e-03 3.17233883e-05 9.99987878e-01 -1.85306555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.220281693 meters Centerline goodness : 0.997096 Centerline is valid? [True, True] Translation: X:14.85, Y:0.17, Z:-0.18 [[ 9.99740871e-01 -2.22252981e-02 -4.92202358e-03 1.48545216e+01] [ 2.22249227e-02 9.99752987e-01 -1.30972704e-04 1.65676129e-01] [ 4.92371868e-03 2.15471713e-05 9.99987878e-01 -1.82109643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.250281693 meters Centerline goodness : 0.997269 Centerline is valid? [True, True] Translation: X:14.88, Y:0.17, Z:-0.18 [[ 9.99696573e-01 -2.41357871e-02 -4.92202050e-03 1.48842168e+01] [ 2.41354342e-02 9.99708689e-01 -1.31088224e-04 1.65831924e-01] [ 4.92375058e-03 1.22533458e-05 9.99987878e-01 -1.79700281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.280281693 meters Centerline goodness : 0.997598 Centerline is valid? [True, True] Translation: X:14.91, Y:0.16, Z:-0.18 [[ 9.99587454e-01 -2.82965586e-02 -4.92202060e-03 1.49139313e+01] [ 2.82962562e-02 9.99599572e-01 -1.31084554e-04 1.63281366e-01] [ 4.92375893e-03 -8.24428028e-06 9.99987878e-01 -1.79412757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.310281693 meters Centerline goodness : 0.997850 Centerline is valid? [True, True] Translation: X:14.94, Y:0.16, Z:-0.18 [[ 9.99521170e-01 -3.05484022e-02 -4.92201782e-03 1.49432877e+01] [ 3.05481265e-02 9.99533288e-01 -1.31188957e-04 1.61950277e-01] [ 4.92372827e-03 -1.92322828e-05 9.99987878e-01 -1.80020299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.340281693 meters Centerline goodness : 0.997432 Centerline is valid? [True, True] Translation: X:14.97, Y:0.16, Z:-0.18 [[ 9.99400314e-01 -3.42751426e-02 -4.92201492e-03 1.49719018e+01] [ 3.42749116e-02 9.99412434e-01 -1.31297712e-04 1.58834050e-01] [ 4.92362315e-03 -3.74826512e-05 9.99987878e-01 -1.83229498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.370281693000003 meters Centerline goodness : 0.997526 Centerline is valid? [True, True] Translation: X:15.00, Y:0.16, Z:-0.19 [[ 9.99368111e-01 -3.52015992e-02 -4.92201059e-03 1.50012124e+01] [ 3.52013787e-02 9.99380231e-01 -1.31459843e-04 1.58065173e-01] [ 4.92358767e-03 -4.18847835e-05 9.99987878e-01 -1.85824750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.400281693 meters Centerline goodness : 0.997782 Centerline is valid? [True, True] Translation: X:15.03, Y:0.16, Z:-0.19 [[ 9.99370397e-01 -3.51366492e-02 -4.92200756e-03 1.50306439e+01] [ 3.51364273e-02 9.99382516e-01 -1.31573159e-04 1.57696955e-01] [ 4.92359134e-03 -4.14514406e-05 9.99987878e-01 -1.87473448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.430281693 meters Centerline goodness : 0.997743 Centerline is valid? [True, True] Translation: X:15.06, Y:0.16, Z:-0.19 [[ 9.99445753e-01 -3.29235635e-02 -4.92200455e-03 1.50596384e+01] [ 3.29233142e-02 9.99457872e-01 -1.31685359e-04 1.56208411e-01] [ 4.92367175e-03 -3.04363297e-05 9.99987878e-01 -1.86996737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.460281693000002 meters Centerline goodness : 0.997748 Centerline is valid? [True, True] Translation: X:15.09, Y:0.16, Z:-0.19 [[ 9.99503453e-01 -3.11226776e-02 -4.92200156e-03 1.50888732e+01] [ 3.11224060e-02 9.99515572e-01 -1.31797290e-04 1.55327021e-01] [ 4.92371909e-03 -2.14526844e-05 9.99987878e-01 -1.86597211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.490281693 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:15.12, Y:0.16, Z:-0.19 [[ 9.99555762e-01 -2.93947843e-02 -4.92199855e-03 1.51190339e+01] [ 2.93944912e-02 9.99567880e-01 -1.31909422e-04 1.55016748e-01] [ 4.92374911e-03 -1.28288198e-05 9.99987878e-01 -1.87520654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.520281693 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:15.15, Y:0.16, Z:-0.19 [[ 9.99644807e-01 -2.61922569e-02 -4.92199552e-03 1.51483319e+01] [ 2.61919243e-02 9.99656924e-01 -1.32022601e-04 1.55747379e-01] [ 4.92376487e-03 3.05917297e-06 9.99987878e-01 -1.88497267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.550281693000002 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:15.18, Y:0.16, Z:-0.19 [[ 9.99689540e-01 -2.44253546e-02 -4.92199245e-03 1.51774674e+01] [ 2.44250000e-02 9.99701656e-01 -1.32136883e-04 1.57232199e-01] [ 4.92375149e-03 1.18761939e-05 9.99987878e-01 -1.88946431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.580281693 meters Centerline goodness : 0.998093 Centerline is valid? [True, True] Translation: X:15.21, Y:0.16, Z:-0.19 [[ 9.99725926e-01 -2.28876953e-02 -4.92198940e-03 1.52070294e+01] [ 2.28873216e-02 9.99738042e-01 -1.32250260e-04 1.59060901e-01] [ 4.92372695e-03 1.95628596e-05 9.99987878e-01 -1.88482375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.610281693 meters Centerline goodness : 0.997750 Centerline is valid? [True, True] Translation: X:15.24, Y:0.16, Z:-0.19 [[ 9.99793708e-01 -1.97056978e-02 -4.92198637e-03 1.52354762e+01] [ 1.97052850e-02 9.99805823e-01 -1.32363110e-04 1.62798322e-01] [ 4.92363894e-03 3.53466609e-05 9.99987878e-01 -1.86979770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.640281693000002 meters Centerline goodness : 0.997782 Centerline is valid? [True, True] Translation: X:15.26, Y:0.17, Z:-0.19 [[ 9.99815981e-01 -1.85412425e-02 -4.92198182e-03 1.52649052e+01] [ 1.85408147e-02 9.99828096e-01 -1.32531951e-04 1.66222310e-01] [ 4.92359302e-03 4.12500094e-05 9.99987878e-01 -1.87260786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.670281693 meters Centerline goodness : 0.998054 Centerline is valid? [True, True] Translation: X:15.29, Y:0.17, Z:-0.19 [[ 9.99838908e-01 -1.72607021e-02 -4.92197880e-03 1.52946303e+01] [ 1.72602582e-02 9.99851022e-01 -1.32644150e-04 1.70052169e-01] [ 4.92353506e-03 4.76681577e-05 9.99987878e-01 -1.88468185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.700281693 meters Centerline goodness : 0.997886 Centerline is valid? [True, True] Translation: X:15.32, Y:0.17, Z:-0.19 [[ 9.99835648e-01 -1.74485308e-02 -4.92197729e-03 1.53242500e+01] [ 1.74480889e-02 9.99847762e-01 -1.32700025e-04 1.71484382e-01] [ 4.92354340e-03 4.67991182e-05 9.99987878e-01 -1.87892399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.730281693000002 meters Centerline goodness : 0.997862 Centerline is valid? [True, True] Translation: X:15.35, Y:0.17, Z:-0.19 [[ 9.99820821e-01 -1.82783794e-02 -4.92197429e-03 1.53538094e+01] [ 1.82779470e-02 9.99832936e-01 -1.32811375e-04 1.72887525e-01] [ 4.92357958e-03 4.28239925e-05 9.99987878e-01 -1.86990128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.760281693 meters Centerline goodness : 0.997902 Centerline is valid? [True, True] Translation: X:15.38, Y:0.17, Z:-0.19 [[ 9.99800142e-01 -1.93765431e-02 -4.92197112e-03 1.53829646e+01] [ 1.93761235e-02 9.99812256e-01 -1.32928493e-04 1.74246796e-01] [ 4.92362275e-03 3.75332061e-05 9.99987878e-01 -1.87699119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.790281693 meters Centerline goodness : 0.997444 Centerline is valid? [True, True] Translation: X:15.41, Y:0.18, Z:-0.19 [[ 9.99722830e-01 -2.30225406e-02 -4.92196955e-03 1.54126281e+01] [ 2.30221648e-02 9.99734946e-01 -1.32986864e-04 1.76651360e-01] [ 4.92372665e-03 1.96356100e-05 9.99987878e-01 -1.89595014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.820281693000002 meters Centerline goodness : 0.997787 Centerline is valid? [True, True] Translation: X:15.44, Y:0.18, Z:-0.19 [[ 9.99664937e-01 -2.54123468e-02 -4.92196993e-03 1.54425727e+01] [ 2.54120001e-02 9.99677054e-01 -1.32972665e-04 1.77409006e-01] [ 4.92375955e-03 7.85101073e-06 9.99987878e-01 -1.90157706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.850281693 meters Centerline goodness : 0.997905 Centerline is valid? [True, True] Translation: X:15.47, Y:0.18, Z:-0.19 [[ 9.99608542e-01 -2.75415658e-02 -4.92196700e-03 1.54725341e+01] [ 2.75412444e-02 9.99620659e-01 -1.33081179e-04 1.77488008e-01] [ 4.92376516e-03 -2.52801220e-06 9.99987878e-01 -1.89863907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.880281693 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:15.50, Y:0.18, Z:-0.19 [[ 9.99553615e-01 -2.94677015e-02 -4.92196553e-03 1.55023413e+01] [ 2.94674031e-02 9.99565733e-01 -1.33135422e-04 1.76760436e-01] [ 4.92375128e-03 -1.19615502e-05 9.99987878e-01 -1.87357891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.910281693 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:15.53, Y:0.18, Z:-0.19 [[ 9.99558675e-01 -2.92955515e-02 -4.92196263e-03 1.55318423e+01] [ 2.92952506e-02 9.99570793e-01 -1.33242665e-04 1.77820704e-01] [ 4.92375350e-03 -1.10062670e-05 9.99987878e-01 -1.87182954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.940281693 meters Centerline goodness : 0.997880 Centerline is valid? [True, True] Translation: X:15.56, Y:0.18, Z:-0.19 [[ 9.99584728e-01 -2.83927242e-02 -4.92195961e-03 1.55617665e+01] [ 2.83924118e-02 9.99596845e-01 -1.33353991e-04 1.79933198e-01] [ 4.92376158e-03 -6.44769089e-06 9.99987878e-01 -1.89336716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.970281693 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:15.59, Y:0.18, Z:-0.19 [[ 9.99594398e-01 -2.80502130e-02 -4.92195810e-03 1.55910823e+01] [ 2.80498961e-02 9.99606515e-01 -1.33409577e-04 1.80318075e-01] [ 4.92376355e-03 -4.70494817e-06 9.99987878e-01 -1.88783776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.000281693 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:15.62, Y:0.18, Z:-0.19 [[ 9.99600307e-01 -2.78388232e-02 -4.92195510e-03 1.56206795e+01] [ 2.78385032e-02 9.99612425e-01 -1.33520073e-04 1.80203901e-01] [ 4.92376452e-03 -3.55315659e-06 9.99987878e-01 -1.88702906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.030281693 meters Centerline goodness : 0.997860 Centerline is valid? [True, True] Translation: X:15.65, Y:0.18, Z:-0.19 [[ 9.99623662e-01 -2.69871824e-02 -4.92195206e-03 1.56491091e+01] [ 2.69868515e-02 9.99635780e-01 -1.33632303e-04 1.78820495e-01] [ 4.92376574e-03 7.54022357e-07 9.99987878e-01 -1.86928345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.060281693 meters Centerline goodness : 0.998151 Centerline is valid? [True, True] Translation: X:15.68, Y:0.18, Z:-0.19 [[ 9.99655354e-01 -2.57865962e-02 -4.92194749e-03 1.56787793e+01] [ 2.57862500e-02 9.99667470e-01 -1.33800206e-04 1.78543890e-01] [ 4.92376105e-03 6.83552367e-06 9.99987878e-01 -1.86467996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.090281693 meters Centerline goodness : 0.998116 Centerline is valid? [True, True] Translation: X:15.71, Y:0.18, Z:-0.19 [[ 9.99683308e-01 -2.46790941e-02 -4.92194450e-03 1.57081065e+01] [ 2.46787339e-02 9.99695425e-01 -1.33910072e-04 1.78162793e-01] [ 4.92375018e-03 1.24003052e-05 9.99987878e-01 -1.85112748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.120281693 meters Centerline goodness : 0.998075 Centerline is valid? [True, True] Translation: X:15.74, Y:0.18, Z:-0.18 [[ 9.99709662e-01 -2.35874368e-02 -4.92194151e-03 1.57380728e+01] [ 2.35870629e-02 9.99721778e-01 -1.34020126e-04 1.78014851e-01] [ 4.92373330e-03 1.78870708e-05 9.99987878e-01 -1.83648149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.150281693 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:15.77, Y:0.18, Z:-0.18 [[ 9.99756122e-01 -2.15283587e-02 -4.92193850e-03 1.57667683e+01] [ 2.15279593e-02 9.99768238e-01 -1.34130615e-04 1.76825774e-01] [ 4.92368539e-03 2.81386123e-05 9.99987878e-01 -1.82273483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.180281693 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:15.80, Y:0.18, Z:-0.18 [[ 9.99784184e-01 -2.01831728e-02 -4.92193400e-03 1.57959390e+01] [ 2.01827562e-02 9.99796298e-01 -1.34295510e-04 1.77222905e-01] [ 4.92364190e-03 3.49283325e-05 9.99987878e-01 -1.82461938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.210281693000002 meters Centerline goodness : 0.998156 Centerline is valid? [True, True] Translation: X:15.83, Y:0.18, Z:-0.18 [[ 9.99820463e-01 -1.82979904e-02 -4.92193100e-03 1.58255495e+01] [ 1.82975504e-02 9.99832577e-01 -1.34405224e-04 1.77868407e-01] [ 4.92356630e-03 4.43218129e-05 9.99987878e-01 -1.83528029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.240281693 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:15.85, Y:0.18, Z:-0.18 [[ 9.99891115e-01 -1.39115750e-02 -4.92192801e-03 1.58537885e+01] [ 1.39110814e-02 9.99903227e-01 -1.34514867e-04 1.78865524e-01] [ 4.92332301e-03 6.60308797e-05 9.99987878e-01 -1.82123720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.270281693 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:15.88, Y:0.18, Z:-0.18 [[ 9.99914655e-01 -1.21019255e-02 -4.92192352e-03 1.58836202e+01] [ 1.21014091e-02 9.99926766e-01 -1.34678793e-04 1.79474651e-01] [ 4.92319294e-03 7.51050883e-05 9.99987878e-01 -1.81092895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.300281693000002 meters Centerline goodness : 0.998353 Centerline is valid? [True, True] Translation: X:15.91, Y:0.18, Z:-0.18 [[ 9.99933764e-01 -1.04039457e-02 -4.92192054e-03 1.59120171e+01] [ 1.04034083e-02 9.99945874e-01 -1.34787426e-04 1.80249364e-01] [ 4.92305646e-03 8.35737489e-05 9.99987878e-01 -1.82467596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.330281693 meters Centerline goodness : 0.997990 Centerline is valid? [True, True] Translation: X:15.94, Y:0.18, Z:-0.18 [[ 9.99933634e-01 -1.04164498e-02 -4.92189854e-03 1.59407800e+01] [ 1.04159085e-02 9.99945744e-01 -1.35586277e-04 1.81943700e-01] [ 4.92304382e-03 8.43112337e-05 9.99987878e-01 -1.83605576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.360281693 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:15.97, Y:0.18, Z:-0.18 [[ 9.99935649e-01 -1.02211659e-02 -4.92189384e-03 1.59699847e+01] [ 1.02206215e-02 9.99947759e-01 -1.35756753e-04 1.84271836e-01] [ 4.92302430e-03 8.54432030e-05 9.99987878e-01 -1.82890716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.390281693000002 meters Centerline goodness : 0.997988 Centerline is valid? [True, True] Translation: X:16.00, Y:0.19, Z:-0.18 [[ 9.99947611e-01 -8.97502164e-03 -4.92187213e-03 1.59990586e+01] [ 8.97445826e-03 9.99959719e-01 -1.36539197e-04 1.87789036e-01] [ 4.92289932e-03 9.23609081e-05 9.99987878e-01 -1.80291396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.420281693 meters Centerline goodness : 0.998247 Centerline is valid? [True, True] Translation: X:16.03, Y:0.19, Z:-0.18 [[ 9.99953627e-01 -8.27767787e-03 -4.92185001e-03 1.60274232e+01] [ 8.27710214e-03 9.99965735e-01 -1.37332070e-04 1.89793688e-01] [ 4.92281815e-03 9.65870461e-05 9.99987878e-01 -1.79896083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.450281693 meters Centerline goodness : 0.997880 Centerline is valid? [True, True] Translation: X:16.06, Y:0.19, Z:-0.18 [[ 9.99953009e-01 -8.35195323e-03 -4.92184529e-03 1.60564673e+01] [ 8.35137757e-03 9.99965117e-01 -1.37501008e-04 1.92248381e-01] [ 4.92282200e-03 9.63903581e-05 9.99987878e-01 -1.79788715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.480281693000002 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:16.09, Y:0.20, Z:-0.18 [[ 9.99934888e-01 -1.02954328e-02 -4.92182456e-03 1.60853625e+01] [ 1.02948770e-02 9.99946997e-01 -1.38239054e-04 1.97942199e-01] [ 4.92298692e-03 8.75604740e-05 9.99987878e-01 -1.78228219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.510281693 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:16.11, Y:0.20, Z:-0.18 [[ 9.99918219e-01 -1.18038375e-02 -4.92182013e-03 1.61140903e+01] [ 1.18032992e-02 9.99930329e-01 -1.38396603e-04 2.00972459e-01] [ 4.92311083e-03 8.02915690e-05 9.99987878e-01 -1.76823073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.540281693 meters Centerline goodness : 0.998103 Centerline is valid? [True, True] Translation: X:16.14, Y:0.20, Z:-0.18 [[ 9.99901252e-01 -1.31629015e-02 -4.92179952e-03 1.61438978e+01] [ 1.31623761e-02 9.99913362e-01 -1.39125497e-04 2.03157573e-01] [ 4.92320441e-03 7.43291820e-05 9.99987878e-01 -1.76511835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.570281693000002 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:16.17, Y:0.21, Z:-0.18 [[ 9.99878610e-01 -1.47831595e-02 -4.92179660e-03 1.61736392e+01] [ 1.47826532e-02 9.99890721e-01 -1.39228948e-04 2.07022567e-01] [ 4.92331699e-03 6.64548344e-05 9.99987878e-01 -1.78937737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.600281693 meters Centerline goodness : 0.998218 Centerline is valid? [True, True] Translation: X:16.20, Y:0.21, Z:-0.18 [[ 9.99866211e-01 -1.55992482e-02 -4.92179367e-03 1.62029347e+01] [ 1.55987513e-02 9.99878322e-01 -1.39332207e-04 2.09651948e-01] [ 4.92336828e-03 6.25397301e-05 9.99987878e-01 -1.78823388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.630281693 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:16.23, Y:0.21, Z:-0.18 [[ 9.99829689e-01 -1.77867461e-02 -4.92179037e-03 1.62327102e+01] [ 1.77862751e-02 9.99841802e-01 -1.39448759e-04 2.13526345e-01] [ 4.92349209e-03 5.18846915e-05 9.99987878e-01 -1.78369111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.660281693 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:16.26, Y:0.22, Z:-0.18 [[ 9.99789983e-01 -1.98938834e-02 -4.92178873e-03 1.62622537e+01] [ 1.98934377e-02 9.99802096e-01 -1.39506516e-04 2.15658672e-01] [ 4.92359002e-03 4.15659193e-05 9.99987878e-01 -1.78674305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.690281693 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:16.29, Y:0.22, Z:-0.18 [[ 9.99789983e-01 -1.98938834e-02 -4.92178910e-03 1.62932409e+01] [ 1.98934377e-02 9.99802096e-01 -1.39493550e-04 2.16536905e-01] [ 4.92359013e-03 4.15529487e-05 9.99987878e-01 -1.78521670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.720281693 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:16.32, Y:0.22, Z:-0.18 [[ 9.99735184e-01 -2.24797099e-02 -4.92178910e-03 1.63238238e+01] [ 2.24792955e-02 9.99747299e-01 -1.39493550e-04 2.18204228e-01] [ 4.92368114e-03 2.88182578e-05 9.99987878e-01 -1.78534407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.750281693 meters Centerline goodness : 0.998216 Centerline is valid? [True, True] Translation: X:16.35, Y:0.22, Z:-0.18 [[ 9.99665307e-01 -2.53978376e-02 -4.92178910e-03 1.63544041e+01] [ 2.53974587e-02 9.99677423e-01 -1.39493550e-04 2.19199294e-01] [ 4.92374428e-03 1.44459268e-05 9.99987878e-01 -1.79535618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.780281693 meters Centerline goodness : 0.998134 Centerline is valid? [True, True] Translation: X:16.38, Y:0.22, Z:-0.18 [[ 9.99477108e-01 -3.19575631e-02 -4.92178910e-03 1.63842581e+01] [ 3.19572637e-02 9.99489226e-01 -1.39493550e-04 2.17939065e-01] [ 4.92373306e-03 -1.78663025e-05 9.99987878e-01 -1.81307361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.810281693 meters Centerline goodness : 0.998202 Centerline is valid? [True, True] Translation: X:16.42, Y:0.22, Z:-0.18 [[ 9.99378068e-01 -3.49178127e-02 -4.92178750e-03 1.64151409e+01] [ 3.49175488e-02 9.99390187e-01 -1.39550209e-04 2.17888067e-01] [ 4.92365891e-03 -3.23933375e-05 9.99987878e-01 -1.80776571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.840281693 meters Centerline goodness : 0.998535 Centerline is valid? [True, True] Translation: X:16.45, Y:0.22, Z:-0.18 [[ 9.99219149e-01 -3.92029167e-02 -4.92178750e-03 1.64453549e+01] [ 3.92027049e-02 9.99231269e-01 -1.39550209e-04 2.17351770e-01] [ 4.92347474e-03 -5.35061420e-05 9.99987878e-01 -1.79484632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.870281693 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:16.48, Y:0.22, Z:-0.18 [[ 9.99160015e-01 -4.06821814e-02 -4.92178750e-03 1.64763360e+01] [ 4.06819875e-02 9.99172136e-01 -1.39550209e-04 2.16900090e-01] [ 4.92339013e-03 -6.07951091e-05 9.99987878e-01 -1.79725906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.900281693 meters Centerline goodness : 0.998320 Centerline is valid? [True, True] Translation: X:16.51, Y:0.21, Z:-0.18 [[ 9.99120256e-01 -4.16472084e-02 -4.92178750e-03 1.65063176e+01] [ 4.16470262e-02 9.99132376e-01 -1.39550209e-04 2.14010099e-01] [ 4.92332911e-03 -6.55503725e-05 9.99987878e-01 -1.84000474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.930281693 meters Centerline goodness : 0.997994 Centerline is valid? [True, True] Translation: X:16.54, Y:0.21, Z:-0.18 [[ 9.99130847e-01 -4.13923556e-02 -4.92178908e-03 1.65373124e+01] [ 4.13921706e-02 9.99142967e-01 -1.39494443e-04 2.13374798e-01] [ 4.92334495e-03 -6.43503324e-05 9.99987878e-01 -1.83977706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.960281693000002 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:16.57, Y:0.21, Z:-0.18 [[ 9.99163569e-01 -4.05948027e-02 -4.92178908e-03 1.65682768e+01] [ 4.05946080e-02 9.99175689e-01 -1.39494443e-04 2.12591610e-01] [ 4.92339474e-03 -6.04203332e-05 9.99987878e-01 -1.83666203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.990281693 meters Centerline goodness : 0.998022 Centerline is valid? [True, True] Translation: X:16.60, Y:0.21, Z:-0.18 [[ 9.99217375e-01 -3.92480997e-02 -4.92178908e-03 1.65980391e+01] [ 3.92478886e-02 9.99229495e-01 -1.39494443e-04 2.11835623e-01] [ 4.92347171e-03 -5.37845589e-05 9.99987878e-01 -1.84568276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.020281693 meters Centerline goodness : 0.998302 Centerline is valid? [True, True] Translation: X:16.63, Y:0.21, Z:-0.18 [[ 9.99393772e-01 -3.44653975e-02 -4.92178744e-03 1.66280637e+01] [ 3.44651282e-02 9.99405891e-01 -1.39552235e-04 2.09847990e-01] [ 4.92367308e-03 -3.01624003e-05 9.99987878e-01 -1.84821168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.050281693000002 meters Centerline goodness : 0.998207 Centerline is valid? [True, True] Translation: X:16.66, Y:0.21, Z:-0.18 [[ 9.99484828e-01 -3.17152034e-02 -4.92178584e-03 1.66581678e+01] [ 3.17149005e-02 9.99496946e-01 -1.39608400e-04 2.09875087e-01] [ 4.92373763e-03 -1.65574705e-05 9.99987878e-01 -1.84577857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.080281693 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:16.69, Y:0.21, Z:-0.18 [[ 9.99569386e-01 -2.89278194e-02 -4.92178271e-03 1.66877711e+01] [ 2.89274821e-02 9.99581503e-01 -1.39718828e-04 2.10299668e-01] [ 4.92376472e-03 -2.71611864e-06 9.99987878e-01 -1.84944553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.110281693 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:16.72, Y:0.21, Z:-0.18 [[ 9.99698971e-01 -2.40362983e-02 -4.92177953e-03 1.67170898e+01] [ 2.40359012e-02 9.99711086e-01 -1.39830820e-04 2.10814933e-01] [ 4.92371857e-03 2.14893209e-05 9.99987878e-01 -1.84786784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.140281693000002 meters Centerline goodness : 0.998111 Centerline is valid? [True, True] Translation: X:16.75, Y:0.21, Z:-0.18 [[ 9.99744244e-01 -2.20731391e-02 -4.92177630e-03 1.67454988e+01] [ 2.20727176e-02 9.99756358e-01 -1.39944331e-04 2.11039534e-01] [ 4.92366616e-03 3.12715606e-05 9.99987878e-01 -1.84931863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.170281693 meters Centerline goodness : 0.997687 Centerline is valid? [True, True] Translation: X:16.78, Y:0.21, Z:-0.18 [[ 9.99818412e-01 -1.84097363e-02 -4.92177147e-03 1.67754343e+01] [ 1.84092696e-02 9.99830525e-01 -1.40113997e-04 2.11696351e-01] [ 4.92351682e-03 4.94823358e-05 9.99987878e-01 -1.82549566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.200281693 meters Centerline goodness : 0.997886 Centerline is valid? [True, True] Translation: X:16.80, Y:0.21, Z:-0.18 [[ 9.99849746e-01 -1.66210899e-02 -4.92176826e-03 1.68046444e+01] [ 1.66206010e-02 9.99861858e-01 -1.40226675e-04 2.13618204e-01] [ 4.92341908e-03 5.84028589e-05 9.99987878e-01 -1.80463564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.230281693000002 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:16.83, Y:0.22, Z:-0.18 [[ 9.99874481e-01 -1.50598237e-02 -4.92176499e-03 1.68337662e+01] [ 1.50593153e-02 9.99886592e-01 -1.40341327e-04 2.16085786e-01] [ 4.92332034e-03 6.62053011e-05 9.99987878e-01 -1.79088390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.260281693 meters Centerline goodness : 0.997825 Centerline is valid? [True, True] Translation: X:16.86, Y:0.22, Z:-0.18 [[ 9.99894029e-01 -1.37005900e-02 -4.92176173e-03 1.68624594e+01] [ 1.37000646e-02 9.99906140e-01 -1.40455674e-04 2.18443210e-01] [ 4.92322410e-03 7.30123368e-05 9.99987878e-01 -1.78059402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.290281693 meters Centerline goodness : 0.997842 Centerline is valid? [True, True] Translation: X:16.89, Y:0.22, Z:-0.18 [[ 9.99919103e-01 -1.17287761e-02 -4.92175685e-03 1.68920369e+01] [ 1.17282260e-02 9.99931212e-01 -1.40626540e-04 2.22044589e-01] [ 4.92306767e-03 8.28916871e-05 9.99987878e-01 -1.75697163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.320281693000002 meters Centerline goodness : 0.998160 Centerline is valid? [True, True] Translation: X:16.92, Y:0.22, Z:-0.18 [[ 9.99927003e-01 -1.10347634e-02 -4.92175350e-03 1.69206144e+01] [ 1.10342043e-02 9.99939111e-01 -1.40743661e-04 2.24961164e-01] [ 4.92300689e-03 8.64257539e-05 9.99987878e-01 -1.75607045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.350281693 meters Centerline goodness : 0.997780 Centerline is valid? [True, True] Translation: X:16.95, Y:0.23, Z:-0.17 [[ 9.99926124e-01 -1.11141222e-02 -4.92174847e-03 1.69504934e+01] [ 1.11135632e-02 9.99938233e-01 -1.40919133e-04 2.28656203e-01] [ 4.92301066e-03 8.62105594e-05 9.99987878e-01 -1.74948455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.380281693 meters Centerline goodness : 0.998041 Centerline is valid? [True, True] Translation: X:16.98, Y:0.23, Z:-0.17 [[ 9.99901518e-01 -1.31426877e-02 -4.92174514e-03 1.69789609e+01] [ 1.31421527e-02 9.99913628e-01 -1.41035546e-04 2.33863309e-01] [ 4.92317362e-03 7.63393300e-05 9.99987878e-01 -1.73117616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.410281693 meters Centerline goodness : 0.998031 Centerline is valid? [True, True] Translation: X:17.01, Y:0.24, Z:-0.17 [[ 9.99871814e-01 -1.52358810e-02 -4.92173896e-03 1.70079426e+01] [ 1.52353703e-02 9.99883925e-01 -1.41250628e-04 2.35779973e-01] [ 4.92331975e-03 6.62480063e-05 9.99987878e-01 -1.72917919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.440281693 meters Centerline goodness : 0.997849 Centerline is valid? [True, True] Translation: X:17.04, Y:0.24, Z:-0.17 [[ 9.99829416e-01 -1.78021113e-02 -4.92173402e-03 1.70380528e+01] [ 1.78016308e-02 9.99841528e-01 -1.41422816e-04 2.37534427e-01] [ 4.92347169e-03 5.37837996e-05 9.99987878e-01 -1.74029847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.470281693 meters Centerline goodness : 0.997771 Centerline is valid? [True, True] Translation: X:17.07, Y:0.24, Z:-0.17 [[ 9.99719789e-01 -2.31542481e-02 -4.92173081e-03 1.70679680e+01] [ 2.31538319e-02 9.99731904e-01 -1.41534323e-04 2.39270536e-01] [ 4.92368843e-03 2.75377360e-05 9.99987878e-01 -1.74869425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.500281693 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:17.10, Y:0.24, Z:-0.18 [[ 9.99657737e-01 -2.56940893e-02 -4.92172922e-03 1.70983933e+01] [ 2.56937036e-02 9.99669852e-01 -1.41589554e-04 2.39825258e-01] [ 4.92374234e-03 1.50836411e-05 9.99987878e-01 -1.75159555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.530281693 meters Centerline goodness : 0.997602 Centerline is valid? [True, True] Translation: X:17.13, Y:0.24, Z:-0.18 [[ 9.99601279e-01 -2.78039340e-02 -4.92172922e-03 1.71275770e+01] [ 2.78035739e-02 9.99613396e-01 -1.41589554e-04 2.39944614e-01] [ 4.92376321e-03 4.69143734e-06 9.99987878e-01 -1.75071729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.560281693 meters Centerline goodness : 0.997683 Centerline is valid? [True, True] Translation: X:17.16, Y:0.24, Z:-0.18 [[ 9.99499857e-01 -3.12379947e-02 -4.92172752e-03 1.71576609e+01] [ 3.12376760e-02 9.99511975e-01 -1.41648543e-04 2.41001451e-01] [ 4.92375041e-03 -1.21656312e-05 9.99987878e-01 -1.76000617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.590281693 meters Centerline goodness : 0.997819 Centerline is valid? [True, True] Translation: X:17.19, Y:0.24, Z:-0.18 [[ 9.99472057e-01 -3.21151711e-02 -4.92172752e-03 1.71876523e+01] [ 3.21148629e-02 9.99484175e-01 -1.41648543e-04 2.42046063e-01] [ 4.92373784e-03 -1.64868443e-05 9.99987878e-01 -1.77502282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.620281693 meters Centerline goodness : 0.997662 Centerline is valid? [True, True] Translation: X:17.22, Y:0.24, Z:-0.18 [[ 9.99456152e-01 -3.26063775e-02 -4.92172752e-03 1.72175739e+01] [ 3.26060753e-02 9.99468271e-01 -1.41648543e-04 2.42504537e-01] [ 4.92372914e-03 -1.89067108e-05 9.99987878e-01 -1.78659244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.650281693 meters Centerline goodness : 0.997813 Centerline is valid? [True, True] Translation: X:17.25, Y:0.24, Z:-0.18 [[ 9.99469995e-01 -3.21792608e-02 -4.92172588e-03 1.72481341e+01] [ 3.21789531e-02 9.99482113e-01 -1.41705602e-04 2.42071627e-01] [ 4.92373697e-03 -1.67454888e-05 9.99987878e-01 -1.80579779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.680281693 meters Centerline goodness : 0.997738 Centerline is valid? [True, True] Translation: X:17.28, Y:0.24, Z:-0.18 [[ 9.99488035e-01 -3.16139795e-02 -4.92172588e-03 1.72777301e+01] [ 3.16136649e-02 9.99500153e-01 -1.41705602e-04 2.43358476e-01] [ 4.92374565e-03 -1.39607389e-05 9.99987878e-01 -1.81292708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.710281693000002 meters Centerline goodness : 0.997761 Centerline is valid? [True, True] Translation: X:17.31, Y:0.24, Z:-0.18 [[ 9.99508653e-01 -3.09552724e-02 -4.92172620e-03 1.73078026e+01] [ 3.09549500e-02 9.99520771e-01 -1.41694564e-04 2.44999657e-01] [ 4.92375376e-03 -1.07268451e-05 9.99987878e-01 -1.80326529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.740281693 meters Centerline goodness : 0.997148 Centerline is valid? [True, True] Translation: X:17.34, Y:0.25, Z:-0.18 [[ 9.99545334e-01 -2.97473104e-02 -4.92172620e-03 1.73382563e+01] [ 2.97469733e-02 9.99557451e-01 -1.41694564e-04 2.45969378e-01] [ 4.92376312e-03 -4.77631704e-06 9.99987878e-01 -1.77458554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.770281693 meters Centerline goodness : 0.997379 Centerline is valid? [True, True] Translation: X:17.37, Y:0.25, Z:-0.18 [[ 9.99562945e-01 -2.91495354e-02 -4.92172620e-03 1.73685456e+01] [ 2.91491911e-02 9.99575062e-01 -1.41694564e-04 2.46678396e-01] [ 4.92376510e-03 -1.83170127e-06 9.99987878e-01 -1.76488819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.800281693000002 meters Centerline goodness : 0.997580 Centerline is valid? [True, True] Translation: X:17.40, Y:0.25, Z:-0.18 [[ 9.99590994e-01 -2.81712818e-02 -4.92172620e-03 1.73975580e+01] [ 2.81709256e-02 9.99603111e-01 -1.41694564e-04 2.47833793e-01] [ 4.92376453e-03 2.98702808e-06 9.99987878e-01 -1.77339755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.830281693 meters Centerline goodness : 0.997013 Centerline is valid? [True, True] Translation: X:17.43, Y:0.25, Z:-0.18 [[ 9.99619751e-01 -2.71317205e-02 -4.92172454e-03 1.74270819e+01] [ 2.71313514e-02 9.99631867e-01 -1.41752269e-04 2.50056985e-01] [ 4.92375867e-03 8.16532974e-06 9.99987878e-01 -1.79594891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.860281693 meters Centerline goodness : 0.997164 Centerline is valid? [True, True] Translation: X:17.46, Y:0.25, Z:-0.18 [[ 9.99608961e-01 -2.75263836e-02 -4.92172496e-03 1.74564357e+01] [ 2.75260194e-02 9.99621077e-01 -1.41737702e-04 2.50826409e-01] [ 4.92376153e-03 6.20678074e-06 9.99987878e-01 -1.80349568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.890281693000002 meters Centerline goodness : 0.997384 Centerline is valid? [True, True] Translation: X:17.49, Y:0.25, Z:-0.18 [[ 9.99551421e-01 -2.95420783e-02 -4.92172181e-03 1.74866252e+01] [ 2.95417380e-02 9.99563538e-01 -1.41846940e-04 2.51064603e-01] [ 4.92376411e-03 -3.61290529e-06 9.99987878e-01 -1.79785071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.920281693 meters Centerline goodness : 0.997303 Centerline is valid? [True, True] Translation: X:17.52, Y:0.25, Z:-0.18 [[ 9.99530496e-01 -3.02417520e-02 -4.92172181e-03 1.75158277e+01] [ 3.02414202e-02 9.99542614e-01 -1.41846940e-04 2.52268607e-01] [ 4.92376038e-03 -7.05951451e-06 9.99987878e-01 -1.79692830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.950281693 meters Centerline goodness : 0.997257 Centerline is valid? [True, True] Translation: X:17.55, Y:0.25, Z:-0.18 [[ 9.99503564e-01 -3.11191658e-02 -4.92172019e-03 1.75451572e+01] [ 3.11188444e-02 9.99515681e-01 -1.41903184e-04 2.53260936e-01] [ 4.92375241e-03 -1.13255068e-05 9.99987878e-01 -1.79327884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.980281693000002 meters Centerline goodness : 0.997397 Centerline is valid? [True, True] Translation: X:17.58, Y:0.25, Z:-0.18 [[ 9.99471873e-01 -3.21208969e-02 -4.92171862e-03 1.75756897e+01] [ 3.21205873e-02 9.99483991e-01 -1.41957609e-04 2.54238511e-01] [ 4.92373877e-03 -1.62058552e-05 9.99987878e-01 -1.79218240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.010281693 meters Centerline goodness : 0.997695 Centerline is valid? [True, True] Translation: X:17.61, Y:0.26, Z:-0.18 [[ 9.99424109e-01 -3.35741873e-02 -4.92171862e-03 1.76058208e+01] [ 3.35738953e-02 9.99436228e-01 -1.41957609e-04 2.55138517e-01] [ 4.92371000e-03 -2.33654086e-05 9.99987878e-01 -1.79830116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.040281693 meters Centerline goodness : 0.997410 Centerline is valid? [True, True] Translation: X:17.64, Y:0.26, Z:-0.18 [[ 9.99419825e-01 -3.37014990e-02 -4.92171862e-03 1.76365797e+01] [ 3.37012086e-02 9.99431943e-01 -1.41957609e-04 2.57004653e-01] [ 4.92370698e-03 -2.39926172e-05 9.99987878e-01 -1.78476518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.070281693000002 meters Centerline goodness : 0.997648 Centerline is valid? [True, True] Translation: X:17.67, Y:0.26, Z:-0.17 [[ 9.99398584e-01 -3.43256029e-02 -4.92171862e-03 1.76664940e+01] [ 3.43253200e-02 9.99410702e-01 -1.41957609e-04 2.59362347e-01] [ 4.92369104e-03 -2.70673330e-05 9.99987878e-01 -1.74940537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.100281693 meters Centerline goodness : 0.997531 Centerline is valid? [True, True] Translation: X:17.70, Y:0.26, Z:-0.17 [[ 9.99364947e-01 -3.52913493e-02 -4.92172027e-03 1.76971793e+01] [ 3.52910784e-02 9.99377066e-01 -1.41900066e-04 2.59692370e-01] [ 4.92366221e-03 -3.18828643e-05 9.99987878e-01 -1.73882735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.130281693 meters Centerline goodness : 0.997737 Centerline is valid? [True, True] Translation: X:17.73, Y:0.26, Z:-0.17 [[ 9.99312817e-01 -3.67378567e-02 -4.92172027e-03 1.77279379e+01] [ 3.67376034e-02 9.99324936e-01 -1.41900066e-04 2.59457544e-01] [ 4.92361090e-03 -3.90096529e-05 9.99987878e-01 -1.73924259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.160281693 meters Centerline goodness : 0.997352 Centerline is valid? [True, True] Translation: X:17.76, Y:0.26, Z:-0.18 [[ 9.99152528e-01 -4.08656516e-02 -4.92172027e-03 1.77571608e+01] [ 4.08654483e-02 9.99164649e-01 -1.41900066e-04 2.59893076e-01] [ 4.92340775e-03 -5.93484957e-05 9.99987878e-01 -1.75298031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.190281693 meters Centerline goodness : 0.997544 Centerline is valid? [True, True] Translation: X:17.79, Y:0.26, Z:-0.18 [[ 9.99051543e-01 -4.32642124e-02 -4.92171865e-03 1.77875580e+01] [ 4.32640380e-02 9.99063663e-01 -1.41956260e-04 2.60874891e-01] [ 4.92325189e-03 -7.11118020e-05 9.99987878e-01 -1.75866560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.220281693 meters Centerline goodness : 0.997422 Centerline is valid? [True, True] Translation: X:17.82, Y:0.26, Z:-0.18 [[ 9.98951943e-01 -4.55059693e-02 -4.92171865e-03 1.78177784e+01] [ 4.55058220e-02 9.98964063e-01 -1.41956260e-04 2.60556388e-01] [ 4.92307992e-03 -8.21593713e-05 9.99987878e-01 -1.76656692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.250281693 meters Centerline goodness : 0.997399 Centerline is valid? [True, True] Translation: X:17.85, Y:0.26, Z:-0.18 [[ 9.98703149e-01 -5.06734401e-02 -4.92172025e-03 1.78485320e+01] [ 5.06733559e-02 9.98715270e-01 -1.41900765e-04 2.56968623e-01] [ 4.92258777e-03 -1.07683341e-04 9.99987878e-01 -1.78234442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.280281693 meters Centerline goodness : 0.996921 Centerline is valid? [True, True] Translation: X:17.88, Y:0.26, Z:-0.18 [[ 9.98562880e-01 -5.33661939e-02 -4.92172025e-03 1.78795493e+01] [ 5.33661423e-02 9.98575002e-01 -1.41900765e-04 2.55481514e-01] [ 4.92227952e-03 -1.20956387e-04 9.99987878e-01 -1.78553403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.310281693 meters Centerline goodness : 0.997234 Centerline is valid? [True, True] Translation: X:17.91, Y:0.25, Z:-0.18 [[ 9.98439069e-01 -5.56345415e-02 -4.92172025e-03 1.79087021e+01] [ 5.56345174e-02 9.98451191e-01 -1.41900765e-04 2.53924575e-01] [ 4.92199203e-03 -1.32138264e-04 9.99987878e-01 -1.78218771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.340281693 meters Centerline goodness : 0.997099 Centerline is valid? [True, True] Translation: X:17.94, Y:0.25, Z:-0.18 [[ 9.98324220e-01 -5.76587170e-02 -4.92171865e-03 1.79380146e+01] [ 5.76587173e-02 9.98336342e-01 -1.41956200e-04 2.51434922e-01] [ 4.92171561e-03 -1.42061671e-04 9.99987878e-01 -1.78295487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.370281693 meters Centerline goodness : 0.997098 Centerline is valid? [True, True] Translation: X:17.97, Y:0.24, Z:-0.18 [[ 9.98102662e-01 -6.13746895e-02 -4.92171707e-03 1.79665168e+01] [ 6.13747346e-02 9.98114784e-01 -1.42011073e-04 2.43796990e-01] [ 4.92115446e-03 -1.60327449e-04 9.99987878e-01 -1.79171889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.400281693 meters Centerline goodness : 0.996695 Centerline is valid? [True, True] Translation: X:18.00, Y:0.24, Z:-0.18 [[ 9.98004452e-01 -6.29514868e-02 -4.92171241e-03 1.79964486e+01] [ 6.29515502e-02 9.98016574e-01 -1.42172526e-04 2.40156043e-01] [ 4.92090053e-03 -1.67940612e-04 9.99987878e-01 -1.79653268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.430281693 meters Centerline goodness : 0.996618 Centerline is valid? [True, True] Translation: X:18.03, Y:0.23, Z:-0.18 [[ 9.97893993e-01 -6.46788710e-02 -4.92170932e-03 1.80258941e+01] [ 6.46789550e-02 9.97906114e-01 -1.42279414e-04 2.33047243e-01] [ 4.92060629e-03 -1.76351242e-04 9.99987878e-01 -1.79909765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.460281693000002 meters Centerline goodness : 0.996397 Centerline is valid? [True, True] Translation: X:18.05, Y:0.23, Z:-0.18 [[ 9.97920006e-01 -6.42762691e-02 -4.92168736e-03 1.80543189e+01] [ 6.42763444e-02 9.97932127e-01 -1.43034851e-04 2.29413060e-01] [ 4.92070369e-03 -1.73610733e-04 9.99987878e-01 -1.79884266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.490281693 meters Centerline goodness : 0.995724 Centerline is valid? [True, True] Translation: X:18.08, Y:0.23, Z:-0.18 [[ 9.97959141e-01 -6.36657691e-02 -4.92168266e-03 1.80836506e+01] [ 6.36658362e-02 9.97971263e-01 -1.43196480e-04 2.25707047e-01] [ 4.92081457e-03 -1.70438806e-04 9.99987878e-01 -1.79041503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.520281693 meters Centerline goodness : 0.996461 Centerline is valid? [True, True] Translation: X:18.11, Y:0.22, Z:-0.18 [[ 9.98178653e-01 -6.01261512e-02 -4.92165985e-03 1.81112214e+01] [ 6.01261715e-02 9.98190775e-01 -1.43976185e-04 2.18554919e-01] [ 4.92141219e-03 -1.52206609e-04 9.99987878e-01 -1.77298500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.550281693000002 meters Centerline goodness : 0.996375 Centerline is valid? [True, True] Translation: X:18.14, Y:0.22, Z:-0.17 [[ 9.98341240e-01 -5.73632776e-02 -4.92164755e-03 1.81388686e+01] [ 5.73632623e-02 9.98353362e-01 -1.44395577e-04 2.16427414e-01] [ 4.92182638e-03 -1.38165700e-04 9.99987878e-01 -1.74215496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.580281693 meters Centerline goodness : 0.996375 Centerline is valid? [True, True] Translation: X:18.17, Y:0.22, Z:-0.17 [[ 9.98332513e-01 -5.75149703e-02 -4.92162238e-03 1.81681573e+01] [ 5.75149526e-02 9.98344634e-01 -1.45248291e-04 2.17439512e-01] [ 4.92182925e-03 -1.38060787e-04 9.99987878e-01 -1.74071132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.610281693 meters Centerline goodness : 0.996066 Centerline is valid? [True, True] Translation: X:18.20, Y:0.21, Z:-0.17 [[ 9.98639770e-01 -5.19074821e-02 -4.92160020e-03 1.81965447e+01] [ 5.19073927e-02 9.98651892e-01 -1.45996094e-04 2.11676591e-01] [ 4.92254364e-03 -1.09669929e-04 9.99987878e-01 -1.70891522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.640281693000002 meters Centerline goodness : 0.996393 Centerline is valid? [True, True] Translation: X:18.23, Y:0.21, Z:-0.17 [[ 9.98748907e-01 -4.97634221e-02 -4.92157481e-03 1.82257596e+01] [ 4.97633024e-02 9.98761029e-01 -1.46847133e-04 2.09717692e-01] [ 4.92278473e-03 -9.82504022e-05 9.99987878e-01 -1.71935414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.670281693 meters Centerline goodness : 0.996106 Centerline is valid? [True, True] Translation: X:18.26, Y:0.21, Z:-0.17 [[ 9.98824179e-01 -4.82290064e-02 -4.92155252e-03 1.82550134e+01] [ 4.82288644e-02 9.98836300e-01 -1.47590102e-04 2.08612403e-01] [ 4.92294344e-03 -8.99443267e-05 9.99987878e-01 -1.73683499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.700281693 meters Centerline goodness : 0.996174 Centerline is valid? [True, True] Translation: X:18.28, Y:0.21, Z:-0.18 [[ 9.98913084e-01 -4.63511535e-02 -4.92152852e-03 1.82839658e+01] [ 4.63509848e-02 9.98925205e-01 -1.48386190e-04 2.07321172e-01] [ 4.92311676e-03 -7.98927870e-05 9.99987878e-01 -1.75655052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.730281693000002 meters Centerline goodness : 0.996078 Centerline is valid? [True, True] Translation: X:18.31, Y:0.20, Z:-0.18 [[ 9.99108480e-01 -4.19287990e-02 -4.92150439e-03 1.83121429e+01] [ 4.19285728e-02 9.99120600e-01 -1.49182158e-04 2.04862067e-01] [ 4.92343145e-03 -5.73024965e-05 9.99987878e-01 -1.78976476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.760281693 meters Centerline goodness : 0.995917 Centerline is valid? [True, True] Translation: X:18.34, Y:0.20, Z:-0.18 [[ 9.99177871e-01 -4.02412875e-02 -4.92149584e-03 1.83411171e+01] [ 4.02410394e-02 9.99189990e-01 -1.49463859e-04 2.04752358e-01] [ 4.92352400e-03 -4.87051275e-05 9.99987878e-01 -1.79823530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.790281693 meters Centerline goodness : 0.995761 Centerline is valid? [True, True] Translation: X:18.37, Y:0.21, Z:-0.18 [[ 9.99238637e-01 -3.87030471e-02 -4.92147179e-03 1.83698996e+01] [ 3.87027765e-02 9.99250756e-01 -1.50251708e-04 2.05450542e-01] [ 4.92359960e-03 -4.03373110e-05 9.99987878e-01 -1.79673076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.820281693000002 meters Centerline goodness : 0.995704 Centerline is valid? [True, True] Translation: X:18.40, Y:0.21, Z:-0.18 [[ 9.99374689e-01 -3.50144420e-02 -4.92144750e-03 1.83984408e+01] [ 3.50141227e-02 9.99386806e-01 -1.51042894e-04 2.07877973e-01] [ 4.92371839e-03 -2.13717220e-05 9.99987878e-01 -1.76030959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.850281693 meters Centerline goodness : 0.996033 Centerline is valid? [True, True] Translation: X:18.43, Y:0.21, Z:-0.17 [[ 9.99446262e-01 -3.29081784e-02 -4.92142264e-03 1.84261416e+01] [ 3.29078296e-02 9.99458379e-01 -1.51848806e-04 2.10358403e-01] [ 4.92375416e-03 -1.01886163e-05 9.99987878e-01 -1.74471355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.880281693 meters Centerline goodness : 0.996047 Centerline is valid? [True, True] Translation: X:18.45, Y:0.22, Z:-0.17 [[ 9.99575017e-01 -2.87326325e-02 -4.92141377e-03 1.84543077e+01] [ 2.87322317e-02 9.99587133e-01 -1.52135773e-04 2.15320598e-01] [ 4.92375314e-03 1.06679176e-05 9.99987878e-01 -1.74476299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.910281693 meters Centerline goodness : 0.995600 Centerline is valid? [True, True] Translation: X:18.48, Y:0.22, Z:-0.17 [[ 9.99611571e-01 -2.74314903e-02 -4.92140500e-03 1.84828907e+01] [ 2.74310723e-02 9.99623686e-01 -1.52418878e-04 2.18059874e-01] [ 4.92373408e-03 1.73602579e-05 9.99987878e-01 -1.74167453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.940281693 meters Centerline goodness : 0.995775 Centerline is valid? [True, True] Translation: X:18.51, Y:0.22, Z:-0.17 [[ 9.99628633e-01 -2.68025419e-02 -4.92138086e-03 1.85127692e+01] [ 2.68021125e-02 9.99640747e-01 -1.53194295e-04 2.20918766e-01] [ 4.92371884e-03 2.12340002e-05 9.99987878e-01 -1.73638169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.970281693 meters Centerline goodness : 0.995559 Centerline is valid? [True, True] Translation: X:18.54, Y:0.22, Z:-0.17 [[ 9.99627333e-01 -2.68509703e-02 -4.92137743e-03 1.85409251e+01] [ 2.68505409e-02 9.99639447e-01 -1.53304560e-04 2.24498389e-01] [ 4.92371939e-03 2.11057829e-05 9.99987878e-01 -1.72875475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.000281693 meters Centerline goodness : 0.996202 Centerline is valid? [True, True] Translation: X:18.57, Y:0.23, Z:-0.17 [[ 9.99585011e-01 -2.83828358e-02 -4.92137229e-03 1.85705505e+01] [ 2.83824242e-02 9.99597126e-01 -1.53469209e-04 2.32712339e-01] [ 4.92374549e-03 1.37250448e-05 9.99987878e-01 -1.70785276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.030281693 meters Centerline goodness : 0.995874 Centerline is valid? [True, True] Translation: X:18.60, Y:0.24, Z:-0.17 [[ 9.99567945e-01 -2.89776459e-02 -4.92136882e-03 1.85996228e+01] [ 2.89772410e-02 9.99580060e-01 -1.53580522e-04 2.37605346e-01] [ 4.92375254e-03 1.09064766e-05 9.99987878e-01 -1.70702868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.060281693 meters Centerline goodness : 0.995770 Centerline is valid? [True, True] Translation: X:18.63, Y:0.24, Z:-0.17 [[ 9.99549169e-01 -2.96182232e-02 -4.92136524e-03 1.86276465e+01] [ 2.96178255e-02 9.99561284e-01 -1.53695134e-04 2.44315350e-01] [ 4.92375834e-03 7.86570626e-06 9.99987878e-01 -1.72166911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.090281693 meters Centerline goodness : 0.995521 Centerline is valid? [True, True] Translation: X:18.66, Y:0.25, Z:-0.17 [[ 9.99545867e-01 -2.97294512e-02 -4.92135990e-03 1.86559767e+01] [ 2.97290539e-02 9.99557982e-01 -1.53865892e-04 2.48329218e-01] [ 4.92375892e-03 7.48864268e-06 9.99987878e-01 -1.72783853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.120281693 meters Centerline goodness : 0.995791 Centerline is valid? [True, True] Translation: X:18.68, Y:0.25, Z:-0.17 [[ 9.99541924e-01 -2.98617279e-02 -4.92133560e-03 1.86845754e+01] [ 2.98613284e-02 9.99554039e-01 -1.54639307e-04 2.52910556e-01] [ 4.92375867e-03 7.61085129e-06 9.99987878e-01 -1.72169193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.150281693 meters Centerline goodness : 0.995999 Centerline is valid? [True, True] Translation: X:18.71, Y:0.26, Z:-0.17 [[ 9.99467890e-01 -3.22446340e-02 -4.92133042e-03 1.87143703e+01] [ 3.22442626e-02 9.99480007e-01 -1.54804051e-04 2.58316783e-01] [ 4.92376296e-03 -3.96299244e-06 9.99987878e-01 -1.71850478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.180281693 meters Centerline goodness : 0.995912 Centerline is valid? [True, True] Translation: X:18.74, Y:0.26, Z:-0.17 [[ 9.99390110e-01 -3.45714896e-02 -4.92132693e-03 1.87435319e+01] [ 3.45711459e-02 9.99402227e-01 -1.54914687e-04 2.59534235e-01] [ 4.92374073e-03 -1.53157055e-05 9.99987878e-01 -1.70703986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.210281693000002 meters Centerline goodness : 0.995781 Centerline is valid? [True, True] Translation: X:18.77, Y:0.26, Z:-0.17 [[ 9.99292149e-01 -3.72958521e-02 -4.92132322e-03 1.87723063e+01] [ 3.72955409e-02 9.99304267e-01 -1.55032540e-04 2.60439079e-01] [ 4.92368137e-03 -2.86206112e-05 9.99987878e-01 -1.70199069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.240281693 meters Centerline goodness : 0.996196 Centerline is valid? [True, True] Translation: X:18.80, Y:0.26, Z:-0.17 [[ 9.99125893e-01 -4.15118076e-02 -4.92131767e-03 1.88012649e+01] [ 4.15115467e-02 9.99138012e-01 -1.55208697e-04 2.62845958e-01] [ 4.92351854e-03 -4.92184801e-05 9.99987878e-01 -1.66829857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.270281693 meters Centerline goodness : 0.996605 Centerline is valid? [True, True] Translation: X:18.83, Y:0.26, Z:-0.17 [[ 9.99055352e-01 -4.31761939e-02 -4.92131246e-03 1.88308217e+01] [ 4.31759523e-02 9.99067472e-01 -1.55373581e-04 2.64515295e-01] [ 4.92343164e-03 -5.72555442e-05 9.99987878e-01 -1.66954058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.300281693000002 meters Centerline goodness : 0.996174 Centerline is valid? [True, True] Translation: X:18.86, Y:0.27, Z:-0.17 [[ 9.98986440e-01 -4.47423101e-02 -4.92130892e-03 1.88601270e+01] [ 4.47420869e-02 9.98998559e-01 -1.55485570e-04 2.65555741e-01] [ 4.92333731e-03 -6.48616554e-05 9.99987878e-01 -1.69344447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.330281693 meters Centerline goodness : 0.996251 Centerline is valid? [True, True] Translation: X:18.89, Y:0.27, Z:-0.17 [[ 9.98828343e-01 -4.81427243e-02 -4.92130901e-03 1.88896510e+01] [ 4.81425424e-02 9.98840463e-01 -1.55482870e-04 2.65279563e-01] [ 4.92308794e-03 -8.16236300e-05 9.99987878e-01 -1.72833856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.360281693 meters Centerline goodness : 0.996085 Centerline is valid? [True, True] Translation: X:18.92, Y:0.27, Z:-0.17 [[ 9.98756591e-01 -4.96090037e-02 -4.92130542e-03 1.89194779e+01] [ 4.96088391e-02 9.98768711e-01 -1.55596239e-04 2.65626781e-01] [ 4.92296485e-03 -8.87374797e-05 9.99987878e-01 -1.73248799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.390281693000002 meters Centerline goodness : 0.996466 Centerline is valid? [True, True] Translation: X:18.95, Y:0.26, Z:-0.17 [[ 9.98621821e-01 -5.22516848e-02 -4.92130364e-03 1.89489977e+01] [ 5.22515520e-02 9.98633942e-01 -1.55652462e-04 2.64223045e-01] [ 4.92271396e-03 -1.01707808e-04 9.99987878e-01 -1.70100145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.420281693 meters Centerline goodness : 0.996249 Centerline is valid? [True, True] Translation: X:18.98, Y:0.26, Z:-0.17 [[ 9.98568660e-01 -5.32579832e-02 -4.92130000e-03 1.89788428e+01] [ 5.32578620e-02 9.98580781e-01 -1.55767687e-04 2.62249927e-01] [ 4.92261147e-03 -1.06553185e-04 9.99987878e-01 -1.69313611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.450281693 meters Centerline goodness : 0.996286 Centerline is valid? [True, True] Translation: X:19.01, Y:0.26, Z:-0.17 [[ 9.98515946e-01 -5.42373114e-02 -4.92129818e-03 1.90080467e+01] [ 5.42372018e-02 9.98528068e-01 -1.55825043e-04 2.59989685e-01] [ 4.92250589e-03 -1.11323652e-04 9.99987878e-01 -1.68224336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.480281693000002 meters Centerline goodness : 0.996415 Centerline is valid? [True, True] Translation: X:19.04, Y:0.26, Z:-0.17 [[ 9.98415293e-01 -5.60596447e-02 -4.92129293e-03 1.90379909e+01] [ 5.60595564e-02 9.98427414e-01 -1.55990819e-04 2.58714965e-01] [ 4.92229856e-03 -1.20141880e-04 9.99987878e-01 -1.67386223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.510281693 meters Centerline goodness : 0.996647 Centerline is valid? [True, True] Translation: X:19.07, Y:0.26, Z:-0.17 [[ 9.98422360e-01 -5.59336416e-02 -4.92128932e-03 1.90666400e+01] [ 5.59335513e-02 9.98434481e-01 -1.56104681e-04 2.59508568e-01] [ 4.92231645e-03 -1.19406784e-04 9.99987878e-01 -1.69823305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.540281693 meters Centerline goodness : 0.996372 Centerline is valid? [True, True] Translation: X:19.10, Y:0.26, Z:-0.17 [[ 9.98445067e-01 -5.55268408e-02 -4.92128393e-03 1.90963794e+01] [ 5.55267446e-02 9.98457188e-01 -1.56274135e-04 2.59551887e-01] [ 4.92236873e-03 -1.17231737e-04 9.99987878e-01 -1.71382830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.570281693000002 meters Centerline goodness : 0.996361 Centerline is valid? [True, True] Translation: X:19.13, Y:0.26, Z:-0.17 [[ 9.98523998e-01 -5.40888706e-02 -4.92128037e-03 1.91251273e+01] [ 5.40887564e-02 9.98536120e-01 -1.56386447e-04 2.55422132e-01] [ 4.92253497e-03 -1.10030315e-04 9.99987878e-01 -1.70749945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.600281693 meters Centerline goodness : 0.996303 Centerline is valid? [True, True] Translation: X:19.15, Y:0.25, Z:-0.17 [[ 9.98558271e-01 -5.34524164e-02 -4.92125499e-03 1.91545025e+01] [ 5.34522906e-02 9.98570392e-01 -1.57180972e-04 2.54010163e-01] [ 4.92262123e-03 -1.06097992e-04 9.99987878e-01 -1.67980294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.630281693 meters Centerline goodness : 0.996618 Centerline is valid? [True, True] Translation: X:19.18, Y:0.25, Z:-0.17 [[ 9.98663422e-01 -5.14504647e-02 -4.92125133e-03 1.91830645e+01] [ 5.14503141e-02 9.98675543e-01 -1.57295346e-04 2.50997169e-01] [ 4.92282627e-03 -9.61148183e-05 9.99987878e-01 -1.67148282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.660281693 meters Centerline goodness : 0.996521 Centerline is valid? [True, True] Translation: X:19.21, Y:0.25, Z:-0.17 [[ 9.98726426e-01 -5.02126152e-02 -4.92124588e-03 1.92114380e+01] [ 5.02124487e-02 9.98738547e-01 -1.57465695e-04 2.49772055e-01] [ 4.92294473e-03 -8.98426551e-05 9.99987878e-01 -1.67683317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.690281693 meters Centerline goodness : 0.996126 Centerline is valid? [True, True] Translation: X:19.24, Y:0.25, Z:-0.17 [[ 9.98838579e-01 -4.79299028e-02 -4.92121981e-03 1.92403695e+01] [ 4.79297046e-02 9.98850699e-01 -1.58276402e-04 2.48434890e-01] [ 4.92315002e-03 -7.77800356e-05 9.99987878e-01 -1.68645091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.720281693 meters Centerline goodness : 0.996180 Centerline is valid? [True, True] Translation: X:19.27, Y:0.25, Z:-0.17 [[ 9.98946471e-01 -4.56259759e-02 -4.92121425e-03 1.92689752e+01] [ 4.56257488e-02 9.98958591e-01 -1.58449139e-04 2.47619975e-01] [ 4.92331864e-03 -6.62518767e-05 9.99987878e-01 -1.69915619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.750281693 meters Centerline goodness : 0.996567 Centerline is valid? [True, True] Translation: X:19.30, Y:0.25, Z:-0.17 [[ 9.99178187e-01 -4.02334745e-02 -4.92120733e-03 1.92970292e+01] [ 4.02331810e-02 9.99190305e-01 -1.58663659e-04 2.46681391e-01] [ 4.92360624e-03 -3.94625587e-05 9.99987878e-01 -1.71431641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.780281693 meters Centerline goodness : 0.996837 Centerline is valid? [True, True] Translation: X:19.33, Y:0.25, Z:-0.17 [[ 9.99295226e-01 -3.72133477e-02 -4.92119836e-03 1.93256089e+01] [ 3.72130162e-02 9.99307343e-01 -1.58941547e-04 2.47881653e-01] [ 4.92370440e-03 -2.43031049e-05 9.99987878e-01 -1.72637347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.810281693 meters Centerline goodness : 0.996630 Centerline is valid? [True, True] Translation: X:19.35, Y:0.25, Z:-0.17 [[ 9.99485092e-01 -3.17070061e-02 -4.92099177e-03 1.93547884e+01] [ 3.17065766e-02 9.99497206e-01 -1.65304231e-04 2.48572463e-01] [ 4.92375883e-03 9.19131219e-06 9.99987878e-01 -1.70701012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.840281693 meters Centerline goodness : 0.996387 Centerline is valid? [True, True] Translation: X:19.38, Y:0.25, Z:-0.17 [[ 9.99541341e-01 -2.98812584e-02 -4.92116840e-03 1.93833178e+01] [ 2.98808334e-02 9.99553455e-01 -1.59867214e-04 2.48466003e-01] [ 4.92374791e-03 1.27452760e-05 9.99987878e-01 -1.68237668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.870281693 meters Centerline goodness : 0.996552 Centerline is valid? [True, True] Translation: X:19.41, Y:0.25, Z:-0.17 [[ 9.99568426e-01 -2.89610917e-02 -4.92114201e-03 1.94132954e+01] [ 2.89606516e-02 9.99580539e-01 -1.60675366e-04 2.48337228e-01] [ 4.92373112e-03 1.80865439e-05 9.99987878e-01 -1.67022487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.900281693 meters Centerline goodness : 0.996241 Centerline is valid? [True, True] Translation: X:19.44, Y:0.25, Z:-0.17 [[ 9.99550867e-01 -2.95608845e-02 -4.92113820e-03 1.94422217e+01] [ 2.95604512e-02 9.99562981e-01 -1.60791911e-04 2.47986606e-01] [ 4.92374073e-03 1.52486283e-05 9.99987878e-01 -1.70012892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.930281693 meters Centerline goodness : 0.996669 Centerline is valid? [True, True] Translation: X:19.47, Y:0.25, Z:-0.17 [[ 9.99522435e-01 -3.05071322e-02 -4.92113252e-03 1.94706812e+01] [ 3.05067094e-02 9.99534549e-01 -1.60965625e-04 2.48939727e-01] [ 4.92375258e-03 1.07611938e-05 9.99987878e-01 -1.72830351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.960281693000002 meters Centerline goodness : 0.996377 Centerline is valid? [True, True] Translation: X:19.50, Y:0.25, Z:-0.17 [[ 9.99505394e-01 -3.10604253e-02 -4.92112700e-03 1.94996627e+01] [ 3.10600084e-02 9.99517509e-01 -1.61134436e-04 2.49738398e-01] [ 4.92375750e-03 8.20449261e-06 9.99987878e-01 -1.72475395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.990281693 meters Centerline goodness : 0.996519 Centerline is valid? [True, True] Translation: X:19.53, Y:0.25, Z:-0.17 [[ 9.99526298e-01 -3.03803021e-02 -4.92110097e-03 1.95287738e+01] [ 3.03798731e-02 9.99538412e-01 -1.61925452e-04 2.50504383e-01] [ 4.92374879e-03 1.23463245e-05 9.99987878e-01 -1.70683588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.020281693 meters Centerline goodness : 0.996529 Centerline is valid? [True, True] Translation: X:19.56, Y:0.25, Z:-0.17 [[ 9.99552511e-01 -2.95052757e-02 -4.92107469e-03 1.95560990e+01] [ 2.95048322e-02 9.99564624e-01 -1.62720296e-04 2.51418800e-01] [ 4.92373328e-03 1.74519973e-05 9.99987878e-01 -1.70824041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.050281693000002 meters Centerline goodness : 0.996400 Centerline is valid? [True, True] Translation: X:19.59, Y:0.25, Z:-0.17 [[ 9.99587085e-01 -2.83097451e-02 -4.92106535e-03 1.95851495e+01] [ 2.83092857e-02 9.99599199e-01 -1.63002219e-04 2.52364854e-01] [ 4.92370753e-03 2.36230680e-05 9.99987878e-01 -1.70756060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.080281693 meters Centerline goodness : 0.996677 Centerline is valid? [True, True] Translation: X:19.62, Y:0.25, Z:-0.17 [[ 9.99622127e-01 -2.70441663e-02 -4.92103915e-03 1.96152396e+01] [ 2.70436877e-02 9.99634239e-01 -1.63789425e-04 2.54095255e-01] [ 4.92366877e-03 3.06444870e-05 9.99987878e-01 -1.69420330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.110281693 meters Centerline goodness : 0.996806 Centerline is valid? [True, True] Translation: X:19.64, Y:0.26, Z:-0.17 [[ 9.99620333e-01 -2.71104001e-02 -4.92103531e-03 1.96437182e+01] [ 2.71099217e-02 9.99632445e-01 -1.63904707e-04 2.55775283e-01] [ 4.92367008e-03 3.04335963e-05 9.99987878e-01 -1.69108839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.140281693000002 meters Centerline goodness : 0.996352 Centerline is valid? [True, True] Translation: X:19.67, Y:0.26, Z:-0.17 [[ 9.99585418e-01 -2.83685640e-02 -4.92102956e-03 1.96723584e+01] [ 2.83681000e-02 9.99597531e-01 -1.64076918e-04 2.56593954e-01] [ 4.92370363e-03 2.44086355e-05 9.99987878e-01 -1.70448598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.170281693 meters Centerline goodness : 0.996294 Centerline is valid? [True, True] Translation: X:19.70, Y:0.26, Z:-0.17 [[ 9.99548202e-01 -2.96508981e-02 -4.92100272e-03 1.97007869e+01] [ 2.96504457e-02 9.99560315e-01 -1.64878224e-04 2.56516946e-01] [ 4.92372781e-03 1.88938081e-05 9.99987878e-01 -1.72838684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.200281693 meters Centerline goodness : 0.996356 Centerline is valid? [True, True] Translation: X:19.73, Y:0.26, Z:-0.17 [[ 9.99495958e-01 -3.13626188e-02 -4.92097589e-03 1.97296688e+01] [ 3.13621832e-02 9.99508072e-01 -1.65674925e-04 2.56733781e-01] [ 4.92375113e-03 1.12588706e-05 9.99987878e-01 -1.74301320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.230281693000002 meters Centerline goodness : 0.996118 Centerline is valid? [True, True] Translation: X:19.76, Y:0.26, Z:-0.17 [[ 9.99429713e-01 -3.34070665e-02 -4.92097018e-03 1.97588514e+01] [ 3.34066549e-02 9.99441828e-01 -1.65844575e-04 2.57798328e-01] [ 4.92376381e-03 1.35684349e-06 9.99987878e-01 -1.74539375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.260281693 meters Centerline goodness : 0.996470 Centerline is valid? [True, True] Translation: X:19.79, Y:0.26, Z:-0.17 [[ 9.99334852e-01 -3.61336108e-02 -4.92094350e-03 1.97872165e+01] [ 3.61332283e-02 9.99346968e-01 -1.66632453e-04 2.57423243e-01] [ 4.92375100e-03 -1.12879572e-05 9.99987878e-01 -1.71773804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.290281693 meters Centerline goodness : 0.996747 Centerline is valid? [True, True] Translation: X:19.82, Y:0.26, Z:-0.17 [[ 9.99304653e-01 -3.69593602e-02 -4.92093781e-03 1.98150843e+01] [ 3.69589869e-02 9.99316769e-01 -1.66800277e-04 2.58210193e-01] [ 4.92374050e-03 -1.51885834e-05 9.99987878e-01 -1.69684801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.320281693000002 meters Centerline goodness : 0.996763 Centerline is valid? [True, True] Translation: X:19.84, Y:0.26, Z:-0.16 [[ 9.99227162e-01 -3.89982401e-02 -4.92092841e-03 1.98437951e+01] [ 3.89978901e-02 9.99239279e-01 -1.67077030e-04 2.60025899e-01] [ 4.92370067e-03 -2.49579192e-05 9.99987878e-01 -1.63177011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.350281693 meters Centerline goodness : 0.996849 Centerline is valid? [True, True] Translation: X:19.87, Y:0.26, Z:-0.16 [[ 9.99181195e-01 -4.01587495e-02 -4.92090092e-03 1.98715436e+01] [ 4.01584097e-02 9.99193312e-01 -1.67882976e-04 2.62144428e-01] [ 4.92367325e-03 -2.98700424e-05 9.99987878e-01 -1.62930069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.380281693 meters Centerline goodness : 0.996810 Centerline is valid? [True, True] Translation: X:19.90, Y:0.26, Z:-0.16 [[ 9.99128630e-01 -4.14459356e-02 -4.92089121e-03 1.98999646e+01] [ 4.14456100e-02 9.99140747e-01 -1.68167128e-04 2.63866400e-01] [ 4.92363276e-03 -3.59287456e-05 9.99987878e-01 -1.61788246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.410281693 meters Centerline goodness : 0.996820 Centerline is valid? [True, True] Translation: X:19.93, Y:0.26, Z:-0.16 [[ 9.99036723e-01 -4.36051688e-02 -4.92086384e-03 1.99281715e+01] [ 4.36048655e-02 9.99048841e-01 -1.68964045e-04 2.64034336e-01] [ 4.92355103e-03 -4.57723200e-05 9.99987878e-01 -1.61165448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.440281693 meters Centerline goodness : 0.996691 Centerline is valid? [True, True] Translation: X:19.96, Y:0.27, Z:-0.16 [[ 9.98999938e-01 -4.44399529e-02 -4.92085415e-03 1.99562192e+01] [ 4.44396583e-02 9.99012056e-01 -1.69245956e-04 2.65794187e-01] [ 4.92351390e-03 -4.96043770e-05 9.99987878e-01 -1.61818429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.470281693 meters Centerline goodness : 0.996691 Centerline is valid? [True, True] Translation: X:19.99, Y:0.27, Z:-0.16 [[ 9.98993105e-01 -4.45932897e-02 -4.92084451e-03 1.99855043e+01] [ 4.45929956e-02 9.99005223e-01 -1.69525588e-04 2.66955702e-01] [ 4.92350908e-03 -5.00803043e-05 9.99987878e-01 -1.61674105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.500281693 meters Centerline goodness : 0.996918 Centerline is valid? [True, True] Translation: X:20.01, Y:0.27, Z:-0.16 [[ 9.98953348e-01 -4.54752027e-02 -4.92081838e-03 2.00138865e+01] [ 4.54749156e-02 9.98965466e-01 -1.70280891e-04 2.70188756e-01] [ 4.92347118e-03 -5.36711338e-05 9.99987878e-01 -1.61903815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.530281693 meters Centerline goodness : 0.997090 Centerline is valid? [True, True] Translation: X:20.04, Y:0.27, Z:-0.17 [[ 9.98966414e-01 -4.51872705e-02 -4.92078903e-03 2.00416497e+01] [ 4.51869757e-02 9.98978532e-01 -1.71124684e-04 2.74748039e-01] [ 4.92349526e-03 -5.14077629e-05 9.99987878e-01 -1.65086284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.560281693 meters Centerline goodness : 0.996815 Centerline is valid? [True, True] Translation: X:20.07, Y:0.28, Z:-0.17 [[ 9.99011153e-01 -4.41871158e-02 -4.92077928e-03 2.00692091e+01] [ 4.41868075e-02 9.99023271e-01 -1.71404630e-04 2.76493769e-01] [ 4.92354689e-03 -4.61983895e-05 9.99987878e-01 -1.66700534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.590281693 meters Centerline goodness : 0.996883 Centerline is valid? [True, True] Translation: X:20.10, Y:0.28, Z:-0.17 [[ 9.99043322e-01 -4.34537212e-02 -4.92076965e-03 2.00983195e+01] [ 4.34534027e-02 9.99055440e-01 -1.71680663e-04 2.78541438e-01] [ 4.92358185e-03 -4.23077655e-05 9.99987878e-01 -1.65613857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.620281693 meters Centerline goodness : 0.996808 Centerline is valid? [True, True] Translation: X:20.13, Y:0.28, Z:-0.17 [[ 9.99108524e-01 -4.19278343e-02 -4.92074050e-03 2.01272345e+01] [ 4.19274931e-02 9.99120641e-01 -1.72512222e-04 2.83408992e-01] [ 4.92364647e-03 -3.39558823e-05 9.99987878e-01 -1.67800287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.650281693 meters Centerline goodness : 0.996720 Centerline is valid? [True, True] Translation: X:20.16, Y:0.29, Z:-0.17 [[ 9.99129108e-01 -4.14344214e-02 -4.92073427e-03 2.01556060e+01] [ 4.14340734e-02 9.99141225e-01 -1.72689589e-04 2.86122125e-01] [ 4.92366376e-03 -3.13468697e-05 9.99987878e-01 -1.68817630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.680281693 meters Centerline goodness : 0.996858 Centerline is valid? [True, True] Translation: X:20.18, Y:0.29, Z:-0.17 [[ 9.99128466e-01 -4.14499100e-02 -4.92072829e-03 2.01847990e+01] [ 4.14495613e-02 9.99140583e-01 -1.72859967e-04 2.88201113e-01] [ 4.92366436e-03 -3.12527152e-05 9.99987878e-01 -1.66000973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.710281693 meters Centerline goodness : 0.996837 Centerline is valid? [True, True] Translation: X:20.21, Y:0.29, Z:-0.16 [[ 9.99068018e-01 -4.28821931e-02 -4.92070122e-03 2.02133943e+01] [ 4.28818580e-02 9.99080135e-01 -1.73627030e-04 2.88270219e-01] [ 4.92362035e-03 -3.75435982e-05 9.99987878e-01 -1.63967393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.740281693 meters Centerline goodness : 0.996820 Centerline is valid? [True, True] Translation: X:20.24, Y:0.29, Z:-0.16 [[ 9.98996031e-01 -4.45277027e-02 -4.92069546e-03 2.02417207e+01] [ 4.45273868e-02 9.99008149e-01 -1.73790128e-04 2.89502759e-01] [ 4.92355334e-03 -4.54900622e-05 9.99987878e-01 -1.61471308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.770281693 meters Centerline goodness : 0.996713 Centerline is valid? [True, True] Translation: X:20.27, Y:0.29, Z:-0.16 [[ 9.98947687e-01 -4.55994102e-02 -4.92066703e-03 2.02707488e+01] [ 4.55991033e-02 9.98959805e-01 -1.74591379e-04 2.90607407e-01] [ 4.92350984e-03 -4.99703504e-05 9.99987878e-01 -1.61800765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.800281693000002 meters Centerline goodness : 0.996808 Centerline is valid? [True, True] Translation: X:20.30, Y:0.29, Z:-0.16 [[ 9.98917847e-01 -4.62484747e-02 -4.92066098e-03 2.02999515e+01] [ 4.62481749e-02 9.98929965e-01 -1.74761755e-04 2.90271715e-01] [ 4.92347817e-03 -5.29989542e-05 9.99987878e-01 -1.63281264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.830281693 meters Centerline goodness : 0.996728 Centerline is valid? [True, True] Translation: X:20.33, Y:0.29, Z:-0.16 [[ 9.98929432e-01 -4.59975890e-02 -4.92063299e-03 2.03291661e+01] [ 4.59972822e-02 9.98941549e-01 -1.75546499e-04 2.90164618e-01] [ 4.92349945e-03 -5.09771794e-05 9.99987878e-01 -1.62045782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.860281693 meters Centerline goodness : 0.996906 Centerline is valid? [True, True] Translation: X:20.36, Y:0.29, Z:-0.16 [[ 9.99006404e-01 -4.42943724e-02 -4.92060422e-03 2.03581399e+01] [ 4.42940411e-02 9.99018522e-01 -1.76349049e-04 2.89434345e-01] [ 4.92358603e-03 -4.17796168e-05 9.99987878e-01 -1.59688199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.890281693000002 meters Centerline goodness : 0.996707 Centerline is valid? [True, True] Translation: X:20.39, Y:0.29, Z:-0.16 [[ 9.99042166e-01 -4.34803316e-02 -4.92059811e-03 2.03867406e+01] [ 4.34799895e-02 9.99054282e-01 -1.76519376e-04 2.90235144e-01] [ 4.92361974e-03 -3.75972552e-05 9.99987878e-01 -1.61504773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.920281693 meters Centerline goodness : 0.996702 Centerline is valid? [True, True] Translation: X:20.42, Y:0.29, Z:-0.16 [[ 9.99068770e-01 -4.28646744e-02 -4.92056958e-03 2.04157833e+01] [ 4.28643210e-02 9.99080887e-01 -1.77311230e-04 2.90737160e-01] [ 4.92364741e-03 -3.37707611e-05 9.99987878e-01 -1.64779479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.950281693 meters Centerline goodness : 0.996685 Centerline is valid? [True, True] Translation: X:20.44, Y:0.29, Z:-0.17 [[ 9.99083632e-01 -4.25168702e-02 -4.92054071e-03 2.04440646e+01] [ 4.25165086e-02 9.99095749e-01 -1.78108683e-04 2.90601821e-01] [ 4.92366393e-03 -3.12587417e-05 9.99987878e-01 -1.68443831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.980281693000002 meters Centerline goodness : 0.996370 Centerline is valid? [True, True] Translation: X:20.47, Y:0.29, Z:-0.17 [[ 9.99100437e-01 -4.21201175e-02 -4.92053046e-03 2.04726887e+01] [ 4.21197498e-02 9.99112554e-01 -1.78391566e-04 2.89729540e-01] [ 4.92367762e-03 -2.90204199e-05 9.99987878e-01 -1.68013826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.010281693 meters Centerline goodness : 0.996755 Centerline is valid? [True, True] Translation: X:20.50, Y:0.29, Z:-0.17 [[ 9.99126717e-01 -4.14920622e-02 -4.92050208e-03 2.05001823e+01] [ 4.14916829e-02 9.99138833e-01 -1.79170864e-04 2.90694849e-01] [ 4.92369888e-03 -2.51455146e-05 9.99987878e-01 -1.65223843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.040281693 meters Centerline goodness : 0.997202 Centerline is valid? [True, True] Translation: X:20.53, Y:0.29, Z:-0.16 [[ 9.99288743e-01 -3.73871203e-02 -4.92049194e-03 2.05292567e+01] [ 3.73866899e-02 9.99300857e-01 -1.79448861e-04 2.93619365e-01] [ 4.92376089e-03 -4.63967953e-06 9.99987878e-01 -1.56527152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.070281693000002 meters Centerline goodness : 0.997006 Centerline is valid? [True, True] Translation: X:20.56, Y:0.30, Z:-0.16 [[ 9.99384331e-01 -3.47382692e-02 -4.92048576e-03 2.05577712e+01] [ 3.47378059e-02 9.99396444e-01 -1.79618288e-04 2.96669274e-01] [ 4.92375560e-03 8.58082362e-06 9.99987878e-01 -1.55526373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.100281693 meters Centerline goodness : 0.996869 Centerline is valid? [True, True] Translation: X:20.59, Y:0.30, Z:-0.16 [[ 9.99450710e-01 -3.27729778e-02 -4.92047960e-03 2.05887502e+01] [ 3.27724899e-02 9.99462822e-01 -1.79786884e-04 3.00058975e-01] [ 4.92372857e-03 1.84317615e-05 9.99987878e-01 -1.56484390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.130281693 meters Centerline goodness : 0.996980 Centerline is valid? [True, True] Translation: X:20.62, Y:0.30, Z:-0.16 [[ 9.99628914e-01 -2.67920879e-02 -4.92115360e-03 2.06159630e+01] [ 2.67916183e-02 9.99641027e-01 -1.61323672e-04 3.04015645e-01] [ 4.92370924e-03 2.94181381e-05 9.99987878e-01 -1.62553930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.160281693 meters Centerline goodness : 0.996689 Centerline is valid? [True, True] Translation: X:20.64, Y:0.31, Z:-0.16 [[ 9.99673871e-01 -2.50587346e-02 -4.92055412e-03 2.06447955e+01] [ 2.50581635e-02 9.99685979e-01 -1.77695566e-04 3.07685101e-01] [ 4.92346179e-03 5.43375645e-05 9.99987878e-01 -1.62593958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.190281693 meters Centerline goodness : 0.996943 Centerline is valid? [True, True] Translation: X:20.67, Y:0.31, Z:-0.16 [[ 9.99699555e-01 -2.40122598e-02 -4.92044296e-03 2.06739464e+01] [ 2.40116611e-02 9.99711662e-01 -1.80721989e-04 3.11448033e-01] [ 4.92336375e-03 6.25196829e-05 9.99987878e-01 -1.62569915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.220281693 meters Centerline goodness : 0.996947 Centerline is valid? [True, True] Translation: X:20.70, Y:0.31, Z:-0.16 [[ 9.99713687e-01 -2.34164986e-02 -4.92043885e-03 2.07029337e+01] [ 2.34158921e-02 9.99725794e-01 -1.80833861e-04 3.14425592e-01] [ 4.92332413e-03 6.55656208e-05 9.99987878e-01 -1.62963002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.250281693 meters Centerline goodness : 0.996644 Centerline is valid? [True, True] Translation: X:20.73, Y:0.32, Z:-0.16 [[ 9.99691285e-01 -2.43541489e-02 -4.92043271e-03 2.07320493e+01] [ 2.43535530e-02 9.99703392e-01 -1.81000698e-04 3.16077208e-01] [ 4.92338139e-03 6.11148018e-05 9.99987878e-01 -1.61380986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.280281693 meters Centerline goodness : 0.996405 Centerline is valid? [True, True] Translation: X:20.76, Y:0.32, Z:-0.16 [[ 9.99648284e-01 -2.60595030e-02 -4.92042484e-03 2.07617476e+01] [ 2.60589267e-02 9.99660392e-01 -1.81214355e-04 3.17314047e-01] [ 4.92347618e-03 5.29296292e-05 9.99987878e-01 -1.60127247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.310281693 meters Centerline goodness : 0.996793 Centerline is valid? [True, True] Translation: X:20.79, Y:0.32, Z:-0.16 [[ 9.99550312e-01 -2.95797710e-02 -4.92042063e-03 2.07903768e+01] [ 2.95792367e-02 9.99562422e-01 -1.81328633e-04 3.21760337e-01] [ 4.92363122e-03 3.57048047e-05 9.99987878e-01 -1.62321922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.340281693 meters Centerline goodness : 0.996826 Centerline is valid? [True, True] Translation: X:20.82, Y:0.33, Z:-0.16 [[ 9.99520838e-01 -3.05595047e-02 -4.92041435e-03 2.08184952e+01] [ 3.05589815e-02 9.99532949e-01 -1.81498849e-04 3.25432663e-01] [ 4.92366278e-03 3.10490311e-05 9.99987878e-01 -1.62636447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.370281693 meters Centerline goodness : 0.997076 Centerline is valid? [True, True] Translation: X:20.85, Y:0.33, Z:-0.16 [[ 9.99504920e-01 -3.10757786e-02 -4.92040820e-03 2.08479310e+01] [ 3.10752608e-02 9.99517031e-01 -1.81665409e-04 3.28078494e-01] [ 4.92367719e-03 2.86725018e-05 9.99987878e-01 -1.59508920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.400281693 meters Centerline goodness : 0.997299 Centerline is valid? [True, True] Translation: X:20.88, Y:0.33, Z:-0.15 [[ 9.99483662e-01 -3.17521631e-02 -4.92040396e-03 2.08762883e+01] [ 3.17516529e-02 9.99495773e-01 -1.81780234e-04 3.31174042e-01] [ 4.92369487e-03 2.54554148e-05 9.99987878e-01 -1.53738836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.430281693 meters Centerline goodness : 0.997853 Centerline is valid? [True, True] Translation: X:20.90, Y:0.33, Z:-0.15 [[ 9.99496494e-01 -3.13456359e-02 -4.92039766e-03 2.09034700e+01] [ 3.13451199e-02 9.99508604e-01 -1.81950611e-04 3.33246468e-01] [ 4.92368316e-03 2.76285432e-05 9.99987878e-01 -1.52765983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.460281693 meters Centerline goodness : 0.997797 Centerline is valid? [True, True] Translation: X:20.93, Y:0.34, Z:-0.15 [[ 9.99473074e-01 -3.20837695e-02 -4.92002514e-03 2.09335753e+01] [ 3.20832130e-02 9.99485183e-01 -1.92003121e-04 3.37114327e-01] [ 4.92365241e-03 3.40517349e-05 9.99987878e-01 -1.51753323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.490281693 meters Centerline goodness : 0.997893 Centerline is valid? [True, True] Translation: X:20.96, Y:0.34, Z:-0.15 [[ 9.99406074e-01 -3.41070295e-02 -4.92036852e-03 2.09633550e+01] [ 3.41065430e-02 9.99418186e-01 -1.82758441e-04 3.42518316e-01] [ 4.92373912e-03 1.48331353e-05 9.99987878e-01 -1.51463863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.520281693 meters Centerline goodness : 0.997568 Centerline is valid? [True, True] Translation: X:20.99, Y:0.34, Z:-0.15 [[ 9.99329491e-01 -3.62816411e-02 -4.92036420e-03 2.09929009e+01] [ 3.62811804e-02 9.99341605e-01 -1.82874547e-04 3.44541045e-01] [ 4.92375964e-03 4.23530639e-06 9.99987878e-01 -1.52917693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.550281693000002 meters Centerline goodness : 0.997592 Centerline is valid? [True, True] Translation: X:21.02, Y:0.35, Z:-0.16 [[ 9.99197431e-01 -3.97527898e-02 -4.92035991e-03 2.10215448e+01] [ 3.97523707e-02 9.99209545e-01 -1.82990052e-04 3.45998282e-01] [ 4.92374495e-03 -1.27527811e-05 9.99987878e-01 -1.55460225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.580281693 meters Centerline goodness : 0.997437 Centerline is valid? [True, True] Translation: X:21.05, Y:0.35, Z:-0.16 [[ 9.99037367e-01 -4.35904672e-02 -4.92035350e-03 2.10511817e+01] [ 4.35900938e-02 9.99049483e-01 -1.83162192e-04 3.46818549e-01] [ 4.92366075e-03 -3.14927967e-05 9.99987878e-01 -1.55791891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.610281693 meters Centerline goodness : 0.997693 Centerline is valid? [True, True] Translation: X:21.08, Y:0.35, Z:-0.15 [[ 9.98631130e-01 -5.20735732e-02 -4.92034937e-03 2.10811807e+01] [ 5.20733021e-02 9.98643248e-01 -1.83273121e-04 3.47532185e-01] [ 4.92321736e-03 -7.31965950e-05 9.99987878e-01 -1.54136296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.640281693000002 meters Centerline goodness : 0.997549 Centerline is valid? [True, True] Translation: X:21.11, Y:0.35, Z:-0.15 [[ 9.98436537e-01 -5.56800797e-02 -4.92047716e-03 2.11108228e+01] [ 5.56798692e-02 9.98448657e-01 -1.79849687e-04 3.47190674e-01] [ 4.92285786e-03 -9.44030267e-05 9.99987878e-01 -1.53643392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.670281693 meters Centerline goodness : 0.997169 Centerline is valid? [True, True] Translation: X:21.14, Y:0.35, Z:-0.15 [[ 9.98271843e-01 -5.85586539e-02 -4.92049550e-03 2.11405432e+01] [ 5.85584808e-02 9.98283964e-01 -1.79358707e-04 3.45483534e-01] [ 4.92255475e-03 -1.09087994e-04 9.99987878e-01 -1.54458632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.700281693 meters Centerline goodness : 0.996878 Centerline is valid? [True, True] Translation: X:21.17, Y:0.34, Z:-0.16 [[ 9.98002360e-01 -6.29847632e-02 -4.92032242e-03 2.11703644e+01] [ 6.29846210e-02 9.98014481e-01 -1.83987178e-04 3.40133434e-01] [ 4.92214142e-03 -1.26285006e-04 9.99987878e-01 -1.55790305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.730281693000002 meters Centerline goodness : 0.996938 Centerline is valid? [True, True] Translation: X:21.20, Y:0.34, Z:-0.16 [[ 9.97972807e-01 -6.34512945e-02 -4.92042221e-03 2.11993509e+01] [ 6.34511711e-02 9.97984928e-01 -1.81325324e-04 3.38603849e-01] [ 4.92201253e-03 -1.31248809e-04 9.99987878e-01 -1.56245455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.760281693 meters Centerline goodness : 0.997763 Centerline is valid? [True, True] Translation: X:21.23, Y:0.33, Z:-0.16 [[ 9.98060200e-01 -6.20614909e-02 -4.92028754e-03 2.12281991e+01] [ 6.20613330e-02 9.98072320e-01 -1.84908762e-04 3.33717785e-01] [ 4.92227851e-03 -1.20809527e-04 9.99987878e-01 -1.56968724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.790281693 meters Centerline goodness : 0.997734 Centerline is valid? [True, True] Translation: X:21.26, Y:0.33, Z:-0.16 [[ 9.98205692e-01 -5.96756608e-02 -4.92066054e-03 2.12558043e+01] [ 5.96755228e-02 9.98217813e-01 -1.74989888e-04 3.29975058e-01] [ 4.92233364e-03 -1.18967088e-04 9.99987878e-01 -1.55016328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.820281693000002 meters Centerline goodness : 0.997271 Centerline is valid? [True, True] Translation: X:21.28, Y:0.33, Z:-0.15 [[ 9.98335666e-01 -5.74603235e-02 -4.92023739e-03 2.12834828e+01] [ 5.74601035e-02 9.98347786e-01 -1.86173070e-04 3.26545293e-01] [ 4.92280567e-03 -9.68541335e-05 9.99987878e-01 -1.54066047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.850281693 meters Centerline goodness : 0.997502 Centerline is valid? [True, True] Translation: X:21.31, Y:0.32, Z:-0.16 [[ 9.98587664e-01 -5.29005562e-02 -4.92020278e-03 2.13110869e+01] [ 5.29002764e-02 9.98599783e-01 -1.87083093e-04 3.20980890e-01] [ 4.92321023e-03 -7.34612181e-05 9.99987878e-01 -1.55292825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.880281693 meters Centerline goodness : 0.997804 Centerline is valid? [True, True] Translation: X:21.34, Y:0.32, Z:-0.16 [[ 9.98704710e-01 -5.06427991e-02 -4.92019199e-03 2.13392005e+01] [ 5.06424905e-02 9.98716828e-01 -1.87366455e-04 3.20137187e-01] [ 4.92336730e-03 -6.20470151e-05 9.99987878e-01 -1.56238368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.910281693 meters Centerline goodness : 0.997748 Centerline is valid? [True, True] Translation: X:21.37, Y:0.32, Z:-0.16 [[ 9.98831892e-01 -4.80691572e-02 -4.92012380e-03 2.13679825e+01] [ 4.80688086e-02 9.98844009e-01 -1.89149863e-04 3.18696993e-01] [ 4.92352846e-03 -4.75755737e-05 9.99987878e-01 -1.55647504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.940281693 meters Centerline goodness : 0.997425 Centerline is valid? [True, True] Translation: X:21.40, Y:0.32, Z:-0.16 [[ 9.98929128e-01 -4.60042406e-02 -4.92015102e-03 2.13970804e+01] [ 4.60038705e-02 9.98941244e-01 -1.88439146e-04 3.17346689e-01] [ 4.92361078e-03 -3.81086388e-05 9.99987878e-01 -1.56384183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.970281693 meters Centerline goodness : 0.997797 Centerline is valid? [True, True] Translation: X:21.43, Y:0.32, Z:-0.15 [[ 9.99093617e-01 -4.22816344e-02 -4.92012067e-03 2.14255146e+01] [ 4.22812152e-02 9.99105732e-01 -1.89228386e-04 3.15746423e-01] [ 4.92372165e-03 -1.89718084e-05 9.99987878e-01 -1.53999328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.000281693 meters Centerline goodness : 0.998167 Centerline is valid? [True, True] Translation: X:21.45, Y:0.32, Z:-0.15 [[ 9.99171064e-01 -4.04101133e-02 -4.92008925e-03 2.14528962e+01] [ 4.04096674e-02 9.99183178e-01 -1.90041709e-04 3.16841418e-01] [ 4.92375002e-03 -8.93499350e-06 9.99987878e-01 -1.53445923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.030281693 meters Centerline goodness : 0.998316 Centerline is valid? [True, True] Translation: X:21.48, Y:0.32, Z:-0.15 [[ 9.99234493e-01 -3.88100702e-02 -4.92005331e-03 2.14808551e+01] [ 3.88096003e-02 9.99246605e-01 -1.90967693e-04 3.17660647e-01] [ 4.92375804e-03 -1.23796562e-07 9.99987878e-01 -1.52061408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.060281693 meters Centerline goodness : 0.997597 Centerline is valid? [True, True] Translation: X:21.51, Y:0.32, Z:-0.15 [[ 9.99304307e-01 -3.69688311e-02 -4.92004255e-03 2.15085608e+01] [ 3.69683376e-02 9.99316419e-01 -1.91244635e-04 3.16249069e-01] [ 4.92374939e-03 9.22579312e-06 9.99987878e-01 -1.51406864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.090281693 meters Centerline goodness : 0.997600 Centerline is valid? [True, True] Translation: X:21.54, Y:0.32, Z:-0.15 [[ 9.99307492e-01 -3.68826567e-02 -4.92000701e-03 2.15374779e+01] [ 3.68821577e-02 9.99319603e-01 -1.92154474e-04 3.16351259e-01] [ 4.92374663e-03 1.05609313e-05 9.99987878e-01 -1.52322684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.120281693 meters Centerline goodness : 0.997439 Centerline is valid? [True, True] Translation: X:21.57, Y:0.32, Z:-0.15 [[ 9.99287060e-01 -3.74321551e-02 -4.91997519e-03 2.15665079e+01] [ 3.74316587e-02 9.99299171e-01 -1.92965951e-04 3.16509843e-01] [ 4.92375026e-03 8.66554549e-06 9.99987878e-01 -1.53972885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.150281693 meters Centerline goodness : 0.997652 Centerline is valid? [True, True] Translation: X:21.59, Y:0.31, Z:-0.16 [[ 9.99184062e-01 -4.00874613e-02 -4.91994214e-03 2.15948010e+01] [ 4.00869930e-02 9.99196175e-01 -1.93804984e-04 3.14912049e-01] [ 4.92375651e-03 -3.57883458e-06 9.99987878e-01 -1.59756568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.180281693 meters Centerline goodness : 0.997521 Centerline is valid? [True, True] Translation: X:21.62, Y:0.31, Z:-0.16 [[ 9.99143510e-01 -4.10857626e-02 -4.91992491e-03 2.16224673e+01] [ 4.10853042e-02 9.99155624e-01 -1.94241248e-04 3.14563384e-01] [ 4.92375119e-03 -8.06172893e-06 9.99987878e-01 -1.61534974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.210281693 meters Centerline goodness : 0.997678 Centerline is valid? [True, True] Translation: X:21.65, Y:0.31, Z:-0.16 [[ 9.99109003e-01 -4.19165250e-02 -4.91991374e-03 2.16503014e+01] [ 4.19160753e-02 9.99121116e-01 -1.94523695e-04 3.12019663e-01] [ 4.92374347e-03 -1.18731007e-05 9.99987878e-01 -1.60782731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.240281693 meters Centerline goodness : 0.997680 Centerline is valid? [True, True] Translation: X:21.68, Y:0.31, Z:-0.16 [[ 9.99132738e-01 -4.13468920e-02 -4.91990268e-03 2.16780841e+01] [ 4.13464340e-02 9.99144852e-01 -1.94803198e-04 3.11981921e-01] [ 4.92374994e-03 -8.78617882e-06 9.99987878e-01 -1.58907450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.270281693 meters Centerline goodness : 0.997955 Centerline is valid? [True, True] Translation: X:21.71, Y:0.31, Z:-0.16 [[ 9.99158255e-01 -4.07256289e-02 -4.91989193e-03 2.17056652e+01] [ 4.07251621e-02 9.99170367e-01 -1.95074372e-04 3.13139492e-01] [ 4.92375475e-03 -5.45322694e-06 9.99987878e-01 -1.56693915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.300281693000002 meters Centerline goodness : 0.997881 Centerline is valid? [True, True] Translation: X:21.73, Y:0.31, Z:-0.16 [[ 9.99185406e-01 -4.00539612e-02 -4.91985500e-03 2.17321276e+01] [ 4.00534817e-02 9.99197518e-01 -1.96001373e-04 3.14540533e-01] [ 4.92375753e-03 -1.21561025e-06 9.99987878e-01 -1.57454152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.330281693 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:21.76, Y:0.31, Z:-0.16 [[ 9.99277898e-01 -3.76759473e-02 -4.91982846e-03 2.17604472e+01] [ 3.76754357e-02 9.99290009e-01 -1.96665152e-04 3.14011054e-01] [ 4.92374498e-03 1.11664593e-05 9.99987878e-01 -1.58316552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.360281693 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:21.79, Y:0.32, Z:-0.16 [[ 9.99271033e-01 -3.78575929e-02 -4.91979252e-03 2.17888910e+01] [ 3.78570790e-02 9.99283144e-01 -1.97560226e-04 3.15357335e-01] [ 4.92374489e-03 1.11672366e-05 9.99987878e-01 -1.58176311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.390281693000002 meters Centerline goodness : 0.997583 Centerline is valid? [True, True] Translation: X:21.82, Y:0.32, Z:-0.16 [[ 9.99301909e-01 -3.70336343e-02 -4.91975644e-03 2.18179227e+01] [ 3.70331060e-02 9.99314020e-01 -1.98454515e-04 3.15252995e-01] [ 4.92373108e-03 1.61221141e-05 9.99987878e-01 -1.55887273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.420281693 meters Centerline goodness : 0.998025 Centerline is valid? [True, True] Translation: X:21.85, Y:0.32, Z:-0.15 [[ 9.99312897e-01 -3.67359655e-02 -4.91972309e-03 2.18461422e+01] [ 3.67354296e-02 9.99325006e-01 -1.99278056e-04 3.15911449e-01] [ 4.92372298e-03 1.84129902e-05 9.99987878e-01 -1.54329890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.450281693 meters Centerline goodness : 0.997885 Centerline is valid? [True, True] Translation: X:21.87, Y:0.32, Z:-0.15 [[ 9.99245153e-01 -3.85346668e-02 -4.91971123e-03 2.18748107e+01] [ 3.85341512e-02 9.99257264e-01 -1.99570393e-04 3.16082705e-01] [ 4.92374756e-03 9.84285198e-06 9.99987878e-01 -1.51221144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.480281693000002 meters Centerline goodness : 0.997845 Centerline is valid? [True, True] Translation: X:21.90, Y:0.32, Z:-0.15 [[ 9.99185104e-01 -4.00615223e-02 -4.91967912e-03 2.19019937e+01] [ 4.00610214e-02 9.99197215e-01 -2.00358758e-04 3.15522764e-01] [ 4.92375635e-03 3.10811588e-06 9.99987878e-01 -1.51602685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.510281693 meters Centerline goodness : 0.997896 Centerline is valid? [True, True] Translation: X:21.93, Y:0.32, Z:-0.15 [[ 9.99106672e-01 -4.19720814e-02 -4.91966316e-03 2.19300277e+01] [ 4.19716018e-02 9.99118784e-01 -2.00749924e-04 3.15716651e-01] [ 4.92375376e-03 -5.91555481e-06 9.99987878e-01 -1.51652467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.540281693 meters Centerline goodness : 0.997927 Centerline is valid? [True, True] Translation: X:21.96, Y:0.32, Z:-0.15 [[ 9.98953912e-01 -4.54629363e-02 -4.91962612e-03 2.19579933e+01] [ 4.54624945e-02 9.98966026e-01 -2.01653457e-04 3.17460554e-01] [ 4.92370712e-03 -2.22159659e-05 9.99987878e-01 -1.53193051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.570281693000002 meters Centerline goodness : 0.997961 Centerline is valid? [True, True] Translation: X:21.98, Y:0.32, Z:-0.15 [[ 9.98900965e-01 -4.66118048e-02 -4.91958797e-03 2.19848101e+01] [ 4.66113724e-02 9.98913079e-01 -2.02580033e-04 3.18848959e-01] [ 4.92368338e-03 -2.69513566e-05 9.99987878e-01 -1.54089342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.600281693 meters Centerline goodness : 0.997906 Centerline is valid? [True, True] Translation: X:22.01, Y:0.32, Z:-0.15 [[ 9.98907927e-01 -4.64623582e-02 -4.91957135e-03 2.20129888e+01] [ 4.64619220e-02 9.98920041e-01 -2.02982834e-04 3.17825976e-01] [ 4.92368948e-03 -2.58115780e-05 9.99987878e-01 -1.52416448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.630281693 meters Centerline goodness : 0.998009 Centerline is valid? [True, True] Translation: X:22.04, Y:0.32, Z:-0.15 [[ 9.98942739e-01 -4.57077868e-02 -4.91953337e-03 2.20413150e+01] [ 4.57073369e-02 9.98954853e-01 -2.03899208e-04 3.18327447e-01] [ 4.92371151e-03 -2.11751357e-05 9.99987878e-01 -1.51139202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.660281693 meters Centerline goodness : 0.997945 Centerline is valid? [True, True] Translation: X:22.07, Y:0.32, Z:-0.15 [[ 9.99000378e-01 -4.44302149e-02 -4.91949537e-03 2.20684334e+01] [ 4.44297451e-02 9.99012490e-01 -2.04811963e-04 3.19966767e-01] [ 4.92373716e-03 -1.39646970e-05 9.99987878e-01 -1.51413568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.690281693 meters Centerline goodness : 0.998169 Centerline is valid? [True, True] Translation: X:22.10, Y:0.32, Z:-0.15 [[ 9.99183292e-01 -4.01066968e-02 -4.91947877e-03 2.20950339e+01] [ 4.01061726e-02 9.99195403e-01 -2.05209779e-04 3.23719728e-01] [ 4.92375086e-03 7.74071829e-06 9.99987878e-01 -1.52586278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.720281693 meters Centerline goodness : 0.998134 Centerline is valid? [True, True] Translation: X:22.12, Y:0.33, Z:-0.15 [[ 9.99259755e-01 -3.81541836e-02 -4.91945251e-03 2.21229295e+01] [ 3.81536326e-02 9.99271864e-01 -2.05837469e-04 3.26159760e-01] [ 4.92372404e-03 1.79901156e-05 9.99987878e-01 -1.51602881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.750281693 meters Centerline goodness : 0.998265 Centerline is valid? [True, True] Translation: X:22.15, Y:0.33, Z:-0.15 [[ 9.99342678e-01 -3.59167178e-02 -4.91941461e-03 2.21499045e+01] [ 3.59161353e-02 9.99354786e-01 -2.06739382e-04 3.28653854e-01] [ 4.92366593e-03 2.99171271e-05 9.99987878e-01 -1.50394040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.780281693 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:22.18, Y:0.33, Z:-0.15 [[ 9.99422718e-01 -3.36159210e-02 -4.91939813e-03 2.21779686e+01] [ 3.36153086e-02 9.99434824e-01 -2.07130761e-04 3.31652091e-01] [ 4.92358069e-03 4.16441020e-05 9.99987878e-01 -1.47745237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.810281693 meters Centerline goodness : 0.998272 Centerline is valid? [True, True] Translation: X:22.21, Y:0.34, Z:-0.15 [[ 9.99589624e-01 -2.82202688e-02 -4.91935999e-03 2.22058829e+01] [ 2.82195867e-02 9.99601727e-01 -2.08032519e-04 3.37426462e-01] [ 4.92327148e-03 6.91248412e-05 9.99987878e-01 -1.47994179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.840281693 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:22.23, Y:0.34, Z:-0.15 [[ 9.99636054e-01 -2.65246881e-02 -4.91934816e-03 2.22331035e+01] [ 2.65239841e-02 9.99648156e-01 -2.08312065e-04 3.41112061e-01] [ 4.92314272e-03 7.77555391e-05 9.99987878e-01 -1.48718027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.870281693 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:22.26, Y:0.34, Z:-0.15 [[ 9.99674898e-01 -2.50179691e-02 -4.91933045e-03 2.22615079e+01] [ 2.50172448e-02 9.99686998e-01 -2.08729342e-04 3.44903808e-01] [ 4.92301267e-03 8.55933900e-05 9.99987878e-01 -1.48198503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.900281693 meters Centerline goodness : 0.997969 Centerline is valid? [True, True] Translation: X:22.29, Y:0.35, Z:-0.15 [[ 9.99730753e-01 -2.26764489e-02 -4.91929752e-03 2.22891335e+01] [ 2.26756925e-02 9.99742851e-01 -2.09502546e-04 3.52253783e-01] [ 4.92278331e-03 9.78976607e-05 9.99987878e-01 -1.48174973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.930281693 meters Centerline goodness : 0.998256 Centerline is valid? [True, True] Translation: X:22.32, Y:0.36, Z:-0.15 [[ 9.99734050e-01 -2.25306230e-02 -4.91928580e-03 2.23173359e+01] [ 2.25298634e-02 9.99746148e-01 -2.09777390e-04 3.57132393e-01] [ 4.92276345e-03 9.88907630e-05 9.99987878e-01 -1.45943562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.960281693 meters Centerline goodness : 0.998206 Centerline is valid? [True, True] Translation: X:22.35, Y:0.36, Z:-0.14 [[ 9.99723532e-01 -2.29926060e-02 -4.91925189e-03 2.23459256e+01] [ 2.29918481e-02 9.99735630e-01 -2.10569614e-04 3.61121170e-01] [ 4.92279293e-03 9.74087057e-05 9.99987878e-01 -1.43742075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.990281693 meters Centerline goodness : 0.998020 Centerline is valid? [True, True] Translation: X:22.37, Y:0.36, Z:-0.14 [[ 9.99676000e-01 -2.49738974e-02 -4.91924466e-03 2.23747020e+01] [ 2.49731627e-02 9.99688100e-01 -2.10738304e-04 3.64367299e-01] [ 4.92297331e-03 8.78209274e-05 9.99987878e-01 -1.43151567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.020281693 meters Centerline goodness : 0.998143 Centerline is valid? [True, True] Translation: X:22.40, Y:0.37, Z:-0.15 [[ 9.99648339e-01 -2.60576068e-02 -4.91921071e-03 2.24031476e+01] [ 2.60568813e-02 9.99660439e-01 -2.11527975e-04 3.67095596e-01] [ 4.92305225e-03 8.32742991e-05 9.99987878e-01 -1.45167710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.050281693000002 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:22.43, Y:0.37, Z:-0.15 [[ 9.99627461e-01 -2.68466163e-02 -4.91920348e-03 2.24316638e+01] [ 2.68458996e-02 9.99639561e-01 -2.11695840e-04 3.73562926e-01] [ 4.92311373e-03 7.95565324e-05 9.99987878e-01 -1.48161352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.080281693 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:22.46, Y:0.38, Z:-0.15 [[ 9.99634159e-01 -2.65960348e-02 -4.91919654e-03 2.24614802e+01] [ 2.65953142e-02 9.99646260e-01 -2.11857066e-04 3.76570273e-01] [ 4.92309098e-03 8.09519829e-05 9.99987878e-01 -1.47684417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.110281693 meters Centerline goodness : 0.998055 Centerline is valid? [True, True] Translation: X:22.49, Y:0.38, Z:-0.15 [[ 9.99632547e-01 -2.66565534e-02 -4.91919171e-03 2.24903276e+01] [ 2.66558330e-02 9.99644648e-01 -2.11969068e-04 3.78552883e-01] [ 4.92309403e-03 8.07660262e-05 9.99987878e-01 -1.46236779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.140281693000002 meters Centerline goodness : 0.998417 Centerline is valid? [True, True] Translation: X:22.52, Y:0.38, Z:-0.14 [[ 9.99622948e-01 -2.70141307e-02 -4.91918451e-03 2.25195643e+01] [ 2.70134138e-02 9.99635049e-01 -2.12136161e-04 3.80550430e-01] [ 4.92311992e-03 7.91722085e-05 9.99987878e-01 -1.43322859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.170281693 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:22.55, Y:0.38, Z:-0.14 [[ 9.99593704e-01 -2.80754237e-02 -4.91917968e-03 2.25492314e+01] [ 2.80747191e-02 9.99605805e-01 -2.12247938e-04 3.82911998e-01] [ 4.92319952e-03 7.40571146e-05 9.99987878e-01 -1.43828928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.200281693 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:22.58, Y:0.39, Z:-0.15 [[ 9.99549994e-01 -2.95907231e-02 -4.91917489e-03 2.25789264e+01] [ 2.95900362e-02 9.99562096e-01 -2.12358907e-04 3.85041241e-01] [ 4.92330462e-03 6.67047808e-05 9.99987878e-01 -1.45750547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.230281693000002 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:22.61, Y:0.39, Z:-0.15 [[ 9.99488220e-01 -3.16085348e-02 -4.91917011e-03 2.26082184e+01] [ 3.16078719e-02 9.99500324e-01 -2.12469721e-04 3.86330489e-01] [ 4.92342797e-03 5.68764851e-05 9.99987878e-01 -1.48394883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.260281693 meters Centerline goodness : 0.997861 Centerline is valid? [True, True] Translation: X:22.64, Y:0.38, Z:-0.15 [[ 9.99318971e-01 -3.65704127e-02 -4.91916533e-03 2.26367314e+01] [ 3.65698093e-02 9.99331078e-01 -2.12580221e-04 3.84734080e-01] [ 4.92364894e-03 3.25425097e-05 9.99987878e-01 -1.50048878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.290281693 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:22.67, Y:0.39, Z:-0.15 [[ 9.99218112e-01 -3.92296603e-02 -4.91915819e-03 2.26661480e+01] [ 3.92290883e-02 9.99230220e-01 -2.12745315e-04 3.85822314e-01] [ 4.92371745e-03 1.96048807e-05 9.99987878e-01 -1.46593607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.320281693000002 meters Centerline goodness : 0.998535 Centerline is valid? [True, True] Translation: X:22.69, Y:0.39, Z:-0.14 [[ 9.99120323e-01 -4.16459021e-02 -4.91915311e-03 2.26942464e+01] [ 4.16453589e-02 9.99132433e-01 -2.12862875e-04 3.87653901e-01] [ 4.92375028e-03 7.81572863e-06 9.99987878e-01 -1.43648642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.350281693 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:22.72, Y:0.39, Z:-0.14 [[ 9.99048386e-01 -4.33373425e-02 -4.91914732e-03 2.27217409e+01] [ 4.33368191e-02 9.99060496e-01 -2.12996395e-04 3.88675539e-01] [ 4.92375646e-03 -3.86493317e-07 9.99987878e-01 -1.40171060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.380281693 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:22.75, Y:0.39, Z:-0.14 [[ 9.99032066e-01 -4.37119245e-02 -4.91913549e-03 2.27500462e+01] [ 4.37114043e-02 9.99044177e-01 -2.13269455e-04 3.88655626e-01] [ 4.92375608e-03 -1.95929577e-06 9.99987878e-01 -1.41115867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.410281693 meters Centerline goodness : 0.998218 Centerline is valid? [True, True] Translation: X:22.78, Y:0.39, Z:-0.14 [[ 9.98973518e-01 -4.50301197e-02 -4.91911732e-03 2.27783015e+01] [ 4.50296134e-02 9.98985630e-01 -2.13687659e-04 3.86881619e-01] [ 4.92374989e-03 -8.03763813e-06 9.99987878e-01 -1.42211002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.440281693 meters Centerline goodness : 0.998614 Centerline is valid? [True, True] Translation: X:22.81, Y:0.39, Z:-0.14 [[ 9.98958814e-01 -4.53551655e-02 -4.91910576e-03 2.28061751e+01] [ 4.53546618e-02 9.98970925e-01 -2.13953486e-04 3.87694950e-01] [ 4.92374752e-03 -9.37365722e-06 9.99987878e-01 -1.41931003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.470281693 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:22.83, Y:0.39, Z:-0.14 [[ 9.98983660e-01 -4.48045740e-02 -4.91906886e-03 2.28346553e+01] [ 4.48040595e-02 9.98995771e-01 -2.14798383e-04 3.88905977e-01] [ 4.92375294e-03 -5.81417963e-06 9.99987878e-01 -1.42300863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.500281693 meters Centerline goodness : 0.998204 Centerline is valid? [True, True] Translation: X:22.86, Y:0.39, Z:-0.14 [[ 9.99024205e-01 -4.38912301e-02 -4.91903655e-03 2.28634222e+01] [ 4.38907009e-02 9.99036316e-01 -2.15535807e-04 3.90035904e-01] [ 4.92375628e-03 -5.74473350e-07 9.99987878e-01 -1.42420600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.530281693 meters Centerline goodness : 0.997575 Centerline is valid? [True, True] Translation: X:22.89, Y:0.39, Z:-0.15 [[ 9.99132071e-01 -4.13631163e-02 -4.91900432e-03 2.28913412e+01] [ 4.13625528e-02 9.99144180e-01 -2.16269028e-04 3.90473881e-01] [ 4.92374009e-03 1.26187460e-05 9.99987878e-01 -1.46587205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.560281693 meters Centerline goodness : 0.997254 Centerline is valid? [True, True] Translation: X:22.92, Y:0.39, Z:-0.15 [[ 9.99169149e-01 -4.04575608e-02 -4.91899285e-03 2.29193824e+01] [ 4.04569851e-02 9.99181258e-01 -2.16529407e-04 3.92144163e-01] [ 4.92372572e-03 1.73418833e-05 9.99987878e-01 -1.48934966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.590281693 meters Centerline goodness : 0.997200 Centerline is valid? [True, True] Translation: X:22.95, Y:0.39, Z:-0.15 [[ 9.99260544e-01 -3.81335561e-02 -4.91895609e-03 2.29473764e+01] [ 3.81329481e-02 9.99272651e-01 -2.17361321e-04 3.94336371e-01] [ 4.92366705e-03 2.96262946e-05 9.99987878e-01 -1.48728703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.620281693 meters Centerline goodness : 0.997045 Centerline is valid? [True, True] Translation: X:22.98, Y:0.40, Z:-0.15 [[ 9.99299655e-01 -3.70945166e-02 -4.91893940e-03 2.29751788e+01] [ 3.70938942e-02 9.99311761e-01 -2.17738316e-04 3.95616573e-01] [ 4.92363090e-03 3.51232065e-05 9.99987878e-01 -1.45535665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.650281693 meters Centerline goodness : 0.996932 Centerline is valid? [True, True] Translation: X:23.00, Y:0.40, Z:-0.14 [[ 9.99324897e-01 -3.64081651e-02 -4.91890133e-03 2.30028079e+01] [ 3.64075301e-02 9.99337002e-01 -2.18595123e-04 3.96499178e-01] [ 4.92359875e-03 3.93625009e-05 9.99987878e-01 -1.44492687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.680281693 meters Centerline goodness : 0.996241 Centerline is valid? [True, True] Translation: X:23.03, Y:0.40, Z:-0.15 [[ 9.99280812e-01 -3.75987055e-02 -4.91888863e-03 2.30306668e+01] [ 3.75980835e-02 9.99292918e-01 -2.18880418e-04 3.97573571e-01] [ 4.92364020e-03 3.37822164e-05 9.99987878e-01 -1.45892208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.710281693 meters Centerline goodness : 0.996097 Centerline is valid? [True, True] Translation: X:23.06, Y:0.40, Z:-0.15 [[ 9.99260339e-01 -3.81389422e-02 -4.91885204e-03 2.30588332e+01] [ 3.81383228e-02 9.99272445e-01 -2.19699623e-04 3.99377561e-01] [ 4.92365242e-03 3.19403531e-05 9.99987878e-01 -1.46096536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.740281693 meters Centerline goodness : 0.995580 Centerline is valid? [True, True] Translation: X:23.09, Y:0.40, Z:-0.14 [[ 9.99260172e-01 -3.81433413e-02 -4.91881531e-03 2.30866402e+01] [ 3.81427179e-02 9.99272277e-01 -2.20518942e-04 4.02481670e-01] [ 4.92364711e-03 3.27388110e-05 9.99987878e-01 -1.42598969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.770281693 meters Centerline goodness : 0.995538 Centerline is valid? [True, True] Translation: X:23.12, Y:0.40, Z:-0.14 [[ 9.99265162e-01 -3.80123789e-02 -4.91877861e-03 2.31150113e+01] [ 3.80117499e-02 9.99277268e-01 -2.21334482e-04 4.04523831e-01] [ 4.92363710e-03 3.42004545e-05 9.99987878e-01 -1.41837349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.800281693 meters Centerline goodness : 0.995425 Centerline is valid? [True, True] Translation: X:23.14, Y:0.41, Z:-0.14 [[ 9.99262948e-01 -3.80705612e-02 -4.91874163e-03 2.31428909e+01] [ 3.80699289e-02 9.99275053e-01 -2.22153257e-04 4.06275368e-01] [ 4.92363331e-03 3.47333738e-05 9.99987878e-01 -1.42457503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.830281693 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:23.17, Y:0.41, Z:-0.15 [[ 9.99275679e-01 -3.77349168e-02 -4.91870438e-03 2.31708967e+01] [ 3.77342764e-02 9.99287784e-01 -2.22975051e-04 4.07662120e-01] [ 4.92361514e-03 3.72097952e-05 9.99987878e-01 -1.45535299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.860281693 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:23.20, Y:0.41, Z:-0.15 [[ 9.99308997e-01 -3.68420238e-02 -4.91866722e-03 2.31994250e+01] [ 3.68413685e-02 9.99321101e-01 -2.23791747e-04 4.10343971e-01] [ 4.92357289e-03 4.24266749e-05 9.99987878e-01 -1.47720584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.890281693000002 meters Centerline goodness : 0.994845 Centerline is valid? [True, True] Translation: X:23.23, Y:0.41, Z:-0.15 [[ 9.99313350e-01 -3.67237678e-02 -4.91863211e-03 2.32282116e+01] [ 3.67231073e-02 9.99325454e-01 -2.24560779e-04 4.12633480e-01] [ 4.92356099e-03 4.37791299e-05 9.99987878e-01 -1.46212764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.920281693 meters Centerline goodness : 0.994601 Centerline is valid? [True, True] Translation: X:23.26, Y:0.41, Z:-0.14 [[ 9.99292918e-01 -3.72756146e-02 -4.91859676e-03 2.32565527e+01] [ 3.72749570e-02 9.99305022e-01 -2.25332440e-04 4.14840306e-01] [ 4.92357785e-03 4.18326286e-05 9.99987878e-01 -1.43644570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.950281693 meters Centerline goodness : 0.995205 Centerline is valid? [True, True] Translation: X:23.28, Y:0.42, Z:-0.14 [[ 9.99211778e-01 -3.93907430e-02 -4.91856150e-03 2.32839068e+01] [ 3.93901073e-02 9.99223883e-01 -2.26099498e-04 4.18062909e-01] [ 4.92365035e-03 3.21786158e-05 9.99987878e-01 -1.42403845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.980281693000002 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:23.31, Y:0.42, Z:-0.14 [[ 9.99161869e-01 -4.06370096e-02 -4.91854892e-03 2.33131058e+01] [ 4.06363876e-02 9.99173975e-01 -2.26372757e-04 4.20280163e-01] [ 4.92368519e-03 2.63109666e-05 9.99987878e-01 -1.43680636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.010281693 meters Centerline goodness : 0.995359 Centerline is valid? [True, True] Translation: X:23.34, Y:0.42, Z:-0.14 [[ 9.99124416e-01 -4.15476900e-02 -4.91851390e-03 2.33410055e+01] [ 4.15470753e-02 9.99136522e-01 -2.27131093e-04 4.21870793e-01] [ 4.92370365e-03 2.25823530e-05 9.99987878e-01 -1.44797001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.040281693 meters Centerline goodness : 0.995173 Centerline is valid? [True, True] Translation: X:23.37, Y:0.42, Z:-0.14 [[ 9.99062903e-01 -4.30014531e-02 -4.91850145e-03 2.33693052e+01] [ 4.30008547e-02 9.99075010e-01 -2.27400462e-04 4.22930135e-01] [ 4.92373043e-03 1.56875998e-05 9.99987878e-01 -1.43480827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.070281693000002 meters Centerline goodness : 0.995149 Centerline is valid? [True, True] Translation: X:23.40, Y:0.42, Z:-0.14 [[ 9.99019854e-01 -4.39902345e-02 -4.91848889e-03 2.33969660e+01] [ 4.39896467e-02 9.99031961e-01 -2.27671858e-04 4.23019676e-01] [ 4.92374294e-03 1.10861176e-05 9.99987878e-01 -1.42496671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.100281693 meters Centerline goodness : 0.995239 Centerline is valid? [True, True] Translation: X:23.43, Y:0.42, Z:-0.14 [[ 9.98962810e-01 -4.52671318e-02 -4.91846994e-03 2.34254803e+01] [ 4.52665575e-02 9.98974918e-01 -2.28080527e-04 4.23003100e-01] [ 4.92375265e-03 5.20176228e-06 9.99987878e-01 -1.42025457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.130281693 meters Centerline goodness : 0.994934 Centerline is valid? [True, True] Translation: X:23.45, Y:0.42, Z:-0.14 [[ 9.98870734e-01 -4.72553229e-02 -4.91843502e-03 2.34529514e+01] [ 4.72547690e-02 9.98882843e-01 -2.28830961e-04 4.21073575e-01] [ 4.92375384e-03 -3.84696137e-06 9.99987878e-01 -1.42923334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.160281693 meters Centerline goodness : 0.994961 Centerline is valid? [True, True] Translation: X:23.48, Y:0.42, Z:-0.14 [[ 9.98850743e-01 -4.76760239e-02 -4.91842263e-03 2.34808148e+01] [ 4.76754738e-02 9.98862852e-01 -2.29097054e-04 4.20373615e-01] [ 4.92375209e-03 -5.65436636e-06 9.99987878e-01 -1.43814714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.190281693 meters Centerline goodness : 0.995181 Centerline is valid? [True, True] Translation: X:23.51, Y:0.42, Z:-0.14 [[ 9.98876922e-01 -4.71243419e-02 -4.91838275e-03 2.35082831e+01] [ 4.71237809e-02 9.98889031e-01 -2.29949912e-04 4.19780637e-01] [ 4.92375482e-03 -2.08113102e-06 9.99987878e-01 -1.43663741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.220281693 meters Centerline goodness : 0.994904 Centerline is valid? [True, True] Translation: X:23.54, Y:0.42, Z:-0.14 [[ 9.98978563e-01 -4.49181451e-02 -4.91837039e-03 2.35361695e+01] [ 4.49175561e-02 9.98990671e-01 -2.30214188e-04 4.19045744e-01] [ 4.92374692e-03 9.05786075e-06 9.99987878e-01 -1.40899463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.250281693 meters Centerline goodness : 0.994996 Centerline is valid? [True, True] Translation: X:23.56, Y:0.42, Z:-0.14 [[ 9.99015557e-01 -4.40877163e-02 -4.91835827e-03 2.35645405e+01] [ 4.40871159e-02 9.99027664e-01 -2.30472716e-04 4.20320468e-01] [ 4.92373699e-03 1.34095975e-05 9.99987878e-01 -1.41138037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.280281693 meters Centerline goodness : 0.994996 Centerline is valid? [True, True] Translation: X:23.59, Y:0.42, Z:-0.14 [[ 9.99007768e-01 -4.42638661e-02 -4.91831745e-03 2.35929718e+01] [ 4.42632636e-02 9.99019875e-01 -2.31340654e-04 4.21866307e-01] [ 4.92373691e-03 1.34103288e-05 9.99987878e-01 -1.40997792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.310281693 meters Centerline goodness : 0.994752 Centerline is valid? [True, True] Translation: X:23.62, Y:0.42, Z:-0.14 [[ 9.99116580e-01 -4.17357271e-02 -4.91827650e-03 2.36213348e+01] [ 4.17350897e-02 9.99128685e-01 -2.32207854e-04 4.22580751e-01] [ 4.92368250e-03 2.67380058e-05 9.99987878e-01 -1.42973555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.340281693 meters Centerline goodness : 0.994654 Centerline is valid? [True, True] Translation: X:23.65, Y:0.42, Z:-0.14 [[ 9.99189765e-01 -3.99452786e-02 -4.91823471e-03 2.36488880e+01] [ 3.99446151e-02 9.99201868e-01 -2.33089622e-04 4.24258844e-01] [ 4.92362014e-03 3.64437716e-05 9.99987878e-01 -1.42599041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.370281693 meters Centerline goodness : 0.994679 Centerline is valid? [True, True] Translation: X:23.68, Y:0.43, Z:-0.14 [[ 9.99256832e-01 -3.82308213e-02 -4.91822175e-03 2.36764242e+01] [ 3.82301357e-02 9.99268934e-01 -2.33362863e-04 4.27007977e-01] [ 4.92354786e-03 4.51651499e-05 9.99987878e-01 -1.41082457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.400281693 meters Centerline goodness : 0.994717 Centerline is valid? [True, True] Translation: X:23.70, Y:0.43, Z:-0.14 [[ 9.99376139e-01 -3.49734811e-02 -4.91818016e-03 2.37047892e+01] [ 3.49727518e-02 9.99388239e-01 -2.34236123e-04 4.32286129e-01] [ 4.92336346e-03 6.20876982e-05 9.99987878e-01 -1.39005185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.430281693 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:23.73, Y:0.44, Z:-0.14 [[ 9.99401497e-01 -3.42411965e-02 -4.91814384e-03 2.37339609e+01] [ 3.42404546e-02 9.99413596e-01 -2.34996108e-04 4.35156376e-01] [ 4.92330637e-03 6.64559814e-05 9.99987878e-01 -1.39583441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.460281693 meters Centerline goodness : 0.994946 Centerline is valid? [True, True] Translation: X:23.76, Y:0.44, Z:-0.14 [[ 9.99416131e-01 -3.38113835e-02 -4.91810520e-03 2.37621427e+01] [ 3.38106324e-02 9.99428229e-01 -2.35802198e-04 4.37362995e-01] [ 4.92326597e-03 6.93802733e-05 9.99987878e-01 -1.41723210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.490281693 meters Centerline goodness : 0.994584 Centerline is valid? [True, True] Translation: X:23.79, Y:0.44, Z:-0.14 [[ 9.99347257e-01 -3.57892772e-02 -4.91809146e-03 2.37918763e+01] [ 3.57885487e-02 9.99359357e-01 -2.36088383e-04 4.40464313e-01] [ 4.92339015e-03 5.99229219e-05 9.99987878e-01 -1.43485697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.520281693 meters Centerline goodness : 0.994498 Centerline is valid? [True, True] Translation: X:23.82, Y:0.44, Z:-0.14 [[ 9.99266998e-01 -3.79641834e-02 -4.91808599e-03 2.38202497e+01] [ 3.79634807e-02 9.99279099e-01 -2.36202209e-04 4.42570600e-01] [ 4.92350776e-03 4.93214100e-05 9.99987878e-01 -1.44520755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.550281693 meters Centerline goodness : 0.994493 Centerline is valid? [True, True] Translation: X:23.85, Y:0.44, Z:-0.15 [[ 9.99178573e-01 -4.02242823e-02 -4.91804759e-03 2.38489695e+01] [ 4.02236030e-02 9.99190675e-01 -2.36999141e-04 4.43626466e-01] [ 4.92360041e-03 3.89828695e-05 9.99987878e-01 -1.45579947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.580281693 meters Centerline goodness : 0.994625 Centerline is valid? [True, True] Translation: X:23.88, Y:0.44, Z:-0.15 [[ 9.99043101e-01 -4.34591197e-02 -4.91800860e-03 2.38769046e+01] [ 4.34584756e-02 9.99055206e-01 -2.37805454e-04 4.42958709e-01] [ 4.92369691e-03 2.38487412e-05 9.99987878e-01 -1.45025181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.610281693 meters Centerline goodness : 0.994565 Centerline is valid? [True, True] Translation: X:23.90, Y:0.44, Z:-0.14 [[ 9.98996662e-01 -4.45138473e-02 -4.91799481e-03 2.39045314e+01] [ 4.45132146e-02 9.99008767e-01 -2.38090366e-04 4.43801078e-01] [ 4.92371825e-03 1.89357228e-05 9.99987878e-01 -1.44605636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.640281693000002 meters Centerline goodness : 0.994818 Centerline is valid? [True, True] Translation: X:23.93, Y:0.45, Z:-0.14 [[ 9.98950536e-01 -4.55372396e-02 -4.91798112e-03 2.39326727e+01] [ 4.55366179e-02 9.98962642e-01 -2.38372683e-04 4.45666293e-01] [ 4.92373425e-03 1.41742925e-05 9.99987878e-01 -1.43725099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.670281693 meters Centerline goodness : 0.994660 Centerline is valid? [True, True] Translation: X:23.96, Y:0.45, Z:-0.14 [[ 9.98840802e-01 -4.78838835e-02 -4.91794042e-03 2.39618322e+01] [ 4.78832862e-02 9.98852909e-01 -2.39209403e-04 4.46421745e-01] [ 4.92375337e-03 3.44496339e-06 9.99987878e-01 -1.43153480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.700281693 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:23.99, Y:0.45, Z:-0.14 [[ 9.98766442e-01 -4.94106096e-02 -4.91790074e-03 2.39901142e+01] [ 4.94100267e-02 9.98778550e-01 -2.40022486e-04 4.46734845e-01] [ 4.92375343e-03 -3.26720224e-06 9.99987878e-01 -1.44572327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.730281693000002 meters Centerline goodness : 0.994642 Centerline is valid? [True, True] Translation: X:24.02, Y:0.45, Z:-0.14 [[ 9.98667911e-01 -5.13635848e-02 -4.91788669e-03 2.40178649e+01] [ 5.13630242e-02 9.98680020e-01 -2.40309937e-04 4.47254972e-01] [ 4.92373836e-03 -1.26077102e-05 9.99987878e-01 -1.44778963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.760281693 meters Centerline goodness : 0.995325 Centerline is valid? [True, True] Translation: X:24.04, Y:0.45, Z:-0.14 [[ 9.98489734e-01 -5.47180512e-02 -4.91784359e-03 2.40444010e+01] [ 5.47175269e-02 9.98501845e-01 -2.41188901e-04 4.47742913e-01] [ 4.92367328e-03 -2.82675969e-05 9.99987878e-01 -1.44001671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.790281693 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:24.07, Y:0.45, Z:-0.14 [[ 9.98404742e-01 -5.62475517e-02 -4.91782491e-03 2.40721721e+01] [ 5.62470441e-02 9.98416853e-01 -2.41569157e-04 4.48482873e-01] [ 4.92362694e-03 -3.54293224e-05 9.99987878e-01 -1.42448307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.820281693000002 meters Centerline goodness : 0.994645 Centerline is valid? [True, True] Translation: X:24.10, Y:0.45, Z:-0.14 [[ 9.98229148e-01 -5.92822420e-02 -4.91778057e-03 2.40998864e+01] [ 5.92817668e-02 9.98241260e-01 -2.42468408e-04 4.46879608e-01] [ 4.92350554e-03 -4.94956884e-05 9.99987878e-01 -1.39290792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.850281693 meters Centerline goodness : 0.994496 Centerline is valid? [True, True] Translation: X:24.13, Y:0.45, Z:-0.14 [[ 9.98139584e-01 -6.07715927e-02 -4.91773507e-03 2.41265487e+01] [ 6.07711311e-02 9.98151697e-01 -2.43387718e-04 4.47078910e-01] [ 4.92343667e-03 -5.59214069e-05 9.99987878e-01 -1.38829014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.880281693 meters Centerline goodness : 0.994867 Centerline is valid? [True, True] Translation: X:24.15, Y:0.45, Z:-0.14 [[ 9.98087592e-01 -6.16196017e-02 -4.91771531e-03 2.41541333e+01] [ 6.16191483e-02 9.98099705e-01 -2.43786448e-04 4.47895625e-01] [ 4.92339222e-03 -5.97052002e-05 9.99987878e-01 -1.39400724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.910281693 meters Centerline goodness : 0.994999 Centerline is valid? [True, True] Translation: X:24.18, Y:0.45, Z:-0.14 [[ 9.98128650e-01 -6.09509241e-02 -4.91767001e-03 2.41808340e+01] [ 6.09504582e-02 9.98140763e-01 -2.44696807e-04 4.47480035e-01] [ 4.92344139e-03 -5.54953468e-05 9.99987878e-01 -1.40408516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.940281693 meters Centerline goodness : 0.995223 Centerline is valid? [True, True] Translation: X:24.21, Y:0.45, Z:-0.14 [[ 9.98231658e-01 -5.92399727e-02 -4.91765033e-03 2.42089326e+01] [ 5.92394840e-02 9.98243770e-01 -2.45091713e-04 4.47159205e-01] [ 4.92353303e-03 -4.66607609e-05 9.99987878e-01 -1.40109803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.970281693 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:24.24, Y:0.45, Z:-0.14 [[ 9.98349929e-01 -5.72122059e-02 -4.91760507e-03 2.42362624e+01] [ 5.72116882e-02 9.98362040e-01 -2.45996462e-04 4.47155667e-01] [ 4.92362423e-03 -3.57539378e-05 9.99987878e-01 -1.39140513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.000281693 meters Centerline goodness : 0.995210 Centerline is valid? [True, True] Translation: X:24.26, Y:0.45, Z:-0.14 [[ 9.98550237e-01 -5.36026354e-02 -4.91758537e-03 2.42646794e+01] [ 5.36020720e-02 9.98562345e-01 -2.46389615e-04 4.47954407e-01] [ 4.92372271e-03 -1.75603571e-05 9.99987878e-01 -1.38139633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.030281693 meters Centerline goodness : 0.995411 Centerline is valid? [True, True] Translation: X:24.29, Y:0.45, Z:-0.14 [[ 9.98653035e-01 -5.16520491e-02 -4.91754317e-03 2.42923860e+01] [ 5.16514579e-02 9.98665142e-01 -2.47228928e-04 4.49112280e-01] [ 4.92374883e-03 -7.10235439e-06 9.99987878e-01 -1.36349565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.060281693 meters Centerline goodness : 0.994985 Centerline is valid? [True, True] Translation: X:24.32, Y:0.45, Z:-0.13 [[ 9.98782999e-01 -4.90748358e-02 -4.91749782e-03 2.43191959e+01] [ 4.90742089e-02 9.98795104e-01 -2.48127775e-04 4.49302610e-01] [ 4.92374958e-03 6.50348794e-06 9.99987878e-01 -1.34693226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.090281693 meters Centerline goodness : 0.995107 Centerline is valid? [True, True] Translation: X:24.35, Y:0.45, Z:-0.13 [[ 9.98947396e-01 -4.56061152e-02 -4.91747814e-03 2.43468309e+01] [ 4.56054444e-02 9.98959500e-01 -2.48517078e-04 4.48781556e-01] [ 4.92369540e-03 2.39917118e-05 9.99987878e-01 -1.34588515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.120281693 meters Centerline goodness : 0.994706 Centerline is valid? [True, True] Translation: X:24.37, Y:0.45, Z:-0.13 [[ 9.98959561e-01 -4.53388828e-02 -4.91743331e-03 2.43748007e+01] [ 4.53382044e-02 9.98971664e-01 -2.49401111e-04 4.50509839e-01] [ 4.92368410e-03 2.61940280e-05 9.99987878e-01 -1.34374470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.150281693 meters Centerline goodness : 0.995222 Centerline is valid? [True, True] Translation: X:24.40, Y:0.45, Z:-0.14 [[ 9.98941551e-01 -4.57339764e-02 -4.91738828e-03 2.44013871e+01] [ 4.57332985e-02 9.98953654e-01 -2.50285756e-04 4.51468981e-01] [ 4.92368955e-03 2.51324557e-05 9.99987878e-01 -1.35641973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.180281693 meters Centerline goodness : 0.994847 Centerline is valid? [True, True] Translation: X:24.43, Y:0.45, Z:-0.14 [[ 9.98909769e-01 -4.64229869e-02 -4.91736860e-03 2.44291702e+01] [ 4.64223154e-02 9.98921872e-01 -2.50671818e-04 4.51074850e-01] [ 4.92370398e-03 2.21228912e-05 9.99987878e-01 -1.36247504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.210281693 meters Centerline goodness : 0.994878 Centerline is valid? [True, True] Translation: X:24.46, Y:0.45, Z:-0.14 [[ 9.98877549e-01 -4.71111674e-02 -4.91732349e-03 2.44574120e+01] [ 4.71104999e-02 9.98889652e-01 -2.51553561e-04 4.50199356e-01] [ 4.92371454e-03 1.96136360e-05 9.99987878e-01 -1.37245440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.240281693 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:24.48, Y:0.45, Z:-0.14 [[ 9.98834502e-01 -4.80151846e-02 -4.91727837e-03 2.44844213e+01] [ 4.80145237e-02 9.98846606e-01 -2.52432623e-04 4.49793274e-01] [ 4.92372740e-03 1.60376346e-05 9.99987878e-01 -1.39904577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.270281693 meters Centerline goodness : 0.995399 Centerline is valid? [True, True] Translation: X:24.51, Y:0.45, Z:-0.14 [[ 9.98720530e-01 -5.03301477e-02 -4.91724721e-03 2.45123020e+01] [ 5.03295119e-02 9.98732635e-01 -2.53038083e-04 4.49214489e-01] [ 4.92375071e-03 5.23167668e-06 9.99987878e-01 -1.42505575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.300281693 meters Centerline goodness : 0.995362 Centerline is valid? [True, True] Translation: X:24.54, Y:0.45, Z:-0.14 [[ 9.98680892e-01 -5.11106420e-02 -4.91720186e-03 2.45398347e+01] [ 5.11100113e-02 9.98692997e-01 -2.53916382e-04 4.49836221e-01] [ 4.92375289e-03 2.26319659e-06 9.99987878e-01 -1.41940214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.330281693 meters Centerline goodness : 0.995685 Centerline is valid? [True, True] Translation: X:24.57, Y:0.45, Z:-0.14 [[ 9.98667446e-01 -5.13726941e-02 -4.91715665e-03 2.45664505e+01] [ 5.13720623e-02 9.98679551e-01 -2.54788857e-04 4.50422477e-01] [ 4.92375298e-03 1.84485939e-06 9.99987878e-01 -1.41628150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.360281693 meters Centerline goodness : 0.995428 Centerline is valid? [True, True] Translation: X:24.59, Y:0.45, Z:-0.14 [[ 9.98729243e-01 -5.01569678e-02 -4.91713695e-03 2.45936107e+01] [ 5.01563194e-02 9.98741347e-01 -2.55168419e-04 4.50105948e-01] [ 4.92374646e-03 8.21867031e-06 9.99987878e-01 -1.43727559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.390281693000002 meters Centerline goodness : 0.995360 Centerline is valid? [True, True] Translation: X:24.62, Y:0.45, Z:-0.15 [[ 9.98755301e-01 -4.96353776e-02 -4.91711764e-03 2.46211790e+01] [ 4.96347210e-02 9.98767405e-01 -2.55539939e-04 4.51983930e-01] [ 4.92374065e-03 1.11621059e-05 9.99987878e-01 -1.45489500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.420281693 meters Centerline goodness : 0.995493 Centerline is valid? [True, True] Translation: X:24.65, Y:0.45, Z:-0.15 [[ 9.98783099e-01 -4.90728320e-02 -4.91707332e-03 2.46480461e+01] [ 4.90721645e-02 9.98795203e-01 -2.56389941e-04 4.54791162e-01] [ 4.92373103e-03 1.47865097e-05 9.99987878e-01 -1.47066517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.450281693 meters Centerline goodness : 0.995631 Centerline is valid? [True, True] Translation: X:24.68, Y:0.46, Z:-0.15 [[ 9.98773255e-01 -4.92727954e-02 -4.91705393e-03 2.46763216e+01] [ 4.92721284e-02 9.98785358e-01 -2.56761339e-04 4.56171841e-01] [ 4.92373282e-03 1.41726458e-05 9.99987878e-01 -1.46578988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.480281693000002 meters Centerline goodness : 0.995683 Centerline is valid? [True, True] Translation: X:24.70, Y:0.46, Z:-0.14 [[ 9.98781745e-01 -4.91003991e-02 -4.91700996e-03 2.47038961e+01] [ 4.90997259e-02 9.98793848e-01 -2.57600628e-04 4.56975871e-01] [ 4.92372759e-03 1.58629633e-05 9.99987878e-01 -1.44876641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.510281693 meters Centerline goodness : 0.995546 Centerline is valid? [True, True] Translation: X:24.73, Y:0.46, Z:-0.14 [[ 9.98818804e-01 -4.83406726e-02 -4.91696524e-03 2.47309457e+01] [ 4.83399860e-02 9.98830906e-01 -2.58451314e-04 4.56815393e-01] [ 4.92371056e-03 2.04600014e-05 9.99987878e-01 -1.43433139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.540281693 meters Centerline goodness : 0.995564 Centerline is valid? [True, True] Translation: X:24.76, Y:0.46, Z:-0.14 [[ 9.98815819e-01 -4.84023089e-02 -4.91694570e-03 2.47593165e+01] [ 4.84016212e-02 9.98827921e-01 -2.58822515e-04 4.58067999e-01] [ 4.92371026e-03 2.05278786e-05 9.99987878e-01 -1.43340547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.570281693000002 meters Centerline goodness : 0.995448 Centerline is valid? [True, True] Translation: X:24.79, Y:0.46, Z:-0.14 [[ 9.98801484e-01 -4.86972191e-02 -4.91690107e-03 2.47858830e+01] [ 4.86965309e-02 9.98813586e-01 -2.59667732e-04 4.59467779e-01] [ 4.92371268e-03 1.99204918e-05 9.99987878e-01 -1.43180079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.600281693 meters Centerline goodness : 0.995504 Centerline is valid? [True, True] Translation: X:24.81, Y:0.46, Z:-0.14 [[ 9.98774178e-01 -4.92540842e-02 -4.91688160e-03 2.48137900e+01] [ 4.92534009e-02 9.98786281e-01 -2.60035894e-04 4.61013592e-01] [ 4.92372171e-03 1.75439966e-05 9.99987878e-01 -1.41965222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.630281693 meters Centerline goodness : 0.995421 Centerline is valid? [True, True] Translation: X:24.84, Y:0.46, Z:-0.14 [[ 9.98653132e-01 -5.16502273e-02 -4.91683736e-03 2.48418016e+01] [ 5.16495690e-02 9.98665236e-01 -2.60869593e-04 4.61127872e-01] [ 4.92374852e-03 6.56570584e-06 9.99987878e-01 -1.39103473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.660281693 meters Centerline goodness : 0.995622 Centerline is valid? [True, True] Translation: X:24.87, Y:0.46, Z:-0.14 [[ 9.98525687e-01 -5.40581014e-02 -4.91679304e-03 2.48695757e+01] [ 5.40574681e-02 9.98537792e-01 -2.61702363e-04 4.61494082e-01] [ 4.92375079e-03 -4.47285132e-06 9.99987878e-01 -1.38825015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.690281693 meters Centerline goodness : 0.996379 Centerline is valid? [True, True] Translation: X:24.90, Y:0.46, Z:-0.14 [[ 9.98224542e-01 -5.93598305e-02 -4.91674883e-03 2.48977291e+01] [ 5.93592574e-02 9.98236650e-01 -2.62530260e-04 4.58954647e-01] [ 4.92366263e-03 -2.97904113e-05 9.99987878e-01 -1.40813270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.720281693 meters Centerline goodness : 0.996454 Centerline is valid? [True, True] Translation: X:24.93, Y:0.46, Z:-0.14 [[ 9.98112969e-01 -6.12072451e-02 -4.91670463e-03 2.49263183e+01] [ 6.12066904e-02 9.98125078e-01 -2.63355496e-04 4.57367537e-01] [ 4.92360546e-03 -3.80766824e-05 9.99987878e-01 -1.41328689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.750281693 meters Centerline goodness : 0.995988 Centerline is valid? [True, True] Translation: X:24.95, Y:0.46, Z:-0.14 [[ 9.98069766e-01 -6.19077374e-02 -4.91666047e-03 2.49532296e+01] [ 6.19071871e-02 9.98081876e-01 -2.64177310e-04 4.55374938e-01] [ 4.92358433e-03 -4.07092338e-05 9.99987878e-01 -1.41758745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.780281693 meters Centerline goodness : 0.995948 Centerline is valid? [True, True] Translation: X:24.98, Y:0.45, Z:-0.14 [[ 9.98111331e-01 -6.12339497e-02 -4.91664125e-03 2.49809608e+01] [ 6.12333895e-02 9.98123440e-01 -2.64534562e-04 4.52962252e-01] [ 4.92361338e-03 -3.70276653e-05 9.99987878e-01 -1.41240720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.810281693 meters Centerline goodness : 0.996463 Centerline is valid? [True, True] Translation: X:25.01, Y:0.45, Z:-0.14 [[ 9.98164262e-01 -6.03650030e-02 -4.91659720e-03 2.50087695e+01] [ 6.03644282e-02 9.98176370e-01 -2.65350795e-04 4.54275754e-01] [ 4.92364904e-03 -3.19238982e-05 9.99987878e-01 -1.40868714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.840281693 meters Centerline goodness : 0.996309 Centerline is valid? [True, True] Translation: X:25.04, Y:0.46, Z:-0.14 [[ 9.98243374e-01 -5.90423111e-02 -4.91655307e-03 2.50370078e+01] [ 5.90417162e-02 9.98255481e-01 -2.66165847e-04 4.55358824e-01] [ 4.92369110e-03 -2.45834382e-05 9.99987878e-01 -1.40458983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.870281693 meters Centerline goodness : 0.996498 Centerline is valid? [True, True] Translation: X:25.07, Y:0.46, Z:-0.14 [[ 9.98337524e-01 -5.74283635e-02 -4.91650877e-03 2.50650478e+01] [ 5.74277451e-02 9.98349630e-01 -2.66981657e-04 4.55433391e-01] [ 4.92372703e-03 -1.58062067e-05 9.99987878e-01 -1.40895695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.900281693 meters Centerline goodness : 0.996336 Centerline is valid? [True, True] Translation: X:25.09, Y:0.45, Z:-0.14 [[ 9.98477580e-01 -5.49395244e-02 -4.91646436e-03 2.50928442e+01] [ 5.49388718e-02 9.98489684e-01 -2.67797050e-04 4.52303823e-01] [ 4.92375159e-03 -2.71565510e-06 9.99987878e-01 -1.42542058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.930281693 meters Centerline goodness : 0.995961 Centerline is valid? [True, True] Translation: X:25.12, Y:0.45, Z:-0.14 [[ 9.98527743e-01 -5.40201347e-02 -4.91641975e-03 2.51210623e+01] [ 5.40194669e-02 9.98539846e-01 -2.68613610e-04 4.51979240e-01] [ 4.92375156e-03 2.63576772e-06 9.99987878e-01 -1.41589272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.960281693 meters Centerline goodness : 0.996132 Centerline is valid? [True, True] Translation: X:25.15, Y:0.45, Z:-0.14 [[ 9.98615918e-01 -5.23648439e-02 -4.91637499e-03 2.51503307e+01] [ 5.23641520e-02 9.98628020e-01 -2.69430282e-04 4.50865793e-01] [ 4.92373850e-03 1.16155608e-05 9.99987878e-01 -1.36210143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.990281693 meters Centerline goodness : 0.996125 Centerline is valid? [True, True] Translation: X:25.18, Y:0.45, Z:-0.13 [[ 9.98676993e-01 -5.11868412e-02 -4.91633566e-03 2.51781417e+01] [ 5.11861316e-02 9.98689094e-01 -2.70146122e-04 4.51818290e-01] [ 4.92371873e-03 1.81405131e-05 9.99987878e-01 -1.33369422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.020281693 meters Centerline goodness : 0.995761 Centerline is valid? [True, True] Translation: X:25.21, Y:0.45, Z:-0.13 [[ 9.98747146e-01 -4.97992780e-02 -4.91628414e-03 2.52051959e+01] [ 4.97985469e-02 9.98759246e-01 -2.71080479e-04 4.53239302e-01] [ 4.92368385e-03 2.59170482e-05 9.99987878e-01 -1.32677730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.050281693 meters Centerline goodness : 0.996197 Centerline is valid? [True, True] Translation: X:25.23, Y:0.46, Z:-0.14 [[ 9.98931833e-01 -4.59458841e-02 -4.91624849e-03 2.52335545e+01] [ 4.59451032e-02 9.98943929e-01 -2.71725425e-04 4.55719925e-01] [ 4.92354125e-03 4.55576327e-05 9.99987878e-01 -1.35281996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.080281693 meters Centerline goodness : 0.996114 Centerline is valid? [True, True] Translation: X:25.26, Y:0.46, Z:-0.14 [[ 9.99022647e-01 -4.39269993e-02 -4.91620311e-03 2.52614307e+01] [ 4.39261899e-02 9.99034742e-01 -2.72543897e-04 4.57710792e-01] [ 4.92342974e-03 5.63274536e-05 9.99987878e-01 -1.36509821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.110281693 meters Centerline goodness : 0.996268 Centerline is valid? [True, True] Translation: X:25.29, Y:0.46, Z:-0.14 [[ 9.99167756e-01 -4.04922994e-02 -4.91615752e-03 2.52892029e+01] [ 4.04914444e-02 9.99179848e-01 -2.73363784e-04 4.59026287e-01] [ 4.92319465e-03 7.40739595e-05 9.99987878e-01 -1.35106737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.140281693000002 meters Centerline goodness : 0.996091 Centerline is valid? [True, True] Translation: X:25.32, Y:0.46, Z:-0.13 [[ 9.99191415e-01 -3.99042247e-02 -4.91611188e-03 2.53174955e+01] [ 3.99033586e-02 9.99203506e-01 -2.74182240e-04 4.59898039e-01] [ 4.92313725e-03 7.77911654e-05 9.99987878e-01 -1.33560985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.170281693 meters Centerline goodness : 0.996091 Centerline is valid? [True, True] Translation: X:25.35, Y:0.46, Z:-0.13 [[ 9.99184004e-01 -4.00893903e-02 -4.91606084e-03 2.53459233e+01] [ 4.00885219e-02 9.99196094e-01 -2.75094209e-04 4.61685459e-01] [ 4.92313715e-03 7.77921205e-05 9.99987878e-01 -1.33420741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.200281693 meters Centerline goodness : 0.996843 Centerline is valid? [True, True] Translation: X:25.37, Y:0.46, Z:-0.13 [[ 9.99182824e-01 -4.01187758e-02 -4.91600970e-03 2.53736167e+01] [ 4.01179033e-02 9.99194915e-01 -2.76005214e-04 4.62040810e-01] [ 4.92312488e-03 7.85596676e-05 9.99987878e-01 -1.33191143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.230281693000002 meters Centerline goodness : 0.996427 Centerline is valid? [True, True] Translation: X:25.40, Y:0.46, Z:-0.13 [[ 9.99171118e-01 -4.04092970e-02 -4.91595814e-03 2.54015396e+01] [ 4.04084235e-02 9.99183208e-01 -2.76920407e-04 4.62265030e-01] [ 4.92313299e-03 7.80447537e-05 9.99987878e-01 -1.33960427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.260281693 meters Centerline goodness : 0.996178 Centerline is valid? [True, True] Translation: X:25.43, Y:0.46, Z:-0.14 [[ 9.99174228e-01 -4.03323080e-02 -4.91590633e-03 2.54293453e+01] [ 4.03314291e-02 9.99186318e-01 -2.77837220e-04 4.62179918e-01] [ 4.92311216e-03 7.93422620e-05 9.99987878e-01 -1.38036937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.290281693 meters Centerline goodness : 0.996275 Centerline is valid? [True, True] Translation: X:25.46, Y:0.46, Z:-0.14 [[ 9.99214553e-01 -3.93206177e-02 -4.91589021e-03 2.54570722e+01] [ 3.93197252e-02 9.99226642e-01 -2.78122010e-04 4.63417011e-01] [ 4.92302440e-03 8.46121080e-05 9.99987878e-01 -1.38628557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.320281693000002 meters Centerline goodness : 0.996475 Centerline is valid? [True, True] Translation: X:25.49, Y:0.46, Z:-0.14 [[ 9.99275528e-01 -3.77392817e-02 -4.91583803e-03 2.54854722e+01] [ 3.77383655e-02 9.99287615e-01 -2.79041266e-04 4.64277351e-01] [ 4.92286688e-03 9.33234165e-05 9.99987878e-01 -1.38244318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.350281693 meters Centerline goodness : 0.996397 Centerline is valid? [True, True] Translation: X:25.51, Y:0.46, Z:-0.13 [[ 9.99380898e-01 -3.48375501e-02 -4.91578592e-03 2.55139993e+01] [ 3.48365943e-02 9.99392982e-01 -2.79956278e-04 4.63564838e-01] [ 4.92255495e-03 1.08533716e-04 9.99987878e-01 -1.34668978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.380281693 meters Centerline goodness : 0.996513 Centerline is valid? [True, True] Translation: X:25.54, Y:0.46, Z:-0.14 [[ 9.99420431e-01 -3.36843764e-02 -4.91573283e-03 2.55414648e+01] [ 3.36834021e-02 9.99432514e-01 -2.80885470e-04 4.64661137e-01] [ 4.92240467e-03 1.15144072e-04 9.99987878e-01 -1.35261119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.410281693 meters Centerline goodness : 0.996759 Centerline is valid? [True, True] Translation: X:25.57, Y:0.47, Z:-0.14 [[ 9.99515940e-01 -3.07200553e-02 -4.91570973e-03 2.55698158e+01] [ 3.07190432e-02 9.99528019e-01 -2.81289176e-04 4.66917750e-01] [ 4.92203083e-03 1.30147115e-04 9.99987878e-01 -1.38669225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.440281693 meters Centerline goodness : 0.996618 Centerline is valid? [True, True] Translation: X:25.60, Y:0.47, Z:-0.14 [[ 9.99564527e-01 -2.90962521e-02 -4.91565808e-03 2.55964723e+01] [ 2.90952159e-02 9.99576605e-01 -2.82188969e-04 4.68529173e-01] [ 4.92178745e-03 1.39043950e-04 9.99987878e-01 -1.39641835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.470281693 meters Centerline goodness : 0.996248 Centerline is valid? [True, True] Translation: X:25.62, Y:0.47, Z:-0.14 [[ 9.99587516e-01 -2.82954698e-02 -4.91563560e-03 2.56239594e+01] [ 2.82944220e-02 9.99599593e-01 -2.82579944e-04 4.69567544e-01] [ 4.92166308e-03 1.43378316e-04 9.99987878e-01 -1.39150735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.500281693 meters Centerline goodness : 0.996160 Centerline is valid? [True, True] Translation: X:25.65, Y:0.47, Z:-0.14 [[ 9.99580767e-01 -2.85329148e-02 -4.91558280e-03 2.56512919e+01] [ 2.85318653e-02 9.99592843e-01 -2.83495432e-04 4.70389609e-01] [ 4.92167034e-03 1.43125835e-04 9.99987878e-01 -1.39440104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.530281693 meters Centerline goodness : 0.996707 Centerline is valid? [True, True] Translation: X:25.68, Y:0.47, Z:-0.14 [[ 9.99514062e-01 -3.07811171e-02 -4.91555993e-03 2.56795781e+01] [ 3.07800929e-02 9.99526140e-01 -2.83891426e-04 4.72360888e-01] [ 4.92196914e-03 1.32452081e-04 9.99987878e-01 -1.37355325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.560281693 meters Centerline goodness : 0.996665 Centerline is valid? [True, True] Translation: X:25.71, Y:0.48, Z:-0.14 [[ 9.99475274e-01 -3.20158603e-02 -4.91550802e-03 2.57074645e+01] [ 3.20148467e-02 9.99487353e-01 -2.84787420e-04 4.75189487e-01] [ 4.92210581e-03 1.27268749e-04 9.99987878e-01 -1.37104011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.590281693 meters Centerline goodness : 0.996581 Centerline is valid? [True, True] Translation: X:25.73, Y:0.48, Z:-0.14 [[ 9.99463362e-01 -3.23855745e-02 -4.91545608e-03 2.57344795e+01] [ 3.23845609e-02 9.99475442e-01 -2.85681070e-04 4.77507111e-01] [ 4.92212958e-03 1.26342876e-04 9.99987878e-01 -1.38420438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.620281693 meters Centerline goodness : 0.996088 Centerline is valid? [True, True] Translation: X:25.76, Y:0.48, Z:-0.14 [[ 9.99450342e-01 -3.27849317e-02 -4.91543351e-03 2.57635213e+01] [ 3.27839210e-02 9.99462422e-01 -2.86068974e-04 4.80223211e-01] [ 4.92216983e-03 1.24764550e-04 9.99987878e-01 -1.41703711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.650281693 meters Centerline goodness : 0.996558 Centerline is valid? [True, True] Translation: X:25.79, Y:0.48, Z:-0.14 [[ 9.99430289e-01 -3.33906750e-02 -4.91538821e-03 2.57899945e+01] [ 3.33896679e-02 9.99442368e-01 -2.86845113e-04 4.83508789e-01] [ 4.92222519e-03 1.22558514e-04 9.99987878e-01 -1.42773860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.680281693 meters Centerline goodness : 0.996713 Centerline is valid? [True, True] Translation: X:25.82, Y:0.49, Z:-0.14 [[ 9.99322891e-01 -3.64636659e-02 -4.91536568e-03 2.58186066e+01] [ 3.64626940e-02 9.99334974e-01 -2.87230686e-04 4.88776440e-01] [ 4.92257032e-03 1.07808725e-04 9.99987878e-01 -1.38658471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.710281693 meters Centerline goodness : 0.996465 Centerline is valid? [True, True] Translation: X:25.85, Y:0.49, Z:-0.14 [[ 9.99252880e-01 -3.83343377e-02 -4.91531813e-03 2.58464049e+01] [ 3.83333844e-02 9.99264964e-01 -2.88042125e-04 4.90802970e-01] [ 4.92274710e-03 9.94061434e-05 9.99987878e-01 -1.37172175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.740281693 meters Centerline goodness : 0.996740 Centerline is valid? [True, True] Translation: X:25.87, Y:0.49, Z:-0.14 [[ 9.99167557e-01 -4.04973171e-02 -4.91529245e-03 2.58730852e+01] [ 4.04963878e-02 9.99179643e-01 -2.88479650e-04 4.92078435e-01] [ 4.92294281e-03 8.91879178e-05 9.99987878e-01 -1.36797721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.770281693 meters Centerline goodness : 0.996578 Centerline is valid? [True, True] Translation: X:25.90, Y:0.49, Z:-0.14 [[ 9.98951897e-01 -4.55076601e-02 -4.91526961e-03 2.59005300e+01] [ 4.55067895e-02 9.98963988e-01 -2.88868338e-04 4.94779208e-01] [ 4.92332305e-03 6.48874350e-05 9.99987878e-01 -1.36001797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.800281693 meters Centerline goodness : 0.997085 Centerline is valid? [True, True] Translation: X:25.93, Y:0.50, Z:-0.14 [[ 9.98828109e-01 -4.81481988e-02 -4.91521585e-03 2.59274685e+01] [ 4.81473557e-02 9.98840202e-01 -2.89780299e-04 4.97462829e-01] [ 4.92346758e-03 5.27860622e-05 9.99987878e-01 -1.35455257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.830281693 meters Centerline goodness : 0.996703 Centerline is valid? [True, True] Translation: X:25.96, Y:0.50, Z:-0.13 [[ 9.98702187e-01 -5.06930266e-02 -4.91519241e-03 2.59558434e+01] [ 5.06922124e-02 9.98714281e-01 -2.90177202e-04 4.99432730e-01] [ 4.92358282e-03 4.06386289e-05 9.99987878e-01 -1.33184948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.860281693 meters Centerline goodness : 0.996334 Centerline is valid? [True, True] Translation: X:25.98, Y:0.50, Z:-0.13 [[ 9.98526563e-01 -5.40420663e-02 -4.91513848e-03 2.59829548e+01] [ 5.40412881e-02 9.98538659e-01 -2.91087898e-04 5.00888455e-01] [ 4.92368678e-03 2.50385832e-05 9.99987878e-01 -1.30031475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.890281693000002 meters Centerline goodness : 0.996594 Centerline is valid? [True, True] Translation: X:26.01, Y:0.50, Z:-0.13 [[ 9.98457712e-01 -5.52995424e-02 -4.91510132e-03 2.60103578e+01] [ 5.52987764e-02 9.98469809e-01 -2.91714022e-04 5.03401009e-01] [ 4.92371193e-03 1.94650257e-05 9.99987878e-01 -1.29614255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.920281693 meters Centerline goodness : 0.996751 Centerline is valid? [True, True] Translation: X:26.04, Y:0.51, Z:-0.13 [[ 9.98426928e-01 -5.58525969e-02 -4.91504659e-03 2.60382319e+01] [ 5.58518331e-02 9.98439025e-01 -2.92633281e-04 5.06586234e-01] [ 4.92371865e-03 1.76585857e-05 9.99987878e-01 -1.29633906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.950281693 meters Centerline goodness : 0.997190 Centerline is valid? [True, True] Translation: X:26.06, Y:0.51, Z:-0.13 [[ 9.98388484e-01 -5.65356341e-02 -4.91499094e-03 2.60649579e+01] [ 5.65348739e-02 9.98400582e-01 -2.93565010e-04 5.11128753e-01] [ 4.92372670e-03 1.52235325e-05 9.99987878e-01 -1.32088578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.980281693000002 meters Centerline goodness : 0.996336 Centerline is valid? [True, True] Translation: X:26.09, Y:0.51, Z:-0.13 [[ 9.98343357e-01 -5.73270017e-02 -4.91496677e-03 2.60918110e+01] [ 5.73262492e-02 9.98355455e-01 -2.93969129e-04 5.12951327e-01] [ 4.92373625e-03 1.17255172e-05 9.99987878e-01 -1.33287511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.010281692999996 meters Centerline goodness : 0.996746 Centerline is valid? [True, True] Translation: X:26.12, Y:0.52, Z:-0.13 [[ 9.98216331e-01 -5.94979032e-02 -4.91492912e-03 2.61195023e+01] [ 5.94971738e-02 9.98228431e-01 -2.94597255e-04 5.15432562e-01] [ 4.92374990e-03 1.64739920e-06 9.99987878e-01 -1.33379579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.040281693 meters Centerline goodness : 0.996914 Centerline is valid? [True, True] Translation: X:26.15, Y:0.52, Z:-0.13 [[ 9.98145195e-01 -6.06795920e-02 -4.91487304e-03 2.61460480e+01] [ 6.06788724e-02 9.98157296e-01 -2.95529807e-04 5.18664392e-01] [ 4.92374901e-03 -3.24729756e-06 9.99987878e-01 -1.32331977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.070281693 meters Centerline goodness : 0.996766 Centerline is valid? [True, True] Translation: X:26.17, Y:0.52, Z:-0.13 [[ 9.98102007e-01 -6.13858858e-02 -4.91484859e-03 2.61725726e+01] [ 6.13851728e-02 9.98114108e-01 -2.95935850e-04 5.21876605e-01] [ 4.92374601e-03 -6.32466448e-06 9.99987878e-01 -1.31541907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.100281693 meters Centerline goodness : 0.997216 Centerline is valid? [True, True] Translation: X:26.20, Y:0.52, Z:-0.13 [[ 9.98097696e-01 -6.14559496e-02 -4.91482515e-03 2.62007925e+01] [ 6.14552355e-02 9.98109797e-01 -2.96324735e-04 5.24423112e-01] [ 4.92374605e-03 -6.28070147e-06 9.99987878e-01 -1.30815844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.13028169299999 meters Centerline goodness : 0.996932 Centerline is valid? [True, True] Translation: X:26.23, Y:0.53, Z:-0.13 [[ 9.98193225e-01 -5.98843155e-02 -4.91476951e-03 2.62281114e+01] [ 5.98835779e-02 9.98205324e-01 -2.97244613e-04 5.25740627e-01] [ 4.92374938e-03 2.39357558e-06 9.99987878e-01 -1.31274031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.160281692999995 meters Centerline goodness : 0.996569 Centerline is valid? [True, True] Translation: X:26.26, Y:0.53, Z:-0.13 [[ 9.98217125e-01 -5.94845916e-02 -4.91474529e-03 2.62573961e+01] [ 5.94838471e-02 9.98229224e-01 -2.97644653e-04 5.27640147e-01] [ 4.92374764e-03 4.76603275e-06 9.99987878e-01 -1.30562144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.190281692999996 meters Centerline goodness : 0.996918 Centerline is valid? [True, True] Translation: X:26.29, Y:0.53, Z:-0.13 [[ 9.98285428e-01 -5.83270720e-02 -4.91495571e-03 2.62853446e+01] [ 5.83263306e-02 9.98297527e-01 -2.94176775e-04 5.29521211e-01] [ 4.92374660e-03 7.00105634e-06 9.99987878e-01 -1.31826982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.220281693 meters Centerline goodness : 0.996498 Centerline is valid? [True, True] Translation: X:26.31, Y:0.53, Z:-0.14 [[ 9.98350663e-01 -5.71996489e-02 -4.91467609e-03 2.63134136e+01] [ 5.71988711e-02 9.98362760e-01 -2.98776342e-04 5.32569836e-01] [ 4.92371948e-03 1.71696345e-05 9.99987878e-01 -1.35823375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.250281693 meters Centerline goodness : 0.996841 Centerline is valid? [True, True] Translation: X:26.34, Y:0.53, Z:-0.14 [[ 9.98362688e-01 -5.69893834e-02 -4.91465884e-03 2.63404523e+01] [ 5.69886017e-02 9.98374784e-01 -2.99059729e-04 5.34365353e-01] [ 4.92371469e-03 1.84905397e-05 9.99987878e-01 -1.38341790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.280281693 meters Centerline goodness : 0.996909 Centerline is valid? [True, True] Translation: X:26.37, Y:0.54, Z:-0.14 [[ 9.98345729e-01 -5.72856956e-02 -4.91463552e-03 2.63685553e+01] [ 5.72849156e-02 9.98357826e-01 -2.99442623e-04 5.36147376e-01] [ 4.92371861e-03 1.74127833e-05 9.99987878e-01 -1.39258076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.310281693 meters Centerline goodness : 0.996722 Centerline is valid? [True, True] Translation: X:26.40, Y:0.54, Z:-0.14 [[ 9.98323199e-01 -5.76769999e-02 -4.91458016e-03 2.63964913e+01] [ 5.76762202e-02 9.98335296e-01 -3.00348407e-04 5.37726882e-01] [ 4.92372203e-03 1.63903750e-05 9.99987878e-01 -1.39267889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.340281692999994 meters Centerline goodness : 0.996995 Centerline is valid? [True, True] Translation: X:26.42, Y:0.54, Z:-0.14 [[ 9.98315888e-01 -5.78034176e-02 -4.91452355e-03 2.64231481e+01] [ 5.78026348e-02 9.98327985e-01 -3.01271911e-04 5.38998407e-01] [ 4.92372093e-03 1.66921253e-05 9.99987878e-01 -1.39855103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.370281692999995 meters Centerline goodness : 0.996871 Centerline is valid? [True, True] Translation: X:26.45, Y:0.54, Z:-0.14 [[ 9.98290602e-01 -5.82384830e-02 -4.91449893e-03 2.64516079e+01] [ 5.82377036e-02 9.98302699e-01 -3.01672864e-04 5.39542786e-01] [ 4.92372652e-03 1.49480524e-05 9.99987878e-01 -1.36983120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.400281693 meters Centerline goodness : 0.997027 Centerline is valid? [True, True] Translation: X:26.48, Y:0.54, Z:-0.14 [[ 9.98274964e-01 -5.85059388e-02 -4.91445085e-03 2.64798449e+01] [ 5.85051588e-02 9.98287060e-01 -3.02454128e-04 5.40911157e-01] [ 4.92372806e-03 1.44116566e-05 9.99987878e-01 -1.35914167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.430281693 meters Centerline goodness : 0.996752 Centerline is valid? [True, True] Translation: X:26.51, Y:0.54, Z:-0.14 [[ 9.98269310e-01 -5.86023246e-02 -4.91439465e-03 2.65078313e+01] [ 5.86015413e-02 9.98281407e-01 -3.03364538e-04 5.41884745e-01] [ 4.92372668e-03 1.48484070e-05 9.99987878e-01 -1.35124111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.460281693 meters Centerline goodness : 0.996779 Centerline is valid? [True, True] Translation: X:26.54, Y:0.54, Z:-0.13 [[ 9.98283931e-01 -5.83527417e-02 -4.91437714e-03 2.65359480e+01] [ 5.83519540e-02 9.98296027e-01 -3.03647891e-04 5.41535385e-01] [ 4.92372187e-03 1.63633012e-05 9.99987878e-01 -1.33580347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.490281693 meters Centerline goodness : 0.996852 Centerline is valid? [True, True] Translation: X:26.56, Y:0.54, Z:-0.13 [[ 9.98272906e-01 -5.85410586e-02 -4.91431998e-03 2.65635640e+01] [ 5.85402686e-02 9.98285001e-01 -3.04570309e-04 5.42154116e-01] [ 4.92372179e-03 1.63586755e-05 9.99987878e-01 -1.33941209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.520281692999994 meters Centerline goodness : 0.996791 Centerline is valid? [True, True] Translation: X:26.59, Y:0.54, Z:-0.14 [[ 9.98253702e-01 -5.88676121e-02 -4.91426264e-03 2.65902160e+01] [ 5.88668215e-02 9.98265798e-01 -3.05492716e-04 5.43458410e-01] [ 4.92372394e-03 1.56722133e-05 9.99987878e-01 -1.36219766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.550281692999995 meters Centerline goodness : 0.996874 Centerline is valid? [True, True] Translation: X:26.62, Y:0.55, Z:-0.14 [[ 9.98281451e-01 -5.83951561e-02 -4.91420559e-03 2.66182171e+01] [ 5.83943553e-02 9.98293547e-01 -3.06407582e-04 5.45463430e-01] [ 4.92371245e-03 1.89191386e-05 9.99987878e-01 -1.35609381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.580281692999996 meters Centerline goodness : 0.997254 Centerline is valid? [True, True] Translation: X:26.65, Y:0.55, Z:-0.14 [[ 9.98345219e-01 -5.72946397e-02 -4.91414958e-03 2.66462413e+01] [ 5.72938211e-02 9.98357313e-01 -3.07303328e-04 5.48188219e-01] [ 4.92368400e-03 2.52444013e-05 9.99987878e-01 -1.35085429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.610281693 meters Centerline goodness : 0.997058 Centerline is valid? [True, True] Translation: X:26.67, Y:0.55, Z:-0.13 [[ 9.98448992e-01 -5.54568575e-02 -4.91409379e-03 2.66738230e+01] [ 5.54560123e-02 9.98461084e-01 -3.08192870e-04 5.51047926e-01] [ 4.92362282e-03 3.51988145e-05 9.99987878e-01 -1.34053723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.640281693 meters Centerline goodness : 0.996869 Centerline is valid? [True, True] Translation: X:26.70, Y:0.56, Z:-0.13 [[ 9.98693272e-01 -5.08684705e-02 -4.91403790e-03 2.67018887e+01] [ 5.08675654e-02 9.98705360e-01 -3.09081493e-04 5.56319280e-01] [ 4.92339849e-03 5.87124631e-05 9.99987878e-01 -1.33978872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.670281693 meters Centerline goodness : 0.996847 Centerline is valid? [True, True] Translation: X:26.73, Y:0.56, Z:-0.13 [[ 9.98804528e-01 -4.86350377e-02 -4.91397973e-03 2.67296916e+01] [ 4.86341010e-02 9.98816614e-01 -3.10003543e-04 5.60464590e-01] [ 4.92324163e-03 7.06459563e-05 9.99987878e-01 -1.33577663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.700281692999994 meters Centerline goodness : 0.997011 Centerline is valid? [True, True] Translation: X:26.76, Y:0.57, Z:-0.13 [[ 9.98974471e-01 -4.50095618e-02 -4.91392072e-03 2.67573787e+01] [ 4.50085767e-02 9.98986552e-01 -3.10936139e-04 5.67838237e-01] [ 4.92293581e-03 8.94486871e-05 9.99987878e-01 -1.31425844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.730281692999995 meters Centerline goodness : 0.997066 Centerline is valid? [True, True] Translation: X:26.79, Y:0.57, Z:-0.13 [[ 9.99028361e-01 -4.37971148e-02 -4.91386092e-03 2.67851274e+01] [ 4.37961104e-02 9.99040441e-01 -3.11878271e-04 5.73465910e-01] [ 4.92280515e-03 9.63672428e-05 9.99987878e-01 -1.29569337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.760281692999996 meters Centerline goodness : 0.997458 Centerline is valid? [True, True] Translation: X:26.81, Y:0.58, Z:-0.13 [[ 9.99055202e-01 -4.31805110e-02 -4.91384240e-03 2.68131005e+01] [ 4.31794977e-02 9.99067282e-01 -3.12169832e-04 5.79383605e-01] [ 4.92273882e-03 9.96976480e-05 9.99987878e-01 -1.27773748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.790281693 meters Centerline goodness : 0.997272 Centerline is valid? [True, True] Translation: X:26.84, Y:0.59, Z:-0.12 [[ 9.99053628e-01 -4.32169158e-02 -4.91382465e-03 2.68395944e+01] [ 4.32159016e-02 9.99065708e-01 -3.12448990e-04 5.90165832e-01] [ 4.92273678e-03 9.97979347e-05 9.99987878e-01 -1.24551107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.820281693 meters Centerline goodness : 0.997138 Centerline is valid? [True, True] Translation: X:26.87, Y:0.60, Z:-0.12 [[ 9.99049653e-01 -4.33087122e-02 -4.91380023e-03 2.68668222e+01] [ 4.33076971e-02 9.99061733e-01 -3.12832471e-04 5.96561728e-01] [ 4.92273815e-03 9.97297993e-05 9.99987878e-01 -1.23759497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.850281693 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:26.89, Y:0.61, Z:-0.12 [[ 9.99053417e-01 -4.32218077e-02 -4.91374192e-03 2.68926611e+01] [ 4.32207871e-02 9.99065496e-01 -3.13745776e-04 6.08081401e-01] [ 4.92271067e-03 1.01072996e-04 9.99987878e-01 -1.24962193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88028169299999 meters Centerline goodness : 0.997478 Centerline is valid? [True, True] Translation: X:26.92, Y:0.62, Z:-0.13 [[ 9.99056595e-01 -4.31483008e-02 -4.91371652e-03 2.69190280e+01] [ 4.31472774e-02 9.99068673e-01 -3.14143019e-04 6.15379206e-01] [ 4.92269498e-03 1.01833165e-04 9.99987878e-01 -1.27004827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.910281692999995 meters Centerline goodness : 0.997249 Centerline is valid? [True, True] Translation: X:26.95, Y:0.62, Z:-0.13 [[ 9.99026729e-01 -4.38343439e-02 -4.91369156e-03 2.69471476e+01] [ 4.38333268e-02 9.99038808e-01 -3.14532928e-04 6.22111970e-01] [ 4.92275591e-03 9.88433545e-05 9.99987878e-01 -1.29211069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.940281692999996 meters Centerline goodness : 0.997524 Centerline is valid? [True, True] Translation: X:26.97, Y:0.63, Z:-0.13 [[ 9.98951908e-01 -4.55076028e-02 -4.91365624e-03 2.69743281e+01] [ 4.55066033e-02 9.98963988e-01 -3.15083741e-04 6.27565108e-01] [ 4.92290434e-03 9.11496993e-05 9.99987878e-01 -1.31330141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.970281693 meters Centerline goodness : 0.997574 Centerline is valid? [True, True] Translation: X:27.00, Y:0.64, Z:-0.13 [[ 9.98684788e-01 -5.10347961e-02 -4.91359973e-03 2.70030145e+01] [ 5.10338591e-02 9.98696874e-01 -3.15962559e-04 6.35276449e-01] [ 4.92332178e-03 6.47870450e-05 9.99987878e-01 -1.32070159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.000281693 meters Centerline goodness : 0.997081 Centerline is valid? [True, True] Translation: X:27.03, Y:0.64, Z:-0.13 [[ 9.98501550e-01 -5.45023965e-02 -4.91354756e-03 2.70305557e+01] [ 5.45014976e-02 9.98513639e-01 -3.16771760e-04 6.39777989e-01] [ 4.92350908e-03 4.85013934e-05 9.99987878e-01 -1.32812652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.030281693 meters Centerline goodness : 0.997376 Centerline is valid? [True, True] Translation: X:27.06, Y:0.64, Z:-0.13 [[ 9.98303580e-01 -5.80156900e-02 -4.91352907e-03 2.70579576e+01] [ 5.80148322e-02 9.98315671e-01 -3.17058366e-04 6.43716004e-01] [ 4.92364743e-03 3.14629369e-05 9.99987878e-01 -1.32763160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.060281693 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:27.09, Y:0.65, Z:-0.13 [[ 9.97886590e-01 -6.47935990e-02 -4.91346989e-03 2.70852537e+01] [ 6.47928187e-02 9.97898687e-01 -3.17972797e-04 6.47396669e-01] [ 4.92374776e-03 -1.05677414e-06 9.99987878e-01 -1.32994818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.090281692999994 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:27.11, Y:0.65, Z:-0.13 [[ 9.97874630e-01 -6.49775457e-02 -4.91341078e-03 2.71136514e+01] [ 6.49767632e-02 9.97886726e-01 -3.18883616e-04 6.49432964e-01] [ 4.92374767e-03 -1.05165909e-06 9.99987878e-01 -1.32854575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.120281692999995 meters Centerline goodness : 0.997331 Centerline is valid? [True, True] Translation: X:27.14, Y:0.65, Z:-0.13 [[ 9.97689619e-01 -6.77590122e-02 -4.91335183e-03 2.71418557e+01] [ 6.77582590e-02 9.97701717e-01 -3.19789319e-04 6.51874095e-01] [ 4.92372817e-03 -1.38696821e-05 9.99987878e-01 -1.31097318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.150281693 meters Centerline goodness : 0.997673 Centerline is valid? [True, True] Translation: X:27.17, Y:0.65, Z:-0.13 [[ 9.97544366e-01 -6.98648474e-02 -4.91329302e-03 2.71699090e+01] [ 6.98641153e-02 9.97556466e-01 -3.20690399e-04 6.54611305e-01] [ 4.92369220e-03 -2.33599696e-05 9.99987878e-01 -1.27597974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.180281693 meters Centerline goodness : 0.997871 Centerline is valid? [True, True] Translation: X:27.20, Y:0.66, Z:-0.13 [[ 9.97367147e-01 -7.23507660e-02 -4.91323414e-03 2.71969988e+01] [ 7.23500596e-02 9.97379249e-01 -3.21589957e-04 6.58644436e-01] [ 4.92362505e-03 -3.47295246e-05 9.99987878e-01 -1.26805183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.210281693 meters Centerline goodness : 0.997732 Centerline is valid? [True, True] Translation: X:27.22, Y:0.66, Z:-0.13 [[ 9.97352557e-01 -7.25516246e-02 -4.91319349e-03 2.72246863e+01] [ 7.25509176e-02 9.97364658e-01 -3.22209855e-04 6.60573225e-01] [ 4.92362239e-03 -3.50998734e-05 9.99987878e-01 -1.30180839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.240281693 meters Centerline goodness : 0.997176 Centerline is valid? [True, True] Translation: X:27.25, Y:0.66, Z:-0.14 [[ 9.97353392e-01 -7.25401413e-02 -4.91316609e-03 2.72527601e+01] [ 7.25394321e-02 9.97365493e-01 -3.22627049e-04 6.61127651e-01] [ 4.92362573e-03 -3.46250961e-05 9.99987878e-01 -1.36059472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.270281692999994 meters Centerline goodness : 0.997260 Centerline is valid? [True, True] Translation: X:27.28, Y:0.66, Z:-0.14 [[ 9.97398148e-01 -7.19221473e-02 -4.91314806e-03 2.72804959e+01] [ 7.19214293e-02 9.97410248e-01 -3.22901316e-04 6.63434860e-01] [ 4.92364799e-03 -3.12994560e-05 9.99987878e-01 -1.35760645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.300281692999995 meters Centerline goodness : 0.997508 Centerline is valid? [True, True] Translation: X:27.31, Y:0.67, Z:-0.13 [[ 9.97492155e-01 -7.06063958e-02 -4.91309053e-03 2.73095376e+01] [ 7.06056575e-02 9.97504254e-01 -3.23774413e-04 6.66062323e-01] [ 4.92368924e-03 -2.39295502e-05 9.99987878e-01 -1.32787864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.330281692999996 meters Centerline goodness : 0.997845 Centerline is valid? [True, True] Translation: X:27.34, Y:0.67, Z:-0.13 [[ 9.97609419e-01 -6.89297396e-02 -4.91304013e-03 2.73369041e+01] [ 6.89289772e-02 9.97621517e-01 -3.24537363e-04 6.68208276e-01] [ 4.92372482e-03 -1.48893003e-05 9.99987878e-01 -1.28694961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.360281693 meters Centerline goodness : 0.997811 Centerline is valid? [True, True] Translation: X:27.37, Y:0.67, Z:-0.12 [[ 9.97743610e-01 -6.69593269e-02 -4.91302219e-03 2.73652432e+01] [ 6.69585393e-02 9.97755706e-01 -3.24808774e-04 6.69800828e-01] [ 4.92374490e-03 -4.89291030e-06 9.99987878e-01 -1.21431019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.390281693 meters Centerline goodness : 0.997870 Centerline is valid? [True, True] Translation: X:27.39, Y:0.67, Z:-0.12 [[ 9.97746912e-01 -6.69101118e-02 -4.91297208e-03 2.73924336e+01] [ 6.69093199e-02 9.97759007e-01 -3.25564878e-04 6.72837639e-01] [ 4.92374573e-03 -3.89226908e-06 9.99987878e-01 -1.20409186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.420281693 meters Centerline goodness : 0.997925 Centerline is valid? [True, True] Translation: X:27.42, Y:0.68, Z:-0.12 [[ 9.97797331e-01 -6.61539742e-02 -4.91294708e-03 2.74205779e+01] [ 6.61531712e-02 9.97809427e-01 -3.25941675e-04 6.77716115e-01] [ 4.92374725e-03 2.16704319e-07 9.99987878e-01 -1.20689556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.450281692999994 meters Centerline goodness : 0.997923 Centerline is valid? [True, True] Translation: X:27.45, Y:0.68, Z:-0.12 [[ 9.97819166e-01 -6.58238194e-02 -4.91288987e-03 2.74470790e+01] [ 6.58230082e-02 9.97831261e-01 -3.26801734e-04 6.80051532e-01] [ 4.92374643e-03 2.70784313e-06 9.99987878e-01 -1.20738166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.480281692999995 meters Centerline goodness : 0.997982 Centerline is valid? [True, True] Translation: X:27.47, Y:0.68, Z:-0.12 [[ 9.97829538e-01 -6.56664060e-02 -4.91286496e-03 2.74747892e+01] [ 6.56655911e-02 9.97841632e-01 -3.27175900e-04 6.82277388e-01] [ 4.92374565e-03 3.85959571e-06 9.99987878e-01 -1.20879510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.510281692999996 meters Centerline goodness : 0.997813 Centerline is valid? [True, True] Translation: X:27.50, Y:0.68, Z:-0.12 [[ 9.97783223e-01 -6.63664317e-02 -4.91280769e-03 2.75026247e+01] [ 6.63656210e-02 9.97795318e-01 -3.28033471e-04 6.84863175e-01] [ 4.92374693e-03 1.26476102e-06 9.99987878e-01 -1.24149849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.540281693 meters Centerline goodness : 0.998242 Centerline is valid? [True, True] Translation: X:27.53, Y:0.69, Z:-0.13 [[ 9.97721251e-01 -6.72916844e-02 -4.91274850e-03 2.75290783e+01] [ 6.72908805e-02 9.97733346e-01 -3.28917561e-04 6.87235724e-01] [ 4.92374642e-03 -2.41513262e-06 9.99987878e-01 -1.26418674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.570281693 meters Centerline goodness : 0.997965 Centerline is valid? [True, True] Translation: X:27.56, Y:0.69, Z:-0.13 [[ 9.97622866e-01 -6.87348674e-02 -4.91272270e-03 2.75561846e+01] [ 6.87340792e-02 9.97634962e-01 -3.29302496e-04 6.89508597e-01] [ 4.92373849e-03 -9.15177158e-06 9.99987878e-01 -1.26411895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.600281693 meters Centerline goodness : 0.998031 Centerline is valid? [True, True] Translation: X:27.58, Y:0.69, Z:-0.12 [[ 9.97494601e-01 -7.05718598e-02 -4.91268392e-03 2.75842978e+01] [ 7.05710910e-02 9.97506698e-01 -3.29880004e-04 6.90929266e-01] [ 4.92371536e-03 -1.76399417e-05 9.99987878e-01 -1.24596868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.63028169299999 meters Centerline goodness : 0.998110 Centerline is valid? [True, True] Translation: X:27.61, Y:0.69, Z:-0.12 [[ 9.97239467e-01 -7.40898869e-02 -4.91262772e-03 2.76124729e+01] [ 7.40891567e-02 9.97251567e-01 -3.30714892e-04 6.90833417e-01] [ 4.92362832e-03 -3.41705015e-05 9.99987878e-01 -1.21865849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.660281692999995 meters Centerline goodness : 0.998028 Centerline is valid? [True, True] Translation: X:27.64, Y:0.69, Z:-0.12 [[ 9.97114947e-01 -7.57472650e-02 -4.91256871e-03 2.76397910e+01] [ 7.57465506e-02 9.97127048e-01 -3.31589047e-04 6.91661909e-01] [ 4.92357210e-03 -4.14777397e-05 9.99987878e-01 -1.21967335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.690281692999996 meters Centerline goodness : 0.997945 Centerline is valid? [True, True] Translation: X:27.67, Y:0.69, Z:-0.12 [[ 9.96847110e-01 -7.91941012e-02 -4.91254314e-03 2.76680695e+01] [ 7.91934268e-02 9.96859213e-01 -3.31967495e-04 6.91682921e-01] [ 4.92340376e-03 -5.81202876e-05 9.99987878e-01 -1.21990406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.720281693 meters Centerline goodness : 0.998220 Centerline is valid? [True, True] Translation: X:27.70, Y:0.69, Z:-0.12 [[ 9.96739488e-01 -8.05373288e-02 -4.91248481e-03 2.76956958e+01] [ 8.05366664e-02 9.96751591e-01 -3.32828466e-04 6.91727974e-01] [ 4.92333216e-03 -6.38918752e-05 9.99987878e-01 -1.21451734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.750281693 meters Centerline goodness : 0.997979 Centerline is valid? [True, True] Translation: X:27.72, Y:0.69, Z:-0.12 [[ 9.96673498e-01 -8.13499012e-02 -4.91242638e-03 2.77238410e+01] [ 8.13492444e-02 9.96685602e-01 -3.33688576e-04 6.91511953e-01] [ 4.92329018e-03 -6.70436142e-05 9.99987878e-01 -1.20961877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.780281693 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:27.75, Y:0.69, Z:-0.12 [[ 9.96564927e-01 -8.26693166e-02 -4.91236779e-03 2.77518428e+01] [ 8.26686717e-02 9.96577031e-01 -3.34548939e-04 6.89967096e-01] [ 4.92320984e-03 -7.26991808e-05 9.99987878e-01 -1.19691930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.810281693 meters Centerline goodness : 0.998252 Centerline is valid? [True, True] Translation: X:27.78, Y:0.69, Z:-0.12 [[ 9.96551748e-01 -8.28280344e-02 -4.91230592e-03 2.77786236e+01] [ 8.28273869e-02 9.96563852e-01 -3.35454955e-04 6.90493295e-01] [ 4.92321158e-03 -7.25752416e-05 9.99987878e-01 -1.19508859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.840281692999994 meters Centerline goodness : 0.998318 Centerline is valid? [True, True] Translation: X:27.81, Y:0.69, Z:-0.12 [[ 9.96558243e-01 -8.27498504e-02 -4.91226141e-03 2.78070553e+01] [ 8.27491988e-02 9.96570347e-01 -3.36105440e-04 6.91290865e-01] [ 4.92322674e-03 -7.15370490e-05 9.99987878e-01 -1.20093620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.870281692999995 meters Centerline goodness : 0.998297 Centerline is valid? [True, True] Translation: X:27.83, Y:0.69, Z:-0.12 [[ 9.96664695e-01 -8.14576940e-02 -4.91219913e-03 2.78348631e+01] [ 8.14570221e-02 9.96676798e-01 -3.37013182e-04 6.92061697e-01] [ 4.92332722e-03 -6.42439737e-05 9.99987878e-01 -1.24980253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.900281693 meters Centerline goodness : 0.997911 Centerline is valid? [True, True] Translation: X:27.86, Y:0.69, Z:-0.13 [[ 9.96693634e-01 -8.11028452e-02 -4.91216928e-03 2.78629871e+01] [ 8.11021669e-02 9.96705736e-01 -3.37447788e-04 6.94496882e-01] [ 4.92335527e-03 -6.20555113e-05 9.99987878e-01 -1.25503429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.930281693 meters Centerline goodness : 0.997946 Centerline is valid? [True, True] Translation: X:27.89, Y:0.70, Z:-0.13 [[ 9.96703643e-01 -8.09797511e-02 -4.91210645e-03 2.78905247e+01] [ 8.09790668e-02 9.96715745e-01 -3.38359831e-04 6.95561235e-01] [ 4.92337414e-03 -6.05333206e-05 9.99987878e-01 -1.25461088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.960281693 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:27.92, Y:0.70, Z:-0.13 [[ 9.96617029e-01 -8.20388278e-02 -4.91204294e-03 2.79185156e+01] [ 8.20381518e-02 9.96629132e-01 -3.39279349e-04 6.95745599e-01] [ 4.92331917e-03 -6.48433475e-05 9.99987878e-01 -1.25227869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.990281693 meters Centerline goodness : 0.998222 Centerline is valid? [True, True] Translation: X:27.95, Y:0.70, Z:-0.12 [[ 9.96482372e-01 -8.36585584e-02 -4.91202328e-03 2.79465359e+01] [ 8.36579007e-02 9.96494476e-01 -3.39563838e-04 6.95822893e-01] [ 4.92321148e-03 -7.25601767e-05 9.99987878e-01 -1.22781489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.020281692999994 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:27.97, Y:0.69, Z:-0.12 [[ 9.96220699e-01 -8.67190435e-02 -4.91196065e-03 2.79738119e+01] [ 8.67184186e-02 9.96232804e-01 -3.40467403e-04 6.93997241e-01] [ 4.92298134e-03 -8.67767855e-05 9.99987878e-01 -1.23407809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.050281692999995 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:28.00, Y:0.69, Z:-0.12 [[ 9.96125791e-01 -8.78025191e-02 -4.91191574e-03 2.80014099e+01] [ 8.78019041e-02 9.96137897e-01 -3.41114085e-04 6.93875290e-01] [ 4.92289609e-03 -9.14830170e-05 9.99987878e-01 -1.24881312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.080281692999996 meters Centerline goodness : 0.998174 Centerline is valid? [True, True] Translation: X:28.03, Y:0.69, Z:-0.13 [[ 9.96109988e-01 -8.79816148e-02 -4.91185308e-03 2.80282461e+01] [ 8.79809976e-02 9.96122094e-01 -3.42013968e-04 6.93066468e-01] [ 4.92289632e-03 -9.14662046e-05 9.99987878e-01 -1.25905074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.110281693 meters Centerline goodness : 0.998223 Centerline is valid? [True, True] Translation: X:28.06, Y:0.69, Z:-0.13 [[ 9.96213587e-01 -8.68007147e-02 -4.91181052e-03 2.80562676e+01] [ 8.68000801e-02 9.96225692e-01 -3.42624005e-04 6.89332163e-01] [ 4.92301184e-03 -8.50188584e-05 9.99987878e-01 -1.25553446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.140281693 meters Centerline goodness : 0.997981 Centerline is valid? [True, True] Translation: X:28.08, Y:0.69, Z:-0.12 [[ 9.96309877e-01 -8.56884145e-02 -4.91174896e-03 2.80836021e+01] [ 8.56877621e-02 9.96321981e-01 -3.43504333e-04 6.88800103e-01] [ 4.92311779e-03 -7.86400165e-05 9.99987878e-01 -1.24971172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.170281693 meters Centerline goodness : 0.998348 Centerline is valid? [True, True] Translation: X:28.11, Y:0.69, Z:-0.12 [[ 9.96487646e-01 -8.35957291e-02 -4.91168770e-03 2.81113133e+01] [ 8.35950469e-02 9.96499749e-01 -3.44378058e-04 6.89182762e-01] [ 4.92328409e-03 -6.74242830e-05 9.99987878e-01 -1.23885311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.200281692999994 meters Centerline goodness : 0.998275 Centerline is valid? [True, True] Translation: X:28.14, Y:0.69, Z:-0.12 [[ 9.96996391e-01 -7.72921167e-02 -4.91162450e-03 2.81383902e+01] [ 7.72913536e-02 9.97008489e-01 -3.45277112e-04 6.89354122e-01] [ 4.92361852e-03 -3.53860706e-05 9.99987878e-01 -1.22994561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.230281692999995 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:28.17, Y:0.69, Z:-0.12 [[ 9.97205604e-01 -7.45443460e-02 -4.91159702e-03 2.81659720e+01] [ 7.45435476e-02 9.97217699e-01 -3.45667532e-04 6.91784509e-01] [ 4.92369904e-03 -2.14262660e-05 9.99987878e-01 -1.22410856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.260281692999996 meters Centerline goodness : 0.998242 Centerline is valid? [True, True] Translation: X:28.19, Y:0.69, Z:-0.12 [[ 9.97399208e-01 -7.19075586e-02 -4.91153395e-03 2.81926864e+01] [ 7.19067239e-02 9.97411301e-01 -3.46561388e-04 6.94868794e-01] [ 4.92373985e-03 -7.51226183e-06 9.99987878e-01 -1.22175783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.290281693 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:28.22, Y:0.70, Z:-0.12 [[ 9.97626165e-01 -6.86870521e-02 -4.91150637e-03 2.82205445e+01] [ 6.86861764e-02 9.97638255e-01 -3.46951800e-04 6.99028933e-01] [ 4.92373774e-03 8.77560141e-06 9.99987878e-01 -1.22360664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.320281693 meters Centerline goodness : 0.998148 Centerline is valid? [True, True] Translation: X:28.25, Y:0.70, Z:-0.12 [[ 9.97643670e-01 -6.84323356e-02 -4.91144793e-03 2.82473931e+01] [ 6.84314527e-02 9.97655760e-01 -3.47777159e-04 7.01633191e-01] [ 4.92373352e-03 1.08601649e-05 9.99987878e-01 -1.23595266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.350281693 meters Centerline goodness : 0.998167 Centerline is valid? [True, True] Translation: X:28.27, Y:0.70, Z:-0.12 [[ 9.97571455e-01 -6.94771172e-02 -4.91142065e-03 2.82744112e+01] [ 6.94762451e-02 9.97583545e-01 -3.48161890e-04 7.03894969e-01] [ 4.92374171e-03 6.08929851e-06 9.99987878e-01 -1.24361301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38028169299999 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:28.30, Y:0.71, Z:-0.12 [[ 9.97259244e-01 -7.38232975e-02 -4.91137841e-03 2.83020176e+01] [ 7.38224751e-02 9.97271337e-01 -3.48756816e-04 7.05580862e-01] [ 4.92372329e-03 -1.47691516e-05 9.99987878e-01 -1.24222295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.410281692999995 meters Centerline goodness : 0.998221 Centerline is valid? [True, True] Translation: X:28.33, Y:0.71, Z:-0.12 [[ 9.97112789e-01 -7.57757569e-02 -4.91131802e-03 2.83298602e+01] [ 7.57749541e-02 9.97124884e-01 -3.49605124e-04 7.06928931e-01] [ 4.92368900e-03 -2.35591576e-05 9.99987878e-01 -1.23235914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.440281692999996 meters Centerline goodness : 0.998252 Centerline is valid? [True, True] Translation: X:28.36, Y:0.71, Z:-0.12 [[ 9.97012952e-01 -7.70782249e-02 -4.91125626e-03 2.83573218e+01] [ 7.70774336e-02 9.97025048e-01 -3.50470551e-04 7.08314949e-01] [ 4.92365916e-03 -2.91233499e-05 9.99987878e-01 -1.22136456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.470281693 meters Centerline goodness : 0.998453 Centerline is valid? [True, True] Translation: X:28.39, Y:0.71, Z:-0.12 [[ 9.96905871e-01 -7.84510310e-02 -4.91119438e-03 2.83857339e+01] [ 7.84502521e-02 9.96917968e-01 -3.51335640e-04 7.10975111e-01] [ 4.92362056e-03 -3.50358744e-05 9.99987878e-01 -1.18508540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.500281693 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:28.41, Y:0.71, Z:-0.12 [[ 9.96858302e-01 -7.90531813e-02 -4.91114014e-03 2.84122416e+01] [ 7.90524060e-02 9.96870399e-01 -3.52092203e-04 7.14343663e-01] [ 4.92360424e-03 -3.72514080e-05 9.99987878e-01 -1.17733528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.530281693 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:28.44, Y:0.72, Z:-0.12 [[ 9.96841297e-01 -7.92673265e-02 -4.91109741e-03 2.84401959e+01] [ 7.92665508e-02 9.96853394e-01 -3.52687194e-04 7.17593417e-01] [ 4.92360069e-03 -3.77125926e-05 9.99987878e-01 -1.18538022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.560281693 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:28.47, Y:0.72, Z:-0.12 [[ 9.96854508e-01 -7.91010249e-02 -4.91103616e-03 2.84671995e+01] [ 7.91002430e-02 9.96866604e-01 -3.53537944e-04 7.20728787e-01] [ 4.92361316e-03 -3.60382611e-05 9.99987878e-01 -1.21230058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.590281692999994 meters Centerline goodness : 0.997881 Centerline is valid? [True, True] Translation: X:28.49, Y:0.72, Z:-0.12 [[ 9.96824981e-01 -7.94722547e-02 -4.91099388e-03 2.84947433e+01] [ 7.94714744e-02 9.96837078e-01 -3.54124393e-04 7.23078450e-01] [ 4.92360385e-03 -3.72838833e-05 9.99987878e-01 -1.21804454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.620281692999995 meters Centerline goodness : 0.998319 Centerline is valid? [True, True] Translation: X:28.52, Y:0.73, Z:-0.12 [[ 9.96663449e-01 -8.14730182e-02 -4.91093723e-03 2.85226808e+01] [ 8.14722584e-02 9.96675547e-01 -3.54908190e-04 7.25892264e-01] [ 4.92352649e-03 -4.63811267e-05 9.99987878e-01 -1.19272465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.650281693 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:28.55, Y:0.73, Z:-0.12 [[ 9.96507371e-01 -8.33603236e-02 -4.91087611e-03 2.85509570e+01] [ 8.33595825e-02 9.96519470e-01 -3.55751933e-04 7.28624097e-01] [ 4.92343925e-03 -5.48591590e-05 9.99987878e-01 -1.19206349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.680281693 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:28.58, Y:0.73, Z:-0.12 [[ 9.96302225e-01 -8.57773834e-02 -4.91081485e-03 2.85790394e+01] [ 8.57766675e-02 9.96314326e-01 -3.56595539e-04 7.31394426e-01] [ 4.92330302e-03 -6.59564040e-05 9.99987878e-01 -1.19955920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.710281693 meters Centerline goodness : 0.998318 Centerline is valid? [True, True] Translation: X:28.61, Y:0.73, Z:-0.12 [[ 9.96130774e-01 -8.77460268e-02 -4.91075375e-03 2.86072640e+01] [ 8.77453307e-02 9.96142876e-01 -3.57435003e-04 7.33942814e-01] [ 4.92317587e-03 -7.48437058e-05 9.99987878e-01 -1.19813566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.740281693 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:28.64, Y:0.74, Z:-0.12 [[ 9.96020683e-01 -8.89869863e-02 -4.91069264e-03 2.86352677e+01] [ 8.89863012e-02 9.96032786e-01 -3.58272656e-04 7.35658252e-01] [ 4.92309247e-03 -8.01373987e-05 9.99987878e-01 -1.17445930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.770281692999994 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:28.66, Y:0.74, Z:-0.12 [[ 9.96029456e-01 -8.88887457e-02 -4.91063164e-03 2.86617268e+01] [ 8.88880552e-02 9.96041558e-01 -3.59106777e-04 7.38346556e-01] [ 4.92311374e-03 -7.88155687e-05 9.99987878e-01 -1.18082659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.800281692999995 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:28.69, Y:0.74, Z:-0.12 [[ 9.96042618e-01 -8.87411313e-02 -4.91060517e-03 2.86900989e+01] [ 8.87404373e-02 9.96054720e-01 -3.59468355e-04 7.41010975e-01] [ 4.92313109e-03 -7.77234487e-05 9.99987878e-01 -1.19500537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.830281692999996 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:28.72, Y:0.74, Z:-0.13 [[ 9.96049998e-01 -8.86582671e-02 -4.91054852e-03 2.87185713e+01] [ 8.86575682e-02 9.96062099e-01 -3.60240571e-04 7.41615359e-01] [ 4.92314957e-03 -7.65396705e-05 9.99987878e-01 -1.25866498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.860281693 meters Centerline goodness : 0.998366 Centerline is valid? [True, True] Translation: X:28.75, Y:0.74, Z:-0.13 [[ 9.96036596e-01 -8.88087071e-02 -4.91049570e-03 2.87459409e+01] [ 8.88080066e-02 9.96048697e-01 -3.60959081e-04 7.41983564e-01] [ 4.92314916e-03 -7.65628804e-05 9.99987878e-01 -1.26760605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.890281693 meters Centerline goodness : 0.998398 Centerline is valid? [True, True] Translation: X:28.77, Y:0.74, Z:-0.12 [[ 9.96093858e-01 -8.81641235e-02 -4.91045389e-03 2.87736601e+01] [ 8.81634123e-02 9.96105959e-01 -3.61527053e-04 7.42673149e-01] [ 4.92320610e-03 -7.28074935e-05 9.99987878e-01 -1.20569338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.920281693 meters Centerline goodness : 0.998590 Centerline is valid? [True, True] Translation: X:28.80, Y:0.74, Z:-0.12 [[ 9.96096270e-01 -8.81368727e-02 -4.91042451e-03 2.88013950e+01] [ 8.81361593e-02 9.96108371e-01 -3.61925644e-04 7.44954885e-01] [ 4.92321395e-03 -7.22731730e-05 9.99987878e-01 -1.18445106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.950281692999994 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:28.83, Y:0.75, Z:-0.12 [[ 9.96118088e-01 -8.78899463e-02 -4.91036450e-03 2.88291267e+01] [ 8.78892258e-02 9.96130188e-01 -3.62737977e-04 7.46308032e-01] [ 4.92324334e-03 -7.02382742e-05 9.99987878e-01 -1.18462121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.980281692999995 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:28.86, Y:0.75, Z:-0.12 [[ 9.96103551e-01 -8.80545595e-02 -4.91030440e-03 2.88575098e+01] [ 8.80538370e-02 9.96115651e-01 -3.63549777e-04 7.48627104e-01] [ 4.92324328e-03 -7.02379196e-05 9.99987878e-01 -1.18321879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.010281692999996 meters Centerline goodness : 0.998566 Centerline is valid? [True, True] Translation: X:28.89, Y:0.75, Z:-0.12 [[ 9.96054563e-01 -8.86069833e-02 -4.91024419e-03 2.88864252e+01] [ 8.86062635e-02 9.96066663e-01 -3.64361214e-04 7.48194549e-01] [ 4.92321549e-03 -7.21547404e-05 9.99987878e-01 -1.23509379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.040281693 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:28.91, Y:0.75, Z:-0.13 [[ 9.95966344e-01 -8.95931425e-02 -4.91019141e-03 2.89140165e+01] [ 8.95924312e-02 9.95978445e-01 -3.65070991e-04 7.49144650e-01] [ 4.92315267e-03 -7.63175663e-05 9.99987878e-01 -1.25378095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.070281693 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:28.94, Y:0.75, Z:-0.12 [[ 9.95716755e-01 -9.23256935e-02 -4.91013070e-03 2.89425727e+01] [ 9.23250114e-02 9.95728858e-01 -3.65885742e-04 7.48254315e-01] [ 4.92293949e-03 -8.90093094e-05 9.99987878e-01 -1.24422839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.100281693 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:28.97, Y:0.75, Z:-0.12 [[ 9.95536714e-01 -9.42472430e-02 -4.91007772e-03 2.89711341e+01] [ 9.42465807e-02 9.95548817e-01 -3.66595316e-04 7.48802147e-01] [ 4.92277267e-03 -9.77989405e-05 9.99987878e-01 -1.21720695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.13028169299999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:29.00, Y:0.75, Z:-0.12 [[ 9.95395517e-01 -9.57269894e-02 -4.91002458e-03 2.89990657e+01] [ 9.57263417e-02 9.95407621e-01 -3.67305722e-04 7.49042840e-01] [ 4.92263696e-03 -1.04404222e-04 9.99987878e-01 -1.19021937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.160281692999995 meters Centerline goodness : 0.998452 Centerline is valid? [True, True] Translation: X:29.03, Y:0.75, Z:-0.12 [[ 9.95111618e-01 -9.86344778e-02 -4.90996384e-03 2.90271690e+01] [ 9.86338614e-02 9.95123724e-01 -3.68115834e-04 7.46352929e-01] [ 4.92233042e-03 -1.17972350e-04 9.99987878e-01 -1.17988355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.190281692999996 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:29.06, Y:0.75, Z:-0.12 [[ 9.95007348e-01 -9.96808438e-02 -4.90990300e-03 2.90550574e+01] [ 9.96802362e-02 9.95019454e-01 -3.68925533e-04 7.45621969e-01] [ 4.92222382e-03 -1.22336675e-04 9.99987878e-01 -1.18633191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.220281693 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:29.08, Y:0.75, Z:-0.12 [[ 9.94956523e-01 -1.00186881e-01 -4.90984208e-03 2.90830885e+01] [ 1.00186275e-01 9.94968629e-01 -3.69734584e-04 7.45747595e-01] [ 4.92218140e-03 -1.24028954e-04 9.99987878e-01 -1.17531562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.250281693 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:29.11, Y:0.74, Z:-0.12 [[ 9.95086220e-01 -9.88903905e-02 -4.90977754e-03 2.91097753e+01] [ 9.88897651e-02 9.95098325e-01 -3.70589678e-04 7.44922513e-01] [ 4.92235916e-03 -1.16758065e-04 9.99987878e-01 -1.15060312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.280281693 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:29.14, Y:0.75, Z:-0.11 [[ 9.95208621e-01 -9.76508868e-02 -4.90973354e-03 2.91377727e+01] [ 9.76502434e-02 9.95220725e-01 -3.71171641e-04 7.45444029e-01] [ 4.92251381e-03 -1.10043458e-04 9.99987878e-01 -1.14804289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31028169299999 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:29.17, Y:0.74, Z:-0.12 [[ 9.95544693e-01 -9.41629432e-02 -4.90966523e-03 2.91661412e+01] [ 9.41622529e-02 9.95556795e-01 -3.72072989e-04 7.43212094e-01] [ 4.92288607e-03 -9.18898496e-05 9.99987878e-01 -1.17470617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.340281692999994 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:29.19, Y:0.74, Z:-0.12 [[ 9.95756045e-01 -9.19010055e-02 -4.90960028e-03 2.91931844e+01] [ 9.19002835e-02 9.95768145e-01 -3.72928043e-04 7.43849133e-01] [ 4.92309603e-03 -7.98483045e-05 9.99987878e-01 -1.19809288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.370281692999995 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:29.22, Y:0.75, Z:-0.12 [[ 9.95979262e-01 -8.94494589e-02 -4.90956998e-03 2.92212931e+01] [ 8.94487052e-02 9.95991360e-01 -3.73326600e-04 7.45185403e-01] [ 4.92328314e-03 -6.73291256e-05 9.99987878e-01 -1.19012636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.400281693 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:29.25, Y:0.75, Z:-0.12 [[ 9.96194822e-01 -8.70159322e-02 -4.90950584e-03 2.92493878e+01] [ 8.70151448e-02 9.96206919e-01 -3.74168164e-04 7.46420848e-01] [ 4.92344227e-03 -5.44569739e-05 9.99987878e-01 -1.19477397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.430281693 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:29.28, Y:0.75, Z:-0.12 [[ 9.96509229e-01 -8.33381855e-02 -4.90944186e-03 2.92776319e+01] [ 8.33373493e-02 9.96521322e-01 -3.75005785e-04 7.45811244e-01] [ 4.92361579e-03 -3.54431452e-05 9.99987878e-01 -1.19511946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.460281693 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:29.31, Y:0.75, Z:-0.12 [[ 9.96588718e-01 -8.23821903e-02 -4.90937875e-03 2.93055666e+01] [ 8.23813385e-02 9.96600810e-01 -3.75830090e-04 7.47053820e-01] [ 4.92365255e-03 -2.98931649e-05 9.99987878e-01 -1.18790217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.490281693 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:29.33, Y:0.75, Z:-0.12 [[ 9.96713337e-01 -8.08605118e-02 -4.90931120e-03 2.93337233e+01] [ 8.08596372e-02 9.96725427e-01 -3.76710397e-04 7.48657862e-01] [ 4.92369630e-03 -2.14928463e-05 9.99987878e-01 -1.16409281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.520281692999994 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:29.36, Y:0.75, Z:-0.12 [[ 9.96732756e-01 -8.06207966e-02 -4.90929030e-03 2.93617011e+01] [ 8.06199177e-02 9.96744845e-01 -3.76982662e-04 7.49870064e-01] [ 4.92370244e-03 -2.00356121e-05 9.99987878e-01 -1.15333961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.550281692999995 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:29.39, Y:0.75, Z:-0.12 [[ 9.96743410e-01 -8.04889733e-02 -4.90922209e-03 2.93898311e+01] [ 8.04880884e-02 9.96755499e-01 -3.77868743e-04 7.50523105e-01] [ 4.92370839e-03 -1.84957225e-05 9.99987878e-01 -1.15087808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.580281692999996 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:29.42, Y:0.75, Z:-0.12 [[ 9.96822201e-01 -7.95072321e-02 -4.90915122e-03 2.94189824e+01] [ 7.95063308e-02 9.96834289e-01 -3.78787268e-04 7.51440795e-01] [ 4.92372659e-03 -1.27250428e-05 9.99987878e-01 -1.17866459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.610281693 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:29.45, Y:0.75, Z:-0.12 [[ 9.96905353e-01 -7.84577494e-02 -4.90908928e-03 2.94464087e+01] [ 7.84568315e-02 9.96917440e-01 -3.79588297e-04 7.54414163e-01] [ 4.92373836e-03 -6.73798493e-06 9.99987878e-01 -1.18147310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.640281693 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:29.47, Y:0.76, Z:-0.12 [[ 9.97020177e-01 -7.69848552e-02 -4.90901762e-03 2.94736123e+01] [ 7.69839148e-02 9.97032262e-01 -3.80512883e-04 7.57153433e-01] [ 4.92374267e-03 1.46362798e-06 9.99987878e-01 -1.17075948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.670281693 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:29.50, Y:0.76, Z:-0.11 [[ 9.97129373e-01 -7.55573663e-02 -4.90896806e-03 2.95022922e+01] [ 7.55564055e-02 9.97141457e-01 -3.81151060e-04 7.55621155e-01] [ 4.92373434e-03 9.15293565e-06 9.99987878e-01 -1.12239733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.700281692999994 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:29.53, Y:0.76, Z:-0.11 [[ 9.97104846e-01 -7.58803583e-02 -4.90890522e-03 2.95291361e+01] [ 7.58793974e-02 9.97116930e-01 -3.81958771e-04 7.55008970e-01] [ 4.92373567e-03 8.36817144e-06 9.99987878e-01 -1.12096670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.730281692999995 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:29.56, Y:0.76, Z:-0.11 [[ 9.97030505e-01 -7.68509934e-02 -4.90885572e-03 2.95572189e+01] [ 7.68500412e-02 9.97042589e-01 -3.82593811e-04 7.55394629e-01] [ 4.92374093e-03 4.21193601e-06 9.99987878e-01 -1.12297200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.760281692999996 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:29.58, Y:0.76, Z:-0.11 [[ 9.96892281e-01 -7.86236812e-02 -4.90878431e-03 2.95840321e+01] [ 7.86227460e-02 9.96904367e-01 -3.83507817e-04 7.55705737e-01] [ 4.92374132e-03 -3.62611938e-06 9.99987878e-01 -1.14743143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.790281693 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:29.61, Y:0.76, Z:-0.11 [[ 9.96843237e-01 -7.92430788e-02 -4.90875319e-03 2.96116464e+01] [ 7.92421491e-02 9.96855323e-01 -3.83905820e-04 7.56657213e-01] [ 4.92373862e-03 -6.28623154e-06 9.99987878e-01 -1.13535627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.820281693 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:29.64, Y:0.76, Z:-0.11 [[ 9.96824677e-01 -7.94762078e-02 -4.90868115e-03 2.96382873e+01] [ 7.94752764e-02 9.96836763e-01 -3.84824709e-04 7.56283116e-01] [ 4.92373824e-03 -6.51602438e-06 9.99987878e-01 -1.12318802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.850281693 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:29.67, Y:0.76, Z:-0.11 [[ 9.96789295e-01 -7.99187446e-02 -4.90864974e-03 2.96660528e+01] [ 7.99178166e-02 9.96801382e-01 -3.85224965e-04 7.55966715e-01] [ 4.92373554e-03 -8.30044827e-06 9.99987878e-01 -1.10721358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88028169299999 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:29.69, Y:0.75, Z:-0.11 [[ 9.96677146e-01 -8.13054224e-02 -4.90857886e-03 2.96929414e+01] [ 8.13045068e-02 9.96689233e-01 -3.86125969e-04 7.54108205e-01] [ 4.92372184e-03 -1.42466546e-05 9.99987878e-01 -1.11022675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.910281692999995 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:29.72, Y:0.75, Z:-0.11 [[ 9.96606068e-01 -8.21720787e-02 -4.90854802e-03 2.97212957e+01] [ 8.21711716e-02 9.96618156e-01 -3.86517610e-04 7.54661179e-01] [ 4.92370903e-03 -1.81353463e-05 9.99987878e-01 -1.11720702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.940281692999996 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:29.75, Y:0.75, Z:-0.11 [[ 9.96540468e-01 -8.29638627e-02 -4.90847611e-03 2.97486998e+01] [ 8.29629608e-02 9.96552556e-01 -3.87428683e-04 7.54302201e-01] [ 4.92369699e-03 -2.11333502e-05 9.99987878e-01 -1.12055383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.970281693 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:29.78, Y:0.75, Z:-0.11 [[ 9.96488988e-01 -8.35799281e-02 -4.90844481e-03 2.97773510e+01] [ 8.35790317e-02 9.96501076e-01 -3.87824800e-04 7.52872734e-01] [ 4.92368491e-03 -2.37799220e-05 9.99987878e-01 -1.10581189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.000281693 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:29.81, Y:0.75, Z:-0.11 [[ 9.96469231e-01 -8.38151568e-02 -4.90837299e-03 2.98058302e+01] [ 8.38142587e-02 9.96481319e-01 -3.88731688e-04 7.54007596e-01] [ 4.92368360e-03 -2.40324780e-05 9.99987878e-01 -1.09626083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.030281693 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:29.83, Y:0.75, Z:-0.11 [[ 9.96496694e-01 -8.34880118e-02 -4.90830090e-03 2.98328325e+01] [ 8.34871054e-02 9.96508781e-01 -3.89639804e-04 7.54543963e-01] [ 4.92369520e-03 -2.15050579e-05 9.99987878e-01 -1.10745478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06028169299999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:29.86, Y:0.76, Z:-0.11 [[ 9.96535511e-01 -8.30233938e-02 -4.90826959e-03 2.98609517e+01] [ 8.30224797e-02 9.96547598e-01 -3.90033825e-04 7.55517450e-01] [ 4.92370620e-03 -1.88141553e-05 9.99987878e-01 -1.11090902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.090281692999994 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:29.89, Y:0.76, Z:-0.11 [[ 9.96756803e-01 -8.03230015e-02 -4.90819822e-03 2.98876415e+01] [ 8.03220503e-02 9.96768888e-01 -3.90929903e-04 7.55889070e-01] [ 4.92373994e-03 -4.57450382e-06 9.99987878e-01 -1.12407007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.120281692999995 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:29.91, Y:0.76, Z:-0.11 [[ 9.96937640e-01 -7.80464763e-02 -4.90816703e-03 2.99149915e+01] [ 7.80454956e-02 9.96949722e-01 -3.91321068e-04 7.58105685e-01] [ 4.92373699e-03 7.06237318e-06 9.99987878e-01 -1.12354963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.150281693 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:29.94, Y:0.76, Z:-0.11 [[ 9.97349487e-01 -7.25941541e-02 -4.90813614e-03 2.99426282e+01] [ 7.25931054e-02 9.97361563e-01 -3.91708087e-04 7.62068330e-01] [ 4.92362205e-03 3.43730148e-05 9.99987878e-01 -1.12303218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.180281693 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:29.97, Y:0.77, Z:-0.11 [[ 9.97504738e-01 -7.04287411e-02 -4.90806592e-03 2.99704156e+01] [ 7.04276619e-02 9.97516812e-01 -3.92586052e-04 7.66067815e-01] [ 4.92352761e-03 4.59428405e-05 9.99987878e-01 -1.11890791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.210281693 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:30.00, Y:0.77, Z:-0.11 [[ 9.97652911e-01 -6.82977309e-02 -4.90799552e-03 2.99983000e+01] [ 6.82966216e-02 9.97664982e-01 -3.93464205e-04 7.70602826e-01] [ 4.92340797e-03 5.73411969e-05 9.99987878e-01 -1.10515148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.240281693 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:30.03, Y:0.78, Z:-0.11 [[ 9.97968878e-01 -6.35140222e-02 -4.90792508e-03 3.00252570e+01] [ 6.35128507e-02 9.97980943e-01 -3.94340847e-04 7.77569292e-01] [ 4.92306187e-03 8.18235799e-05 9.99987878e-01 -1.10517291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.270281692999994 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:30.05, Y:0.78, Z:-0.11 [[ 9.98092756e-01 -6.15366768e-02 -4.90787660e-03 3.00531621e+01] [ 6.15354784e-02 9.98104819e-01 -3.94943277e-04 7.82563145e-01] [ 4.92287878e-03 9.21814887e-05 9.99987878e-01 -1.10856463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.300281692999995 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:30.08, Y:0.79, Z:-0.11 [[ 9.98151789e-01 -6.05716013e-02 -4.90780488e-03 3.00794902e+01] [ 6.05703869e-02 9.98163850e-01 -3.95832590e-04 7.87340377e-01] [ 4.92276962e-03 9.78333672e-05 9.99987878e-01 -1.11577939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.330281692999996 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:30.11, Y:0.79, Z:-0.11 [[ 9.98076539e-01 -6.17991663e-02 -4.90777360e-03 3.01075571e+01] [ 6.17979649e-02 9.98088601e-01 -3.96220016e-04 7.93198826e-01] [ 4.92287895e-03 9.21674822e-05 9.99987878e-01 -1.13294250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.360281693 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:30.13, Y:0.80, Z:-0.11 [[ 9.97969240e-01 -6.35083564e-02 -4.90762068e-03 3.01347858e+01] [ 6.35071663e-02 9.97981303e-01 -3.98110539e-04 7.97182390e-01] [ 4.92299703e-03 8.56329892e-05 9.99987878e-01 -1.13062310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.390281693 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:30.16, Y:0.80, Z:-0.11 [[ 9.97838362e-01 -6.55325716e-02 -4.90768337e-03 3.01621589e+01] [ 6.55314098e-02 9.97850428e-01 -3.97336231e-04 8.00860590e-01] [ 4.92317242e-03 7.48699238e-05 9.99987878e-01 -1.12773185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.420281693 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:30.19, Y:0.80, Z:-0.11 [[ 9.97702236e-01 -6.75733922e-02 -4.90761273e-03 3.01899812e+01] [ 6.75722508e-02 9.97714304e-01 -3.98206877e-04 8.04433990e-01] [ 4.92330361e-03 6.56734534e-05 9.99987878e-01 -1.11834647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.450281692999994 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:30.22, Y:0.81, Z:-0.11 [[ 9.97443193e-01 -7.12951118e-02 -4.90753642e-03 3.02171228e+01] [ 7.12940108e-02 9.97455265e-01 -3.99145062e-04 8.06723634e-01] [ 4.92350513e-03 4.82465704e-05 9.99987878e-01 -1.14040441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.480281692999995 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:30.24, Y:0.81, Z:-0.11 [[ 9.97313883e-01 -7.30816978e-02 -4.90748376e-03 3.02442746e+01] [ 7.30806152e-02 9.97325957e-01 -3.99791541e-04 8.09300271e-01] [ 4.92357838e-03 4.00757223e-05 9.99987878e-01 -1.14664821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.510281692999996 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:30.27, Y:0.81, Z:-0.12 [[ 9.97204111e-01 -7.45645871e-02 -4.90745278e-03 3.02710837e+01] [ 7.45635207e-02 9.97216186e-01 -4.00171415e-04 8.12742004e-01] [ 4.92362996e-03 3.31356232e-05 9.99987878e-01 -1.15334805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.540281693 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:30.30, Y:0.82, Z:-0.12 [[ 9.97112414e-01 -7.57809372e-02 -4.90742196e-03 3.03000137e+01] [ 7.57798836e-02 9.97124490e-01 -4.00549053e-04 8.15959061e-01] [ 4.92366460e-03 2.75085686e-05 9.99987878e-01 -1.16952715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.570281693 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:30.33, Y:0.82, Z:-0.12 [[ 9.97127470e-01 -7.55825769e-02 -4.90735858e-03 3.03282532e+01] [ 7.55815171e-02 9.97139546e-01 -4.01324035e-04 8.17421076e-01] [ 4.92365441e-03 2.92656131e-05 9.99987878e-01 -1.18006016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.600281693 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:30.36, Y:0.82, Z:-0.11 [[ 9.97202976e-01 -7.45797700e-02 -4.90733606e-03 3.03564213e+01] [ 7.45786967e-02 9.97215050e-01 -4.01599241e-04 8.18136972e-01] [ 4.92362055e-03 3.44932309e-05 9.99987878e-01 -1.13603042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.63028169299999 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:30.39, Y:0.82, Z:-0.11 [[ 9.97276678e-01 -7.35876802e-02 -4.90730315e-03 3.03855019e+01] [ 7.35865929e-02 9.97288750e-01 -4.02000923e-04 8.20170615e-01] [ 4.92358055e-03 3.97944255e-05 9.99987878e-01 -1.10149039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.660281692999995 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:30.41, Y:0.82, Z:-0.11 [[ 9.97420976e-01 -7.16052803e-02 -4.90724214e-03 3.04125515e+01] [ 7.16041653e-02 9.97433046e-01 -4.02744284e-04 8.22523266e-01] [ 4.92348410e-03 5.03266184e-05 9.99987878e-01 -1.09034713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.690281692999996 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:30.44, Y:0.83, Z:-0.11 [[ 9.97735604e-01 -6.70789371e-02 -4.90719398e-03 3.04408748e+01] [ 6.70777646e-02 9.97747669e-01 -4.03330278e-04 8.26747055e-01] [ 4.92319632e-03 7.32533765e-05 9.99987878e-01 -1.11545478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.720281693 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:30.47, Y:0.83, Z:-0.11 [[ 9.97838230e-01 -6.55346246e-02 -4.90712688e-03 3.04680923e+01] [ 6.55334293e-02 9.97850293e-01 -4.04145012e-04 8.31005713e-01] [ 4.92306348e-03 8.16904909e-05 9.99987878e-01 -1.13562960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.750281693 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:30.50, Y:0.84, Z:-0.11 [[ 9.97901293e-01 -6.45672489e-02 -4.90707236e-03 3.04956918e+01] [ 6.45660387e-02 9.97913354e-01 -4.04805915e-04 8.35054164e-01] [ 4.92297024e-03 8.71261220e-05 9.99987878e-01 -1.12824465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.780281693 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:30.52, Y:0.84, Z:-0.11 [[ 9.97899762e-01 -6.45909201e-02 -4.90699867e-03 3.05230415e+01] [ 6.45897058e-02 9.97911822e-01 -4.05697254e-04 8.38733769e-01] [ 4.92295634e-03 8.79035929e-05 9.99987878e-01 -1.10083655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81028169299999 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:30.55, Y:0.85, Z:-0.11 [[ 9.97968264e-01 -6.35237386e-02 -4.90692256e-03 3.05516452e+01] [ 6.35225069e-02 9.97980323e-01 -4.06615663e-04 8.45165304e-01] [ 4.92284191e-03 9.40895052e-05 9.99987878e-01 -1.05460488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.840281692999994 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:30.58, Y:0.85, Z:-0.10 [[ 9.98077770e-01 -6.17793401e-02 -4.90685527e-03 3.05792362e+01] [ 6.17780834e-02 9.98089827e-01 -4.07426068e-04 8.50367474e-01] [ 4.92265284e-03 1.03506787e-04 9.99987878e-01 -1.04159327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.870281692999995 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:30.61, Y:0.86, Z:-0.10 [[ 9.98201967e-01 -5.97390709e-02 -4.90677696e-03 3.06061273e+01] [ 5.97377848e-02 9.98214020e-01 -4.08367000e-04 8.56234372e-01] [ 4.92240902e-03 1.14512756e-04 9.99987878e-01 -1.03980006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.900281693 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:30.63, Y:0.86, Z:-0.10 [[ 9.98190817e-01 -5.99250983e-02 -4.90674294e-03 3.06344971e+01] [ 5.99238125e-02 9.98202870e-01 -4.08775346e-04 8.58792123e-01] [ 4.92242079e-03 1.14005052e-04 9.99987878e-01 -1.03839759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.930281693 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:30.66, Y:0.87, Z:-0.11 [[ 9.98329190e-01 -5.75739004e-02 -4.90666659e-03 3.06616872e+01] [ 5.75725817e-02 9.98341239e-01 -4.09689771e-04 8.67510466e-01] [ 4.92211504e-03 1.26515794e-04 9.99987878e-01 -1.06473871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.960281693 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:30.69, Y:0.87, Z:-0.11 [[ 9.98335762e-01 -5.74598319e-02 -4.90659042e-03 3.06894669e+01] [ 5.74585074e-02 9.98347811e-01 -4.10599983e-04 8.72626493e-01] [ 4.92207681e-03 1.27991285e-04 9.99987878e-01 -1.07719407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.990281693 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:30.72, Y:0.88, Z:-0.11 [[ 9.98287950e-01 -5.82845954e-02 -4.90651432e-03 3.07167849e+01] [ 5.82832764e-02 9.98300000e-01 -4.11507328e-04 8.78163635e-01] [ 4.92215779e-03 1.24835077e-04 9.99987878e-01 -1.07950488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.020281692999994 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:30.74, Y:0.89, Z:-0.11 [[ 9.98184137e-01 -6.00362877e-02 -4.90643811e-03 3.07442924e+01] [ 6.00349854e-02 9.98196188e-01 -4.12414005e-04 8.86963899e-01] [ 4.92234763e-03 1.17107177e-04 9.99987878e-01 -1.10611626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.050281692999995 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:30.77, Y:0.89, Z:-0.11 [[ 9.98129991e-01 -6.09298581e-02 -4.90641439e-03 3.07719684e+01] [ 6.09285652e-02 9.98142044e-01 -4.12696000e-04 8.92020274e-01] [ 4.92244400e-03 1.12983465e-04 9.99987878e-01 -1.11937043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.080281692999996 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:30.80, Y:0.90, Z:-0.11 [[ 9.98063177e-01 -6.20146945e-02 -4.90633716e-03 3.07989725e+01] [ 6.20134101e-02 9.98075231e-01 -4.13612211e-04 8.96724488e-01] [ 4.92254362e-03 1.08552419e-04 9.99987878e-01 -1.13338855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.110281693 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:30.83, Y:0.90, Z:-0.11 [[ 9.97990268e-01 -6.31771604e-02 -4.90628387e-03 3.08265140e+01] [ 6.31758870e-02 9.98002322e-01 -4.14243303e-04 9.02147596e-01] [ 4.92265341e-03 1.03451950e-04 9.99987878e-01 -1.12154868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.140281693 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:30.85, Y:0.91, Z:-0.11 [[ 9.97775813e-01 -6.64782339e-02 -4.90620589e-03 3.08527596e+01] [ 6.64769958e-02 9.97787872e-01 -4.15164873e-04 9.12392428e-01] [ 4.92295216e-03 8.80916400e-05 9.99987878e-01 -1.10861512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.170281693 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:30.88, Y:0.92, Z:-0.11 [[ 9.97649918e-01 -6.83415747e-02 -4.90615206e-03 3.08805890e+01] [ 6.83403560e-02 9.97661978e-01 -4.15800021e-04 9.19201553e-01] [ 4.92309780e-03 7.95346788e-05 9.99987878e-01 -1.09877789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.200281692999994 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:30.91, Y:0.93, Z:-0.11 [[ 9.97335946e-01 -7.27800923e-02 -4.90607605e-03 3.09073232e+01] [ 7.27789229e-02 9.97348011e-01 -4.16694931e-04 9.28916084e-01] [ 4.92339229e-03 5.85259029e-05 9.99987878e-01 -1.08917487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.230281692999995 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:30.93, Y:0.93, Z:-0.11 [[ 9.97141369e-01 -7.53990795e-02 -4.90605244e-03 3.09346304e+01] [ 7.53979405e-02 9.97153437e-01 -4.16972758e-04 9.34332746e-01] [ 4.92352641e-03 4.58745370e-05 9.99987878e-01 -1.07836297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.260281692999996 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:30.96, Y:0.94, Z:-0.11 [[ 9.96947011e-01 -7.79268213e-02 -4.90597693e-03 3.09624351e+01] [ 7.79257085e-02 9.96959081e-01 -4.17859298e-04 9.39602489e-01] [ 4.92362070e-03 3.42818499e-05 9.99987878e-01 -1.07918830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.290281693 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:30.99, Y:0.94, Z:-0.11 [[ 9.96732037e-01 -8.06298828e-02 -4.90590178e-03 3.09904943e+01] [ 8.06287984e-02 9.96744110e-01 -4.18739747e-04 9.44498079e-01] [ 4.92369164e-03 2.18143552e-05 9.99987878e-01 -1.09224272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.320281693 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:31.02, Y:0.95, Z:-0.11 [[ 9.96297484e-01 -8.58327282e-02 -4.90582673e-03 3.10182684e+01] [ 8.58317026e-02 9.96309562e-01 -4.19617174e-04 9.50347175e-01] [ 4.92373896e-03 -3.01192586e-06 9.99987878e-01 -1.10033625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.350281693 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:31.05, Y:0.95, Z:-0.11 [[ 9.96051255e-01 -8.86444089e-02 -4.90575160e-03 3.10457116e+01] [ 8.86434130e-02 9.96063336e-01 -4.20493702e-04 9.53921375e-01] [ 4.92371371e-03 -1.60292850e-05 9.99987878e-01 -1.08832094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38028169299999 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:31.07, Y:0.96, Z:-0.11 [[ 9.95684841e-01 -9.26694759e-02 -4.90572834e-03 3.10726017e+01] [ 9.26685275e-02 9.95696925e-01 -4.20764868e-04 9.59628337e-01] [ 4.92361068e-03 -3.56574205e-05 9.99987878e-01 -1.07689871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.410281692999995 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:31.10, Y:0.96, Z:-0.11 [[ 9.95558147e-01 -9.40207944e-02 -4.90569609e-03 3.11003221e+01] [ 9.40198606e-02 9.95570233e-01 -4.21140481e-04 9.63138261e-01] [ 4.92356096e-03 -4.19630261e-05 9.99987878e-01 -1.09408484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.440281692999996 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:31.13, Y:0.97, Z:-0.11 [[ 9.95469226e-01 -9.49576453e-02 -4.90562272e-03 3.11281283e+01] [ 9.49567187e-02 9.95481312e-01 -4.21993432e-04 9.65639439e-01] [ 4.92352725e-03 -4.57403607e-05 9.99987878e-01 -1.11493244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.470281693 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:31.16, Y:0.97, Z:-0.11 [[ 9.95386887e-01 -9.58169151e-02 -4.90559991e-03 3.11558641e+01] [ 9.58159976e-02 9.95398973e-01 -4.22258462e-04 9.67884984e-01] [ 4.92348861e-03 -4.97244134e-05 9.99987878e-01 -1.12145447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.500281693 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:31.18, Y:0.97, Z:-0.11 [[ 9.95237322e-01 -9.73581512e-02 -4.90552690e-03 3.11847302e+01] [ 9.73572482e-02 9.95249410e-01 -4.23104886e-04 9.70421644e-01] [ 4.92341546e-03 -5.64988270e-05 9.99987878e-01 -1.08936275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.530281693 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:31.21, Y:0.97, Z:-0.11 [[ 9.95213112e-01 -9.76053228e-02 -4.90546314e-03 3.12126250e+01] [ 9.76044192e-02 9.95225200e-01 -4.23842893e-04 9.73344826e-01] [ 4.92340985e-03 -5.69808753e-05 9.99987878e-01 -1.07261757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56028169299999 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:31.24, Y:0.98, Z:-0.11 [[ 9.95222560e-01 -9.75089363e-02 -4.90544053e-03 3.12401542e+01] [ 9.75080302e-02 9.95234648e-01 -4.24104394e-04 9.76071029e-01] [ 4.92341835e-03 -5.62415829e-05 9.99987878e-01 -1.06343140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.590281692999994 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:31.27, Y:0.98, Z:-0.11 [[ 9.95384905e-01 -9.58375096e-02 -4.90536477e-03 3.12675877e+01] [ 9.58365790e-02 9.95396991e-01 -4.24978888e-04 9.78835298e-01] [ 4.92351425e-03 -4.70958073e-05 9.99987878e-01 -1.07198436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.620281692999995 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:31.30, Y:0.98, Z:-0.11 [[ 9.95537130e-01 -9.42430961e-02 -4.90528750e-03 3.12959109e+01] [ 9.42421416e-02 9.95549214e-01 -4.25868861e-04 9.81258231e-01] [ 4.92359032e-03 -3.83165354e-05 9.99987878e-01 -1.10021382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.650281693 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:31.32, Y:0.98, Z:-0.11 [[ 9.95822974e-01 -9.11731508e-02 -4.90522001e-03 3.13241654e+01] [ 9.11721553e-02 9.95835055e-01 -4.26644843e-04 9.83563190e-01] [ 4.92368859e-03 -2.23567439e-05 9.99987878e-01 -1.11232309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.680281693 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:31.35, Y:0.99, Z:-0.11 [[ 9.95908769e-01 -9.02311683e-02 -4.90515770e-03 3.13519884e+01] [ 9.02301578e-02 9.95920848e-01 -4.27359997e-04 9.85757348e-01] [ 4.92371001e-03 -1.69815853e-05 9.99987878e-01 -1.09830338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.710281693 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:31.38, Y:0.99, Z:-0.11 [[ 9.95954333e-01 -8.97268451e-02 -4.90513374e-03 3.13807560e+01] [ 8.97258272e-02 9.95966412e-01 -4.27634844e-04 9.87757599e-01] [ 4.92371877e-03 -1.42124064e-05 9.99987878e-01 -1.07949256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.740281693 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:31.41, Y:0.99, Z:-0.11 [[ 9.95973848e-01 -8.95099706e-02 -4.90506692e-03 3.14094906e+01] [ 8.95089463e-02 9.95985926e-01 -4.28399905e-04 9.89601397e-01] [ 4.92372368e-03 -1.23722696e-05 9.99987878e-01 -1.06410296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.770281692999994 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:31.44, Y:0.99, Z:-0.10 [[ 9.95968479e-01 -8.95696969e-02 -4.90499985e-03 3.14373688e+01] [ 8.95686696e-02 9.95980557e-01 -4.29166477e-04 9.91301277e-01] [ 4.92372479e-03 -1.18980272e-05 9.99987878e-01 -1.01244936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.800281692999995 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:31.46, Y:0.99, Z:-0.10 [[ 9.95967949e-01 -8.95755827e-02 -4.90496389e-03 3.14647746e+01] [ 8.95745534e-02 9.95980027e-01 -4.29577068e-04 9.94007946e-01] [ 4.92372568e-03 -1.15149576e-05 9.99987878e-01 -1.00437542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.830281692999996 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:31.49, Y:1.00, Z:-0.10 [[ 9.96012015e-01 -8.90842752e-02 -4.90488812e-03 3.14923001e+01] [ 8.90832357e-02 9.96024092e-01 -4.30440454e-04 9.97111981e-01] [ 4.92373221e-03 -8.21944050e-06 9.99987878e-01 -1.00443245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.860281693 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:31.52, Y:1.00, Z:-0.10 [[ 9.96233147e-01 -8.65763190e-02 -4.90481233e-03 3.15196628e+01] [ 8.65752449e-02 9.96245221e-01 -4.31302377e-04 1.00203779e+00] [ 4.92373641e-03 5.04239647e-06 9.99987878e-01 -9.87998389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.890281693 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:31.55, Y:1.01, Z:-0.10 [[ 9.96397292e-01 -8.46662867e-02 -4.90473244e-03 3.15460714e+01] [ 8.46651849e-02 9.96409363e-01 -4.32208885e-04 1.00671162e+00] [ 4.92371485e-03 1.53916840e-05 9.99987878e-01 -9.85039189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.920281693 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:31.57, Y:1.01, Z:-0.10 [[ 9.96721918e-01 -8.07549532e-02 -4.90469760e-03 3.15731193e+01] [ 8.07538021e-02 9.96733985e-01 -4.32603897e-04 1.01406261e+00] [ 4.92361369e-03 3.51128064e-05 9.99987878e-01 -1.03833079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.950281692999994 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:31.60, Y:1.02, Z:-0.11 [[ 9.96749289e-01 -8.04164101e-02 -4.90467336e-03 3.16004589e+01] [ 8.04152536e-02 9.96761355e-01 -4.32878628e-04 1.01890487e+00] [ 4.92359941e-03 3.70609137e-05 9.99987878e-01 -1.06059374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.980281692999995 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:31.63, Y:1.02, Z:-0.10 [[ 9.96672216e-01 -8.13660734e-02 -4.90459531e-03 3.16278360e+01] [ 8.13649240e-02 9.96684284e-01 -4.33761111e-04 1.02417184e+00] [ 4.92362650e-03 3.32556240e-05 9.99987878e-01 -1.04490513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.010281692999996 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:31.66, Y:1.03, Z:-0.10 [[ 9.96428794e-01 -8.42947435e-02 -4.90451348e-03 3.16550613e+01] [ 8.42936250e-02 9.96440864e-01 -4.34684391e-04 1.03286548e+00] [ 4.92369926e-03 1.97128239e-05 9.99987878e-01 -1.01740329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.040281693 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:31.68, Y:1.04, Z:-0.10 [[ 9.96316096e-01 -8.56164905e-02 -4.90448802e-03 3.16828203e+01] [ 8.56153866e-02 9.96328167e-01 -4.34971493e-04 1.03771711e+00] [ 4.92372029e-03 1.34694614e-05 9.99987878e-01 -9.92005085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.070281693 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:31.71, Y:1.04, Z:-0.10 [[ 9.96144920e-01 -8.75856435e-02 -4.90446352e-03 3.17107720e+01] [ 8.75845621e-02 9.96156993e-01 -4.35247557e-04 1.04166653e+00] [ 4.92373707e-03 4.01435320e-06 9.99987878e-01 -9.82525070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.100281693 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:31.74, Y:1.05, Z:-0.10 [[ 9.95603164e-01 -9.35429668e-02 -4.90438683e-03 3.17382063e+01] [ 9.35419534e-02 9.95615243e-01 -4.36109996e-04 1.04596297e+00] [ 4.92367731e-03 -2.45734321e-05 9.99987878e-01 -9.83673385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.13028169299999 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:31.76, Y:1.05, Z:-0.10 [[ 9.95260705e-01 -9.71188812e-02 -4.90430894e-03 3.17645010e+01] [ 9.71179069e-02 9.95272787e-01 -4.36984166e-04 1.05037849e+00] [ 4.92356464e-03 -4.13830496e-05 9.99987878e-01 -9.93640563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.160281692999995 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:31.79, Y:1.06, Z:-0.10 [[ 9.94787125e-01 -1.01855404e-01 -4.90427532e-03 3.17923492e+01] [ 1.01854486e-01 9.94799212e-01 -4.37361124e-04 1.05759472e+00] [ 4.92331682e-03 -6.44412247e-05 9.99987878e-01 -1.01956682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.190281692999996 meters Centerline goodness : 0.998453 Centerline is valid? [True, True] Translation: X:31.82, Y:1.06, Z:-0.10 [[ 9.94698471e-01 -1.02717580e-01 -4.90419803e-03 3.18190251e+01] [ 1.02716667e-01 9.94710558e-01 -4.38226036e-04 1.06126988e+00] [ 4.92327108e-03 -6.78401096e-05 9.99987878e-01 -1.03790552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.220281693 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:31.85, Y:1.06, Z:-0.11 [[ 9.94600421e-01 -1.03662686e-01 -4.90416440e-03 3.18468408e+01] [ 1.03661784e-01 9.94612509e-01 -4.38602160e-04 1.06436251e+00] [ 4.92320993e-03 -7.21405360e-05 9.99987878e-01 -1.05005431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.250281693 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:31.87, Y:1.07, Z:-0.11 [[ 9.94254441e-01 -1.06930145e-01 -4.90408811e-03 3.18738878e+01] [ 1.06929277e-01 9.94266532e-01 -4.39453431e-04 1.06836683e+00] [ 4.92296150e-03 -8.74620722e-05 9.99987878e-01 -1.05910249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.280281693 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:31.90, Y:1.07, Z:-0.11 [[ 9.94022232e-01 -1.09067650e-01 -4.90405489e-03 3.19017002e+01] [ 1.09066807e-01 9.94034324e-01 -4.39823869e-04 1.07283862e+00] [ 4.92276945e-03 -9.76749058e-05 9.99987878e-01 -1.05294433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31028169299999 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:31.93, Y:1.08, Z:-0.11 [[ 9.93825611e-01 -1.10844967e-01 -4.90397643e-03 3.19283752e+01] [ 1.10844141e-01 9.93837704e-01 -4.40696964e-04 1.07628329e+00] [ 4.92260572e-03 -1.05601127e-04 9.99987878e-01 -1.05495142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.340281692999994 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:31.96, Y:1.08, Z:-0.10 [[ 9.93696678e-01 -1.11994929e-01 -4.90392239e-03 3.19564567e+01] [ 1.11994115e-01 9.93708772e-01 -4.41297509e-04 1.07880155e+00] [ 4.92249378e-03 -1.10694577e-04 9.99987878e-01 -1.04430150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.370281692999995 meters Centerline goodness : 0.998246 Centerline is valid? [True, True] Translation: X:31.98, Y:1.08, Z:-0.10 [[ 9.93610786e-01 -1.12754413e-01 -4.90384411e-03 3.19842396e+01] [ 1.12753604e-01 9.93622881e-01 -4.42165685e-04 1.07998654e+00] [ 4.92242784e-03 -1.13585500e-04 9.99987878e-01 -1.03390537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.400281693 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:32.01, Y:1.08, Z:-0.10 [[ 9.93583007e-01 -1.12998939e-01 -4.90381968e-03 3.20118150e+01] [ 1.12998131e-01 9.93595102e-01 -4.42436429e-04 1.08251473e+00] [ 4.92240606e-03 -1.14525140e-04 9.99987878e-01 -1.02815057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.430281693 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:32.04, Y:1.08, Z:-0.10 [[ 9.93647228e-01 -1.12432823e-01 -4.90374215e-03 3.20389343e+01] [ 1.12432003e-01 9.93659322e-01 -4.43294038e-04 1.08458013e+00] [ 4.92248990e-03 -1.10859662e-04 9.99987878e-01 -1.04141781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.460281693 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:32.07, Y:1.09, Z:-0.10 [[ 9.93844887e-01 -1.10672015e-01 -4.90370839e-03 3.20680172e+01] [ 1.10671172e-01 9.93856979e-01 -4.43667196e-04 1.08567045e+00] [ 4.92268635e-03 -1.01762782e-04 9.99987878e-01 -1.01408512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.490281693 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:32.10, Y:1.09, Z:-0.10 [[ 9.93886844e-01 -1.10294582e-01 -4.90364072e-03 3.20963399e+01] [ 1.10293731e-01 9.93898936e-01 -4.44413919e-04 1.08715204e+00] [ 4.92273974e-03 -9.91436818e-05 9.99987878e-01 -9.95071290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.520281692999994 meters Centerline goodness : 0.998551 Centerline is valid? [True, True] Translation: X:32.12, Y:1.09, Z:-0.10 [[ 9.93935265e-01 -1.09857380e-01 -4.90356279e-03 3.21240378e+01] [ 1.09856520e-01 9.93947356e-01 -4.45272023e-04 1.08767677e+00] [ 4.92279969e-03 -9.61167767e-05 9.99987878e-01 -9.88829640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.550281692999995 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:32.15, Y:1.09, Z:-0.10 [[ 9.94072807e-01 -1.08605753e-01 -4.90348497e-03 3.21510587e+01] [ 1.08604874e-01 9.94084897e-01 -4.46127444e-04 1.08593203e+00] [ 4.92293236e-03 -8.90592049e-05 9.99987878e-01 -9.98058968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.580281692999996 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:32.18, Y:1.09, Z:-0.10 [[ 9.94174893e-01 -1.07667258e-01 -4.90345109e-03 3.21788011e+01] [ 1.07666365e-01 9.94186982e-01 -4.46499465e-04 1.08635581e+00] [ 4.92302061e-03 -8.40381979e-05 9.99987878e-01 -9.88062563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.610281693 meters Centerline goodness : 0.998495 Centerline is valid? [True, True] Translation: X:32.21, Y:1.08, Z:-0.10 [[ 9.94450401e-01 -1.05092140e-01 -4.90337372e-03 3.22075117e+01] [ 1.05091211e-01 9.94462487e-01 -4.47347485e-04 1.08472358e+00] [ 4.92323393e-03 -7.04365987e-05 9.99987878e-01 -9.56092842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.640281693 meters Centerline goodness : 0.998542 Centerline is valid? [True, True] Translation: X:32.23, Y:1.09, Z:-0.10 [[ 9.94601227e-01 -1.03654991e-01 -4.90329278e-03 3.22343045e+01] [ 1.03654041e-01 9.94613311e-01 -4.48232916e-04 1.08580897e+00] [ 4.92334185e-03 -6.24331028e-05 9.99987878e-01 -9.54362366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.670281693 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:32.26, Y:1.09, Z:-0.09 [[ 9.94763498e-01 -1.02085953e-01 -4.90325771e-03 3.22626491e+01] [ 1.02084982e-01 9.94775580e-01 -4.48616251e-04 1.08800927e+00] [ 4.92343845e-03 -5.42819029e-05 9.99987878e-01 -9.48851580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.700281692999994 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:32.29, Y:1.09, Z:-0.09 [[ 9.95022388e-01 -9.95309289e-02 -4.90318083e-03 3.22900781e+01] [ 9.95299224e-02 9.95034468e-01 -4.49454979e-04 1.09054213e+00] [ 4.92356860e-03 -4.07954403e-05 9.99987878e-01 -9.32296120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.730281692999995 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:32.32, Y:1.09, Z:-0.09 [[ 9.95565141e-01 -9.39468468e-02 -4.90310390e-03 3.23175172e+01] [ 9.39457685e-02 9.95577214e-01 -4.50292577e-04 1.09393074e+00] [ 4.92372209e-03 -1.23302711e-05 9.99987878e-01 -9.14797801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.760281692999996 meters Centerline goodness : 0.998349 Centerline is valid? [True, True] Translation: X:32.35, Y:1.10, Z:-0.09 [[ 9.95771298e-01 -9.17359416e-02 -4.90302359e-03 3.23454685e+01] [ 9.17348322e-02 9.95783369e-01 -4.51165366e-04 1.09634202e+00] [ 4.92373743e-03 -5.20524186e-07 9.99987878e-01 -9.23920600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.790281693 meters Centerline goodness : 0.998349 Centerline is valid? [True, True] Translation: X:32.37, Y:1.10, Z:-0.09 [[ 9.95754778e-01 -9.19150830e-02 -4.90294253e-03 3.23738001e+01] [ 9.19139714e-02 9.95766849e-01 -4.52044530e-04 1.09915651e+00] [ 4.92373735e-03 -5.23418642e-07 9.99987878e-01 -9.22518164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.820281693 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:32.40, Y:1.10, Z:-0.09 [[ 9.95883699e-01 -9.05075721e-02 -4.90286105e-03 3.24015595e+01] [ 9.05064391e-02 9.95895767e-01 -4.52926562e-04 1.10123659e+00] [ 4.92373185e-03 7.32168487e-06 9.99987878e-01 -9.31617743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.850281693 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:32.43, Y:1.10, Z:-0.09 [[ 9.95973131e-01 -8.95180692e-02 -4.90277948e-03 3.24281390e+01] [ 8.95169198e-02 9.95985198e-01 -4.53807822e-04 1.10282734e+00] [ 4.92371979e-03 1.30986801e-05 9.99987878e-01 -9.33297890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88028169299999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:32.46, Y:1.10, Z:-0.09 [[ 9.96009870e-01 -8.91083739e-02 -4.90274407e-03 3.24559059e+01] [ 8.91072177e-02 9.96021936e-01 -4.54190015e-04 1.10418996e+00] [ 4.92371278e-03 1.55078536e-05 9.99987878e-01 -9.14089699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.910281692999995 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:32.48, Y:1.11, Z:-0.09 [[ 9.96048853e-01 -8.86715692e-02 -4.90266098e-03 3.24830468e+01] [ 8.86704033e-02 9.96060918e-01 -4.55085225e-04 1.10632508e+00] [ 4.92370212e-03 1.85661894e-05 9.99987878e-01 -9.25163830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.940281692999996 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:32.51, Y:1.11, Z:-0.10 [[ 9.96181211e-01 -8.71720067e-02 -4.90262483e-03 3.25103494e+01] [ 8.71708208e-02 9.96193275e-01 -4.55474360e-04 1.10856886e+00] [ 4.92366649e-03 2.63691697e-05 9.99987878e-01 -9.66524463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.970281693 meters Centerline goodness : 0.998117 Centerline is valid? [True, True] Translation: X:32.54, Y:1.11, Z:-0.10 [[ 9.96204559e-01 -8.69047806e-02 -4.90259975e-03 3.25381393e+01] [ 8.69035901e-02 9.96216622e-01 -4.55744057e-04 1.11145635e+00] [ 4.92365770e-03 2.79607876e-05 9.99987878e-01 -9.64380008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.000281693 meters Centerline goodness : 0.998369 Centerline is valid? [True, True] Translation: X:32.57, Y:1.11, Z:-0.10 [[ 9.96235297e-01 -8.65517117e-02 -4.90251823e-03 3.25654580e+01] [ 8.65505126e-02 9.96247359e-01 -4.56619397e-04 1.11409816e+00] [ 4.92364202e-03 3.05848954e-05 9.99987878e-01 -9.52308786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.030281693 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:32.59, Y:1.12, Z:-0.09 [[ 9.96303300e-01 -8.57653816e-02 -4.90248259e-03 3.25931306e+01] [ 8.57641711e-02 9.96315361e-01 -4.57001693e-04 1.11559645e+00] [ 4.92361363e-03 3.48549393e-05 9.99987878e-01 -9.21992689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06028169299999 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:32.62, Y:1.12, Z:-0.09 [[ 9.96325546e-01 -8.55065608e-02 -4.90240131e-03 3.26206008e+01] [ 8.55053429e-02 9.96337607e-01 -4.57871956e-04 1.11757844e+00] [ 4.92359784e-03 3.70080216e-05 9.99987878e-01 -9.38228268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.090281692999994 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:32.65, Y:1.12, Z:-0.10 [[ 9.96299367e-01 -8.58110642e-02 -4.90231992e-03 3.26480622e+01] [ 8.58098457e-02 9.96311427e-01 -4.58741663e-04 1.11963285e+00] [ 4.92360247e-03 3.63767116e-05 9.99987878e-01 -9.72076765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.120281692999995 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:32.68, Y:1.12, Z:-0.10 [[ 9.96201169e-01 -8.69436482e-02 -4.90223827e-03 3.26762328e+01] [ 8.69424391e-02 9.96213231e-01 -4.59612634e-04 1.12005034e+00] [ 4.92363502e-03 3.16540920e-05 9.99987878e-01 -1.03649172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.150281693 meters Centerline goodness : 0.998140 Centerline is valid? [True, True] Translation: X:32.70, Y:1.12, Z:-0.10 [[ 9.96118110e-01 -8.78901540e-02 -4.90221295e-03 3.27040792e+01] [ 8.78889550e-02 9.96130172e-01 -4.59882466e-04 1.12161738e+00] [ 4.92366137e-03 2.72468796e-05 9.99987878e-01 -1.03215170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.180281693 meters Centerline goodness : 0.998542 Centerline is valid? [True, True] Translation: X:32.73, Y:1.12, Z:-0.10 [[ 9.96067542e-01 -8.84614126e-02 -4.90213223e-03 3.27316395e+01] [ 8.84602164e-02 9.96079604e-01 -4.60741360e-04 1.12345093e+00] [ 4.92367176e-03 2.52858361e-05 9.99987878e-01 -1.01284061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.210281693 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:32.76, Y:1.13, Z:-0.10 [[ 9.96138669e-01 -8.76568374e-02 -4.90210706e-03 3.27594541e+01] [ 8.76556301e-02 9.96150731e-01 -4.61008936e-04 1.12574901e+00] [ 4.92364812e-03 2.95315441e-05 9.99987878e-01 -9.53280485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.240281693 meters Centerline goodness : 0.998563 Centerline is valid? [True, True] Translation: X:32.79, Y:1.13, Z:-0.09 [[ 9.96216390e-01 -8.67690854e-02 -4.90208226e-03 3.27868027e+01] [ 8.67678661e-02 9.96228450e-01 -4.61272536e-04 1.12912383e+00] [ 4.92361801e-03 3.41840440e-05 9.99987878e-01 -9.34526929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.270281692999994 meters Centerline goodness : 0.998411 Centerline is valid? [True, True] Translation: X:32.81, Y:1.13, Z:-0.09 [[ 9.96298114e-01 -8.58256244e-02 -4.90200352e-03 3.28146677e+01] [ 8.58243895e-02 9.96310173e-01 -4.62107777e-04 1.13252603e+00] [ 4.92357666e-03 3.96856479e-05 9.99987878e-01 -9.40986290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.300281692999995 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:32.84, Y:1.14, Z:-0.10 [[ 9.96472172e-01 -8.37805603e-02 -4.90192468e-03 3.28418886e+01] [ 8.37792966e-02 9.96484227e-01 -4.62942575e-04 1.13689237e+00] [ 4.92347622e-03 5.06295915e-05 9.99987878e-01 -9.57104724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.330281692999996 meters Centerline goodness : 0.998516 Centerline is valid? [True, True] Translation: X:32.87, Y:1.14, Z:-0.09 [[ 9.96581099e-01 -8.24747516e-02 -4.90190008e-03 3.28693452e+01] [ 8.24734707e-02 9.96593153e-01 -4.63202892e-04 1.14156480e+00] [ 4.92340260e-03 5.73425338e-05 9.99987878e-01 -9.37935816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.360281693 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:32.90, Y:1.15, Z:-0.09 [[ 9.96761602e-01 -8.02638167e-02 -4.90182082e-03 3.28963289e+01] [ 8.02625050e-02 9.96773653e-01 -4.64040145e-04 1.14868584e+00] [ 4.92325148e-03 6.91049804e-05 9.99987878e-01 -8.95324989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.390281693 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:32.92, Y:1.15, Z:-0.09 [[ 9.96733853e-01 -8.06076799e-02 -4.90179616e-03 3.29239907e+01] [ 8.06063711e-02 9.96745904e-01 -4.64300522e-04 1.15308660e+00] [ 4.92327143e-03 6.76680477e-05 9.99987878e-01 -8.82342764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.420281693 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:32.95, Y:1.16, Z:-0.09 [[ 9.96609986e-01 -8.21249583e-02 -4.90171061e-03 3.29512030e+01] [ 8.21236635e-02 9.96622038e-01 -4.65201990e-04 1.15625692e+00] [ 4.92335751e-03 6.10785168e-05 9.99987878e-01 -8.95068523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.450281692999994 meters Centerline goodness : 0.998069 Centerline is valid? [True, True] Translation: X:32.98, Y:1.16, Z:-0.09 [[ 9.96402052e-01 -8.46104300e-02 -4.90167352e-03 3.29791616e+01] [ 8.46091633e-02 9.96414107e-01 -4.65592403e-04 1.15876607e+00] [ 4.92349062e-03 4.91907303e-05 9.99987878e-01 -9.06176469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.480281692999995 meters Centerline goodness : 0.998062 Centerline is valid? [True, True] Translation: X:33.01, Y:1.16, Z:-0.09 [[ 9.95993404e-01 -8.92922973e-02 -4.90158588e-03 3.30061970e+01] [ 8.92910827e-02 9.96005464e-01 -4.66513256e-04 1.16162290e+00] [ 4.92366236e-03 2.69762157e-05 9.99987878e-01 -9.29496882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.510281692999996 meters Centerline goodness : 0.998324 Centerline is valid? [True, True] Translation: X:33.03, Y:1.17, Z:-0.09 [[ 9.95869056e-01 -9.06686164e-02 -4.90154784e-03 3.30326809e+01] [ 9.06674165e-02 9.95881118e-01 -4.66912577e-04 1.16547884e+00] [ 4.92369326e-03 2.05731077e-05 9.99987878e-01 -9.29420338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.540281693 meters Centerline goodness : 0.998387 Centerline is valid? [True, True] Translation: X:33.06, Y:1.17, Z:-0.09 [[ 9.95821822e-01 -9.11859335e-02 -4.90148918e-03 3.30593851e+01] [ 9.11847368e-02 9.95833884e-01 -4.67527607e-04 1.17026007e+00] [ 4.92370095e-03 1.86331932e-05 9.99987878e-01 -9.18324755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.570281693 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:33.09, Y:1.17, Z:-0.09 [[ 9.95855909e-01 -9.08129042e-02 -4.90145295e-03 3.30870231e+01] [ 9.08117011e-02 9.95867971e-01 -4.67907116e-04 1.17355665e+00] [ 4.92369201e-03 2.08587861e-05 9.99987878e-01 -9.07977535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.600281693 meters Centerline goodness : 0.998187 Centerline is valid? [True, True] Translation: X:33.11, Y:1.18, Z:-0.09 [[ 9.95945316e-01 -8.98270797e-02 -4.90136619e-03 3.31147190e+01] [ 8.98258603e-02 9.95957376e-01 -4.68814096e-04 1.17725019e+00] [ 4.92366402e-03 2.66437682e-05 9.99987878e-01 -9.03665049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.63028169299999 meters Centerline goodness : 0.998142 Centerline is valid? [True, True] Translation: X:33.14, Y:1.18, Z:-0.09 [[ 9.96100061e-01 -8.80945336e-02 -4.90127964e-03 3.31421496e+01] [ 8.80932888e-02 9.96112118e-01 -4.69717283e-04 1.18137249e+00] [ 4.92360357e-03 3.61155712e-05 9.99987878e-01 -9.28636938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.660281692999995 meters Centerline goodness : 0.998049 Centerline is valid? [True, True] Translation: X:33.17, Y:1.18, Z:-0.10 [[ 9.96111600e-01 -8.79639540e-02 -4.90125269e-03 3.31704335e+01] [ 8.79627062e-02 9.96123658e-01 -4.69998317e-04 1.18420726e+00] [ 4.92359666e-03 3.70433255e-05 9.99987878e-01 -9.54401231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.690281692999996 meters Centerline goodness : 0.997797 Centerline is valid? [True, True] Translation: X:33.20, Y:1.19, Z:-0.10 [[ 9.96061915e-01 -8.85248016e-02 -4.90116679e-03 3.31980769e+01] [ 8.85235561e-02 9.96073972e-01 -4.70892331e-04 1.18770893e+00] [ 4.92361033e-03 3.51692034e-05 9.99987878e-01 -9.66184668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.720281693 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:33.22, Y:1.19, Z:-0.10 [[ 9.95876336e-01 -9.05886449e-02 -4.90107851e-03 3.32242197e+01] [ 9.05874199e-02 9.95888396e-01 -4.71809346e-04 1.19387435e+00] [ 4.92366779e-03 2.58877050e-05 9.99987878e-01 -9.75499193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.750281693 meters Centerline goodness : 0.998277 Centerline is valid? [True, True] Translation: X:33.25, Y:1.20, Z:-0.10 [[ 9.95724773e-01 -9.22396663e-02 -4.90104026e-03 3.32520694e+01] [ 9.22384594e-02 9.95736835e-01 -4.72206398e-04 1.19894212e+00] [ 4.92370247e-03 1.81232056e-05 9.99987878e-01 -9.63330668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.780281693 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:33.28, Y:1.20, Z:-0.10 [[ 9.95552767e-01 -9.40779853e-02 -4.90101369e-03 3.32795234e+01] [ 9.40767993e-02 9.95564831e-01 -4.72481958e-04 1.20330957e+00] [ 4.92372702e-03 9.30903924e-06 9.99987878e-01 -9.57355149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81028169299999 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:33.31, Y:1.21, Z:-0.10 [[ 9.95279941e-01 -9.69217234e-02 -4.90092874e-03 3.33067293e+01] [ 9.69205675e-02 9.95292007e-01 -4.73361514e-04 1.20745612e+00] [ 4.92373422e-03 -3.87357516e-06 9.99987878e-01 -9.53143983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.840281692999994 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:33.33, Y:1.21, Z:-0.10 [[ 9.95185706e-01 -9.78845875e-02 -4.90084223e-03 3.33332950e+01] [ 9.78834389e-02 9.95197773e-01 -4.74255470e-04 1.21123587e+00] [ 4.92372958e-03 -7.73902693e-06 9.99987878e-01 -9.50921656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.870281692999995 meters Centerline goodness : 0.998180 Centerline is valid? [True, True] Translation: X:33.36, Y:1.22, Z:-0.09 [[ 9.95111997e-01 -9.86311122e-02 -4.90080481e-03 3.33611300e+01] [ 9.86299708e-02 9.95124064e-01 -4.74641911e-04 1.21554218e+00] [ 4.92372326e-03 -1.10443756e-05 9.99987878e-01 -9.30392262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.900281693 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:33.39, Y:1.22, Z:-0.09 [[ 9.95037052e-01 -9.93843504e-02 -4.90071699e-03 3.33881871e+01] [ 9.93832136e-02 9.95049120e-01 -4.75546878e-04 1.21975957e+00] [ 4.92371605e-03 -1.38622403e-05 9.99987878e-01 -9.33841337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.930281693 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:33.42, Y:1.22, Z:-0.09 [[ 9.94876728e-01 -1.00976634e-01 -4.90065653e-03 3.34170507e+01] [ 1.00975514e-01 9.94888797e-01 -4.76169167e-04 1.22165039e+00] [ 4.92369024e-03 -2.11166871e-05 9.99987878e-01 -9.15213321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.960281693 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:33.44, Y:1.22, Z:-0.09 [[ 9.94796067e-01 -1.01768218e-01 -4.90058224e-03 3.34436367e+01] [ 1.01767104e-01 9.94808137e-01 -4.76932445e-04 1.22307632e+00] [ 4.92367566e-03 -2.42675417e-05 9.99987878e-01 -9.11663756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.990281693 meters Centerline goodness : 0.998314 Centerline is valid? [True, True] Translation: X:33.47, Y:1.23, Z:-0.09 [[ 9.94672698e-01 -1.02967023e-01 -4.90054543e-03 3.34710980e+01] [ 1.02965921e-01 9.94684770e-01 -4.77310408e-04 1.22587975e+00] [ 4.92364514e-03 -2.98215400e-05 9.99987878e-01 -9.10998553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.020281692999994 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:33.50, Y:1.23, Z:-0.10 [[ 9.94703018e-01 -1.02673717e-01 -4.90046099e-03 3.34986082e+01] [ 1.02672607e-01 9.94715088e-01 -4.78175790e-04 1.22942912e+00] [ 4.92365857e-03 -2.75002022e-05 9.99987878e-01 -9.59328082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.050281692999995 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:33.53, Y:1.23, Z:-0.10 [[ 9.94848385e-01 -1.01255503e-01 -4.90043474e-03 3.35266650e+01] [ 1.01254375e-01 9.94860454e-01 -4.78444603e-04 1.23255718e+00] [ 4.92369388e-03 -2.02106156e-05 9.99987878e-01 -9.62338416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.080281692999996 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:33.55, Y:1.24, Z:-0.09 [[ 9.95292150e-01 -9.67962961e-02 -4.90035368e-03 3.35547502e+01] [ 9.67951096e-02 9.95304213e-01 -4.79273494e-04 1.23810698e+00] [ 4.92373456e-03 2.68687506e-06 9.99987878e-01 -8.99777305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.110281693 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:33.58, Y:1.24, Z:-0.09 [[ 9.95492822e-01 -9.47102391e-02 -4.90027550e-03 3.35821773e+01] [ 9.47090234e-02 9.95504882e-01 -4.80071425e-04 1.24268910e+00] [ 4.92371587e-03 1.38073499e-05 9.99987878e-01 -8.74173824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.140281693 meters Centerline goodness : 0.998290 Centerline is valid? [True, True] Translation: X:33.61, Y:1.25, Z:-0.09 [[ 9.95629103e-01 -9.32666946e-02 -4.90024772e-03 3.36101657e+01] [ 9.32654600e-02 9.95641162e-01 -4.80354807e-04 1.24639518e+00] [ 4.92368944e-03 2.12313681e-05 9.99987878e-01 -8.58654626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.170281693 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:33.64, Y:1.25, Z:-0.08 [[ 9.95454162e-01 -9.51157184e-02 -4.90022040e-03 3.36382443e+01] [ 9.51145048e-02 9.95466222e-01 -4.80633342e-04 1.24874782e+00] [ 4.92371968e-03 1.23664235e-05 9.99987878e-01 -8.30981307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.200281692999994 meters Centerline goodness : 0.998153 Centerline is valid? [True, True] Translation: X:33.67, Y:1.25, Z:-0.08 [[ 9.95187292e-01 -9.78684910e-02 -4.90013761e-03 3.36657826e+01] [ 9.78673067e-02 9.95199356e-01 -4.81475932e-04 1.25086034e+00] [ 4.92373512e-03 -4.04541770e-07 9.99987878e-01 -8.32471312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.230281692999995 meters Centerline goodness : 0.997967 Centerline is valid? [True, True] Translation: X:33.69, Y:1.25, Z:-0.08 [[ 9.94810708e-01 -1.01625019e-01 -4.90005505e-03 3.36938171e+01] [ 1.01623876e-01 9.94822776e-01 -4.82314685e-04 1.25340454e+00] [ 4.92370161e-03 -1.81507737e-05 9.99987878e-01 -8.47140482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.260281692999996 meters Centerline goodness : 0.997850 Centerline is valid? [True, True] Translation: X:33.72, Y:1.26, Z:-0.09 [[ 9.94442541e-01 -1.05166644e-01 -4.89996415e-03 3.37212467e+01] [ 1.05165540e-01 9.94454612e-01 -4.83236432e-04 1.25528366e+00] [ 4.92361230e-03 -3.47565098e-05 9.99987878e-01 -8.87325517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.290281693 meters Centerline goodness : 0.997698 Centerline is valid? [True, True] Translation: X:33.75, Y:1.25, Z:-0.09 [[ 9.93746219e-01 -1.11554664e-01 -4.89987379e-03 3.37505270e+01] [ 1.11553633e-01 9.93758297e-01 -4.84150920e-04 1.25394891e+00] [ 4.92329953e-03 -6.54755765e-05 9.99987878e-01 -9.39948062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.320281693 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:33.78, Y:1.25, Z:-0.09 [[ 9.93447601e-01 -1.14183428e-01 -4.89979515e-03 3.37777599e+01] [ 1.14182425e-01 9.93459681e-01 -4.84945480e-04 1.25427143e+00] [ 4.92312167e-03 -7.77025685e-05 9.99987878e-01 -9.43653994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.350281693 meters Centerline goodness : 0.997948 Centerline is valid? [True, True] Translation: X:33.81, Y:1.25, Z:-0.09 [[ 9.92870899e-01 -1.19093957e-01 -4.89975597e-03 3.38071683e+01] [ 1.19093011e-01 9.92882984e-01 -4.85341029e-04 1.25300831e+00] [ 4.92268551e-03 -1.01645708e-04 9.99987878e-01 -8.94436339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38028169299999 meters Centerline goodness : 0.997850 Centerline is valid? [True, True] Translation: X:33.83, Y:1.25, Z:-0.09 [[ 9.92559170e-01 -1.21664649e-01 -4.89967813e-03 3.38339279e+01] [ 1.21663730e-01 9.92571257e-01 -4.86125616e-04 1.25332168e+00] [ 4.92242398e-03 -1.13604681e-04 9.99987878e-01 -8.93710049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.410281692999995 meters Centerline goodness : 0.997606 Centerline is valid? [True, True] Translation: X:33.86, Y:1.25, Z:-0.09 [[ 9.92259099e-01 -1.24088170e-01 -4.89963970e-03 3.38619486e+01] [ 1.24087280e-01 9.92271188e-01 -4.86512607e-04 1.25278072e+00] [ 4.92214177e-03 -1.25236402e-04 9.99987878e-01 -9.09078736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.440281692999996 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:33.89, Y:1.25, Z:-0.10 [[ 9.91872963e-01 -1.27137800e-01 -4.89954847e-03 3.38906008e+01] [ 1.27136942e-01 9.91885054e-01 -4.87429636e-04 1.24646896e+00] [ 4.92175963e-03 -1.39445332e-04 9.99987878e-01 -9.59565328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.470281693 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:33.92, Y:1.25, Z:-0.09 [[ 9.91817785e-01 -1.27567538e-01 -4.89952013e-03 3.39192766e+01] [ 1.27566684e-01 9.91829876e-01 -4.87714390e-04 1.24516897e+00] [ 4.92170696e-03 -1.41291728e-04 9.99987878e-01 -9.36713282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.500281693 meters Centerline goodness : 0.998026 Centerline is valid? [True, True] Translation: X:33.95, Y:1.24, Z:-0.09 [[ 9.91941764e-01 -1.26599892e-01 -4.89942971e-03 3.39472017e+01] [ 1.26599021e-01 9.91953854e-01 -4.88621012e-04 1.24389392e+00] [ 4.92186755e-03 -1.35579418e-04 9.99987878e-01 -9.09715522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.530281693 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:33.98, Y:1.24, Z:-0.09 [[ 9.92128883e-01 -1.25125040e-01 -4.89940153e-03 3.39764598e+01] [ 1.25124150e-01 9.92140972e-01 -4.88903424e-04 1.23608580e+00] [ 4.92207105e-03 -1.27978246e-04 9.99987878e-01 -8.55167863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56028169299999 meters Centerline goodness : 0.998129 Centerline is valid? [True, True] Translation: X:34.00, Y:1.23, Z:-0.09 [[ 9.92203174e-01 -1.24534564e-01 -4.89931964e-03 3.40042460e+01] [ 1.24533663e-01 9.92215262e-01 -4.89722677e-04 1.23242001e+00] [ 4.92216712e-03 -1.24225827e-04 9.99987878e-01 -8.66349090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.590281692999994 meters Centerline goodness : 0.998074 Centerline is valid? [True, True] Translation: X:34.03, Y:1.22, Z:-0.09 [[ 9.92639804e-01 -1.21005028e-01 -4.89927878e-03 3.40319623e+01] [ 1.21004082e-01 9.92651889e-01 -4.90131117e-04 1.22467568e+00] [ 4.92258666e-03 -1.06309075e-04 9.99987878e-01 -8.63584780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.620281692999995 meters Centerline goodness : 0.997995 Centerline is valid? [True, True] Translation: X:34.06, Y:1.22, Z:-0.09 [[ 9.93053278e-01 -1.17563536e-01 -4.89921886e-03 3.40601825e+01] [ 1.17562546e-01 9.93065359e-01 -4.90729279e-04 1.22402023e+00] [ 4.92293641e-03 -8.86443216e-05 9.99987878e-01 -8.54024782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.650281693 meters Centerline goodness : 0.997751 Centerline is valid? [True, True] Translation: X:34.09, Y:1.22, Z:-0.09 [[ 9.93502304e-01 -1.13706509e-01 -4.89916495e-03 3.40884723e+01] [ 1.13705468e-01 9.93514381e-01 -4.91266956e-04 1.22377251e+00] [ 4.92325108e-03 -6.89869916e-05 9.99987878e-01 -8.53172067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.680281693 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:34.12, Y:1.22, Z:-0.09 [[ 9.94358771e-01 -1.05955810e-01 -4.89907638e-03 3.41168064e+01] [ 1.05954671e-01 9.94370839e-01 -4.92148585e-04 1.22069787e+00] [ 4.92364469e-03 -2.97077658e-05 9.99987878e-01 -8.57016056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.710281693 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:34.15, Y:1.22, Z:-0.09 [[ 9.94338866e-01 -1.06142452e-01 -4.89898421e-03 3.41451243e+01] [ 1.06141311e-01 9.94350934e-01 -4.93064389e-04 1.22374037e+00] [ 4.92364458e-03 -2.97115190e-05 9.99987878e-01 -8.55613623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.740281693 meters Centerline goodness : 0.997665 Centerline is valid? [True, True] Translation: X:34.17, Y:1.22, Z:-0.09 [[ 9.94721848e-01 -1.02491199e-01 -4.89889149e-03 3.41722402e+01] [ 1.02490010e-01 9.94733911e-01 -4.93983911e-04 1.22440609e+00] [ 4.92372249e-03 -1.07108461e-05 9.99987878e-01 -8.56732258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.770281692999994 meters Centerline goodness : 0.997524 Centerline is valid? [True, True] Translation: X:34.20, Y:1.23, Z:-0.09 [[ 9.95015499e-01 -9.95999925e-02 -4.89885115e-03 3.41998179e+01] [ 9.95987656e-02 9.95027558e-01 -4.94383587e-04 1.22638111e+00] [ 4.92373250e-03 3.99980419e-06 9.99987878e-01 -8.56648472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.800281692999995 meters Centerline goodness : 0.997962 Centerline is valid? [True, True] Translation: X:34.23, Y:1.23, Z:-0.09 [[ 9.95503672e-01 -9.45961973e-02 -4.89876200e-03 3.42278367e+01] [ 9.45949055e-02 9.95515725e-01 -4.95265361e-04 1.22948280e+00] [ 4.92364483e-03 2.96405572e-05 9.99987878e-01 -8.72572316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.830281692999996 meters Centerline goodness : 0.998143 Centerline is valid? [True, True] Translation: X:34.26, Y:1.23, Z:-0.09 [[ 9.95695692e-01 -9.25531791e-02 -4.89873425e-03 3.42552570e+01] [ 9.25518611e-02 9.95707742e-01 -4.95539687e-04 1.23151482e+00] [ 4.92357140e-03 4.00197597e-05 9.99987878e-01 -8.71360580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.860281693 meters Centerline goodness : 0.998091 Centerline is valid? [True, True] Translation: X:34.28, Y:1.23, Z:-0.08 [[ 9.96030748e-01 -8.88749223e-02 -4.89867069e-03 3.42835851e+01] [ 8.88735568e-02 9.96042793e-01 -4.96167258e-04 1.23263821e+00] [ 4.92338246e-03 5.88355577e-05 9.99987878e-01 -8.46577635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.890281693 meters Centerline goodness : 0.997659 Centerline is valid? [True, True] Translation: X:34.31, Y:1.24, Z:-0.08 [[ 9.96190675e-01 -8.70640097e-02 -4.89864216e-03 3.43103398e+01] [ 8.70626209e-02 9.96202717e-01 -4.96448730e-04 1.23620646e+00] [ 4.92326345e-03 6.80689705e-05 9.99987878e-01 -8.38982660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.920281693 meters Centerline goodness : 0.997614 Centerline is valid? [True, True] Translation: X:34.34, Y:1.24, Z:-0.08 [[ 9.96356712e-01 -8.51428628e-02 -4.89860364e-03 3.43378343e+01] [ 8.51414489e-02 9.96368750e-01 -4.96828561e-04 1.24086781e+00] [ 4.92311699e-03 7.79442598e-05 9.99987878e-01 -8.38780560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.950281692999994 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:34.37, Y:1.25, Z:-0.08 [[ 9.96499253e-01 -8.34580329e-02 -4.89851361e-03 3.43651760e+01] [ 8.34565943e-02 9.96511289e-01 -4.97714657e-04 1.24640702e+00] [ 4.92296240e-03 8.71590212e-05 9.99987878e-01 -8.48437137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.980281692999995 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:34.39, Y:1.25, Z:-0.09 [[ 9.96681517e-01 -8.12524456e-02 -4.89842065e-03 3.43933670e+01] [ 8.12509759e-02 9.96693549e-01 -4.98627911e-04 1.25241144e+00] [ 4.92273899e-03 9.89717646e-05 9.99987878e-01 -8.78567564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.010281692999996 meters Centerline goodness : 0.997784 Centerline is valid? [True, True] Translation: X:34.42, Y:1.26, Z:-0.09 [[ 9.96668565e-01 -8.14111706e-02 -4.89833830e-03 3.44199699e+01] [ 8.14096988e-02 9.96680597e-01 -4.99435574e-04 1.25540723e+00] [ 4.92273837e-03 9.89994909e-05 9.99987878e-01 -8.93186367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.040281693 meters Centerline goodness : 0.997770 Centerline is valid? [True, True] Translation: X:34.45, Y:1.26, Z:-0.09 [[ 9.96607835e-01 -8.21512633e-02 -4.89829743e-03 3.44478960e+01] [ 8.21497985e-02 9.96619868e-01 -4.99836054e-04 1.25896220e+00] [ 4.92280270e-03 9.57463809e-05 9.99987878e-01 -8.60044950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.070281693 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:34.48, Y:1.26, Z:-0.08 [[ 9.96385230e-01 -8.48084942e-02 -4.89820181e-03 3.44753991e+01] [ 8.48070568e-02 9.96397266e-01 -5.00771374e-04 1.26409834e+00] [ 4.92302456e-03 8.35591218e-05 9.99987878e-01 -8.20788557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.100281693 meters Centerline goodness : 0.997922 Centerline is valid? [True, True] Translation: X:34.50, Y:1.27, Z:-0.08 [[ 9.96143874e-01 -8.75978841e-02 -4.89817203e-03 3.45027601e+01] [ 8.75964790e-02 9.96155914e-01 -5.01062432e-04 1.26845548e+00] [ 4.92323505e-03 7.00676485e-05 9.99987878e-01 -8.02176588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13028169299999 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:34.53, Y:1.27, Z:-0.08 [[ 9.95882045e-01 -9.05260227e-02 -4.89807566e-03 3.45300248e+01] [ 9.05246484e-02 9.95894089e-01 -5.02002714e-04 1.27183371e+00] [ 4.92340891e-03 5.65389126e-05 9.99987878e-01 -7.98604047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.160281692999995 meters Centerline goodness : 0.997994 Centerline is valid? [True, True] Translation: X:34.56, Y:1.27, Z:-0.08 [[ 9.95504373e-01 -9.45888639e-02 -4.89804567e-03 3.45568496e+01] [ 9.45875374e-02 9.95516422e-01 -5.02295194e-04 1.27263762e+00] [ 4.92359643e-03 3.67429841e-05 9.99987878e-01 -8.14168062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.190281692999996 meters Centerline goodness : 0.997985 Centerline is valid? [True, True] Translation: X:34.58, Y:1.27, Z:-0.08 [[ 9.95438821e-01 -9.52762454e-02 -4.89800472e-03 3.45844790e+01] [ 9.52749252e-02 9.95450871e-01 -5.02694226e-04 1.27470736e+00] [ 4.92361788e-03 3.37443151e-05 9.99987878e-01 -8.34703348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.220281693 meters Centerline goodness : 0.998255 Centerline is valid? [True, True] Translation: X:34.61, Y:1.28, Z:-0.09 [[ 9.95501676e-01 -9.46172485e-02 -4.89797584e-03 3.46127557e+01] [ 9.46159190e-02 9.95513724e-01 -5.02975413e-04 1.27758558e+00] [ 4.92359232e-03 3.72863813e-05 9.99987878e-01 -8.50207449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.250281693 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:34.64, Y:1.28, Z:-0.08 [[ 9.95540187e-01 -9.42111859e-02 -4.89789540e-03 3.46400806e+01] [ 9.42098476e-02 9.95552234e-01 -5.03757551e-04 1.27999001e+00] [ 4.92357030e-03 4.00809076e-05 9.99987878e-01 -8.35814797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.280281693 meters Centerline goodness : 0.997994 Centerline is valid? [True, True] Translation: X:34.67, Y:1.28, Z:-0.08 [[ 9.95521515e-01 -9.44082802e-02 -4.89785201e-03 3.46686576e+01] [ 9.44069422e-02 9.95533563e-01 -5.04179032e-04 1.28125547e+00] [ 4.92357474e-03 3.95298425e-05 9.99987878e-01 -8.02651674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31028169299999 meters Centerline goodness : 0.997774 Centerline is valid? [True, True] Translation: X:34.70, Y:1.28, Z:-0.07 [[ 9.95375970e-01 -9.59306506e-02 -4.89777271e-03 3.46979873e+01] [ 9.59293272e-02 9.95388019e-01 -5.04948193e-04 1.27998388e+00] [ 4.92362429e-03 3.27732565e-05 9.99987878e-01 -7.46278018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.340281692999994 meters Centerline goodness : 0.997896 Centerline is valid? [True, True] Translation: X:34.73, Y:1.28, Z:-0.07 [[ 9.95237890e-01 -9.73527300e-02 -4.89769334e-03 3.47259150e+01] [ 9.73514201e-02 9.95249941e-01 -5.05716901e-04 1.28191118e+00] [ 4.92366193e-03 2.65112204e-05 9.99987878e-01 -7.39803808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.370281692999995 meters Centerline goodness : 0.997991 Centerline is valid? [True, True] Translation: X:34.75, Y:1.28, Z:-0.08 [[ 9.95094847e-01 -9.88041413e-02 -4.89760276e-03 3.47536712e+01] [ 9.88028447e-02 9.95106899e-01 -5.06592583e-04 1.28414474e+00] [ 4.92369174e-03 2.02105846e-05 9.99987878e-01 -7.50492632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.400281693 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:34.78, Y:1.29, Z:-0.08 [[ 9.95007020e-01 -9.96847243e-02 -4.89750823e-03 3.47809822e+01] [ 9.96834338e-02 9.95019073e-01 -5.07504855e-04 1.28587122e+00] [ 4.92370458e-03 1.67704560e-05 9.99987878e-01 -7.73095468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.430281693 meters Centerline goodness : 0.997945 Centerline is valid? [True, True] Translation: X:34.81, Y:1.29, Z:-0.08 [[ 9.94881771e-01 -1.00927087e-01 -4.89746712e-03 3.48099763e+01] [ 1.00925810e-01 9.94893825e-01 -5.07901241e-04 1.28732969e+00] [ 4.92372079e-03 1.10208512e-05 9.99987878e-01 -8.18235110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.460281693 meters Centerline goodness : 0.998191 Centerline is valid? [True, True] Translation: X:34.84, Y:1.29, Z:-0.08 [[ 9.94864846e-01 -1.01093791e-01 -4.89738884e-03 3.48385821e+01] [ 1.01092512e-01 9.94876900e-01 -5.08654947e-04 1.29154393e+00] [ 4.92372088e-03 1.09535837e-05 9.99987878e-01 -8.39475265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.490281693 meters Centerline goodness : 0.997633 Centerline is valid? [True, True] Translation: X:34.87, Y:1.30, Z:-0.09 [[ 9.94946720e-01 -1.00284801e-01 -4.89730972e-03 3.48669797e+01] [ 1.00283508e-01 9.94958772e-01 -5.09415561e-04 1.29744711e+00] [ 4.92370790e-03 1.57219433e-05 9.99987878e-01 -8.62382075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.520281692999994 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:34.89, Y:1.30, Z:-0.09 [[ 9.94958243e-01 -1.00170414e-01 -4.89722536e-03 3.48944367e+01] [ 1.00169116e-01 9.94970295e-01 -5.10225226e-04 1.30071914e+00] [ 4.92370323e-03 1.71020576e-05 9.99987878e-01 -8.64111513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.550281692999995 meters Centerline goodness : 0.997701 Centerline is valid? [True, True] Translation: X:34.92, Y:1.30, Z:-0.09 [[ 9.94912286e-01 -1.00625841e-01 -4.89719539e-03 3.49218562e+01] [ 1.00624547e-01 9.94924339e-01 -5.10512752e-04 1.30371120e+00] [ 4.92370966e-03 1.51373406e-05 9.99987878e-01 -8.50708411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.580281692999996 meters Centerline goodness : 0.997886 Centerline is valid? [True, True] Translation: X:34.95, Y:1.31, Z:-0.08 [[ 9.94589631e-01 -1.03766482e-01 -4.89716554e-03 3.49506001e+01] [ 1.03765225e-01 9.94601688e-01 -5.10798912e-04 1.30740189e+00] [ 4.92373292e-03 -1.20180580e-07 9.99987878e-01 -7.93861146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.610281693 meters Centerline goodness : 0.997741 Centerline is valid? [True, True] Translation: X:34.98, Y:1.31, Z:-0.08 [[ 9.94363501e-01 -1.05911502e-01 -4.89708190e-03 3.49771072e+01] [ 1.05910267e-01 9.94375560e-01 -5.11599526e-04 1.31091311e+00] [ 4.92372283e-03 -9.93535348e-06 9.99987878e-01 -7.83643345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.640281693 meters Centerline goodness : 0.997458 Centerline is valid? [True, True] Translation: X:35.00, Y:1.31, Z:-0.08 [[ 9.94116323e-01 -1.08207002e-01 -4.89704036e-03 3.50044316e+01] [ 1.08205793e-01 9.94128384e-01 -5.11996823e-04 1.31417573e+00] [ 4.92368846e-03 -2.09037376e-05 9.99987878e-01 -7.78076746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.670281693 meters Centerline goodness : 0.997237 Centerline is valid? [True, True] Translation: X:35.03, Y:1.32, Z:-0.08 [[ 9.93678947e-01 -1.12152445e-01 -4.89694372e-03 3.50327057e+01] [ 1.12151280e-01 9.93691012e-01 -5.12919507e-04 1.31619247e+00] [ 4.92357413e-03 -3.95211881e-05 9.99987878e-01 -8.12309194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.700281692999994 meters Centerline goodness : 0.997296 Centerline is valid? [True, True] Translation: X:35.06, Y:1.32, Z:-0.08 [[ 9.93538268e-01 -1.13391938e-01 -4.89685943e-03 3.50606937e+01] [ 1.13390783e-01 9.93550334e-01 -5.13722952e-04 1.31879518e+00] [ 4.92352836e-03 -4.48553145e-05 9.99987878e-01 -8.26019864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.730281692999995 meters Centerline goodness : 0.997809 Centerline is valid? [True, True] Translation: X:35.09, Y:1.32, Z:-0.08 [[ 9.93635219e-01 -1.12539208e-01 -4.89676355e-03 3.50878803e+01] [ 1.12538038e-01 9.93647284e-01 -5.14635234e-04 1.32216680e+00] [ 4.92357244e-03 -3.97124702e-05 9.99987878e-01 -8.28171932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.760281692999996 meters Centerline goodness : 0.998029 Centerline is valid? [True, True] Translation: X:35.12, Y:1.33, Z:-0.08 [[ 9.93832940e-01 -1.10779552e-01 -4.89673370e-03 3.51167737e+01] [ 1.10778359e-01 9.93845003e-01 -5.14919088e-04 1.32514044e+00] [ 4.92363683e-03 -3.07085741e-05 9.99987878e-01 -7.94591098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.790281693 meters Centerline goodness : 0.997613 Centerline is valid? [True, True] Translation: X:35.14, Y:1.33, Z:-0.08 [[ 9.93997268e-01 -1.09295257e-01 -4.89665013e-03 3.51442055e+01] [ 1.09294042e-01 9.94009329e-01 -5.15712553e-04 1.32765154e+00] [ 4.92368085e-03 -2.25578183e-05 9.99987878e-01 -7.73676936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.820281693 meters Centerline goodness : 0.997692 Centerline is valid? [True, True] Translation: X:35.17, Y:1.33, Z:-0.08 [[ 9.94322862e-01 -1.06292380e-01 -4.89655457e-03 3.51721340e+01] [ 1.06291125e-01 9.94334918e-01 -5.16618349e-04 1.32944889e+00] [ 4.92372778e-03 -6.77485793e-06 9.99987878e-01 -7.62529585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.850281693 meters Centerline goodness : 0.997588 Centerline is valid? [True, True] Translation: X:35.20, Y:1.33, Z:-0.08 [[ 9.94426505e-01 -1.05318326e-01 -4.89652484e-03 3.51995300e+01] [ 1.05317058e-01 9.94438560e-01 -5.16899946e-04 1.33227513e+00] [ 4.92373215e-03 -1.66858254e-06 9.99987878e-01 -7.55467647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88028169299999 meters Centerline goodness : 0.997545 Centerline is valid? [True, True] Translation: X:35.23, Y:1.34, Z:-0.08 [[ 9.94490745e-01 -1.04710000e-01 -4.89642853e-03 3.52261398e+01] [ 1.04708720e-01 9.94502798e-01 -5.17810694e-04 1.33532382e+00] [ 4.92373183e-03 2.25918129e-06 9.99987878e-01 -7.59579097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.910281692999995 meters Centerline goodness : 0.997910 Centerline is valid? [True, True] Translation: X:35.25, Y:1.34, Z:-0.07 [[ 9.94612590e-01 -1.03546231e-01 -4.89638656e-03 3.52538612e+01] [ 1.03544934e-01 9.94624642e-01 -5.18207235e-04 1.33888403e+00] [ 4.92372513e-03 8.41941463e-06 9.99987878e-01 -7.30445317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.940281692999996 meters Centerline goodness : 0.997445 Centerline is valid? [True, True] Translation: X:35.28, Y:1.34, Z:-0.07 [[ 9.94728766e-01 -1.02424155e-01 -4.89628855e-03 3.52802937e+01] [ 1.02422841e-01 9.94740817e-01 -5.19131612e-04 1.34199858e+00] [ 4.92370969e-03 1.49033653e-05 9.99987878e-01 -7.14900203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.970281693 meters Centerline goodness : 0.997593 Centerline is valid? [True, True] Translation: X:35.31, Y:1.35, Z:-0.07 [[ 9.94959769e-01 -1.00155299e-01 -4.89624600e-03 3.53076375e+01] [ 1.00153955e-01 9.94971816e-01 -5.19532640e-04 1.34681515e+00] [ 4.92366072e-03 2.65356724e-05 9.99987878e-01 -7.36667262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.000281693 meters Centerline goodness : 0.997881 Centerline is valid? [True, True] Translation: X:35.34, Y:1.35, Z:-0.08 [[ 9.95090623e-01 -9.88467531e-02 -4.89614780e-03 3.53350931e+01] [ 9.88453888e-02 9.95102667e-01 -5.20456463e-04 1.35175495e+00] [ 4.92361516e-03 3.39397136e-05 9.99987878e-01 -7.73642265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.030281693 meters Centerline goodness : 0.997723 Centerline is valid? [True, True] Translation: X:35.36, Y:1.36, Z:-0.08 [[ 9.95180702e-01 -9.79356805e-02 -4.89611729e-03 3.53625796e+01] [ 9.79343038e-02 9.95192746e-01 -5.20743312e-04 1.35736795e+00] [ 4.92357976e-03 3.87358576e-05 9.99987878e-01 -7.86071651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06028169299999 meters Centerline goodness : 0.997493 Centerline is valid? [True, True] Translation: X:35.39, Y:1.36, Z:-0.08 [[ 9.95438687e-01 -9.52777502e-02 -4.89602473e-03 3.53900343e+01] [ 9.52763369e-02 9.95450726e-01 -5.21612037e-04 1.36454590e+00] [ 4.92344940e-03 5.27574991e-05 9.99987878e-01 -7.63469185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.090281692999994 meters Centerline goodness : 0.997609 Centerline is valid? [True, True] Translation: X:35.42, Y:1.37, Z:-0.08 [[ 9.95502302e-01 -9.46107666e-02 -4.89592528e-03 3.54169861e+01] [ 9.46093407e-02 9.95514339e-01 -5.22543906e-04 1.36976294e+00] [ 4.92340210e-03 5.69933984e-05 9.99987878e-01 -7.72182784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.120281692999995 meters Centerline goodness : 0.997505 Centerline is valid? [True, True] Translation: X:35.44, Y:1.37, Z:-0.08 [[ 9.95522009e-01 -9.44031773e-02 -4.89588210e-03 3.54441098e+01] [ 9.44017469e-02 9.95534046e-01 -5.22948157e-04 1.37498852e+00] [ 4.92338528e-03 5.84265769e-05 9.99987878e-01 -7.74607154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.150281693 meters Centerline goodness : 0.997369 Centerline is valid? [True, True] Translation: X:35.47, Y:1.38, Z:-0.08 [[ 9.95392749e-01 -9.57564990e-02 -4.89578479e-03 3.54712478e+01] [ 9.57550805e-02 9.95404787e-01 -5.23857532e-04 1.38202781e+00] [ 4.92345038e-03 5.26477221e-05 9.99987878e-01 -7.91753857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.180281693 meters Centerline goodness : 0.997335 Centerline is valid? [True, True] Translation: X:35.50, Y:1.39, Z:-0.08 [[ 9.95305529e-01 -9.66588641e-02 -4.89568622e-03 3.54986521e+01] [ 9.66574520e-02 9.95317568e-01 -5.24777125e-04 1.38620327e+00] [ 4.92348686e-03 4.91090187e-05 9.99987878e-01 -7.89487191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.210281693 meters Centerline goodness : 0.997662 Centerline is valid? [True, True] Translation: X:35.53, Y:1.39, Z:-0.08 [[ 9.95215302e-01 -9.75834770e-02 -4.89558726e-03 3.55252851e+01] [ 9.75820715e-02 9.95227342e-01 -5.25698725e-04 1.39213945e+00] [ 4.92352180e-03 4.54618698e-05 9.99987878e-01 -7.79139922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24028169299999 meters Centerline goodness : 0.997586 Centerline is valid? [True, True] Translation: X:35.55, Y:1.40, Z:-0.08 [[ 9.95159884e-01 -9.81470258e-02 -4.89554423e-03 3.55530605e+01] [ 9.81456252e-02 9.95171925e-01 -5.26099091e-04 1.39823523e+00] [ 4.92354323e-03 4.30764611e-05 9.99987878e-01 -7.91390786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.270281692999994 meters Centerline goodness : 0.997614 Centerline is valid? [True, True] Translation: X:35.58, Y:1.40, Z:-0.08 [[ 9.95148316e-01 -9.82642540e-02 -4.89544502e-03 3.55803343e+01] [ 9.82628503e-02 9.95160356e-01 -5.27020663e-04 1.40384787e+00] [ 4.92354010e-03 4.34233448e-05 9.99987878e-01 -8.11973602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.300281692999995 meters Centerline goodness : 0.997758 Centerline is valid? [True, True] Translation: X:35.61, Y:1.41, Z:-0.08 [[ 9.95146868e-01 -9.82789220e-02 -4.89541429e-03 3.56066406e+01] [ 9.82775170e-02 9.95158908e-01 -5.27305939e-04 1.40870200e+00] [ 4.92353820e-03 4.36376922e-05 9.99987878e-01 -8.17080877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.330281692999996 meters Centerline goodness : 0.997669 Centerline is valid? [True, True] Translation: X:35.64, Y:1.41, Z:-0.07 [[ 9.95216973e-01 -9.75664521e-02 -4.89531718e-03 3.56351538e+01] [ 9.75650342e-02 9.95229011e-01 -5.28205941e-04 1.41440737e+00] [ 4.92349686e-03 4.80677304e-05 9.99987878e-01 -7.29982349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.360281693 meters Centerline goodness : 0.997658 Centerline is valid? [True, True] Translation: X:35.66, Y:1.42, Z:-0.07 [[ 9.95209646e-01 -9.76411621e-02 -4.89523012e-03 3.56628940e+01] [ 9.76397411e-02 9.95221684e-01 -5.29011522e-04 1.41930413e+00] [ 4.92349247e-03 4.85083682e-05 9.99987878e-01 -6.99646957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.390281693 meters Centerline goodness : 0.998198 Centerline is valid? [True, True] Translation: X:35.69, Y:1.42, Z:-0.07 [[ 9.95093164e-01 -9.88212111e-02 -4.89519923e-03 3.56907740e+01] [ 9.88198030e-02 9.95105204e-01 -5.29297215e-04 1.42484353e+00] [ 4.92354402e-03 4.29574171e-05 9.99987878e-01 -6.71114232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.420281693 meters Centerline goodness : 0.998121 Centerline is valid? [True, True] Translation: X:35.72, Y:1.43, Z:-0.07 [[ 9.94705363e-01 -1.02651247e-01 -4.89516829e-03 3.57180848e+01] [ 1.02649884e-01 9.94717408e-01 -5.29583240e-04 1.43059223e+00] [ 4.92367149e-03 2.42908312e-05 9.99987878e-01 -6.51729778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.450281692999994 meters Centerline goodness : 0.998116 Centerline is valid? [True, True] Translation: X:35.75, Y:1.43, Z:-0.07 [[ 9.94529486e-01 -1.04341454e-01 -4.89513764e-03 3.57455981e+01] [ 1.04340110e-01 9.94541533e-01 -5.29866405e-04 1.43374953e+00] [ 4.92370472e-03 1.62085627e-05 9.99987878e-01 -6.52659057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.480281692999995 meters Centerline goodness : 0.997820 Centerline is valid? [True, True] Translation: X:35.77, Y:1.44, Z:-0.07 [[ 9.94174037e-01 -1.07675545e-01 -4.89504058e-03 3.57729178e+01] [ 1.07674237e-01 9.94186088e-01 -5.30761498e-04 1.43814892e+00] [ 4.92373128e-03 5.99542711e-07 9.99987878e-01 -6.67665364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.510281692999996 meters Centerline goodness : 0.998144 Centerline is valid? [True, True] Translation: X:35.80, Y:1.44, Z:-0.07 [[ 9.94008258e-01 -1.09195343e-01 -4.89494183e-03 3.58005552e+01] [ 1.09194049e-01 9.94020310e-01 -5.31670716e-04 1.44286555e+00] [ 4.92372756e-03 -6.01343481e-06 9.99987878e-01 -6.73153159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.540281693 meters Centerline goodness : 0.997805 Centerline is valid? [True, True] Translation: X:35.83, Y:1.45, Z:-0.07 [[ 9.93881561e-01 -1.10342571e-01 -4.89484359e-03 3.58268061e+01] [ 1.10341286e-01 9.93893614e-01 -5.32573657e-04 1.44705787e+00] [ 4.92371933e-03 -1.07881992e-05 9.99987878e-01 -6.86867545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.570281693 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:35.85, Y:1.45, Z:-0.07 [[ 9.93685274e-01 -1.12096464e-01 -4.89477523e-03 3.58545415e+01] [ 1.12095198e-01 9.93697329e-01 -5.33201142e-04 1.45098597e+00] [ 4.92369504e-03 -1.88466753e-05 9.99987878e-01 -7.05485896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.600281693 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:35.88, Y:1.45, Z:-0.07 [[ 9.93663885e-01 -1.12285911e-01 -4.89467297e-03 3.58828262e+01] [ 1.12284642e-01 9.93675940e-01 -5.34138195e-04 1.45425656e+00] [ 4.92369496e-03 -1.88427703e-05 9.99987878e-01 -7.04083475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.63028169299999 meters Centerline goodness : 0.997929 Centerline is valid? [True, True] Translation: X:35.91, Y:1.46, Z:-0.07 [[ 9.93666877e-01 -1.12259437e-01 -4.89457096e-03 3.59095943e+01] [ 1.12258163e-01 9.93678931e-01 -5.35071346e-04 1.45713219e+00] [ 4.92369885e-03 -1.77728739e-05 9.99987878e-01 -7.17467424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.660281692999995 meters Centerline goodness : 0.997954 Centerline is valid? [True, True] Translation: X:35.94, Y:1.46, Z:-0.07 [[ 9.93670877e-01 -1.12224024e-01 -4.89450057e-03 3.59377340e+01] [ 1.12222747e-01 9.93682931e-01 -5.35714507e-04 1.45992793e+00] [ 4.92370171e-03 -1.69503952e-05 9.99987878e-01 -7.02564728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.690281692999996 meters Centerline goodness : 0.998155 Centerline is valid? [True, True] Translation: X:35.97, Y:1.46, Z:-0.06 [[ 9.93640990e-01 -1.12488349e-01 -4.89440258e-03 3.59668138e+01] [ 1.12487070e-01 9.93653044e-01 -5.36608209e-04 1.46122316e+00] [ 4.92370020e-03 -1.73610945e-05 9.99987878e-01 -6.47850031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.720281693 meters Centerline goodness : 0.997897 Centerline is valid? [True, True] Translation: X:35.99, Y:1.46, Z:-0.06 [[ 9.93606328e-01 -1.12794109e-01 -4.89427965e-03 3.59942688e+01] [ 1.12792828e-01 9.93618382e-01 -5.37727960e-04 1.46286123e+00] [ 4.92369877e-03 -1.77497407e-05 9.99987878e-01 -6.44742278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.750281693 meters Centerline goodness : 0.997957 Centerline is valid? [True, True] Translation: X:36.02, Y:1.47, Z:-0.07 [[ 9.93645945e-01 -1.12444569e-01 -4.89428570e-03 3.60226201e+01] [ 1.12443285e-01 9.93657999e-01 -5.37672913e-04 1.46518280e+00] [ 4.92370453e-03 -1.60730508e-05 9.99987878e-01 -6.75384796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.780281693 meters Centerline goodness : 0.997943 Centerline is valid? [True, True] Translation: X:36.05, Y:1.47, Z:-0.07 [[ 9.93775472e-01 -1.11294021e-01 -4.89418723e-03 3.60499367e+01] [ 1.11292718e-01 9.93787523e-01 -5.38567707e-04 1.46747301e+00] [ 4.92372157e-03 -9.47202327e-06 9.99987878e-01 -6.97486261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81028169299999 meters Centerline goodness : 0.998120 Centerline is valid? [True, True] Translation: X:36.08, Y:1.47, Z:-0.07 [[ 9.93931576e-01 -1.09891170e-01 -4.89411631e-03 3.60764560e+01] [ 1.09889847e-01 9.93943626e-01 -5.39211401e-04 1.46913039e+00] [ 4.92373028e-03 -1.87445706e-06 9.99987878e-01 -7.06251037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.840281692999994 meters Centerline goodness : 0.997971 Centerline is valid? [True, True] Translation: X:36.10, Y:1.47, Z:-0.07 [[ 9.94038883e-01 -1.08916241e-01 -4.89407395e-03 3.61043170e+01] [ 1.08914904e-01 9.94050931e-01 -5.39595634e-04 1.47117225e+00] [ 4.92372949e-03 3.34144492e-06 9.99987878e-01 -6.92428693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.870281692999995 meters Centerline goodness : 0.998366 Centerline is valid? [True, True] Translation: X:36.13, Y:1.47, Z:-0.07 [[ 9.94292826e-01 -1.06573097e-01 -4.89397745e-03 3.61320131e+01] [ 1.06571728e-01 9.94304870e-01 -5.40469449e-04 1.47300312e+00] [ 4.92370511e-03 1.58252652e-05 9.99987878e-01 -6.62257295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.900281693 meters Centerline goodness : 0.998277 Centerline is valid? [True, True] Translation: X:36.16, Y:1.48, Z:-0.07 [[ 9.94448307e-01 -1.05112392e-01 -4.89387742e-03 3.61601928e+01] [ 1.05111000e-01 9.94460348e-01 -5.41373659e-04 1.47606510e+00] [ 4.92367213e-03 2.39677677e-05 9.99987878e-01 -6.65251374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.930281693 meters Centerline goodness : 0.998248 Centerline is valid? [True, True] Translation: X:36.19, Y:1.48, Z:-0.07 [[ 9.94946771e-01 -1.00284462e-01 -4.89377700e-03 3.61879714e+01] [ 1.00283007e-01 9.94958805e-01 -5.42279888e-04 1.47886109e+00] [ 4.92348877e-03 4.87769486e-05 9.99987878e-01 -6.97639215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.960281693 meters Centerline goodness : 0.997960 Centerline is valid? [True, True] Translation: X:36.21, Y:1.48, Z:-0.07 [[ 9.95215611e-01 -9.75804269e-02 -4.89367670e-03 3.62148159e+01] [ 9.75789354e-02 9.95227640e-01 -5.43183556e-04 1.48264093e+00] [ 4.92332640e-03 6.30649921e-05 9.99987878e-01 -7.07719528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99028169299999 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:36.24, Y:1.49, Z:-0.07 [[ 9.95566007e-01 -9.39381636e-02 -4.89363309e-03 3.62425031e+01] [ 9.39366262e-02 9.95578030e-01 -5.43576189e-04 1.49015225e+00] [ 4.92305614e-03 8.14745942e-05 9.99987878e-01 -7.06251557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.020281692999994 meters Centerline goodness : 0.998024 Centerline is valid? [True, True] Translation: X:36.27, Y:1.50, Z:-0.07 [[ 9.95662512e-01 -9.29097211e-02 -4.89353175e-03 3.62690158e+01] [ 9.29081668e-02 9.95674533e-01 -5.44486910e-04 1.49555249e+00] [ 4.92295307e-03 8.74761402e-05 9.99987878e-01 -7.07915036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.050281692999995 meters Centerline goodness : 0.997831 Centerline is valid? [True, True] Translation: X:36.30, Y:1.50, Z:-0.07 [[ 9.95707987e-01 -9.24210964e-02 -4.89348769e-03 3.62966513e+01] [ 9.24195343e-02 9.95720007e-01 -5.44882625e-04 1.50103923e+00] [ 4.92290225e-03 9.02901281e-05 9.99987878e-01 -6.97358153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.080281692999996 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:36.32, Y:1.51, Z:-0.07 [[ 9.95720343e-01 -9.22878843e-02 -4.89338396e-03 3.63228386e+01] [ 9.22863160e-02 9.95732363e-01 -5.45812629e-04 1.50629694e+00] [ 4.92287266e-03 9.18843606e-05 9.99987878e-01 -6.97545612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.110281693 meters Centerline goodness : 0.998316 Centerline is valid? [True, True] Translation: X:36.35, Y:1.52, Z:-0.07 [[ 9.95623690e-01 -9.33248211e-02 -4.89333884e-03 3.63498133e+01] [ 9.33232634e-02 9.95635712e-01 -5.46216783e-04 1.51549470e+00] [ 4.92295848e-03 8.71640197e-05 9.99987878e-01 -6.67026628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.140281693 meters Centerline goodness : 0.998243 Centerline is valid? [True, True] Translation: X:36.38, Y:1.52, Z:-0.07 [[ 9.95267728e-01 -9.70474375e-02 -4.89323584e-03 3.63760646e+01] [ 9.70459202e-02 9.95279755e-01 -5.47137940e-04 1.52399126e+00] [ 4.92323691e-03 6.96801595e-05 9.99987878e-01 -6.72255476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.170281693 meters Centerline goodness : 0.997735 Centerline is valid? [True, True] Translation: X:36.40, Y:1.53, Z:-0.07 [[ 9.94953162e-01 -1.00221072e-01 -4.89316606e-03 3.64049893e+01] [ 1.00219590e-01 9.94965192e-01 -5.47761317e-04 1.52852210e+00] [ 4.92342714e-03 5.46057588e-05 9.99987878e-01 -6.76008588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.200281692999994 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:36.43, Y:1.53, Z:-0.07 [[ 9.94622212e-01 -1.03453917e-01 -4.89305566e-03 3.64322690e+01] [ 1.03452469e-01 9.94634247e-01 -5.48746279e-04 1.53278705e+00] [ 4.92357068e-03 3.95965492e-05 9.99987878e-01 -6.95530935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.230281692999995 meters Centerline goodness : 0.997972 Centerline is valid? [True, True] Translation: X:36.46, Y:1.54, Z:-0.07 [[ 9.94322500e-01 -1.06295925e-01 -4.89305357e-03 3.64595051e+01] [ 1.06294512e-01 9.94334539e-01 -5.48764903e-04 1.53772150e+00] [ 4.92366364e-03 2.55445504e-05 9.99987878e-01 -6.96456939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.260281692999996 meters Centerline goodness : 0.998326 Centerline is valid? [True, True] Translation: X:36.49, Y:1.54, Z:-0.07 [[ 9.93907898e-01 -1.10105172e-01 -4.89295552e-03 3.64870687e+01] [ 1.10103800e-01 9.93919942e-01 -5.49637792e-04 1.54405087e+00] [ 4.92372403e-03 7.55634679e-06 9.99987878e-01 -6.85130913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.290281693 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:36.51, Y:1.55, Z:-0.07 [[ 9.93810381e-01 -1.10981925e-01 -4.89285269e-03 3.65142372e+01] [ 1.10980559e-01 9.93822425e-01 -5.50551634e-04 1.54814702e+00] [ 4.92372800e-03 4.13240224e-06 9.99987878e-01 -6.92218756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.320281693 meters Centerline goodness : 0.998146 Centerline is valid? [True, True] Translation: X:36.54, Y:1.55, Z:-0.07 [[ 9.93679283e-01 -1.12149642e-01 -4.89280816e-03 3.65423303e+01] [ 1.12148288e-01 9.93691329e-01 -5.50947079e-04 1.55161538e+00] [ 4.92372956e-03 -1.25536133e-06 9.99987878e-01 -6.89647101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.350281693 meters Centerline goodness : 0.998239 Centerline is valid? [True, True] Translation: X:36.57, Y:1.55, Z:-0.07 [[ 9.93611316e-01 -1.12750233e-01 -4.89270953e-03 3.65699386e+01] [ 1.12748882e-01 9.93623362e-01 -5.51821550e-04 1.55481329e+00] [ 4.92372850e-03 -3.35139525e-06 9.99987878e-01 -6.81086779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38028169299999 meters Centerline goodness : 0.998373 Centerline is valid? [True, True] Translation: X:36.60, Y:1.56, Z:-0.07 [[ 9.93565222e-01 -1.13155695e-01 -4.89261054e-03 3.65979851e+01] [ 1.13154345e-01 9.93577269e-01 -5.52697836e-04 1.55843427e+00] [ 4.92372753e-03 -4.47879359e-06 9.99987878e-01 -6.73135781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.410281692999995 meters Centerline goodness : 0.998166 Centerline is valid? [True, True] Translation: X:36.63, Y:1.56, Z:-0.07 [[ 9.93591761e-01 -1.12922434e-01 -4.89250783e-03 3.66252393e+01] [ 1.12921077e-01 9.93603806e-01 -5.53605584e-04 1.56075306e+00] [ 4.92372889e-03 -2.40930456e-06 9.99987878e-01 -6.76082945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.440281692999996 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:36.65, Y:1.56, Z:-0.07 [[ 9.93571040e-01 -1.13104606e-01 -4.89246330e-03 3.66517086e+01] [ 1.13103249e-01 9.93583086e-01 -5.53998787e-04 1.56343768e+00] [ 4.92372860e-03 -2.91634520e-06 9.99987878e-01 -6.80707824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.470281693 meters Centerline goodness : 0.998338 Centerline is valid? [True, True] Translation: X:36.68, Y:1.57, Z:-0.07 [[ 9.93499438e-01 -1.13731843e-01 -4.89239293e-03 3.66800223e+01] [ 1.13730491e-01 9.93511484e-01 -5.54619528e-04 1.56583427e+00] [ 4.92372646e-03 -5.40006095e-06 9.99987878e-01 -6.88952718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.500281693 meters Centerline goodness : 0.998187 Centerline is valid? [True, True] Translation: X:36.71, Y:1.57, Z:-0.07 [[ 9.93169800e-01 -1.16575359e-01 -4.89229548e-03 3.67079458e+01] [ 1.16574037e-01 9.93181849e-01 -5.55477811e-04 1.56637412e+00] [ 4.92369410e-03 -1.86308506e-05 9.99987878e-01 -6.75157901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.530281693 meters Centerline goodness : 0.998074 Centerline is valid? [True, True] Translation: X:36.74, Y:1.57, Z:-0.07 [[ 9.92930703e-01 -1.18594629e-01 -4.89219668e-03 3.67361283e+01] [ 1.18593327e-01 9.92942754e-01 -5.56346593e-04 1.56798049e+00] [ 4.92365097e-03 -2.77682697e-05 9.99987878e-01 -6.71163330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56028169299999 meters Centerline goodness : 0.998390 Centerline is valid? [True, True] Translation: X:36.76, Y:1.57, Z:-0.07 [[ 9.92663288e-01 -1.20812519e-01 -4.89209621e-03 3.67637447e+01] [ 1.20811240e-01 9.92675342e-01 -5.57228683e-04 1.56975958e+00] [ 4.92358348e-03 -3.78797530e-05 9.99987878e-01 -6.54704395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.590281692999994 meters Centerline goodness : 0.998498 Centerline is valid? [True, True] Translation: X:36.79, Y:1.57, Z:-0.07 [[ 9.92434311e-01 -1.22679283e-01 -4.89199521e-03 3.67910295e+01] [ 1.22678022e-01 9.92446367e-01 -5.58113944e-04 1.56797092e+00] [ 4.92351190e-03 -4.62488686e-05 9.99987878e-01 -6.51229647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.620281692999995 meters Centerline goodness : 0.998190 Centerline is valid? [True, True] Translation: X:36.82, Y:1.57, Z:-0.07 [[ 9.92385062e-01 -1.23077041e-01 -4.89195125e-03 3.68183573e+01] [ 1.23075784e-01 9.92397118e-01 -5.58499024e-04 1.56789744e+00] [ 4.92349673e-03 -4.78346452e-05 9.99987878e-01 -6.75023879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.650281693 meters Centerline goodness : 0.998204 Centerline is valid? [True, True] Translation: X:36.85, Y:1.57, Z:-0.07 [[ 9.92280190e-01 -1.23919711e-01 -4.89190768e-03 3.68469246e+01] [ 1.23918461e-01 9.92292247e-01 -5.58880371e-04 1.56557785e+00] [ 4.92345836e-03 -5.16317516e-05 9.99987878e-01 -7.08914132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.680281693 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:36.87, Y:1.57, Z:-0.07 [[ 9.92187392e-01 -1.24660535e-01 -4.89180872e-03 3.68746604e+01] [ 1.24659290e-01 9.92199450e-01 -5.59745282e-04 1.56648117e+00] [ 4.92342806e-03 -5.44371886e-05 9.99987878e-01 -7.06275068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.710281693 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:36.90, Y:1.57, Z:-0.07 [[ 9.92121398e-01 -1.25184676e-01 -4.89170947e-03 3.69023593e+01] [ 1.25183433e-01 9.92133456e-01 -5.60611310e-04 1.56686840e+00] [ 4.92340856e-03 -5.61665083e-05 9.99987878e-01 -6.92812261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74028169299999 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:36.93, Y:1.56, Z:-0.07 [[ 9.92166702e-01 -1.24825108e-01 -4.89160581e-03 3.69304014e+01] [ 1.24823857e-01 9.92178759e-01 -5.61514303e-04 1.56245660e+00] [ 4.92343846e-03 -5.34733078e-05 9.99987878e-01 -6.85842091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.770281692999994 meters Centerline goodness : 0.998376 Centerline is valid? [True, True] Translation: X:36.96, Y:1.56, Z:-0.07 [[ 9.92281661e-01 -1.23907937e-01 -4.89157367e-03 3.69570643e+01] [ 1.23906673e-01 9.92293717e-01 -5.61794122e-04 1.56245261e+00] [ 4.92348857e-03 -4.86406144e-05 9.99987878e-01 -6.76337377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.800281692999995 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:36.99, Y:1.56, Z:-0.07 [[ 9.92385704e-01 -1.23071879e-01 -4.89153078e-03 3.69853043e+01] [ 1.23070603e-01 9.92397758e-01 -5.62167306e-04 1.56375079e+00] [ 4.92353117e-03 -4.41168438e-05 9.99987878e-01 -6.69141876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.830281692999996 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:37.01, Y:1.56, Z:-0.07 [[ 9.92608118e-01 -1.21264990e-01 -4.89142779e-03 3.70123820e+01] [ 1.21263688e-01 9.92620170e-01 -5.63062025e-04 1.56287726e+00] [ 4.92360959e-03 -3.42526342e-05 9.99987878e-01 -6.76383956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.860281693 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:37.04, Y:1.56, Z:-0.07 [[ 9.92710174e-01 -1.20426679e-01 -4.89138308e-03 3.70396575e+01] [ 1.20425365e-01 9.92722224e-01 -5.63450165e-04 1.56357480e+00] [ 4.92363912e-03 -2.97038817e-05 9.99987878e-01 -6.69323360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.890281693 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:37.07, Y:1.56, Z:-0.06 [[ 9.93047196e-01 -1.17615224e-01 -4.89133874e-03 3.70670575e+01] [ 1.17613874e-01 9.93059242e-01 -5.63834842e-04 1.56354235e+00] [ 4.92370470e-03 -1.53746870e-05 9.99987878e-01 -6.32054773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.920281693 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:37.10, Y:1.57, Z:-0.06 [[ 9.93303538e-01 -1.15430322e-01 -4.89096990e-03 3.70962794e+01] [ 1.15428930e-01 9.93315580e-01 -5.67031078e-04 1.56655432e+00] [ 4.92372918e-03 -1.32544340e-06 9.99987878e-01 -6.34665595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.950281692999994 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:37.12, Y:1.57, Z:-0.07 [[ 9.93606837e-01 -1.12789759e-01 -4.89125728e-03 3.71245936e+01] [ 1.12788347e-01 9.93618876e-01 -5.64542850e-04 1.57014238e+00] [ 4.92372021e-03 9.25681341e-06 9.99987878e-01 -6.55002264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.980281692999995 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:37.15, Y:1.57, Z:-0.07 [[ 9.93928656e-01 -1.09917711e-01 -4.89113210e-03 3.71525584e+01] [ 1.09916258e-01 9.93940690e-01 -5.65625275e-04 1.57422980e+00] [ 4.92366745e-03 2.45762300e-05 9.99987878e-01 -6.78071175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.010281692999996 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:37.18, Y:1.58, Z:-0.07 [[ 9.94383549e-01 -1.05723394e-01 -4.89103530e-03 3.71797690e+01] [ 1.05721886e-01 9.94395576e-01 -5.66461118e-04 1.57938131e+00] [ 4.92351205e-03 4.61901381e-05 9.99987878e-01 -6.72219958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.040281693 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:37.21, Y:1.58, Z:-0.06 [[ 9.94498389e-01 -1.04637627e-01 -4.89093236e-03 3.72067491e+01] [ 1.04636102e-01 9.94510414e-01 -5.67348486e-04 1.58373972e+00] [ 4.92344917e-03 5.24590591e-05 9.99987878e-01 -6.43282134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.070281693 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:37.24, Y:1.59, Z:-0.06 [[ 9.94370021e-01 -1.05850598e-01 -4.88999230e-03 3.72354686e+01] [ 1.05849048e-01 9.94382043e-01 -5.75448339e-04 1.58962059e+00] [ 4.92343208e-03 5.46075470e-05 9.99987878e-01 -6.33622013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.100281693 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:37.26, Y:1.59, Z:-0.06 [[ 9.94305042e-01 -1.06459211e-01 -4.89085881e-03 3.72621291e+01] [ 1.06457705e-01 9.94317069e-01 -5.67986894e-04 1.59299280e+00] [ 4.92353184e-03 4.40826286e-05 9.99987878e-01 -6.45329137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.13028169299999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:37.29, Y:1.60, Z:-0.06 [[ 9.94192033e-01 -1.07509452e-01 -4.89081221e-03 3.72894266e+01] [ 1.07507957e-01 9.94204062e-01 -5.68387947e-04 1.59642375e+00] [ 4.92357244e-03 3.92855390e-05 9.99987878e-01 -6.43189164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.160281692999995 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:37.32, Y:1.60, Z:-0.06 [[ 9.93973254e-01 -1.09513702e-01 -4.89070974e-03 3.73158565e+01] [ 1.09512227e-01 9.93985286e-01 -5.69268271e-04 1.60034249e+00] [ 4.92363619e-03 3.02449228e-05 9.99987878e-01 -6.39196167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.190281692999996 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:37.34, Y:1.60, Z:-0.06 [[ 9.93846335e-01 -1.10659585e-01 -4.89066516e-03 3.73439412e+01] [ 1.10658122e-01 9.93858368e-01 -5.69650949e-04 1.60442347e+00] [ 4.92366584e-03 2.49536869e-05 9.99987878e-01 -6.45996133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.220281693 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:37.37, Y:1.61, Z:-0.07 [[ 9.93735215e-01 -1.11653060e-01 -4.89055890e-03 3.73715037e+01] [ 1.11651604e-01 9.93747248e-01 -5.70561777e-04 1.60849026e+00] [ 4.92368442e-03 2.09485846e-05 9.99987878e-01 -6.51935320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.250281693 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:37.40, Y:1.61, Z:-0.07 [[ 9.93695610e-01 -1.12004989e-01 -4.89045164e-03 3.73978698e+01] [ 1.12003533e-01 9.93707644e-01 -5.71479715e-04 1.61266605e+00] [ 4.92368775e-03 2.01290210e-05 9.99987878e-01 -6.70785683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.280281693 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:37.43, Y:1.62, Z:-0.07 [[ 9.93742675e-01 -1.11586649e-01 -4.89040485e-03 3.74258232e+01] [ 1.11585186e-01 9.93754708e-01 -5.71879797e-04 1.61692113e+00] [ 4.92367699e-03 2.26046245e-05 9.99987878e-01 -6.53548767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31028169299999 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:37.45, Y:1.62, Z:-0.06 [[ 9.94040008e-01 -1.08906138e-01 -4.89030111e-03 3.74521716e+01] [ 1.08904638e-01 9.94052037e-01 -5.72765516e-04 1.62140950e+00] [ 4.92359146e-03 3.67753644e-05 9.99987878e-01 -6.24513289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.340281692999994 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:37.48, Y:1.63, Z:-0.06 [[ 9.94231287e-01 -1.07145853e-01 -4.89022973e-03 3.74802386e+01] [ 1.07144328e-01 9.94243312e-01 -5.73374303e-04 1.62510491e+00] [ 4.92351289e-03 4.61062913e-05 9.99987878e-01 -6.20626759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.370281692999995 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:37.51, Y:1.63, Z:-0.06 [[ 9.94434220e-01 -1.05245750e-01 -4.89012064e-03 3.75074252e+01] [ 1.05244199e-01 9.94446242e-01 -5.74303223e-04 1.62882233e+00] [ 4.92340507e-03 5.64499508e-05 9.99987878e-01 -6.23344651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.400281693 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:37.54, Y:1.63, Z:-0.06 [[ 9.94707015e-01 -1.02635482e-01 -4.89007312e-03 3.75352949e+01] [ 1.02633897e-01 9.94719032e-01 -5.74707584e-04 1.63280441e+00] [ 4.92323419e-03 6.97784048e-05 9.99987878e-01 -6.00492539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.430281693 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:37.56, Y:1.64, Z:-0.06 [[ 9.94865596e-01 -1.01086761e-01 -4.89004077e-03 3.75630013e+01] [ 1.01085156e-01 9.94877611e-01 -5.74982673e-04 1.63656311e+00] [ 4.92311522e-03 7.77199459e-05 9.99987878e-01 -5.85968715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.460281693 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:37.59, Y:1.64, Z:-0.06 [[ 9.95459430e-01 -9.50610949e-02 -4.88993378e-03 3.75902208e+01] [ 9.50594124e-02 9.95471434e-01 -5.75891109e-04 1.64347350e+00] [ 4.92253424e-03 1.08442004e-04 9.99987878e-01 -6.19598800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49028169299999 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:37.62, Y:1.65, Z:-0.06 [[ 9.95808415e-01 -9.13328544e-02 -4.88982644e-03 3.76175560e+01] [ 9.13311224e-02 9.95820412e-01 -5.76801140e-04 1.64950956e+00] [ 4.92206987e-03 1.27790092e-04 9.99987878e-01 -6.30828866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.520281692999994 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:37.65, Y:1.65, Z:-0.06 [[ 9.95791458e-01 -9.15175556e-02 -4.88971882e-03 3.76458117e+01] [ 9.15158213e-02 9.95803455e-01 -5.77711961e-04 1.65304540e+00] [ 4.92206969e-03 1.27794001e-04 9.99987878e-01 -6.29426439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.550281692999995 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:37.67, Y:1.66, Z:-0.06 [[ 9.96507030e-01 -8.33656453e-02 -4.88961150e-03 3.76726482e+01] [ 8.33638085e-02 9.96519012e-01 -5.78618876e-04 1.66133817e+00] [ 4.92082776e-03 1.68981140e-04 9.99987878e-01 -6.17112759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.580281692999996 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:37.70, Y:1.67, Z:-0.06 [[ 9.96803308e-01 -7.97449513e-02 -4.88957817e-03 3.76996528e+01] [ 7.97430696e-02 9.96815283e-01 -5.78900398e-04 1.66719424e+00] [ 4.92017063e-03 1.87139859e-04 9.99987878e-01 -6.01489879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.610281693 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:37.73, Y:1.67, Z:-0.06 [[ 9.96992223e-01 -7.73473099e-02 -4.88878666e-03 3.77273439e+01] [ 7.73453668e-02 9.97004188e-01 -5.85574974e-04 1.67358719e+00] [ 4.91943343e-03 2.05688697e-04 9.99987878e-01 -5.95586333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.640281693 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:37.76, Y:1.68, Z:-0.06 [[ 9.97124067e-01 -7.56286256e-02 -4.88933275e-03 3.77556109e+01] [ 7.56266843e-02 9.97136032e-01 -5.80970986e-04 1.68077306e+00] [ 4.91926790e-03 2.09536128e-04 9.99987878e-01 -5.98721558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.670281693 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:37.78, Y:1.69, Z:-0.06 [[ 9.97057632e-01 -7.64994939e-02 -4.88941643e-03 3.77834171e+01] [ 7.64975666e-02 9.97069599e-01 -5.80265932e-04 1.68551298e+00] [ 4.91947853e-03 2.04530117e-04 9.99987878e-01 -6.02010769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.700281692999994 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:37.81, Y:1.69, Z:-0.06 [[ 9.96975794e-01 -7.75587629e-02 -4.88931200e-03 3.78111917e+01] [ 7.75568440e-02 9.96987762e-01 -5.81144495e-04 1.69068830e+00] [ 4.91965708e-03 2.00187386e-04 9.99987878e-01 -6.01723554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.730281692999995 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:37.84, Y:1.70, Z:-0.06 [[ 9.96778991e-01 -8.00483564e-02 -4.88920826e-03 3.78377864e+01] [ 8.00464631e-02 9.96790964e-01 -5.82015973e-04 1.69781435e+00] [ 4.92010803e-03 1.88777465e-04 9.99987878e-01 -6.11230381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.760281692999996 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:37.86, Y:1.70, Z:-0.06 [[ 9.96662990e-01 -8.14799342e-02 -4.88916305e-03 3.78646402e+01] [ 8.14780562e-02 9.96674966e-01 -5.82395492e-04 1.70239202e+00] [ 4.92035996e-03 1.82092530e-04 9.99987878e-01 -6.22431535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.790281693 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:37.89, Y:1.71, Z:-0.06 [[ 9.96562087e-01 -8.27049177e-02 -4.88911821e-03 3.78923859e+01] [ 8.27030526e-02 9.96574064e-01 -5.82771721e-04 1.70630606e+00] [ 4.92056649e-03 1.76423203e-04 9.99987878e-01 -6.20188866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.820281693 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:37.92, Y:1.71, Z:-0.06 [[ 9.96446073e-01 -8.40911483e-02 -4.88901491e-03 3.79194792e+01] [ 8.40892956e-02 9.96458052e-01 -5.83637003e-04 1.71196100e+00] [ 4.92077698e-03 1.70448980e-04 9.99987878e-01 -5.83586994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.850281693 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:37.95, Y:1.72, Z:-0.06 [[ 9.96424790e-01 -8.43429662e-02 -4.88891188e-03 3.79459530e+01] [ 8.43411124e-02 9.96436769e-01 -5.84498759e-04 1.71723631e+00] [ 4.92078992e-03 1.70072787e-04 9.99987878e-01 -5.68658295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88028169299999 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:37.97, Y:1.73, Z:-0.06 [[ 9.96416315e-01 -8.44430313e-02 -4.88884073e-03 3.79731432e+01] [ 8.44411758e-02 9.96428294e-01 -5.85093322e-04 1.72625399e+00] [ 4.92078628e-03 1.70177073e-04 9.99987878e-01 -5.65270957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.910281692999995 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:38.00, Y:1.73, Z:-0.06 [[ 9.96393489e-01 -8.47119543e-02 -4.88873017e-03 3.79997491e+01] [ 8.47100974e-02 9.96405468e-01 -5.86015593e-04 1.73155033e+00] [ 4.92080000e-03 1.69777312e-04 9.99987878e-01 -5.62081150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.940281692999996 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:38.03, Y:1.74, Z:-0.05 [[ 9.96254894e-01 -8.63266692e-02 -4.88793279e-03 3.80279172e+01] [ 8.63247992e-02 9.96266871e-01 -5.92655263e-04 1.73701751e+00] [ 4.92084746e-03 1.68485889e-04 9.99987878e-01 -5.45744365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.970281693 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:38.05, Y:1.74, Z:-0.05 [[ 9.95735660e-01 -9.21227293e-02 -4.88851477e-03 3.80549724e+01] [ 9.21209528e-02 9.95747651e-01 -5.87815290e-04 1.74261650e+00] [ 4.92187825e-03 1.34974008e-04 9.99987878e-01 -5.40924267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.000281693 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:38.08, Y:1.75, Z:-0.05 [[ 9.95311626e-01 -9.65964332e-02 -4.88841162e-03 3.80825824e+01] [ 9.65947064e-02 9.95323624e-01 -5.88671839e-04 1.74701221e+00] [ 4.92241517e-03 1.13717240e-04 9.99987878e-01 -5.46471400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.030281693 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:38.11, Y:1.75, Z:-0.06 [[ 9.94862931e-01 -1.01113054e-01 -4.88863332e-03 3.81105909e+01] [ 1.01111391e-01 9.94874938e-01 -5.86832178e-04 1.75104270e+00] [ 4.92291517e-03 8.95210665e-05 9.99987878e-01 -5.54022340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06028169299999 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:38.14, Y:1.75, Z:-0.05 [[ 9.93962517e-01 -1.09611225e-01 -4.88827204e-03 3.81387978e+01] [ 1.09609649e-01 9.93974535e-01 -5.89826329e-04 1.75390199e+00] [ 4.92346952e-03 5.04634785e-05 9.99987878e-01 -5.48242699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.090281692999994 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:38.17, Y:1.76, Z:-0.05 [[ 9.93609304e-01 -1.12768155e-01 -4.88816212e-03 3.81669462e+01] [ 1.12766614e-01 9.93621327e-01 -5.90735902e-04 1.75657332e+00] [ 4.92359833e-03 3.57391990e-05 9.99987878e-01 -5.46052863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.120281692999995 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:38.19, Y:1.76, Z:-0.06 [[ 9.93062005e-01 -1.17490258e-01 -4.88805281e-03 3.81942552e+01] [ 1.17488769e-01 9.93074035e-01 -5.91639035e-04 1.75685606e+00] [ 4.92371015e-03 1.32429412e-05 9.99987878e-01 -5.61369012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.150281693 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:38.22, Y:1.76, Z:-0.06 [[ 9.92825968e-01 -1.19468426e-01 -4.88800529e-03 3.82224397e+01] [ 1.19466959e-01 9.92838000e-01 -5.92031323e-04 1.75811522e+00] [ 4.92372645e-03 3.82894233e-06 9.99987878e-01 -5.82657438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.180281693 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:38.25, Y:1.76, Z:-0.06 [[ 9.92658780e-01 -1.20849722e-01 -4.88789699e-03 3.82507817e+01] [ 1.20848267e-01 9.92670814e-01 -5.92924187e-04 1.75894796e+00] [ 4.92372740e-03 -2.12248149e-06 9.99987878e-01 -6.03020197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.210281693 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:38.28, Y:1.76, Z:-0.06 [[ 9.92463031e-01 -1.22446890e-01 -4.88786334e-03 3.82775854e+01] [ 1.22445453e-01 9.92475067e-01 -5.93201389e-04 1.75870341e+00] [ 4.92371817e-03 -9.76619402e-06 9.99987878e-01 -5.59160499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24028169299999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:38.31, Y:1.76, Z:-0.05 [[ 9.92456010e-01 -1.22503789e-01 -4.88778907e-03 3.83050966e+01] [ 1.22502350e-01 9.92468046e-01 -5.93812725e-04 1.76124247e+00] [ 4.92371878e-03 -9.43264005e-06 9.99987878e-01 -5.25718127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.270281692999994 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:38.33, Y:1.76, Z:-0.05 [[ 9.92523577e-01 -1.21955156e-01 -4.88768253e-03 3.83322147e+01] [ 1.21953706e-01 9.92535611e-01 -5.94688403e-04 1.76341002e+00] [ 4.92372428e-03 -5.82873591e-06 9.99987878e-01 -5.13084463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.300281692999995 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:38.36, Y:1.76, Z:-0.06 [[ 9.92799811e-01 -1.19685616e-01 -4.88760912e-03 3.83601007e+01] [ 1.19684136e-01 9.92811842e-01 -5.95291153e-04 1.76246223e+00] [ 4.92372400e-03 6.03567088e-06 9.99987878e-01 -5.53408699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.330281692999996 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:38.39, Y:1.77, Z:-0.06 [[ 9.92928729e-01 -1.18611349e-01 -4.88753983e-03 3.83865842e+01] [ 1.18609853e-01 9.92940757e-01 -5.95859481e-04 1.76527374e+00] [ 4.92371320e-03 1.19356171e-05 9.99987878e-01 -5.66804108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.360281693 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:38.41, Y:1.77, Z:-0.05 [[ 9.93236378e-01 -1.16006937e-01 -4.88746279e-03 3.84135665e+01] [ 1.16005406e-01 9.93248403e-01 -5.96490720e-04 1.77336499e+00] [ 4.92366167e-03 2.54841782e-05 9.99987878e-01 -5.43622308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.390281693 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:38.44, Y:1.78, Z:-0.05 [[ 9.93424228e-01 -1.14387140e-01 -4.88735705e-03 3.84408692e+01] [ 1.14385585e-01 9.93436249e-01 -5.97355843e-04 1.77907219e+00] [ 4.92360748e-03 3.43845720e-05 9.99987878e-01 -5.26422589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.420281693 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:38.47, Y:1.78, Z:-0.05 [[ 9.93564721e-01 -1.13160327e-01 -4.88724625e-03 3.84670934e+01] [ 1.13158753e-01 9.93576740e-01 -5.98261010e-04 1.78397476e+00] [ 4.92355361e-03 4.13763417e-05 9.99987878e-01 -5.14160336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.450281692999994 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:38.49, Y:1.79, Z:-0.05 [[ 9.93817446e-01 -1.10918884e-01 -4.88716983e-03 3.84936433e+01] [ 1.10917280e-01 9.93829461e-01 -5.98884581e-04 1.79169335e+00] [ 4.92344097e-03 5.31103597e-05 9.99987878e-01 -5.11250180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.480281692999995 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:38.52, Y:1.80, Z:-0.05 [[ 9.93924981e-01 -1.09951113e-01 -4.88712221e-03 3.85207512e+01] [ 1.09949496e-01 9.93936995e-01 -5.99272951e-04 1.79890546e+00] [ 4.92338229e-03 5.82957344e-05 9.99987878e-01 -5.18085838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.510281692999996 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:38.55, Y:1.81, Z:-0.06 [[ 9.94139086e-01 -1.07998120e-01 -4.88701417e-03 3.85468788e+01] [ 1.07996475e-01 9.94151096e-01 -6.00152750e-04 1.80981919e+00] [ 4.92324586e-03 6.88550035e-05 9.99987878e-01 -5.50254116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.540281693 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:38.57, Y:1.82, Z:-0.06 [[ 9.94261668e-01 -1.06863712e-01 -4.88696702e-03 3.85742577e+01] [ 1.06862051e-01 9.94273675e-01 -6.00536424e-04 1.81620187e+00] [ 4.92315821e-03 7.48590302e-05 9.99987878e-01 -5.65679331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.570281693 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:38.60, Y:1.82, Z:-0.06 [[ 9.94343448e-01 -1.06100072e-01 -4.88685881e-03 3.86012538e+01] [ 1.06098397e-01 9.94355454e-01 -6.01415716e-04 1.82287168e+00] [ 4.92308496e-03 7.95258907e-05 9.99987878e-01 -5.67134661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.600281693 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:38.63, Y:1.83, Z:-0.06 [[ 9.94413924e-01 -1.05437502e-01 -4.88674597e-03 3.86278052e+01] [ 1.05435814e-01 9.94425928e-01 -6.02331166e-04 1.83020089e+00] [ 4.92301519e-03 8.37284585e-05 9.99987878e-01 -5.68587681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.63028169299999 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:38.65, Y:1.84, Z:-0.05 [[ 9.94504338e-01 -1.04581267e-01 -4.88669681e-03 3.86548506e+01] [ 1.04579567e-01 9.94516340e-01 -6.02729741e-04 1.84284952e+00] [ 4.92293406e-03 8.83687057e-05 9.99987878e-01 -5.14087978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.660281692999995 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:38.68, Y:1.85, Z:-0.05 [[ 9.94412076e-01 -1.05454943e-01 -4.88659824e-03 3.86808444e+01] [ 1.05453250e-01 9.94424078e-01 -6.03527811e-04 1.85216655e+00] [ 4.92299594e-03 8.48476766e-05 9.99987878e-01 -5.05319934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.690281692999996 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:38.71, Y:1.86, Z:-0.05 [[ 9.94250698e-01 -1.06965749e-01 -4.88652021e-03 3.87074443e+01] [ 1.06964072e-01 9.94262703e-01 -6.04158929e-04 1.85778416e+00] [ 4.92310911e-03 7.80033396e-05 9.99987878e-01 -5.22908233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.720281693 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:38.74, Y:1.86, Z:-0.05 [[ 9.93992258e-01 -1.09341273e-01 -4.88647367e-03 3.87351874e+01] [ 1.09339622e-01 9.94004266e-01 -6.04535150e-04 1.86346762e+00] [ 4.92327631e-03 6.66180740e-05 9.99987878e-01 -5.41958542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.750281693 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:38.76, Y:1.87, Z:-0.06 [[ 9.93337753e-01 -1.15135707e-01 -4.88636486e-03 3.87622043e+01] [ 1.15134122e-01 9.93349771e-01 -6.05413322e-04 1.87187527e+00] [ 4.92357411e-03 3.87925813e-05 9.99987878e-01 -5.53611154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.780281693 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:38.79, Y:1.88, Z:-0.06 [[ 9.93059751e-01 -1.17509389e-01 -4.88625129e-03 3.87887411e+01] [ 1.17507828e-01 9.93071771e-01 -6.06328530e-04 1.87777332e+00] [ 4.92364752e-03 2.79476833e-05 9.99987878e-01 -5.51100571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81028169299999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:38.82, Y:1.89, Z:-0.05 [[ 9.92656506e-01 -1.20868465e-01 -4.88617310e-03 3.88163472e+01] [ 1.20866942e-01 9.92668532e-01 -6.06958060e-04 1.88518881e+00] [ 4.92371236e-03 1.19240695e-05 9.99987878e-01 -5.32283243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.840281692999994 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:38.84, Y:1.89, Z:-0.05 [[ 9.92549416e-01 -1.21744744e-01 -4.88605756e-03 3.88425830e+01] [ 1.21743226e-01 9.92561443e-01 -6.07886672e-04 1.89022154e+00] [ 4.92371935e-03 8.51315021e-06 9.99987878e-01 -5.48260734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.870281692999995 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:38.87, Y:1.90, Z:-0.06 [[ 9.92447311e-01 -1.22574313e-01 -4.88597780e-03 3.88700764e+01] [ 1.22572803e-01 9.92459338e-01 -6.08527116e-04 1.89582286e+00] [ 4.92372409e-03 5.04310705e-06 9.99987878e-01 -5.67353062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.900281693 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:38.90, Y:1.90, Z:-0.06 [[ 9.92194416e-01 -1.24604852e-01 -4.88586569e-03 3.88976014e+01] [ 1.24603362e-01 9.92206446e-01 -6.09425880e-04 1.90405905e+00] [ 4.92372486e-03 -4.12633708e-06 9.99987878e-01 -5.83783187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.930281693 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:38.93, Y:1.91, Z:-0.06 [[ 9.92086904e-01 -1.25457979e-01 -4.88575299e-03 3.89254152e+01] [ 1.25456494e-01 9.92098934e-01 -6.10328085e-04 1.90934709e+00] [ 4.92372086e-03 -7.45094308e-06 9.99987878e-01 -5.82608074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.960281693 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:38.95, Y:1.91, Z:-0.06 [[ 9.91997388e-01 -1.26163830e-01 -4.88563912e-03 3.89533882e+01] [ 1.26162350e-01 9.92009419e-01 -6.11238293e-04 1.91381077e+00] [ 4.92371619e-03 -1.00369222e-05 9.99987878e-01 -5.72832394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99028169299999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:38.98, Y:1.92, Z:-0.06 [[ 9.91855341e-01 -1.27275739e-01 -4.88552373e-03 3.89800448e+01] [ 1.27274268e-01 9.91867373e-01 -6.12159130e-04 1.91787925e+00] [ 4.92370460e-03 -1.46281539e-05 9.99987878e-01 -5.72887841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.020281692999994 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:39.01, Y:1.92, Z:-0.06 [[ 9.91836113e-01 -1.27425496e-01 -4.88544446e-03 3.90064958e+01] [ 1.27424023e-01 9.91848145e-01 -6.12791142e-04 1.92107908e+00] [ 4.92370424e-03 -1.47346041e-05 9.99987878e-01 -5.70734808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.050281692999995 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:39.04, Y:1.93, Z:-0.05 [[ 9.91742995e-01 -1.28148215e-01 -4.88539474e-03 3.90350621e+01] [ 1.28146749e-01 9.91755028e-01 -6.13187277e-04 1.92516028e+00] [ 4.92369365e-03 -1.79232674e-05 9.99987878e-01 -5.26641339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.080281692999996 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:39.06, Y:1.93, Z:-0.05 [[ 9.91638308e-01 -1.28955808e-01 -4.88529560e-03 3.90616740e+01] [ 1.28954348e-01 9.91650341e-01 -6.13976111e-04 1.92921679e+00] [ 4.92368083e-03 -2.11378753e-05 9.99987878e-01 -4.89957649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.110281693 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:39.09, Y:1.93, Z:-0.05 [[ 9.91505583e-01 -1.29972357e-01 -4.88524622e-03 3.90888141e+01] [ 1.29970908e-01 9.91517617e-01 -6.14368734e-04 1.93229292e+00] [ 4.92365865e-03 -2.57898557e-05 9.99987878e-01 -4.61283471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.140281693 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:39.12, Y:1.93, Z:-0.05 [[ 9.91401023e-01 -1.30767527e-01 -4.88519742e-03 3.91155515e+01] [ 1.30766086e-01 9.91413059e-01 -6.14756590e-04 1.93348002e+00] [ 4.92363871e-03 -2.93478311e-05 9.99987878e-01 -4.53923270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.170281693 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:39.14, Y:1.93, Z:-0.05 [[ 9.91139712e-01 -1.32733592e-01 -4.88512051e-03 3.91436526e+01] [ 1.32732171e-01 9.91151750e-01 -6.15367109e-04 1.93304174e+00] [ 4.92357563e-03 -3.84978718e-05 9.99987878e-01 -5.11158686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.200281692999994 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:39.17, Y:1.94, Z:-0.05 [[ 9.90959376e-01 -1.34073307e-01 -4.88500713e-03 3.91718722e+01] [ 1.34071898e-01 9.90971416e-01 -6.16265860e-04 1.93597493e+00] [ 4.92352723e-03 -4.42477454e-05 9.99987878e-01 -5.37025320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.230281692999995 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:39.20, Y:1.94, Z:-0.05 [[ 9.90690080e-01 -1.36048898e-01 -4.88489269e-03 3.92000902e+01] [ 1.36047508e-01 9.90702122e-01 -6.17171606e-04 1.93583168e+00] [ 4.92343907e-03 -5.31516924e-05 9.99987878e-01 -5.22193346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.260281692999996 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:39.23, Y:1.94, Z:-0.05 [[ 9.90535825e-01 -1.37167483e-01 -4.88485709e-03 3.92286394e+01] [ 1.37166106e-01 9.90547868e-01 -6.17453256e-04 1.93641466e+00] [ 4.92337929e-03 -5.84272529e-05 9.99987878e-01 -5.01144872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.290281693 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:39.26, Y:1.94, Z:-0.05 [[ 9.90311077e-01 -1.38780801e-01 -4.88474414e-03 3.92555521e+01] [ 1.38779439e-01 9.90323121e-01 -6.18345544e-04 1.93550773e+00] [ 4.92328955e-03 -6.55476101e-05 9.99987878e-01 -4.97706461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.320281693 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:39.28, Y:1.94, Z:-0.05 [[ 9.90423031e-01 -1.37979562e-01 -4.88469493e-03 3.92826736e+01] [ 1.37978188e-01 9.90435075e-01 -6.18734034e-04 1.93695251e+00] [ 4.92334584e-03 -6.11729184e-05 9.99987878e-01 -5.17268609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.350281693 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:39.31, Y:1.94, Z:-0.05 [[ 9.90699691e-01 -1.35978903e-01 -4.88464721e-03 3.93110507e+01] [ 1.35977503e-01 9.90711732e-01 -6.19110552e-04 1.93805826e+00] [ 4.92346327e-03 -5.08494989e-05 9.99987878e-01 -5.36635513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38028169299999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:39.34, Y:1.94, Z:-0.05 [[ 9.91470696e-01 -1.30238244e-01 -4.88453955e-03 3.93395737e+01] [ 1.30236770e-01 9.91482728e-01 -6.19958817e-04 1.93703845e+00] [ 4.92367894e-03 -2.14756545e-05 9.99987878e-01 -5.38353927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.410281692999995 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:39.37, Y:1.94, Z:-0.05 [[ 9.91447390e-01 -1.30415545e-01 -4.88442896e-03 3.93677861e+01] [ 1.30414069e-01 9.91459422e-01 -6.20828839e-04 1.94082048e+00] [ 4.92367885e-03 -2.14791236e-05 9.99987878e-01 -5.36951501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.440281692999996 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:39.39, Y:1.94, Z:-0.05 [[ 9.91856311e-01 -1.27268227e-01 -4.88431779e-03 3.93942142e+01] [ 1.27266709e-01 9.91868337e-01 -6.21702283e-04 1.94333880e+00] [ 4.92372311e-03 -4.97171681e-06 9.99987878e-01 -5.19878440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.470281693 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:39.42, Y:1.95, Z:-0.05 [[ 9.92701769e-01 -1.20496232e-01 -4.88426943e-03 3.94217297e+01] [ 1.20494629e-01 9.92713784e-01 -6.22081966e-04 1.94719223e+00] [ 4.92364012e-03 2.90136331e-05 9.99987878e-01 -5.10556964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.500281693 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:39.45, Y:1.95, Z:-0.05 [[ 9.93166064e-01 -1.16607519e-01 -4.88415880e-03 3.94498258e+01] [ 1.16605866e-01 9.93178073e-01 -6.22949320e-04 1.95078904e+00] [ 4.92348000e-03 4.91705603e-05 9.99987878e-01 -5.21294964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.530281693 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:39.48, Y:1.95, Z:-0.05 [[ 9.93614167e-01 -1.12725475e-01 -4.88404813e-03 3.94770935e+01] [ 1.12723770e-01 9.93626168e-01 -6.23815785e-04 1.95410255e+00] [ 4.92323796e-03 6.92838842e-05 9.99987878e-01 -5.33200697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56028169299999 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:39.50, Y:1.96, Z:-0.05 [[ 9.93952693e-01 -1.09700457e-01 -4.88399979e-03 3.95049260e+01] [ 1.09698714e-01 9.93964689e-01 -6.24194041e-04 1.95812289e+00] [ 4.92299770e-03 8.46508520e-05 9.99987878e-01 -5.39255298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.590281692999994 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:39.53, Y:1.96, Z:-0.05 [[ 9.94367331e-01 -1.05876144e-01 -4.88388743e-03 3.95316804e+01] [ 1.05874351e-01 9.94379320e-01 -6.25071905e-04 1.96421979e+00] [ 4.92261687e-03 1.04472671e-04 9.99987878e-01 -5.28052440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.620281692999995 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:39.56, Y:1.97, Z:-0.05 [[ 9.94418155e-01 -1.05397732e-01 -4.88383836e-03 3.95581666e+01] [ 1.05395931e-01 9.94430142e-01 -6.25455131e-04 1.96884030e+00] [ 4.92255762e-03 1.07227247e-04 9.99987878e-01 -5.16899551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.650281693 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:39.59, Y:1.97, Z:-0.05 [[ 9.94427129e-01 -1.05313025e-01 -4.88378966e-03 3.95859310e+01] [ 1.05311221e-01 9.94439116e-01 -6.25835100e-04 1.97287532e+00] [ 4.92254006e-03 1.08029548e-04 9.99987878e-01 -5.34877395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.680281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:39.61, Y:1.98, Z:-0.05 [[ 9.94397927e-01 -1.05588406e-01 -4.88368009e-03 3.96123322e+01] [ 1.05586601e-01 9.94409914e-01 -6.26689010e-04 1.97707100e+00] [ 4.92255099e-03 1.07527070e-04 9.99987878e-01 -5.49866410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.710281693 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:39.64, Y:1.98, Z:-0.05 [[ 9.94311671e-01 -1.06397612e-01 -4.88363249e-03 3.96396964e+01] [ 1.06395815e-01 9.94323658e-01 -6.27059740e-04 1.98309240e+00] [ 4.92262898e-03 1.03894759e-04 9.99987878e-01 -5.37848294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74028169299999 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:39.67, Y:1.99, Z:-0.05 [[ 9.94214766e-01 -1.07299345e-01 -4.88352382e-03 3.96663476e+01] [ 1.07297555e-01 9.94226755e-01 -6.27904896e-04 1.99023678e+00] [ 4.92270382e-03 1.00282155e-04 9.99987878e-01 -4.95889080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.770281692999994 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:39.69, Y:1.99, Z:-0.05 [[ 9.94129941e-01 -1.08082435e-01 -4.88349017e-03 3.96939752e+01] [ 1.08080653e-01 9.94141930e-01 -6.28166505e-04 1.99480891e+00] [ 4.92277611e-03 9.66683249e-05 9.99987878e-01 -4.79552747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.800281692999995 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:39.72, Y:2.00, Z:-0.05 [[ 9.93940068e-01 -1.09814814e-01 -4.88338252e-03 3.97211155e+01] [ 1.09813049e-01 9.93952061e-01 -6.29002223e-04 2.00013209e+00] [ 4.92292188e-03 8.89313884e-05 9.99987878e-01 -5.03955203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.830281692999996 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:39.75, Y:2.01, Z:-0.05 [[ 9.93768863e-01 -1.11353494e-01 -4.88326878e-03 3.97486414e+01] [ 1.11351743e-01 9.93780857e-01 -6.29884038e-04 2.00523132e+00] [ 4.92303882e-03 8.21986552e-05 9.99987878e-01 -5.32500228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.860281693 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:39.78, Y:2.01, Z:-0.06 [[ 9.93325086e-01 -1.15245082e-01 -4.88315568e-03 3.97762261e+01] [ 1.15243373e-01 9.93337086e-01 -6.30759654e-04 2.00983420e+00] [ 4.92331158e-03 6.37980548e-05 9.99987878e-01 -5.62557973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.890281693 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:39.80, Y:2.01, Z:-0.06 [[ 9.93031109e-01 -1.17751310e-01 -4.88312047e-03 3.98026266e+01] [ 1.17749631e-01 9.93043114e-01 -6.31032084e-04 2.01258996e+00] [ 4.92345401e-03 5.16488578e-05 9.99987878e-01 -5.73227523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.920281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:39.83, Y:2.01, Z:-0.06 [[ 9.92727066e-01 -1.20287687e-01 -4.88304342e-03 3.98306416e+01] [ 1.20286035e-01 9.92739075e-01 -6.31627775e-04 2.01485007e+00] [ 4.92356505e-03 3.96720574e-05 9.99987878e-01 -5.65043009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.950281692999994 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:39.86, Y:2.02, Z:-0.05 [[ 9.92477071e-01 -1.22333237e-01 -4.88293638e-03 3.98580840e+01] [ 1.22331606e-01 9.92489082e-01 -6.32454142e-04 2.01769459e+00] [ 4.92363121e-03 3.03587860e-05 9.99987878e-01 -5.49311011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.980281692999995 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:39.89, Y:2.02, Z:-0.05 [[ 9.92230270e-01 -1.24319145e-01 -4.88282945e-03 3.98855752e+01] [ 1.24317534e-01 9.92242284e-01 -6.33278614e-04 2.02170958e+00] [ 4.92367850e-03 2.13368926e-05 9.99987878e-01 -5.08770651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.010281692999996 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:39.91, Y:2.03, Z:-0.05 [[ 9.92210763e-01 -1.24474743e-01 -4.88271927e-03 3.99120382e+01] [ 1.24473129e-01 9.92222776e-01 -6.34127008e-04 2.02638029e+00] [ 4.92367807e-03 2.14202958e-05 9.99987878e-01 -4.94812453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.040281693 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:39.94, Y:2.03, Z:-0.05 [[ 9.92136748e-01 -1.25063312e-01 -4.88264143e-03 3.99400162e+01] [ 1.25061703e-01 9.92148763e-01 -6.34725787e-04 2.03082724e+00] [ 4.92368757e-03 1.91033251e-05 9.99987878e-01 -4.83203224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.070281693 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:39.97, Y:2.04, Z:-0.05 [[ 9.92091484e-01 -1.25421880e-01 -4.88252561e-03 3.99668349e+01] [ 1.25420271e-01 9.92103498e-01 -6.35615484e-04 2.03530144e+00] [ 4.92369083e-03 1.82210261e-05 9.99987878e-01 -4.75333413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.100281693 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:39.99, Y:2.04, Z:-0.05 [[ 9.92027829e-01 -1.25924374e-01 -4.88244540e-03 3.99940794e+01] [ 1.25922768e-01 9.92039844e-01 -6.36231011e-04 2.04005433e+00] [ 4.92369737e-03 1.63478303e-05 9.99987878e-01 -4.72197795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.13028169299999 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:40.02, Y:2.04, Z:-0.05 [[ 9.92028021e-01 -1.25922866e-01 -4.88232379e-03 4.00206827e+01] [ 1.25921255e-01 9.92040035e-01 -6.37162831e-04 2.04463637e+00] [ 4.92369404e-03 1.72950433e-05 9.99987878e-01 -4.76293395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.160281692999995 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:40.05, Y:2.05, Z:-0.05 [[ 9.91715561e-01 -1.28360468e-01 -4.88227090e-03 4.00485899e+01] [ 1.28358885e-01 9.91727579e-01 -6.37567897e-04 2.04898692e+00] [ 4.92372121e-03 5.60315709e-06 9.99987878e-01 -5.15960962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.190281692999996 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:40.07, Y:2.05, Z:-0.05 [[ 9.91503499e-01 -1.29988370e-01 -4.88215277e-03 4.00749906e+01] [ 1.29986802e-01 9.91515519e-01 -6.38471175e-04 2.05375920e+00] [ 4.92372406e-03 -1.56902306e-06 9.99987878e-01 -5.19033441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.220281693 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:40.10, Y:2.06, Z:-0.05 [[ 9.91309710e-01 -1.31458068e-01 -4.88210141e-03 4.01014608e+01] [ 1.31456516e-01 9.91321732e-01 -6.38863677e-04 2.05939097e+00] [ 4.92371701e-03 -8.47227417e-06 9.99987878e-01 -5.17043065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.250281693 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:40.13, Y:2.07, Z:-0.05 [[ 9.91106787e-01 -1.32979333e-01 -4.88202066e-03 4.01283333e+01] [ 1.32977796e-01 9.91118811e-01 -6.39480133e-04 2.06570828e+00] [ 4.92370015e-03 -1.54072472e-05 9.99987878e-01 -5.19382147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.280281693 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:40.16, Y:2.07, Z:-0.05 [[ 9.90874565e-01 -1.34698784e-01 -4.88190295e-03 4.01551608e+01] [ 1.34697264e-01 9.90886591e-01 -6.40377525e-04 2.07437957e+00] [ 4.92367024e-03 -2.30451687e-05 9.99987878e-01 -5.25497347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31028169299999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:40.18, Y:2.08, Z:-0.05 [[ 9.90748243e-01 -1.35624805e-01 -4.88178142e-03 4.01821688e+01] [ 1.35623291e-01 9.90760269e-01 -6.41302652e-04 2.08051500e+00] [ 4.92365162e-03 -2.67137870e-05 9.99987878e-01 -5.23299493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.340281692999994 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:40.21, Y:2.09, Z:-0.05 [[ 9.90496720e-01 -1.37449686e-01 -4.88165995e-03 4.02078400e+01] [ 1.37448190e-01 9.90508749e-01 -6.42225932e-04 2.08953953e+00] [ 4.92360064e-03 -3.48526455e-05 9.99987878e-01 -5.24458932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.370281692999995 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:40.24, Y:2.10, Z:-0.05 [[ 9.90308336e-01 -1.38800467e-01 -4.88160719e-03 4.02354895e+01] [ 1.38798986e-01 9.90320367e-01 -6.42626725e-04 2.09547711e+00] [ 4.92355191e-03 -4.11635231e-05 9.99987878e-01 -5.08107479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.400281693 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:40.26, Y:2.10, Z:-0.05 [[ 9.89675741e-01 -1.43241400e-01 -4.88149068e-03 4.02634809e+01] [ 1.43239969e-01 9.89687778e-01 -6.43510505e-04 2.10050818e+00] [ 4.92332901e-03 -6.23578356e-05 9.99987878e-01 -4.63674572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.430281693 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:40.29, Y:2.10, Z:-0.05 [[ 9.89269059e-01 -1.46023633e-01 -4.88136964e-03 4.02900357e+01] [ 1.46022230e-01 9.89281099e-01 -6.44427410e-04 2.10317735e+00] [ 4.92314835e-03 -7.52763830e-05 9.99987878e-01 -4.54467011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.460281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:40.32, Y:2.11, Z:-0.05 [[ 9.88819301e-01 -1.49038795e-01 -4.88131721e-03 4.03174171e+01] [ 1.49037427e-01 9.88831345e-01 -6.44824268e-04 2.10580625e+00] [ 4.92290330e-03 -8.98842752e-05 9.99987878e-01 -4.63371012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49028169299999 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:40.34, Y:2.11, Z:-0.05 [[ 9.88418811e-01 -1.51672105e-01 -4.88126585e-03 4.03445981e+01] [ 1.51670767e-01 9.88430859e-01 -6.45212822e-04 2.10800647e+00] [ 4.92265458e-03 -1.02604846e-04 9.99987878e-01 -4.78159590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.520281692999994 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:40.37, Y:2.11, Z:-0.05 [[ 9.87867377e-01 -1.55223127e-01 -4.88121458e-03 4.03724324e+01] [ 1.55221830e-01 9.87879429e-01 -6.45600490e-04 2.10786763e+00] [ 4.92226360e-03 -1.19903398e-04 9.99987878e-01 -5.10807702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.550281692999995 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:40.40, Y:2.11, Z:-0.05 [[ 9.87733798e-01 -1.56070881e-01 -4.88109657e-03 4.04000034e+01] [ 1.56069591e-01 9.87745850e-01 -6.46491477e-04 2.10952634e+00] [ 4.92218137e-03 -1.23229263e-04 9.99987878e-01 -5.17169514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.580281692999996 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:40.43, Y:2.11, Z:-0.05 [[ 9.87713093e-01 -1.56201865e-01 -4.88097908e-03 4.04276643e+01] [ 1.56200571e-01 9.87725145e-01 -6.47377322e-04 2.10889241e+00] [ 4.92218731e-03 -1.22988664e-04 9.99987878e-01 -5.04681915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.610281693 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:40.46, Y:2.11, Z:-0.05 [[ 9.87728294e-01 -1.56105714e-01 -4.88092798e-03 4.04556893e+01] [ 1.56104418e-01 9.87740346e-01 -6.47762297e-04 2.11047087e+00] [ 4.92220889e-03 -1.22121274e-04 9.99987878e-01 -4.86817635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.640281693 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:40.48, Y:2.11, Z:-0.05 [[ 9.87744225e-01 -1.56004881e-01 -4.88081123e-03 4.04839130e+01] [ 1.56003579e-01 9.87756277e-01 -6.48640840e-04 2.11239738e+00] [ 4.92224306e-03 -1.20732775e-04 9.99987878e-01 -4.67837664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.670281693 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:40.51, Y:2.11, Z:-0.05 [[ 9.87801838e-01 -1.55639670e-01 -4.88068971e-03 4.05108393e+01] [ 1.55638359e-01 9.87813889e-01 -6.49553890e-04 2.11254887e+00] [ 4.92230944e-03 -1.17992010e-04 9.99987878e-01 -4.75603048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.700281692999994 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:40.54, Y:2.12, Z:-0.05 [[ 9.87707980e-01 -1.56234203e-01 -4.88063683e-03 4.05387667e+01] [ 1.56232897e-01 9.87720031e-01 -6.49951045e-04 2.11574137e+00] [ 4.92224734e-03 -1.20554198e-04 9.99987878e-01 -5.08310266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.730281692999995 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:40.57, Y:2.12, Z:-0.05 [[ 9.87667897e-01 -1.56487396e-01 -4.88051962e-03 4.05660010e+01] [ 1.56486089e-01 9.87679948e-01 -6.50829951e-04 2.11889630e+00] [ 4.92223805e-03 -1.20929580e-04 9.99987878e-01 -5.39542265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.760281692999996 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:40.59, Y:2.12, Z:-0.05 [[ 9.87604750e-01 -1.56885429e-01 -4.88048317e-03 4.05939841e+01] [ 1.56884126e-01 9.87616802e-01 -6.51103183e-04 2.12072603e+00] [ 4.92219578e-03 -1.22637740e-04 9.99987878e-01 -5.29952063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.790281693 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:40.62, Y:2.12, Z:-0.05 [[ 9.87695805e-01 -1.56311162e-01 -4.88036743e-03 4.06219564e+01] [ 1.56309847e-01 9.87707855e-01 -6.51969534e-04 2.12376013e+00] [ 4.92228736e-03 -1.18901914e-04 9.99987878e-01 -4.81206664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.820281693 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:40.65, Y:2.13, Z:-0.04 [[ 9.88266905e-01 -1.52658791e-01 -4.88033147e-03 4.06495987e+01] [ 1.52657431e-01 9.88278950e-01 -6.52238598e-04 2.12825090e+00] [ 4.92269882e-03 -1.00433044e-04 9.99987878e-01 -4.31726948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.850281693 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:40.68, Y:2.13, Z:-0.04 [[ 9.88652254e-01 -1.50142946e-01 -4.88021577e-03 4.06777443e+01] [ 1.50141550e-01 9.88664295e-01 -6.53103187e-04 2.13234822e+00] [ 4.92295392e-03 -8.70312235e-05 9.99987878e-01 -4.45325904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88028169299999 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:40.71, Y:2.14, Z:-0.05 [[ 9.88908539e-01 -1.48445568e-01 -4.88009599e-03 4.07053735e+01] [ 1.48444148e-01 9.88920577e-01 -6.53996965e-04 2.13601479e+00] [ 4.92311029e-03 -7.76785092e-05 9.99987878e-01 -4.66233720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.910281692999995 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:40.73, Y:2.14, Z:-0.05 [[ 9.89014428e-01 -1.47738442e-01 -4.87997613e-03 4.07322933e+01] [ 1.47737008e-01 9.89026465e-01 -6.54890083e-04 2.13872132e+00] [ 4.92317798e-03 -7.32573332e-05 9.99987878e-01 -5.06052954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.940281692999996 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:40.76, Y:2.14, Z:-0.05 [[ 9.88881936e-01 -1.48622684e-01 -4.87992397e-03 4.07598824e+01] [ 1.48621260e-01 9.88893974e-01 -6.55278555e-04 2.14307467e+00] [ 4.92311667e-03 -7.72673214e-05 9.99987878e-01 -4.93124728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.970281693 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:40.79, Y:2.15, Z:-0.04 [[ 9.88618373e-01 -1.50365884e-01 -4.87980926e-03 4.07866328e+01] [ 1.50364477e-01 9.88630413e-01 -6.56131658e-04 2.14692497e+00] [ 4.92298766e-03 -8.50861527e-05 9.99987878e-01 -4.28492411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.000281693 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:40.81, Y:2.15, Z:-0.04 [[ 9.88454702e-01 -1.51438073e-01 -4.87975947e-03 4.08146115e+01] [ 1.51436676e-01 9.88466743e-01 -6.56501764e-04 2.15046233e+00] [ 4.92289931e-03 -9.00522997e-05 9.99987878e-01 -4.18695873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.030281693 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:40.84, Y:2.15, Z:-0.04 [[ 9.88258996e-01 -1.52710005e-01 -4.87964181e-03 4.08411909e+01] [ 1.52708620e-01 9.88271038e-01 -6.57375118e-04 2.15343120e+00] [ 4.92279644e-03 -9.55064950e-05 9.99987878e-01 -4.18771505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06028169299999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:40.87, Y:2.16, Z:-0.04 [[ 9.87954071e-01 -1.54670436e-01 -4.87959070e-03 4.08692193e+01] [ 1.54669073e-01 9.87966115e-01 -6.57754314e-04 2.15565940e+00] [ 4.92260542e-03 -1.04890718e-04 9.99987878e-01 -4.46984205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.090281692999994 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:40.90, Y:2.16, Z:-0.05 [[ 9.87890609e-01 -1.55075256e-01 -4.87947018e-03 4.08963435e+01] [ 1.55073893e-01 9.87902654e-01 -6.58647196e-04 2.15908709e+00] [ 4.92258142e-03 -1.06007058e-04 9.99987878e-01 -4.67668518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.120281692999995 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:40.92, Y:2.16, Z:-0.05 [[ 9.87816074e-01 -1.55549332e-01 -4.87941785e-03 4.09244536e+01] [ 1.55547973e-01 9.87828120e-01 -6.59034618e-04 2.16286861e+00] [ 4.92253855e-03 -1.07978567e-04 9.99987878e-01 -4.78562427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.150281693 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:40.95, Y:2.16, Z:-0.05 [[ 9.87850991e-01 -1.55327432e-01 -4.87929737e-03 4.09513113e+01] [ 1.55326067e-01 9.87863036e-01 -6.59925419e-04 2.16483797e+00] [ 4.92258203e-03 -1.05974088e-04 9.99987878e-01 -4.88461431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.180281693 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:40.98, Y:2.17, Z:-0.05 [[ 9.87900640e-01 -1.55011352e-01 -4.87924496e-03 4.09795682e+01] [ 1.55009980e-01 9.87912683e-01 -6.60312699e-04 2.16711659e+00] [ 4.92262394e-03 -1.04008327e-04 9.99987878e-01 -4.86887219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.210281693 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:41.01, Y:2.17, Z:-0.05 [[ 9.88121038e-01 -1.53600158e-01 -4.87912912e-03 4.10072353e+01] [ 1.53598765e-01 9.88133079e-01 -6.61167562e-04 2.16861877e+00] [ 4.92278432e-03 -9.61146283e-05 9.99987878e-01 -4.95536099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24028169299999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:41.03, Y:2.17, Z:-0.05 [[ 9.88209292e-01 -1.53031339e-01 -4.87901141e-03 4.10343383e+01] [ 1.53029935e-01 9.88221332e-01 -6.62035008e-04 2.17137675e+00] [ 4.92285526e-03 -9.24056537e-05 9.99987878e-01 -5.07934671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.270281692999994 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:41.06, Y:2.17, Z:-0.05 [[ 9.88221716e-01 -1.52951091e-01 -4.87893051e-03 4.10617639e+01] [ 1.52949683e-01 9.88233755e-01 -6.62630694e-04 2.17368417e+00] [ 4.92287391e-03 -9.14048336e-05 9.99987878e-01 -5.22299538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.300281692999995 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:41.09, Y:2.17, Z:-0.05 [[ 9.88306630e-01 -1.52401451e-01 -4.87880704e-03 4.10888170e+01] [ 1.52400032e-01 9.88318668e-01 -6.63538526e-04 2.17307254e+00] [ 4.92294031e-03 -8.77508230e-05 9.99987878e-01 -5.27230411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.330281692999996 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:41.12, Y:2.18, Z:-0.05 [[ 9.88278337e-01 -1.52584817e-01 -4.87875306e-03 4.11169968e+01] [ 1.52583398e-01 9.88290375e-01 -6.63935150e-04 2.17709193e+00] [ 4.92293112e-03 -8.82639938e-05 9.99987878e-01 -5.25828489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.360281693 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:41.14, Y:2.18, Z:-0.05 [[ 9.88388536e-01 -1.51869353e-01 -4.87862971e-03 4.11449784e+01] [ 1.51867921e-01 9.88400573e-01 -6.64840322e-04 2.17901471e+00] [ 4.92300927e-03 -8.37868005e-05 9.99987878e-01 -5.04747154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.390281693 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:41.17, Y:2.18, Z:-0.05 [[ 9.88651245e-01 -1.50149645e-01 -4.87859139e-03 4.11733504e+01] [ 1.50148190e-01 9.88663279e-01 -6.65121364e-04 2.18115470e+00] [ 4.92315190e-03 -7.49386038e-05 9.99987878e-01 -4.70219467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.420281693 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:41.20, Y:2.18, Z:-0.05 [[ 9.88781908e-01 -1.49286770e-01 -4.87846740e-03 4.12003253e+01] [ 1.49285301e-01 9.88793940e-01 -6.66029577e-04 2.18348829e+00] [ 4.92322841e-03 -6.97254767e-05 9.99987878e-01 -4.61267502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.450281692999994 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:41.23, Y:2.19, Z:-0.05 [[ 9.88801401e-01 -1.49157602e-01 -4.87841336e-03 4.12279047e+01] [ 1.49156129e-01 9.88813433e-01 -6.66425146e-04 2.18535042e+00] [ 4.92324304e-03 -6.86831358e-05 9.99987878e-01 -4.51493067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.480281692999995 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:41.26, Y:2.19, Z:-0.04 [[ 9.88627914e-01 -1.50303196e-01 -4.87829117e-03 4.12558737e+01] [ 1.50301733e-01 9.88639947e-01 -6.67318386e-04 2.18594612e+00] [ 4.92317361e-03 -7.34860327e-05 9.99987878e-01 -4.17762564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.510281692999996 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:41.28, Y:2.19, Z:-0.04 [[ 9.88466158e-01 -1.51363329e-01 -4.87816679e-03 4.12839463e+01] [ 1.51361874e-01 9.88478192e-01 -6.68226395e-04 2.18934229e+00] [ 4.92310646e-03 -7.78492893e-05 9.99987878e-01 -3.97307011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.540281693 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:41.31, Y:2.19, Z:-0.04 [[ 9.88348764e-01 -1.52127993e-01 -4.87804305e-03 4.13114109e+01] [ 1.52126543e-01 9.88360798e-01 -6.69128474e-04 2.19121815e+00] [ 4.92305970e-03 -8.07475251e-05 9.99987878e-01 -4.05264243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.570281693 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:41.34, Y:2.19, Z:-0.04 [[ 9.88338919e-01 -1.52191939e-01 -4.87798926e-03 4.13389322e+01] [ 1.52190488e-01 9.88350953e-01 -6.69520408e-04 2.19366188e+00] [ 4.92306094e-03 -8.06704880e-05 9.99987878e-01 -4.35617207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.600281693 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:41.37, Y:2.20, Z:-0.05 [[ 9.88304374e-01 -1.52416110e-01 -4.87786487e-03 4.13663638e+01] [ 1.52414657e-01 9.88316408e-01 -6.70425438e-04 2.19713836e+00] [ 4.92305753e-03 -8.08737076e-05 9.99987878e-01 -4.63458271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.63028169299999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:41.39, Y:2.20, Z:-0.05 [[ 9.88136180e-01 -1.53502761e-01 -4.87773935e-03 4.13924826e+01] [ 1.53501317e-01 9.88148215e-01 -6.71337421e-04 2.20321105e+00] [ 4.92298158e-03 -8.53666208e-05 9.99987878e-01 -4.57862653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.660281692999995 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:41.42, Y:2.21, Z:-0.05 [[ 9.87904978e-01 -1.54983751e-01 -4.87765354e-03 4.14196813e+01] [ 1.54982322e-01 9.87917015e-01 -6.71960322e-04 2.20708818e+00] [ 4.92285985e-03 -9.21171234e-05 9.99987878e-01 -4.50100176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.690281692999996 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:41.45, Y:2.21, Z:-0.04 [[ 9.87168622e-01 -1.59606772e-01 -4.87752800e-03 4.14476148e+01] [ 1.59605394e-01 9.87180665e-01 -6.72870341e-04 2.20771267e+00] [ 4.92239600e-03 -1.14243293e-04 9.99987878e-01 -4.49245208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.720281693 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:41.47, Y:2.21, Z:-0.04 [[ 9.86773788e-01 -1.62029944e-01 -4.87740121e-03 4.14749052e+01] [ 1.62028592e-01 9.86785834e-01 -6.73788146e-04 2.21020522e+00] [ 4.92212427e-03 -1.25401967e-04 9.99987878e-01 -4.48419358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.750281693 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:41.50, Y:2.21, Z:-0.05 [[ 9.86422879e-01 -1.64152721e-01 -4.87734611e-03 4.15016894e+01] [ 1.64151392e-01 9.86434927e-01 -6.74186778e-04 2.21372254e+00] [ 4.92185415e-03 -1.35589892e-04 9.99987878e-01 -4.51823348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.780281693 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:41.53, Y:2.22, Z:-0.05 [[ 9.85906773e-01 -1.67224542e-01 -4.87729298e-03 4.15291748e+01] [ 1.67223250e-01 9.85918825e-01 -6.74570908e-04 2.21589289e+00] [ 4.92141977e-03 -1.50532754e-04 9.99987878e-01 -4.58429602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81028169299999 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:41.56, Y:2.22, Z:-0.05 [[ 9.85795545e-01 -1.67878992e-01 -4.87716914e-03 4.15562551e+01] [ 1.67877703e-01 9.85807598e-01 -6.75465075e-04 2.21828154e+00] [ 4.92134679e-03 -1.52897491e-04 9.99987878e-01 -4.52516706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.840281692999994 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:41.58, Y:2.22, Z:-0.04 [[ 9.85814153e-01 -1.67769692e-01 -4.87711524e-03 4.15844249e+01] [ 1.67768400e-01 9.85826205e-01 -6.75853999e-04 2.22146672e+00] [ 4.92137583e-03 -1.51959383e-04 9.99987878e-01 -4.47068047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.870281692999995 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:41.61, Y:2.23, Z:-0.04 [[ 9.86142629e-01 -1.65828014e-01 -4.87699182e-03 4.16114480e+01] [ 1.65826693e-01 9.86154678e-01 -6.76743462e-04 2.22664282e+00] [ 4.92169132e-03 -1.41369849e-04 9.99987878e-01 -4.49467215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.900281693 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:41.64, Y:2.23, Z:-0.04 [[ 9.86386508e-01 -1.64371142e-01 -4.87690776e-03 4.16393702e+01] [ 1.64369800e-01 9.86398555e-01 -6.77348713e-04 2.23129842e+00] [ 4.92191135e-03 -1.33488721e-04 9.99987878e-01 -4.49639288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.930281693 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:41.67, Y:2.23, Z:-0.04 [[ 9.86911549e-01 -1.61188746e-01 -4.87678819e-03 4.16675838e+01] [ 1.61187362e-01 9.86923591e-01 -6.78208465e-04 2.23429321e+00] [ 4.92233689e-03 -1.16744855e-04 9.99987878e-01 -4.18416153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.960281693 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:41.69, Y:2.24, Z:-0.04 [[ 9.87162748e-01 -1.59643126e-01 -4.87666078e-03 4.16946771e+01] [ 1.59641718e-01 9.87174787e-01 -6.79123363e-04 2.23704667e+00] [ 4.92253395e-03 -1.08113221e-04 9.99987878e-01 -4.05566444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99028169299999 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:41.72, Y:2.24, Z:-0.04 [[ 9.87423464e-01 -1.58022536e-01 -4.87657341e-03 4.17216396e+01] [ 1.58021105e-01 9.87435501e-01 -6.79750168e-04 2.24050834e+00] [ 4.92271756e-03 -9.94002537e-05 9.99987878e-01 -4.19366025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.020281692999994 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:41.75, Y:2.25, Z:-0.04 [[ 9.87626587e-01 -1.56748028e-01 -4.87651951e-03 4.17496455e+01] [ 1.56746580e-01 9.87638622e-01 -6.80136665e-04 2.24526487e+00] [ 4.92284909e-03 -9.26567035e-05 9.99987878e-01 -4.43917843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.050281692999995 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:41.78, Y:2.25, Z:-0.05 [[ 9.88244076e-01 -1.52806635e-01 -4.87639192e-03 4.17766274e+01] [ 1.52805134e-01 9.88256104e-01 -6.81050176e-04 2.25075259e+00] [ 4.92319307e-03 -7.20939192e-05 9.99987878e-01 -4.60946433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.080281692999996 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:41.80, Y:2.26, Z:-0.04 [[ 9.88574848e-01 -1.50651893e-01 -4.87627274e-03 4.18045951e+01] [ 1.50650362e-01 9.88586872e-01 -6.81902450e-04 2.25538442e+00] [ 4.92334911e-03 -6.05006428e-05 9.99987878e-01 -4.39762594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.110281693 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:41.83, Y:2.26, Z:-0.04 [[ 9.89260946e-01 -1.46078756e-01 -4.87614404e-03 4.18311739e+01] [ 1.46077165e-01 9.89272963e-01 -6.82821518e-04 2.26007596e+00] [ 4.92358318e-03 -3.68046367e-05 9.99987878e-01 -4.06051131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.140281693 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:41.86, Y:2.27, Z:-0.04 [[ 9.89499819e-01 -1.44451835e-01 -4.87601611e-03 4.18582157e+01] [ 1.44450219e-01 9.89511832e-01 -6.83733843e-04 2.26549261e+00] [ 4.92364225e-03 -2.77870827e-05 9.99987878e-01 -4.07602901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.170281693 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:41.89, Y:2.27, Z:-0.04 [[ 9.89945815e-01 -1.41363037e-01 -4.87588908e-03 4.18857985e+01] [ 1.41361380e-01 9.89957823e-01 -6.84638507e-04 2.27143826e+00] [ 4.92370712e-03 -1.15073829e-05 9.99987878e-01 -4.03776910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.200281692999994 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:41.91, Y:2.27, Z:-0.04 [[ 9.90077443e-01 -1.40438185e-01 -4.87576617e-03 4.19130424e+01] [ 1.40436512e-01 9.90089449e-01 -6.85512756e-04 2.27453618e+00] [ 4.92371681e-03 -6.02487944e-06 9.99987878e-01 -3.87113859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.230281692999995 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:41.94, Y:2.28, Z:-0.04 [[ 9.90082551e-01 -1.40402172e-01 -4.87570883e-03 4.19405917e+01] [ 1.40400496e-01 9.90094556e-01 -6.85920343e-04 2.27756517e+00] [ 4.92371748e-03 -5.43417524e-06 9.99987878e-01 -3.70443482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.260281692999996 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:41.97, Y:2.28, Z:-0.04 [[ 9.90066901e-01 -1.40512491e-01 -4.87558157e-03 4.19670957e+01] [ 1.40510812e-01 9.90078906e-01 -6.86823709e-04 2.28145299e+00] [ 4.92371778e-03 -5.07050596e-06 9.99987878e-01 -3.50938830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.290281693 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:41.99, Y:2.29, Z:-0.04 [[ 9.90053994e-01 -1.40603409e-01 -4.87552600e-03 4.19939325e+01] [ 1.40601729e-01 9.90065999e-01 -6.87217998e-04 2.28567884e+00] [ 4.92371771e-03 -5.12446340e-06 9.99987878e-01 -3.72591124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.320281693 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:42.02, Y:2.29, Z:-0.04 [[ 9.90052489e-01 -1.40614009e-01 -4.87547137e-03 4.20214368e+01] [ 1.40612328e-01 9.90064493e-01 -6.87605313e-04 2.28841061e+00] [ 4.92371803e-03 -4.78602640e-06 9.99987878e-01 -4.30177970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.350281693 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:42.05, Y:2.29, Z:-0.04 [[ 9.90153576e-01 -1.39900418e-01 -4.87534667e-03 4.20485259e+01] [ 1.39898724e-01 9.90165579e-01 -6.88488324e-04 2.29250486e+00] [ 4.92372026e-03 -3.45601643e-07 9.99987878e-01 -4.43846931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38028169299999 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:42.08, Y:2.30, Z:-0.04 [[ 9.90255343e-01 -1.39178257e-01 -4.87529242e-03 4.20763298e+01] [ 1.39176552e-01 9.90267344e-01 -6.88872297e-04 2.29792020e+00] [ 4.92371892e-03 3.63308361e-06 9.99987878e-01 -4.29142722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.410281692999995 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:42.10, Y:2.30, Z:-0.04 [[ 9.90438544e-01 -1.37868503e-01 -4.87516730e-03 4.21037060e+01] [ 1.37866778e-01 9.90450542e-01 -6.89756664e-04 2.30215700e+00] [ 4.92370781e-03 1.10379770e-05 9.99987878e-01 -4.21633724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.440281692999996 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:42.13, Y:2.30, Z:-0.04 [[ 9.90413374e-01 -1.38049206e-01 -4.87503768e-03 4.21315668e+01] [ 1.38047479e-01 9.90425372e-01 -6.90671559e-04 2.30489204e+00] [ 4.92370766e-03 1.10636889e-05 9.99987878e-01 -4.30396560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.470281693 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:42.16, Y:2.31, Z:-0.04 [[ 9.90356161e-01 -1.38459052e-01 -4.87490711e-03 4.21588934e+01] [ 1.38457325e-01 9.90368159e-01 -6.91591899e-04 2.30780802e+00] [ 4.92370994e-03 9.95569946e-06 9.99987878e-01 -4.41165966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.500281693 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:42.19, Y:2.31, Z:-0.04 [[ 9.90241031e-01 -1.39280063e-01 -4.87485021e-03 4.21866549e+01] [ 1.39278344e-01 9.90253030e-01 -6.91992719e-04 2.31176068e+00] [ 4.92371599e-03 6.27851694e-06 9.99987878e-01 -4.41198568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.530281693 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:42.21, Y:2.32, Z:-0.04 [[ 9.90235281e-01 -1.39320944e-01 -4.87471916e-03 4.22141770e+01] [ 1.39319221e-01 9.90247280e-01 -6.92914685e-04 2.31600358e+00] [ 4.92371492e-03 7.00649274e-06 9.99987878e-01 -4.21589046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56028169299999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:42.24, Y:2.32, Z:-0.04 [[ 9.90115111e-01 -1.40172413e-01 -4.87467850e-03 4.22422580e+01] [ 1.40170699e-01 9.90127110e-01 -6.93200632e-04 2.31897483e+00] [ 4.92371894e-03 3.06132886e-06 9.99987878e-01 -3.99124819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.590281692999994 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:42.27, Y:2.32, Z:-0.04 [[ 9.89822301e-01 -1.42225354e-01 -4.87454814e-03 4.22692235e+01] [ 1.42223661e-01 9.89834304e-01 -6.94116104e-04 2.32230739e+00] [ 4.92371587e-03 -6.22448166e-06 9.99987878e-01 -3.94955565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.620281692999995 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:42.30, Y:2.33, Z:-0.04 [[ 9.89423176e-01 -1.44975921e-01 -4.87445826e-03 4.22970196e+01] [ 1.44974258e-01 9.89435183e-01 -6.94746695e-04 2.32548491e+00] [ 4.92368205e-03 -1.92724873e-05 9.99987878e-01 -3.92904271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.650281693 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:42.32, Y:2.33, Z:-0.04 [[ 9.88274685e-01 -1.52608610e-01 -4.87432956e-03 4.23243085e+01] [ 1.52607035e-01 9.88286704e-01 -6.95648526e-04 2.32673822e+00] [ 4.92339705e-03 -5.63651546e-05 9.99987878e-01 -4.00947294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.680281693 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:42.35, Y:2.33, Z:-0.04 [[ 9.87600874e-01 -1.56910022e-01 -4.87424085e-03 4.23521835e+01] [ 1.56908496e-01 9.87612899e-01 -6.96269487e-04 2.32863642e+00] [ 4.92311480e-03 -7.71734471e-05 9.99987878e-01 -4.17717498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.710281693 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:42.38, Y:2.33, Z:-0.04 [[ 9.86723854e-01 -1.62333848e-01 -4.87411398e-03 4.23809514e+01] [ 1.62332384e-01 9.86735887e-01 -6.97156533e-04 2.32675833e+00] [ 4.92263528e-03 -1.03325560e-04 9.99987878e-01 -4.27870112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74028169299999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:42.41, Y:2.33, Z:-0.04 [[ 9.86471838e-01 -1.63858348e-01 -4.87398622e-03 4.24090313e+01] [ 1.63856898e-01 9.86483872e-01 -6.98048555e-04 2.32773367e+00] [ 4.92248988e-03 -1.10031021e-04 9.99987878e-01 -4.04173045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.770281692999994 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:42.44, Y:2.33, Z:-0.04 [[ 9.86404993e-01 -1.64260267e-01 -4.87394678e-03 4.24375262e+01] [ 1.64258821e-01 9.86417027e-01 -6.98323848e-04 2.32896806e+00] [ 4.92245096e-03 -1.11758620e-04 9.99987878e-01 -3.71058898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.800281692999995 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:42.47, Y:2.33, Z:-0.03 [[ 9.86733272e-01 -1.62276604e-01 -4.87382142e-03 4.24658351e+01] [ 1.62275130e-01 9.86745303e-01 -6.99197654e-04 2.32705676e+00] [ 4.92268382e-03 -1.00978415e-04 9.99987878e-01 -3.20355646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.830281692999996 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:42.49, Y:2.33, Z:-0.03 [[ 9.86906686e-01 -1.61218609e-01 -4.87378234e-03 4.24936008e+01] [ 1.61217120e-01 9.86918716e-01 -6.99469955e-04 2.32732338e+00] [ 4.92279458e-03 -9.54255769e-05 9.99987878e-01 -3.31130073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.860281693 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:42.52, Y:2.32, Z:-0.04 [[ 9.87158611e-01 -1.59668794e-01 -4.87366651e-03 4.25212236e+01] [ 1.59667282e-01 9.87170638e-01 -7.00276097e-04 2.32376866e+00] [ 4.92295272e-03 -8.68815076e-05 9.99987878e-01 -3.60671396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.890281693 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:42.55, Y:2.32, Z:-0.04 [[ 9.87290307e-01 -1.58852442e-01 -4.87361248e-03 4.25492384e+01] [ 1.58850918e-01 9.87302332e-01 -7.00651960e-04 2.32469607e+00] [ 4.92302924e-03 -8.24309292e-05 9.99987878e-01 -3.88796474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.920281693 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:42.58, Y:2.33, Z:-0.04 [[ 9.87495334e-01 -1.57572884e-01 -4.87348816e-03 4.25766408e+01] [ 1.57571340e-01 9.87507357e-01 -7.01515625e-04 2.32541527e+00] [ 4.92314525e-03 -7.51786539e-05 9.99987878e-01 -4.08830528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.950281692999994 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:42.61, Y:2.32, Z:-0.04 [[ 9.87825481e-01 -1.55489771e-01 -4.87336425e-03 4.26058489e+01] [ 1.55488198e-01 9.87837500e-01 -7.02375364e-04 2.32087443e+00] [ 4.92330414e-03 -6.39263431e-05 9.99987878e-01 -4.02634578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.980281692999995 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:42.63, Y:2.32, Z:-0.04 [[ 9.87933616e-01 -1.54801232e-01 -4.87323295e-03 4.26331219e+01] [ 1.54799646e-01 9.87945634e-01 -7.03285178e-04 2.32095466e+00] [ 4.92335862e-03 -5.95756648e-05 9.99987878e-01 -4.02112410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.010281692999996 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:42.66, Y:2.32, Z:-0.04 [[ 9.88084576e-01 -1.53834724e-01 -4.87317574e-03 4.26613739e+01] [ 1.53833125e-01 9.88096592e-01 -7.03681374e-04 2.32202523e+00] [ 4.92341897e-03 -5.43591380e-05 9.99987878e-01 -3.94613820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.040281693 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:42.69, Y:2.32, Z:-0.04 [[ 9.88850004e-01 -1.48835218e-01 -4.87304703e-03 4.26888153e+01] [ 1.48833553e-01 9.88862011e-01 -7.04571525e-04 2.32228829e+00] [ 4.92363615e-03 -2.85573488e-05 9.99987878e-01 -4.00884266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.070281693 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:42.72, Y:2.33, Z:-0.04 [[ 9.89442741e-01 -1.44842384e-01 -4.87295903e-03 4.27170031e+01] [ 1.44840668e-01 9.89454741e-01 -7.05179623e-04 2.32596776e+00] [ 4.92371231e-03 -8.06778251e-06 9.99987878e-01 -3.85613007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.100281693 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:42.74, Y:2.33, Z:-0.04 [[ 9.90885576e-01 -1.34618090e-01 -4.87282913e-03 4.27432209e+01] [ 1.34616245e-01 9.90897557e-01 -7.06076134e-04 2.33037536e+00] [ 4.92352510e-03 4.36786950e-05 9.99987878e-01 -3.66403617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.13028169299999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:42.77, Y:2.34, Z:-0.03 [[ 9.91579092e-01 -1.29410822e-01 -4.87277248e-03 4.27706603e+01] [ 1.29408912e-01 9.91591062e-01 -7.06466857e-04 2.33593049e+00] [ 4.92322210e-03 6.99375787e-05 9.99987878e-01 -3.40880404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.160281692999995 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:42.80, Y:2.34, Z:-0.03 [[ 9.92220331e-01 -1.24398842e-01 -4.87263637e-03 4.27966719e+01] [ 1.24396868e-01 9.92232291e-01 -7.07404361e-04 2.34161840e+00] [ 4.92278744e-03 9.57602878e-05 9.99987878e-01 -3.25953988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.190281692999996 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:42.82, Y:2.35, Z:-0.03 [[ 9.92740093e-01 -1.20180557e-01 -4.87257724e-03 4.28238824e+01] [ 1.20178530e-01 9.92752044e-01 -7.07811457e-04 2.34766687e+00] [ 4.92232619e-03 1.17093642e-04 9.99987878e-01 -3.33061692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.220281693 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:42.85, Y:2.35, Z:-0.03 [[ 9.92719668e-01 -1.20349160e-01 -4.87245687e-03 4.28520342e+01] [ 1.20347130e-01 9.92731618e-01 -7.08639094e-04 2.35197951e+00] [ 4.92232611e-03 1.17093764e-04 9.99987878e-01 -3.31659262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.250281693 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:42.88, Y:2.36, Z:-0.04 [[ 9.93406988e-01 -1.14537402e-01 -4.87233638e-03 4.28789670e+01] [ 1.14535299e-01 9.93418926e-01 -7.09466587e-04 2.35996982e+00] [ 4.92153163e-03 1.46734564e-04 9.99987878e-01 -3.85508380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.280281693 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:42.91, Y:2.37, Z:-0.04 [[ 9.93590502e-01 -1.12934387e-01 -4.87220109e-03 4.29055665e+01] [ 1.12932260e-01 9.93602436e-01 -7.10394404e-04 2.36684119e+00] [ 4.92125883e-03 1.55612452e-04 9.99987878e-01 -4.02592037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31028169299999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:42.93, Y:2.38, Z:-0.04 [[ 9.93816942e-01 -1.10924065e-01 -4.87210782e-03 4.29326309e+01] [ 1.10921911e-01 9.93828871e-01 -7.11033560e-04 2.37807917e+00] [ 4.92091214e-03 1.66213688e-04 9.99987878e-01 -3.78379328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.340281692999994 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:42.96, Y:2.39, Z:-0.04 [[ 9.93883073e-01 -1.10329965e-01 -4.87197759e-03 4.29591674e+01] [ 1.10327799e-01 9.93894999e-01 -7.11924721e-04 2.38570629e+00] [ 4.92078080e-03 1.70055367e-04 9.99987878e-01 -3.87181770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.370281692999995 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:42.99, Y:2.39, Z:-0.04 [[ 9.93951719e-01 -1.09709820e-01 -4.87192122e-03 4.29861613e+01] [ 1.09707644e-01 9.93963644e-01 -7.12310314e-04 2.39292360e+00] [ 4.92066000e-03 1.73515061e-04 9.99987878e-01 -3.83768655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.400281693 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:43.01, Y:2.40, Z:-0.04 [[ 9.94104061e-01 -1.08320734e-01 -4.87179302e-03 4.30126658e+01] [ 1.08318538e-01 9.94115982e-01 -7.13186005e-04 2.40483677e+00] [ 4.92038014e-03 1.81275607e-04 9.99987878e-01 -3.83739156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.430281693 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:43.04, Y:2.41, Z:-0.04 [[ 9.94272823e-01 -1.06760574e-01 -4.87165932e-03 4.30385705e+01] [ 1.06758354e-01 9.94284740e-01 -7.14098180e-04 2.41302583e+00] [ 4.92005405e-03 1.89918082e-04 9.99987878e-01 -3.82824200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.460281693 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:43.07, Y:2.42, Z:-0.04 [[ 9.94389909e-01 -1.05664452e-01 -4.87160143e-03 4.30659725e+01] [ 1.05662218e-01 9.94401823e-01 -7.14492848e-04 2.42157880e+00] [ 4.91982584e-03 1.95740267e-04 9.99987878e-01 -3.78549827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49028169299999 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:43.09, Y:2.44, Z:-0.04 [[ 9.94493886e-01 -1.04681322e-01 -4.87146862e-03 4.30909999e+01] [ 1.04679071e-01 9.94505797e-01 -7.15397199e-04 2.43502186e+00] [ 4.91959251e-03 2.01517329e-04 9.99987878e-01 -4.02263758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.520281692999994 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:43.12, Y:2.44, Z:-0.04 [[ 9.94498791e-01 -1.04634718e-01 -4.87141074e-03 4.31183776e+01] [ 1.04632464e-01 9.94510701e-01 -7.15791128e-04 2.44412964e+00] [ 4.91956672e-03 2.02145700e-04 9.99987878e-01 -3.95504274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.550281692999995 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:43.14, Y:2.46, Z:-0.04 [[ 9.94332662e-01 -1.06201830e-01 -4.87128009e-03 4.31449120e+01] [ 1.06199592e-01 9.94344575e-01 -7.16679202e-04 2.45637518e+00] [ 4.91984357e-03 1.95289581e-04 9.99987878e-01 -3.95925674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.580281692999996 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:43.17, Y:2.46, Z:-0.04 [[ 9.94072206e-01 -1.08612714e-01 -4.87114186e-03 4.31710368e+01] [ 1.08610499e-01 9.94084123e-01 -7.17617438e-04 2.46396690e+00] [ 4.92026717e-03 1.84306399e-04 9.99987878e-01 -3.89355267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.610281693 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:43.20, Y:2.47, Z:-0.04 [[ 9.93341399e-01 -1.15104903e-01 -4.87108190e-03 4.31973914e+01] [ 1.15102764e-01 9.93353330e-01 -7.18024267e-04 2.47344074e+00] [ 4.92135353e-03 1.52568240e-04 9.99987878e-01 -3.77120674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.640281693 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:43.22, Y:2.48, Z:-0.04 [[ 9.92920018e-01 -1.18684922e-01 -4.87103961e-03 4.32242786e+01] [ 1.18682825e-01 9.92931957e-01 -7.18311029e-04 2.47987233e+00] [ 4.92186358e-03 1.35116660e-04 9.99987878e-01 -3.65455043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67028169299999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:43.25, Y:2.49, Z:-0.04 [[ 9.92528353e-01 -1.21916950e-01 -4.87090849e-03 4.32519011e+01] [ 1.21914888e-01 9.92540298e-01 -7.19199034e-04 2.48640810e+00] [ 4.92225552e-03 1.19989172e-04 9.99987878e-01 -3.64405700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.700281692999994 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:43.28, Y:2.49, Z:-0.04 [[ 9.92186402e-01 -1.24669242e-01 -4.87077244e-03 4.32791182e+01] [ 1.24667208e-01 9.92198351e-01 -7.20119271e-04 2.49241131e+00] [ 4.92254911e-03 1.07266946e-04 9.99987878e-01 -3.74929854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.730281692999995 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:43.31, Y:2.50, Z:-0.04 [[ 9.91716018e-01 -1.28357382e-01 -4.87063422e-03 4.33060946e+01] [ 1.28355388e-01 9.91727974e-01 -7.21052959e-04 2.49988213e+00] [ 4.92289667e-03 8.99076241e-05 9.99987878e-01 -4.33830505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.760281692999996 meters Centerline goodness : 0.998516 Centerline is valid? [True, True] Translation: X:43.33, Y:2.51, Z:-0.05 [[ 9.91516272e-01 -1.29891336e-01 -4.87059118e-03 4.33339995e+01] [ 1.29889359e-01 9.91528232e-01 -7.21343514e-04 2.50559110e+00] [ 4.92302494e-03 8.25858660e-05 9.99987878e-01 -4.54178696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.790281693 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:43.36, Y:2.51, Z:-0.04 [[ 9.91324763e-01 -1.31344940e-01 -4.87047234e-03 4.33609614e+01] [ 1.31342977e-01 9.91336724e-01 -7.22145021e-04 2.51264083e+00] [ 4.92312819e-03 7.61779052e-05 9.99987878e-01 -4.18031575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.820281693 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:43.39, Y:2.52, Z:-0.04 [[ 9.91345334e-01 -1.31189589e-01 -4.87043008e-03 4.33891329e+01] [ 1.31187622e-01 9.91357295e-01 -7.22429952e-04 2.51900071e+00] [ 4.92311168e-03 7.72374202e-05 9.99987878e-01 -3.75721905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.850281693 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:43.42, Y:2.53, Z:-0.03 [[ 9.91391886e-01 -1.30837338e-01 -4.87031474e-03 4.34168911e+01] [ 1.30835364e-01 9.91403845e-01 -7.23206672e-04 2.52541862e+00] [ 4.92307120e-03 7.97718255e-05 9.99987878e-01 -3.43675472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88028169299999 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:43.44, Y:2.53, Z:-0.03 [[ 9.91628036e-01 -1.29035339e-01 -4.87017731e-03 4.34428585e+01] [ 1.29033338e-01 9.91639992e-01 -7.24130966e-04 2.53168564e+00] [ 4.92290108e-03 8.96533320e-05 9.99987878e-01 -3.30419612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.910281692999995 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:43.47, Y:2.54, Z:-0.03 [[ 9.91680580e-01 -1.28630903e-01 -4.87011734e-03 4.34705420e+01] [ 1.28628896e-01 9.91692534e-01 -7.24534067e-04 2.53658202e+00] [ 4.92285648e-03 9.20685474e-05 9.99987878e-01 -3.30168837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.940281692999996 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:43.50, Y:2.54, Z:-0.03 [[ 9.91663489e-01 -1.28762606e-01 -4.86998372e-03 4.34985863e+01] [ 1.28760596e-01 9.91675442e-01 -7.25431132e-04 2.54125362e+00] [ 4.92285166e-03 9.23215616e-05 9.99987878e-01 -3.26132509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.970281693 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:43.53, Y:2.54, Z:-0.03 [[ 9.91457232e-01 -1.30341253e-01 -4.86984471e-03 4.35250701e+01] [ 1.30339257e-01 9.91469188e-01 -7.26363118e-04 2.54461280e+00] [ 4.92297605e-03 8.54260276e-05 9.99987878e-01 -3.13055472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.000281693 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:43.55, Y:2.55, Z:-0.03 [[ 9.91354065e-01 -1.31123618e-01 -4.86978434e-03 4.35530391e+01] [ 1.31121630e-01 9.91366022e-01 -7.26767627e-04 2.54864129e+00] [ 4.92303513e-03 8.19499833e-05 9.99987878e-01 -3.00923011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.030281693 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:43.58, Y:2.55, Z:-0.03 [[ 9.91315629e-01 -1.31413886e-01 -4.86964909e-03 4.35810134e+01] [ 1.31411896e-01 9.91327587e-01 -7.27672737e-04 2.55359220e+00] [ 4.92304378e-03 8.14235356e-05 9.99987878e-01 -3.12284485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06028169299999 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:43.61, Y:2.56, Z:-0.03 [[ 9.91383837e-01 -1.30898343e-01 -4.86951337e-03 4.36089419e+01] [ 1.30896343e-01 9.91395792e-01 -7.28579793e-04 2.55798605e+00] [ 4.92298495e-03 8.49007408e-05 9.99987878e-01 -3.20153898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.090281692999994 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:43.64, Y:2.56, Z:-0.03 [[ 9.91551614e-01 -1.29621314e-01 -4.86938053e-03 4.36352394e+01] [ 1.29619294e-01 9.91563567e-01 -7.29466522e-04 2.56211858e+00] [ 4.92285474e-03 9.21380392e-05 9.99987878e-01 -3.21566072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.120281692999995 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:43.66, Y:2.57, Z:-0.03 [[ 9.91941542e-01 -1.26602794e-01 -4.86931858e-03 4.36631899e+01] [ 1.26600736e-01 9.91953487e-01 -7.29879870e-04 2.56728694e+00] [ 4.92254237e-03 1.07538848e-04 9.99987878e-01 -3.09583375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.150281693 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:43.69, Y:2.57, Z:-0.03 [[ 9.92086632e-01 -1.25460777e-01 -4.86917584e-03 4.36902475e+01] [ 1.25458701e-01 9.92098574e-01 -7.30830847e-04 2.57209222e+00] [ 4.92239301e-03 1.14167039e-04 9.99987878e-01 -3.19721069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.180281693 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:43.72, Y:2.58, Z:-0.03 [[ 9.92159023e-01 -1.24887006e-01 -4.86911358e-03 4.37164238e+01] [ 1.24884920e-01 9.92170964e-01 -7.31245448e-04 2.57710203e+00] [ 4.92231616e-03 1.17432908e-04 9.99987878e-01 -3.20733453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.210281693 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:43.74, Y:2.58, Z:-0.03 [[ 9.92043704e-01 -1.25799770e-01 -4.86905399e-03 4.37442878e+01] [ 1.25797693e-01 9.92055646e-01 -7.31641987e-04 2.58243249e+00] [ 4.92241290e-03 1.13305066e-04 9.99987878e-01 -3.31987906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24028169299999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:43.77, Y:2.59, Z:-0.03 [[ 9.91857055e-01 -1.27263016e-01 -4.86892009e-03 4.37711089e+01] [ 1.27260952e-01 9.91869000e-01 -7.32531954e-04 2.58743764e+00] [ 4.92255513e-03 1.06943579e-04 9.99987878e-01 -3.44602367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.270281692999994 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:43.80, Y:2.59, Z:-0.04 [[ 9.91200767e-01 -1.32277490e-01 -4.86886195e-03 4.37988351e+01] [ 1.32275485e-01 9.91212721e-01 -7.32918179e-04 2.59174761e+00] [ 4.92302648e-03 8.24379820e-05 9.99987878e-01 -3.74759422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.300281692999995 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:43.83, Y:2.60, Z:-0.04 [[ 9.90814520e-01 -1.35140230e-01 -4.86872967e-03 4.38263664e+01] [ 1.35138256e-01 9.90826480e-01 -7.33795855e-04 2.59604892e+00] [ 4.92323163e-03 6.91039525e-05 9.99987878e-01 -3.63253585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.330281692999996 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:43.85, Y:2.60, Z:-0.03 [[ 9.90449876e-01 -1.37787303e-01 -4.86859235e-03 4.38544668e+01] [ 1.37785356e-01 9.90461840e-01 -7.34705829e-04 2.59987515e+00] [ 4.92338807e-03 5.68685677e-05 9.99987878e-01 -3.45484730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.360281693 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:43.88, Y:2.60, Z:-0.03 [[ 9.89904132e-01 -1.41654889e-01 -4.86845489e-03 4.38818474e+01] [ 1.41652984e-01 9.89916103e-01 -7.35615561e-04 2.60285186e+00] [ 4.92356544e-03 3.85577199e-05 9.99987878e-01 -3.12914001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.390281693 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:43.91, Y:2.61, Z:-0.03 [[ 9.89709295e-01 -1.43009826e-01 -4.86841208e-03 4.39093844e+01] [ 1.43007936e-01 9.89721268e-01 -7.35898777e-04 2.60611371e+00] [ 4.92361174e-03 3.21042939e-05 9.99987878e-01 -3.18766205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42028169299999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:43.94, Y:2.61, Z:-0.03 [[ 9.89755002e-01 -1.42693153e-01 -4.86827333e-03 4.39370764e+01] [ 1.42691255e-01 9.89766974e-01 -7.36815537e-04 2.60927906e+00] [ 4.92359470e-03 3.46068315e-05 9.99987878e-01 -3.45103724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.450281692999994 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:43.96, Y:2.61, Z:-0.04 [[ 9.89960545e-01 -1.41260119e-01 -4.86813468e-03 4.39644876e+01] [ 1.41258199e-01 9.89972513e-01 -7.37730475e-04 2.61390959e+00] [ 4.92353142e-03 4.26601258e-05 9.99987878e-01 -3.59516698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.480281692999995 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:43.99, Y:2.62, Z:-0.04 [[ 9.90162628e-01 -1.39836590e-01 -4.86809171e-03 4.39923351e+01] [ 1.39834651e-01 9.90174593e-01 -7.38013925e-04 2.61882622e+00] [ 4.92346208e-03 5.00258998e-05 9.99987878e-01 -3.84721004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.510281692999996 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:44.02, Y:2.62, Z:-0.04 [[ 9.90340379e-01 -1.38572132e-01 -4.86804878e-03 4.40200072e+01] [ 1.38570177e-01 9.90352342e-01 -7.38296946e-04 2.62406136e+00] [ 4.92339090e-03 5.65988970e-05 9.99987878e-01 -3.81151491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.540281693 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:44.05, Y:2.63, Z:-0.04 [[ 9.90400960e-01 -1.38138490e-01 -4.86791072e-03 4.40471794e+01] [ 1.38136525e-01 9.90412921e-01 -7.39206130e-04 2.63047576e+00] [ 4.92335450e-03 5.96741886e-05 9.99987878e-01 -3.57264644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.570281693 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:44.08, Y:2.64, Z:-0.03 [[ 9.90277025e-01 -1.39024161e-01 -4.86786791e-03 4.40751636e+01] [ 1.39022205e-01 9.90288988e-01 -7.39487966e-04 2.63639432e+00] [ 4.92340268e-03 5.55562133e-05 9.99987878e-01 -3.39096228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.600281693 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:44.10, Y:2.64, Z:-0.03 [[ 9.89841286e-01 -1.42093400e-01 -4.86774907e-03 4.41020877e+01] [ 1.42091477e-01 9.89853254e-01 -7.40269375e-04 2.64218840e+00] [ 4.92354465e-03 4.10835323e-05 9.99987878e-01 -3.26232945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.63028169299999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:44.13, Y:2.65, Z:-0.03 [[ 9.89550202e-01 -1.44106572e-01 -4.86770681e-03 4.41298634e+01] [ 1.44104673e-01 9.89562173e-01 -7.40547194e-04 2.64640978e+00] [ 4.92361625e-03 3.13493292e-05 9.99987878e-01 -3.19145992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.660281692999995 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:44.16, Y:2.65, Z:-0.03 [[ 9.89283754e-01 -1.45924504e-01 -4.86756924e-03 4.41567531e+01] [ 1.45922622e-01 9.89295729e-01 -7.41450314e-04 2.65033205e+00] [ 4.92366123e-03 2.32162846e-05 9.99987878e-01 -3.10678828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.690281692999996 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:44.18, Y:2.65, Z:-0.03 [[ 9.88878038e-01 -1.48649025e-01 -4.86750939e-03 4.41843340e+01] [ 1.48647174e-01 9.88890018e-01 -7.41843021e-04 2.65418096e+00] [ 4.92370569e-03 1.00507573e-05 9.99987878e-01 -2.88183862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.720281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:44.21, Y:2.66, Z:-0.03 [[ 9.88760853e-01 -1.49426515e-01 -4.86746701e-03 4.42122232e+01] [ 1.49424672e-01 9.88772834e-01 -7.42120976e-04 2.65801949e+00] [ 4.92371170e-03 6.46050626e-06 9.99987878e-01 -2.82812159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.750281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:44.24, Y:2.66, Z:-0.03 [[ 9.88717104e-01 -1.49715724e-01 -4.86733249e-03 4.42393721e+01] [ 1.49713881e-01 9.88729084e-01 -7.43002193e-04 2.66192550e+00] [ 4.92371231e-03 5.91174066e-06 9.99987878e-01 -2.84962297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.780281693 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:44.27, Y:2.67, Z:-0.03 [[ 9.88783591e-01 -1.49275984e-01 -4.86727404e-03 4.42654051e+01] [ 1.49274134e-01 9.88795571e-01 -7.43384876e-04 2.66721970e+00] [ 4.92370853e-03 8.48865049e-06 9.99987878e-01 -2.64593399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81028169299999 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:44.29, Y:2.67, Z:-0.02 [[ 9.88831594e-01 -1.48957673e-01 -4.86721663e-03 4.42927597e+01] [ 1.48955816e-01 9.88843573e-01 -7.43760584e-04 2.67222981e+00] [ 4.92370473e-03 1.04537377e-05 9.99987878e-01 -2.44596088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.840281692999994 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:44.32, Y:2.68, Z:-0.03 [[ 9.88994223e-01 -1.47874066e-01 -4.86708196e-03 4.43197888e+01] [ 1.47872192e-01 9.89006198e-01 -7.44640855e-04 2.67603309e+00] [ 4.92368729e-03 1.67394266e-05 9.99987878e-01 -2.59168182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.870281692999995 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:44.35, Y:2.68, Z:-0.03 [[ 9.89032435e-01 -1.47618276e-01 -4.86702328e-03 4.43469818e+01] [ 1.47616397e-01 9.89044410e-01 -7.45024176e-04 2.68108958e+00] [ 4.92368135e-03 1.84006322e-05 9.99987878e-01 -2.72079929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.900281693 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:44.37, Y:2.69, Z:-0.03 [[ 9.89078068e-01 -1.47312218e-01 -4.86688460e-03 4.43738724e+01] [ 1.47310331e-01 9.89090041e-01 -7.45928986e-04 2.68684329e+00] [ 4.92367155e-03 2.08396206e-05 9.99987878e-01 -2.81983021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.930281693 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:44.40, Y:2.69, Z:-0.03 [[ 9.89066415e-01 -1.47390435e-01 -4.86682414e-03 4.43998700e+01] [ 1.47388547e-01 9.89078389e-01 -7.46323241e-04 2.69362982e+00] [ 4.92367149e-03 2.08491152e-05 9.99987878e-01 -2.85364524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.960281693 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:44.43, Y:2.70, Z:-0.03 [[ 9.88921345e-01 -1.48360669e-01 -4.86676427e-03 4.44272718e+01] [ 1.48358791e-01 9.88933320e-01 -7.46713482e-04 2.69841189e+00] [ 4.92368826e-03 1.64136379e-05 9.99987878e-01 -2.82436101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99028169299999 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:44.46, Y:2.70, Z:-0.03 [[ 9.88471515e-01 -1.51328715e-01 -4.86663496e-03 4.44552528e+01] [ 1.51326869e-01 9.88483495e-01 -7.47555276e-04 2.70365913e+00] [ 4.92371491e-03 2.48446646e-06 9.99987878e-01 -2.83448123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.020281692999994 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:44.48, Y:2.71, Z:-0.03 [[ 9.88203493e-01 -1.53069177e-01 -4.86649366e-03 4.44819782e+01] [ 1.53067347e-01 9.88215476e-01 -7.48474028e-04 2.70785619e+00] [ 4.92371265e-03 -5.25662473e-06 9.99987878e-01 -2.97461045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.050281692999995 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:44.51, Y:2.71, Z:-0.03 [[ 9.87913330e-01 -1.54930857e-01 -4.86639409e-03 4.45101006e+01] [ 1.54929046e-01 9.87925316e-01 -7.49120850e-04 2.71118911e+00] [ 4.92369585e-03 -1.38793206e-05 9.99987878e-01 -2.95847215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.080281692999996 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:44.54, Y:2.71, Z:-0.03 [[ 9.87280684e-01 -1.58912461e-01 -4.86625458e-03 4.45375582e+01] [ 1.58910695e-01 9.87292676e-01 -7.50025984e-04 2.71156549e+00] [ 4.92360598e-03 -3.28137291e-05 9.99987878e-01 -3.08111929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.110281693 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:44.57, Y:2.71, Z:-0.03 [[ 9.86881664e-01 -1.61371934e-01 -4.86619395e-03 4.45651492e+01] [ 1.61370196e-01 9.86893660e-01 -7.50419171e-04 2.71402937e+00] [ 4.92351255e-03 -4.46837492e-05 9.99987878e-01 -2.98176948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.140281693 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:44.59, Y:2.72, Z:-0.03 [[ 9.86851111e-01 -1.61558678e-01 -4.86605174e-03 4.45932495e+01] [ 1.61556937e-01 9.86863107e-01 -7.51340178e-04 2.71855102e+00] [ 4.92351246e-03 -4.46835244e-05 9.99987878e-01 -2.96774523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17028169299999 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:44.62, Y:2.72, Z:-0.03 [[ 9.86517089e-01 -1.63585927e-01 -4.86590939e-03 4.46206737e+01] [ 1.63584206e-01 9.86529088e-01 -7.52260936e-04 2.72001087e+00] [ 4.92342046e-03 -5.38676557e-05 9.99987878e-01 -2.99000357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.200281692999994 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:44.65, Y:2.72, Z:-0.03 [[ 9.85723605e-01 -1.68301211e-01 -4.86584749e-03 4.46485004e+01] [ 1.68299545e-01 9.85735612e-01 -7.52661126e-04 2.71502683e+00] [ 4.92311293e-03 -7.70040811e-05 9.99987878e-01 -3.04521570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.230281692999995 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:44.68, Y:2.71, Z:-0.02 [[ 9.85335552e-01 -1.70558420e-01 -4.86578654e-03 4.46771171e+01] [ 1.70556780e-01 9.85347562e-01 -7.53054949e-04 2.71466276e+00] [ 4.92293076e-03 -8.78810723e-05 9.99987878e-01 -2.15470487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.260281692999996 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:44.71, Y:2.71, Z:-0.03 [[ 9.84710753e-01 -1.74129429e-01 -4.86564785e-03 4.47065732e+01] [ 1.74127828e-01 9.84722769e-01 -7.53949994e-04 2.70898698e+00] [ 4.92259910e-03 -1.04822025e-04 9.99987878e-01 -2.79472929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.290281693 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:44.73, Y:2.71, Z:-0.03 [[ 9.84519019e-01 -1.75210240e-01 -4.86560470e-03 4.47347227e+01] [ 1.75208651e-01 9.84531036e-01 -7.54228346e-04 2.70849926e+00] [ 4.92248736e-03 -1.09943883e-04 9.99987878e-01 -2.74161544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.320281693 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:44.76, Y:2.71, Z:-0.03 [[ 9.84490773e-01 -1.75368885e-01 -4.86546476e-03 4.47618911e+01] [ 1.75367293e-01 9.84502789e-01 -7.55129984e-04 2.70730802e+00] [ 4.92248993e-03 -1.09824884e-04 9.99987878e-01 -2.71368311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.350281693 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:44.79, Y:2.71, Z:-0.03 [[ 9.84517395e-01 -1.75219366e-01 -4.86540393e-03 4.47898869e+01] [ 1.75217771e-01 9.84529411e-01 -7.55521725e-04 2.70605182e+00] [ 4.92251531e-03 -1.08680953e-04 9.99987878e-01 -2.58617076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38028169299999 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:44.82, Y:2.70, Z:-0.02 [[ 9.84984806e-01 -1.72572478e-01 -4.86526230e-03 4.48189171e+01] [ 1.72570846e-01 9.84996818e-01 -7.56432702e-04 2.69950986e+00] [ 4.92280735e-03 -9.45277133e-05 9.99987878e-01 -2.26870077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.410281692999995 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:44.85, Y:2.70, Z:-0.02 [[ 9.85269546e-01 -1.70939320e-01 -4.86521838e-03 4.48474148e+01] [ 1.70937667e-01 9.85281554e-01 -7.56715057e-04 2.69996807e+00] [ 4.92296229e-03 -8.60807781e-05 9.99987878e-01 -2.15589534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.440281692999996 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:44.88, Y:2.70, Z:-0.02 [[ 9.85808559e-01 -1.67802910e-01 -4.86509424e-03 4.48759518e+01] [ 1.67801215e-01 9.85820561e-01 -7.57512344e-04 2.69748290e+00] [ 4.92322271e-03 -6.96065722e-05 9.99987878e-01 -2.30416165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.470281693 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:44.90, Y:2.70, Z:-0.02 [[ 9.86062078e-01 -1.66306677e-01 -4.86495421e-03 4.49035133e+01] [ 1.66304959e-01 9.86074077e-01 -7.58410562e-04 2.69853325e+00] [ 4.92333398e-03 -6.12261148e-05 9.99987878e-01 -2.40071038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.500281693 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:44.93, Y:2.70, Z:-0.02 [[ 9.86522647e-01 -1.63552438e-01 -4.86489316e-03 4.49318470e+01] [ 1.63550685e-01 9.86534641e-01 -7.58802024e-04 2.69814531e+00] [ 4.92348954e-03 -4.70812256e-05 9.99987878e-01 -2.45500647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.530281693 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:44.96, Y:2.70, Z:-0.02 [[ 9.86745128e-01 -1.62204765e-01 -4.86475285e-03 4.49585506e+01] [ 1.62202991e-01 9.86757119e-01 -7.59700496e-04 2.70137901e+00] [ 4.92355655e-03 -3.94466987e-05 9.99987878e-01 -2.43985372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56028169299999 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:44.99, Y:2.71, Z:-0.02 [[ 9.86951889e-01 -1.60941928e-01 -4.86469181e-03 4.49863822e+01] [ 1.60940137e-01 9.86963877e-01 -7.60091124e-04 2.70600843e+00] [ 4.92360562e-03 -3.27507955e-05 9.99987878e-01 -2.17532328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.590281692999994 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:45.01, Y:2.71, Z:-0.02 [[ 9.87252050e-01 -1.59090306e-01 -4.86455156e-03 4.50143302e+01] [ 1.59088488e-01 9.87264035e-01 -7.60987687e-04 2.71021699e+00] [ 4.92366256e-03 -2.26074961e-05 9.99987878e-01 -1.98759923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.620281692999995 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:45.04, Y:2.71, Z:-0.02 [[ 9.87843800e-01 -1.55373626e-01 -4.86440787e-03 4.50407460e+01] [ 1.55371758e-01 9.87855777e-01 -7.61905066e-04 2.71333014e+00] [ 4.92371337e-03 -3.14840469e-06 9.99987878e-01 -1.97256434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.650281693 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:45.07, Y:2.72, Z:-0.02 [[ 9.88058971e-01 -1.53999378e-01 -4.86434515e-03 4.50680149e+01] [ 1.53997491e-01 9.88070945e-01 -7.62305271e-04 2.71907467e+00] [ 4.92371265e-03 4.10561052e-06 9.99987878e-01 -1.97462654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.680281693 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:45.09, Y:2.73, Z:-0.02 [[ 9.88631389e-01 -1.50280795e-01 -4.86419451e-03 4.50936340e+01] [ 1.50278858e-01 9.88643354e-01 -7.63265287e-04 2.72878014e+00] [ 4.92365769e-03 2.36024230e-05 9.99987878e-01 -2.00247160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.710281693 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:45.12, Y:2.74, Z:-0.02 [[ 9.88870123e-01 -1.48701784e-01 -4.86412894e-03 4.51208089e+01] [ 1.48699827e-01 9.88882085e-01 -7.63682958e-04 2.73544957e+00] [ 4.92361098e-03 3.18881291e-05 9.99987878e-01 -2.02544366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74028169299999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:45.15, Y:2.74, Z:-0.02 [[ 9.89037490e-01 -1.47584500e-01 -4.86398565e-03 4.51477146e+01] [ 1.47582524e-01 9.89049450e-01 -7.64594511e-04 2.74077724e+00] [ 4.92356462e-03 3.83733564e-05 9.99987878e-01 -2.22850863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.770281692999994 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:45.18, Y:2.75, Z:-0.02 [[ 9.88900556e-01 -1.48499268e-01 -4.86392323e-03 4.51760071e+01] [ 1.48497301e-01 9.88912517e-01 -7.64991364e-04 2.74710059e+00] [ 4.92359522e-03 3.42209113e-05 9.99987878e-01 -2.47267844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.800281692999995 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:45.20, Y:2.75, Z:-0.02 [[ 9.88634150e-01 -1.50262640e-01 -4.86379756e-03 4.52036530e+01] [ 1.50260691e-01 9.88646114e-01 -7.65789502e-04 2.75289604e+00] [ 4.92364411e-03 2.62480689e-05 9.99987878e-01 -2.44900000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.830281692999996 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:45.23, Y:2.76, Z:-0.02 [[ 9.88028555e-01 -1.54194419e-01 -4.86375295e-03 4.52318213e+01] [ 1.54192516e-01 9.88040526e-01 -7.66072777e-04 2.75964260e+00] [ 4.92370917e-03 6.94747303e-06 9.99987878e-01 -1.85048901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.860281693 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:45.26, Y:2.77, Z:-0.02 [[ 9.87720304e-01 -1.56156799e-01 -4.86363205e-03 4.52592534e+01] [ 1.56154916e-01 9.87732279e-01 -7.66839532e-04 2.76568254e+00] [ 4.92371358e-03 -2.05707954e-06 9.99987878e-01 -1.56601732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.890281693 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:45.29, Y:2.77, Z:-0.01 [[ 9.87421603e-01 -1.58034565e-01 -4.86349349e-03 4.52869628e+01] [ 1.58032701e-01 9.87433581e-01 -7.67717359e-04 2.77192324e+00] [ 4.92370267e-03 -1.05303051e-05 9.99987878e-01 -1.35909746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92028169299999 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:45.31, Y:2.78, Z:-0.01 [[ 9.86786099e-01 -1.61955371e-01 -4.86334908e-03 4.53129741e+01] [ 1.61953550e-01 9.86798083e-01 -7.68631029e-04 2.78113397e+00] [ 4.92362748e-03 -2.91622348e-05 9.99987878e-01 -1.28344213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.950281692999994 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:45.34, Y:2.79, Z:-0.01 [[ 9.86433836e-01 -1.64087281e-01 -4.86328651e-03 4.53405646e+01] [ 1.64085484e-01 9.86445823e-01 -7.69026772e-04 2.78815641e+00] [ 4.92355617e-03 -3.94006901e-05 9.99987878e-01 -1.32999654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.980281692999995 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:45.37, Y:2.80, Z:-0.01 [[ 9.86066314e-01 -1.66281609e-01 -4.86314518e-03 4.53664701e+01] [ 1.66279834e-01 9.86078305e-01 -7.69919437e-04 2.79787853e+00] [ 4.92346540e-03 -4.94513513e-05 9.99987878e-01 -1.39383693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.010281692999996 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:45.39, Y:2.81, Z:-0.01 [[ 9.85913260e-01 -1.67186703e-01 -4.86308392e-03 4.53935255e+01] [ 1.67184937e-01 9.85925253e-01 -7.70306207e-04 2.80544545e+00] [ 4.92342220e-03 -5.35792728e-05 9.99987878e-01 -1.48638604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.040281693 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:45.42, Y:2.81, Z:-0.02 [[ 9.85713770e-01 -1.68358887e-01 -4.86294454e-03 4.54202346e+01] [ 1.68357131e-01 9.85725764e-01 -7.71185110e-04 2.81261843e+00] [ 4.92336559e-03 -5.85436073e-05 9.99987878e-01 -1.60316339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.070281693 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:45.45, Y:2.82, Z:-0.02 [[ 9.85112539e-01 -1.71841900e-01 -4.86280439e-03 4.54469638e+01] [ 1.71840182e-01 9.85124538e-01 -7.72067796e-04 2.82211316e+00] [ 4.92314153e-03 -7.50515273e-05 9.99987878e-01 -1.66052662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.100281693 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:45.47, Y:2.83, Z:-0.02 [[ 9.84800860e-01 -1.73619182e-01 -4.86266138e-03 4.54737339e+01] [ 1.73617481e-01 9.84812862e-01 -7.72967469e-04 2.82872919e+00] [ 4.92301345e-03 -8.30239945e-05 9.99987878e-01 -1.79714676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13028169299999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:45.50, Y:2.84, Z:-0.02 [[ 9.84333134e-01 -1.76251630e-01 -4.86251944e-03 4.55008129e+01] [ 1.76249957e-01 9.84345140e-01 -7.73859380e-04 2.83613493e+00] [ 4.92279135e-03 -9.52834121e-05 9.99987878e-01 -1.89441285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.160281692999995 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:45.53, Y:2.84, Z:-0.02 [[ 9.84213144e-01 -1.76920447e-01 -4.86237804e-03 4.55277807e+01] [ 1.76918778e-01 9.84225150e-01 -7.74746808e-04 2.84147194e+00] [ 4.92274331e-03 -9.77299868e-05 9.99987878e-01 -1.92250601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.190281692999996 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:45.56, Y:2.85, Z:-0.02 [[ 9.84123492e-01 -1.77418462e-01 -4.86228143e-03 4.55552230e+01] [ 1.77416796e-01 9.84135498e-01 -7.75352619e-04 2.84707712e+00] [ 4.92270563e-03 -9.96076671e-05 9.99987878e-01 -2.02834266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.220281693 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:45.58, Y:2.85, Z:-0.02 [[ 9.84013451e-01 -1.78027773e-01 -4.86214163e-03 4.55815896e+01] [ 1.78026110e-01 9.84025458e-01 -7.76228354e-04 2.85265518e+00] [ 4.92266134e-03 -1.01769017e-04 9.99987878e-01 -2.16702276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.250281693 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:45.61, Y:2.86, Z:-0.02 [[ 9.83757493e-01 -1.79436772e-01 -4.86208074e-03 4.56088071e+01] [ 1.79435124e-01 9.83769502e-01 -7.76609546e-04 2.85903392e+00] [ 4.92251906e-03 -1.08432599e-04 9.99987878e-01 -1.94801580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.280281693 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:45.64, Y:2.86, Z:-0.02 [[ 9.83303350e-01 -1.81908999e-01 -4.86194175e-03 4.56361749e+01] [ 1.81907377e-01 9.83315362e-01 -7.77478716e-04 2.86195885e+00] [ 4.92225239e-03 -1.19925646e-04 9.99987878e-01 -1.93910306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31028169299999 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:45.66, Y:2.86, Z:-0.02 [[ 9.82888044e-01 -1.84139770e-01 -4.86188138e-03 4.56627043e+01] [ 1.84138173e-01 9.82900060e-01 -7.77856018e-04 2.86491271e+00] [ 4.92197773e-03 -1.30712577e-04 9.99987878e-01 -1.99468407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.340281692999994 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:45.69, Y:2.87, Z:-0.02 [[ 9.82405044e-01 -1.86699470e-01 -4.86178721e-03 4.56905693e+01] [ 1.86697902e-01 9.82417064e-01 -7.78444184e-04 2.86766929e+00] [ 4.92163783e-03 -1.42937977e-04 9.99987878e-01 -1.95657413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.370281692999995 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:45.72, Y:2.87, Z:-0.02 [[ 9.81889401e-01 -1.89392628e-01 -4.86165035e-03 4.57181043e+01] [ 1.89391089e-01 9.81901425e-01 -7.79297997e-04 2.86995811e+00] [ 4.92125470e-03 -1.55568810e-04 9.99987878e-01 -1.82708899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.400281693 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:45.75, Y:2.87, Z:-0.02 [[ 9.81268794e-01 -1.92582243e-01 -4.86151157e-03 4.57451291e+01] [ 1.92580738e-01 9.81280821e-01 -7.80162796e-04 2.86893521e+00] [ 4.92075357e-03 -1.70684082e-04 9.99987878e-01 -1.74686733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.430281693 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:45.77, Y:2.87, Z:-0.02 [[ 9.81193407e-01 -1.92965968e-01 -4.86141690e-03 4.57727371e+01] [ 1.92964465e-01 9.81205435e-01 -7.80752267e-04 2.87112200e+00] [ 4.92070730e-03 -1.72011736e-04 9.99987878e-01 -1.81335038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.460281693 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:45.80, Y:2.87, Z:-0.02 [[ 9.81526366e-01 -1.91265160e-01 -4.86127856e-03 4.58002039e+01] [ 1.91263633e-01 9.81538390e-01 -7.81612640e-04 2.87105364e+00] [ 4.92102680e-03 -1.62612383e-04 9.99987878e-01 -1.76559375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49028169299999 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:45.83, Y:2.87, Z:-0.02 [[ 9.81770333e-01 -1.90008899e-01 -4.86121830e-03 4.58278045e+01] [ 1.90007354e-01 9.81782356e-01 -7.81987255e-04 2.87305783e+00] [ 4.92124289e-03 -1.55935341e-04 9.99987878e-01 -1.53745532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.520281692999994 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:45.85, Y:2.87, Z:-0.01 [[ 9.81945147e-01 -1.89103408e-01 -4.86107475e-03 4.58545341e+01] [ 1.89101847e-01 9.81957167e-01 -7.82878614e-04 2.87473943e+00] [ 4.92141220e-03 -1.50494357e-04 9.99987878e-01 -1.34598084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.550281692999995 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:45.88, Y:2.87, Z:-0.01 [[ 9.82078260e-01 -1.88410886e-01 -4.86101231e-03 4.58818058e+01] [ 1.88409315e-01 9.82090279e-01 -7.83266125e-04 2.87326466e+00] [ 4.92152880e-03 -1.46631367e-04 9.99987878e-01 -1.45525354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.580281692999996 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:45.91, Y:2.87, Z:-0.02 [[ 9.82128156e-01 -1.88150623e-01 -4.86095262e-03 4.59095056e+01] [ 1.88149047e-01 9.82140174e-01 -7.83636360e-04 2.87477440e+00] [ 4.92157852e-03 -1.44952271e-04 9.99987878e-01 -1.72131955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.610281693 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:45.94, Y:2.87, Z:-0.02 [[ 9.82445887e-01 -1.86484455e-01 -4.86080989e-03 4.59382738e+01] [ 1.86482854e-01 9.82457902e-01 -7.84520703e-04 2.87195874e+00] [ 4.92184200e-03 -1.35708566e-04 9.99987878e-01 -2.05005024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.640281693 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:45.97, Y:2.87, Z:-0.02 [[ 9.82684798e-01 -1.85221386e-01 -4.86066654e-03 4.59665615e+01] [ 1.85219765e-01 9.82696811e-01 -7.85407865e-04 2.87388746e+00] [ 4.92203584e-03 -1.28483146e-04 9.99987878e-01 -1.89585745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67028169299999 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:45.99, Y:2.88, Z:-0.02 [[ 9.83006513e-01 -1.83506322e-01 -4.86062201e-03 4.59942623e+01] [ 1.83504679e-01 9.83018522e-01 -7.85683357e-04 2.87672811e+00] [ 4.92225933e-03 -1.19615026e-04 9.99987878e-01 -1.60015084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.700281692999994 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:46.02, Y:2.88, Z:-0.02 [[ 9.83817791e-01 -1.79105920e-01 -4.86047575e-03 4.60224032e+01] [ 1.79104219e-01 9.83829792e-01 -7.86587122e-04 2.87786202e+00] [ 4.92276326e-03 -9.66733068e-05 9.99987878e-01 -1.82689996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.730281692999995 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:46.05, Y:2.88, Z:-0.02 [[ 9.84173167e-01 -1.77142751e-01 -4.86032914e-03 4.60498754e+01] [ 1.77141021e-01 9.84185165e-01 -7.87491959e-04 2.88010447e+00] [ 4.92296233e-03 -8.59352117e-05 9.99987878e-01 -2.11118278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.760281692999996 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:46.08, Y:2.88, Z:-0.02 [[ 9.84474092e-01 -1.75462650e-01 -4.86018287e-03 4.60777932e+01] [ 1.75460896e-01 9.84486085e-01 -7.88393708e-04 2.88256416e+00] [ 4.92311605e-03 -7.66188601e-05 9.99987878e-01 -2.09667139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.790281693 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:46.11, Y:2.88, Z:-0.02 [[ 9.85081157e-01 -1.72021783e-01 -4.86003675e-03 4.61063366e+01] [ 1.72019982e-01 9.85093144e-01 -7.89293398e-04 2.88385168e+00] [ 4.92336454e-03 -5.85053793e-05 9.99987878e-01 -1.58894618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.820281693 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:46.13, Y:2.89, Z:-0.02 [[ 9.85446101e-01 -1.69918698e-01 -4.85990654e-03 4.61330263e+01] [ 1.69916868e-01 9.85458083e-01 -7.90094366e-04 2.88645777e+00] [ 4.92348599e-03 -4.71846845e-05 9.99987878e-01 -1.58801123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.850281693 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:46.16, Y:2.89, Z:-0.02 [[ 9.86029611e-01 -1.66499212e-01 -4.85984171e-03 4.61623513e+01] [ 1.66497338e-01 9.86041587e-01 -7.90492879e-04 2.88853735e+00] [ 4.92362248e-03 -2.97013236e-05 9.99987878e-01 -1.75990610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88028169299999 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:46.19, Y:2.89, Z:-0.02 [[ 9.86233563e-01 -1.65286847e-01 -4.85977034e-03 4.61899893e+01] [ 1.65284956e-01 9.86245536e-01 -7.90931442e-04 2.89376678e+00] [ 4.92365737e-03 -2.32037909e-05 9.99987878e-01 -1.82936557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.910281692999995 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:46.22, Y:2.90, Z:-0.02 [[ 9.86422180e-01 -1.64157447e-01 -4.85962071e-03 4.62166169e+01] [ 1.64155538e-01 9.86434150e-01 -7.91849724e-04 2.89967694e+00] [ 4.92368385e-03 -1.66355217e-05 9.99987878e-01 -1.75386751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.940281692999996 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:46.24, Y:2.91, Z:-0.01 [[ 9.86817421e-01 -1.61764529e-01 -4.85947180e-03 4.62433725e+01] [ 1.61762587e-01 9.86829386e-01 -7.92762515e-04 2.90531584e+00] [ 4.92371043e-03 -3.76886780e-06 9.99987878e-01 -1.39259262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.970281693 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:46.27, Y:2.91, Z:-0.01 [[ 9.86806904e-01 -1.61828673e-01 -4.85941614e-03 4.62709500e+01] [ 1.61826730e-01 9.86818869e-01 -7.93103554e-04 2.91023119e+00] [ 4.92371043e-03 -3.74335997e-06 9.99987878e-01 -1.16106541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.000281693 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:46.30, Y:2.92, Z:-0.01 [[ 9.86751298e-01 -1.62167391e-01 -4.85925977e-03 4.62973874e+01] [ 1.62165447e-01 9.86763263e-01 -7.94060462e-04 2.91507105e+00] [ 4.92370974e-03 -4.46384213e-06 9.99987878e-01 -9.91551542e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.030281693 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:46.33, Y:2.92, Z:-0.01 [[ 9.86721005e-01 -1.62351611e-01 -4.85919174e-03 4.63254606e+01] [ 1.62349667e-01 9.86732970e-01 -7.94476539e-04 2.91985531e+00] [ 4.92370924e-03 -4.96147229e-06 9.99987878e-01 -9.77528668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06028169299999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:46.35, Y:2.93, Z:-0.01 [[ 9.86152228e-01 -1.65771450e-01 -4.85904324e-03 4.63526429e+01] [ 1.65769543e-01 9.86164198e-01 -7.95383703e-04 2.92712023e+00] [ 4.92366639e-03 -2.11119667e-05 9.99987878e-01 -8.37716425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.090281692999994 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:46.38, Y:2.93, Z:-0.01 [[ 9.85741264e-01 -1.68197955e-01 -4.85889338e-03 4.63795196e+01] [ 1.68196074e-01 9.85753238e-01 -7.96298176e-04 2.93194589e+00] [ 4.92360560e-03 -3.23028173e-05 9.99987878e-01 -9.37571331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.120281692999995 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:46.41, Y:2.94, Z:-0.01 [[ 9.85182774e-01 -1.71438893e-01 -4.85882828e-03 4.64075101e+01] [ 1.71437049e-01 9.85194754e-01 -7.96695185e-04 2.93581092e+00] [ 4.92347667e-03 -4.80928099e-05 9.99987878e-01 -1.04272206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.150281693 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:46.43, Y:2.94, Z:-0.01 [[ 9.84553232e-01 -1.75018077e-01 -4.85868076e-03 4.64342260e+01] [ 1.75016272e-01 9.84565218e-01 -7.97593829e-04 2.93880142e+00] [ 4.92328142e-03 -6.50746106e-05 9.99987878e-01 -1.20707051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.180281693 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:46.46, Y:2.94, Z:-0.01 [[ 9.83371032e-01 -1.81542853e-01 -4.85861657e-03 4.64623520e+01] [ 1.81541125e-01 9.83383030e-01 -7.97984655e-04 2.94084434e+00] [ 4.92274949e-03 -9.73237270e-05 9.99987878e-01 -1.18258005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.210281693 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:46.49, Y:2.94, Z:-0.01 [[ 9.82944181e-01 -1.83839963e-01 -4.85846432e-03 4.64887379e+01] [ 1.83838258e-01 9.82956182e-01 -7.98910543e-04 2.94456255e+00] [ 4.92252922e-03 -1.07887149e-04 9.99987878e-01 -1.09310283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24028169299999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:46.52, Y:2.95, Z:-0.01 [[ 9.82499315e-01 -1.86202827e-01 -4.85836105e-03 4.65155006e+01] [ 1.86201149e-01 9.82511320e-01 -7.99538081e-04 2.94560232e+00] [ 4.92227097e-03 -1.19086790e-04 9.99987878e-01 -1.00556782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.270281692999994 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:46.54, Y:2.95, Z:-0.01 [[ 9.82403614e-01 -1.86707089e-01 -4.85829616e-03 4.65436709e+01] [ 1.86705414e-01 9.82415619e-01 -7.99932126e-04 2.94792879e+00] [ 4.92221903e-03 -1.21213986e-04 9.99987878e-01 -8.90995714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.300281692999995 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:46.57, Y:2.95, Z:-0.01 [[ 9.82402696e-01 -1.86711920e-01 -4.85815230e-03 4.65714215e+01] [ 1.86710242e-01 9.82414701e-01 -8.00804891e-04 2.94880229e+00] [ 4.92224006e-03 -1.20353906e-04 9.99987878e-01 -5.92364969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.330281692999996 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:46.60, Y:2.95, Z:-0.01 [[ 9.82419741e-01 -1.86622220e-01 -4.85800389e-03 4.65992999e+01] [ 1.86620536e-01 9.82431745e-01 -8.01704204e-04 2.95244912e+00] [ 4.92227305e-03 -1.18993253e-04 9.99987878e-01 -5.98848203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.360281693 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:46.63, Y:2.96, Z:-0.01 [[ 9.82527609e-01 -1.86053484e-01 -4.85785307e-03 4.66259115e+01] [ 1.86051789e-01 9.82539611e-01 -8.02617059e-04 2.95549045e+00] [ 4.92236276e-03 -1.15218833e-04 9.99987878e-01 -7.50114780e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.390281693 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:46.65, Y:2.96, Z:-0.01 [[ 9.82623322e-01 -1.85547321e-01 -4.85778761e-03 4.66536838e+01] [ 1.85545617e-01 9.82635324e-01 -8.03013033e-04 2.95757261e+00] [ 4.92243062e-03 -1.12281867e-04 9.99987878e-01 -1.07745899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42028169299999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:46.68, Y:2.96, Z:-0.02 [[ 9.82748696e-01 -1.84882134e-01 -4.85763979e-03 4.66831193e+01] [ 1.84880418e-01 9.82760696e-01 -8.03906252e-04 2.95697837e+00] [ 4.92252536e-03 -1.08044652e-04 9.99987878e-01 -1.75179881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.450281692999994 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:46.71, Y:2.96, Z:-0.02 [[ 9.82916602e-01 -1.83987385e-01 -4.85750961e-03 4.67100317e+01] [ 1.83985654e-01 9.82928599e-01 -8.04692099e-04 2.95946922e+00] [ 4.92263831e-03 -1.02766857e-04 9.99987878e-01 -1.81160942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.480281692999995 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:46.74, Y:2.96, Z:-0.02 [[ 9.83893551e-01 -1.78689358e-01 -4.85744467e-03 4.67371135e+01] [ 1.78687560e-01 9.83905538e-01 -8.05083888e-04 2.96170801e+00] [ 4.92312663e-03 -7.58480910e-05 9.99987878e-01 -1.65626556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.510281692999996 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:46.76, Y:2.97, Z:-0.02 [[ 9.84456195e-01 -1.75563115e-01 -4.85729819e-03 4.67647155e+01] [ 1.75561275e-01 9.84468176e-01 -8.05966684e-04 2.96542240e+00] [ 4.92335351e-03 -5.93145688e-05 9.99987878e-01 -1.62416002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.540281693 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:46.79, Y:2.97, Z:-0.02 [[ 9.84979322e-01 -1.72604008e-01 -4.85714963e-03 4.67918956e+01] [ 1.72602127e-01 9.84991297e-01 -8.06860951e-04 2.96858205e+00] [ 4.92351755e-03 -4.36130062e-05 9.99987878e-01 -1.65368049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.570281693 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:46.82, Y:2.97, Z:-0.02 [[ 9.85400614e-01 -1.70182370e-01 -4.85704815e-03 4.68195499e+01] [ 1.70180458e-01 9.85412584e-01 -8.07471393e-04 2.97149968e+00] [ 4.92361376e-03 -3.08918705e-05 9.99987878e-01 -1.63564150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.600281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:46.85, Y:2.97, Z:-0.01 [[ 9.85883031e-01 -1.67365051e-01 -4.85690016e-03 4.68490304e+01] [ 1.67363099e-01 9.85894994e-01 -8.08360573e-04 2.97268674e+00] [ 4.92368486e-03 -1.59168922e-05 9.99987878e-01 -1.32011884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63028169299999 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:46.88, Y:2.98, Z:-0.01 [[ 9.85993036e-01 -1.66715759e-01 -4.85677053e-03 4.68758978e+01] [ 1.66713796e-01 9.86004998e-01 -8.09138631e-04 2.97571911e+00] [ 4.92369618e-03 -1.18855974e-05 9.99987878e-01 -1.12797800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.660281692999995 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:46.90, Y:2.98, Z:-0.01 [[ 9.86138627e-01 -1.65852410e-01 -4.85666941e-03 4.69044969e+01] [ 1.65850434e-01 9.86150586e-01 -8.09745173e-04 2.97583952e+00] [ 4.92370557e-03 -6.95973417e-06 9.99987878e-01 -7.55997419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.690281692999996 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:46.93, Y:2.98, Z:-0.01 [[ 9.86150523e-01 -1.65781662e-01 -4.85651987e-03 4.69329471e+01] [ 1.65779680e-01 9.86162482e-01 -8.10641044e-04 2.97804616e+00] [ 4.92370711e-03 -5.69822120e-06 9.99987878e-01 -5.84331498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.720281693 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:46.96, Y:2.98, Z:-0.00 [[ 9.86091694e-01 -1.66131233e-01 -4.85636713e-03 4.69615320e+01] [ 1.66129250e-01 9.86103653e-01 -8.11555042e-04 2.97976874e+00] [ 4.92370600e-03 -6.51694458e-06 9.99987878e-01 -2.04376326e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.750281693 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:46.99, Y:2.98, Z:-0.00 [[ 9.86243514e-01 -1.65227565e-01 -4.85622199e-03 4.69879923e+01] [ 1.65225568e-01 9.86255470e-01 -8.12422617e-04 2.98347277e+00] [ 4.92371011e-03 -1.12549998e-06 9.99987878e-01 -8.56213412e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.780281693 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:47.01, Y:2.99, Z:0.00 [[ 9.86537045e-01 -1.63465830e-01 -4.85611628e-03 4.70144607e+01] [ 1.63463808e-01 9.86548996e-01 -8.13053985e-04 2.98756868e+00] [ 4.92370319e-03 8.30861444e-06 9.99987878e-01 2.15950775e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81028169299999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:47.04, Y:2.99, Z:-0.00 [[ 9.87493922e-01 -1.57582271e-01 -4.85604932e-03 4.70432177e+01] [ 1.57580176e-01 9.87505861e-01 -8.13453728e-04 2.99320276e+00] [ 4.92356305e-03 3.80635067e-05 9.99987878e-01 -4.01073722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.840281692999994 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:47.07, Y:3.00, Z:-0.01 [[ 9.88008119e-01 -1.54325552e-01 -4.85591699e-03 4.70698335e+01] [ 1.54323414e-01 9.88020051e-01 -8.14242917e-04 2.99924640e+00] [ 4.92340183e-03 5.50969283e-05 9.99987878e-01 -6.79271585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.870281692999995 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:47.10, Y:3.01, Z:-0.01 [[ 9.88473521e-01 -1.51315960e-01 -4.85585123e-03 4.70975436e+01] [ 1.51313784e-01 9.88485445e-01 -8.14634897e-04 3.00604457e+00] [ 4.92320552e-03 7.04878022e-05 9.99987878e-01 -7.87936687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.900281693 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:47.12, Y:3.02, Z:-0.01 [[ 9.89343399e-01 -1.45519969e-01 -4.85570213e-03 4.71239996e+01] [ 1.45517718e-01 9.89355310e-01 -8.15522654e-04 3.01536767e+00] [ 4.92268951e-03 1.00241262e-04 9.99987878e-01 -6.25680131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.930281693 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:47.15, Y:3.02, Z:-0.00 [[ 9.89709892e-01 -1.43006132e-01 -4.85555021e-03 4.71500487e+01] [ 1.43003847e-01 9.89721796e-01 -8.16426159e-04 3.02308832e+00] [ 4.92239782e-03 1.13662686e-04 9.99987878e-01 -4.64160543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.960281693 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:47.18, Y:3.03, Z:-0.00 [[ 9.89961656e-01 -1.41252767e-01 -4.85548433e-03 4.71775030e+01] [ 1.41250458e-01 9.89973556e-01 -8.16817789e-04 3.03131293e+00] [ 4.92217885e-03 1.22778905e-04 9.99987878e-01 -3.81091570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99028169299999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:47.20, Y:3.04, Z:-0.00 [[ 9.90273073e-01 -1.39052748e-01 -4.85533460e-03 4.72034202e+01] [ 1.39050409e-01 9.90284967e-01 -8.17706825e-04 3.04162848e+00] [ 4.92186924e-03 1.34616787e-04 9.99987878e-01 -3.93741655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.020281692999994 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:47.23, Y:3.05, Z:-0.01 [[ 9.90281334e-01 -1.38993907e-01 -4.85526959e-03 4.72295677e+01] [ 1.38991565e-01 9.90293227e-01 -8.18092639e-04 3.04970691e+00] [ 4.92185048e-03 1.35300350e-04 9.99987878e-01 -5.24692199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.050281692999995 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:47.26, Y:3.06, Z:-0.01 [[ 9.90235515e-01 -1.39319962e-01 -4.85520506e-03 4.72559911e+01] [ 1.39317622e-01 9.90247409e-01 -8.18475460e-04 3.05838260e+00] [ 4.92188420e-03 1.34067844e-04 9.99987878e-01 -7.74021563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.080281692999996 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:47.28, Y:3.07, Z:-0.01 [[ 9.90008800e-01 -1.40921979e-01 -4.85505750e-03 4.72824729e+01] [ 1.40919654e-01 9.90020697e-01 -8.19349781e-04 3.07072978e+00] [ 4.92207180e-03 1.26990470e-04 9.99987878e-01 -1.44913504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.110281693 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:47.31, Y:3.08, Z:-0.02 [[ 9.89776968e-01 -1.42541161e-01 -4.85501162e-03 4.73096682e+01] [ 1.42538854e-01 9.89788868e-01 -8.19621587e-04 3.07854806e+00] [ 4.92226627e-03 1.19214776e-04 9.99987878e-01 -1.52585048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.140281693 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:47.34, Y:3.09, Z:-0.01 [[ 9.89565956e-01 -1.43998778e-01 -4.85486535e-03 4.73363113e+01] [ 1.43996485e-01 9.89577859e-01 -8.20487079e-04 3.08628312e+00] [ 4.92241639e-03 1.12842538e-04 9.99987878e-01 -1.34165757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17028169299999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:47.36, Y:3.10, Z:-0.01 [[ 9.89185349e-01 -1.46590509e-01 -4.85471862e-03 4.73628565e+01] [ 1.46588243e-01 9.89197257e-01 -8.21354353e-04 3.09730227e+00] [ 4.92267709e-03 1.00827022e-04 9.99987878e-01 -1.26537675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.200281692999994 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:47.39, Y:3.10, Z:-0.01 [[ 9.88892787e-01 -1.48551301e-01 -4.85457218e-03 4.73897751e+01] [ 1.48549054e-01 9.88904698e-01 -8.22218922e-04 3.10414855e+00] [ 4.92285093e-03 9.19442567e-05 9.99987878e-01 -1.31180158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.230281692999995 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:47.42, Y:3.11, Z:-0.01 [[ 9.88125430e-01 -1.53572684e-01 -4.85442663e-03 4.74166334e+01] [ 1.53570493e-01 9.88137352e-01 -8.23077357e-04 3.11166521e+00] [ 4.92324248e-03 6.78069743e-05 9.99987878e-01 -1.13550810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.260281692999996 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:47.44, Y:3.12, Z:-0.01 [[ 9.87542511e-01 -1.57277538e-01 -4.85435763e-03 4.74439923e+01] [ 1.57275390e-01 9.87554441e-01 -8.23484132e-04 3.11823724e+00] [ 4.92345799e-03 4.97546008e-05 9.99987878e-01 -9.06981774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.290281693 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:47.47, Y:3.12, Z:-0.01 [[ 9.86895094e-01 -1.61290138e-01 -4.85431250e-03 4.74716131e+01] [ 1.61288037e-01 9.86907032e-01 -8.23750055e-04 3.12459062e+00] [ 4.92361791e-03 3.00123537e-05 9.99987878e-01 -6.69431604e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.320281693 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:47.50, Y:3.13, Z:-0.01 [[ 9.85589181e-01 -1.69086971e-01 -4.85416805e-03 4.74980991e+01] [ 1.69084961e-01 9.85601134e-01 -8.24600414e-04 3.12720138e+00] [ 4.92370272e-03 -8.04956836e-06 9.99987878e-01 -6.95634913e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.350281693 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:47.53, Y:3.13, Z:-0.01 [[ 9.84792262e-01 -1.73668185e-01 -4.85410532e-03 4.75255166e+01] [ 1.73666228e-01 9.84804225e-01 -8.24969514e-04 3.12872532e+00] [ 4.92361438e-03 -3.05705673e-05 9.99987878e-01 -8.23104023e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38028169299999 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:47.55, Y:3.13, Z:-0.01 [[ 9.83865070e-01 -1.78846197e-01 -4.85404352e-03 4.75540189e+01] [ 1.78844301e-01 9.83877042e-01 -8.25332971e-04 3.13074711e+00] [ 4.92338965e-03 -5.61017404e-05 9.99987878e-01 -9.23715579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.410281692999995 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:47.58, Y:3.13, Z:-0.01 [[ 9.82953982e-01 -1.83787674e-01 -4.85390195e-03 4.75808038e+01] [ 1.83785835e-01 9.82965963e-01 -8.26164753e-04 3.13243661e+00] [ 4.92305930e-03 -7.99964875e-05 9.99987878e-01 -9.31083045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.440281692999996 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:47.61, Y:3.13, Z:-0.01 [[ 9.81286579e-01 -1.92491791e-01 -4.85384040e-03 4.76094602e+01] [ 1.92490056e-01 9.81298576e-01 -8.26526218e-04 3.13038822e+00] [ 4.92216618e-03 -1.23256924e-04 9.99987878e-01 -7.78849751e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.470281693 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:47.64, Y:3.13, Z:-0.01 [[ 9.80773315e-01 -1.95090099e-01 -4.85369302e-03 4.76372346e+01] [ 1.95088392e-01 9.80785315e-01 -8.27390765e-04 3.13141364e+00] [ 4.92184659e-03 -1.35416382e-04 9.99987878e-01 -8.13725880e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.500281693 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:47.66, Y:3.13, Z:-0.01 [[ 9.80649942e-01 -1.95709309e-01 -4.85354175e-03 4.76648448e+01] [ 1.95707605e-01 9.80661944e-01 -8.28277148e-04 3.13089905e+00] [ 4.92178524e-03 -1.37625093e-04 9.99987878e-01 -9.11630477e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.530281693 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:47.69, Y:3.13, Z:-0.01 [[ 9.81031318e-01 -1.93788538e-01 -4.85347617e-03 4.76924917e+01] [ 1.93786808e-01 9.81043315e-01 -8.28661281e-04 3.13385095e+00] [ 4.92205541e-03 -1.27596988e-04 9.99987878e-01 -7.76445643e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56028169299999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:47.72, Y:3.14, Z:-0.01 [[ 9.81649207e-01 -1.90633887e-01 -4.85332253e-03 4.77193147e+01] [ 1.90632115e-01 9.81661199e-01 -8.29560166e-04 3.13659694e+00] [ 4.92246069e-03 -1.10862058e-04 9.99987878e-01 -7.73084335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.590281692999994 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:47.75, Y:3.14, Z:-0.00 [[ 9.83147316e-01 -1.82750651e-01 -4.85325565e-03 4.77475822e+01] [ 1.82748780e-01 9.83159293e-01 -8.29951247e-04 3.13819631e+00] [ 4.92319752e-03 -7.09622092e-05 9.99987878e-01 -4.78617387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.620281692999995 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:47.77, Y:3.14, Z:-0.00 [[ 9.83776009e-01 -1.79335469e-01 -4.85310819e-03 4.77748567e+01] [ 1.79333553e-01 9.83787979e-01 -8.30812625e-04 3.14287515e+00] [ 4.92342366e-03 -5.29916042e-05 9.99987878e-01 -4.73722885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.650281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:47.80, Y:3.15, Z:-0.00 [[ 9.84496227e-01 -1.75338610e-01 -4.85295861e-03 4.78016957e+01] [ 1.75336640e-01 9.84508187e-01 -8.31685404e-04 3.14882990e+00] [ 4.92360405e-03 -3.21103166e-05 9.99987878e-01 -4.58492914e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.680281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:47.83, Y:3.15, Z:-0.00 [[ 9.84607789e-01 -1.74711051e-01 -4.85289342e-03 4.78287493e+01] [ 1.74709072e-01 9.84619748e-01 -8.32065651e-04 3.15430560e+00] [ 4.92362576e-03 -2.85861834e-05 9.99987878e-01 -4.61581793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.710281693 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:47.86, Y:3.16, Z:-0.00 [[ 9.84649521e-01 -1.74475706e-01 -4.85273801e-03 4.78554883e+01] [ 1.74473719e-01 9.84661479e-01 -8.32971045e-04 3.15927088e+00] [ 4.92363739e-03 -2.64907082e-05 9.99987878e-01 -4.91168354e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74028169299999 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:47.88, Y:3.17, Z:-0.01 [[ 9.84644473e-01 -1.74504193e-01 -4.85267067e-03 4.78829456e+01] [ 1.74502205e-01 9.84656430e-01 -8.33363114e-04 3.16711953e+00] [ 4.92363874e-03 -2.62353513e-05 9.99987878e-01 -5.74555456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.770281692999994 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:47.91, Y:3.17, Z:-0.01 [[ 9.84747227e-01 -1.73923411e-01 -4.85251385e-03 4.79088108e+01] [ 1.73921411e-01 9.84759182e-01 -8.34275266e-04 3.17326450e+00] [ 4.92365757e-03 -2.24058031e-05 9.99987878e-01 -6.61960660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.800281692999995 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:47.94, Y:3.18, Z:-0.01 [[ 9.84815566e-01 -1.73536031e-01 -4.85244587e-03 4.79361231e+01] [ 1.73534025e-01 9.84827521e-01 -8.34670478e-04 3.17910292e+00] [ 4.92366764e-03 -2.00679854e-05 9.99987878e-01 -7.00689014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.830281692999996 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:47.96, Y:3.19, Z:-0.00 [[ 9.85005072e-01 -1.72457132e-01 -4.85228914e-03 4.79625092e+01] [ 1.72455109e-01 9.85017024e-01 -8.35580654e-04 3.18514361e+00] [ 4.92368925e-03 -1.37508675e-05 9.99987878e-01 -3.46250174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.860281693 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:47.99, Y:3.19, Z:-0.00 [[ 9.85110444e-01 -1.71854207e-01 -4.85222105e-03 4.79900445e+01] [ 1.71852174e-01 9.85122394e-01 -8.35975848e-04 3.19142117e+00] [ 4.92369758e-03 -1.03361954e-05 9.99987878e-01 -5.01260514e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.890281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:48.02, Y:3.20, Z:0.00 [[ 9.85252385e-01 -1.71038578e-01 -4.85206610e-03 4.80163065e+01] [ 1.71036531e-01 9.85264332e-01 -8.36874208e-04 3.19787252e+00] [ 4.92370544e-03 -5.34824480e-06 9.99987878e-01 2.25100155e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92028169299999 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:48.04, Y:3.20, Z:-0.00 [[ 9.85815194e-01 -1.67764303e-01 -4.85196034e-03 4.80437251e+01] [ 1.67762213e-01 9.85827134e-01 -8.37486926e-04 3.20442428e+00] [ 4.92369457e-03 1.16317312e-05 9.99987878e-01 -3.93782674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.950281692999994 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:48.07, Y:3.21, Z:-0.00 [[ 9.85784577e-01 -1.67944124e-01 -4.85180797e-03 4.80717549e+01] [ 1.67942031e-01 9.85796516e-01 -8.38368724e-04 3.20947253e+00] [ 4.92369450e-03 1.16284704e-05 9.99987878e-01 -3.79758387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.980281692999995 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:48.10, Y:3.22, Z:-0.01 [[ 9.85965482e-01 -1.66878785e-01 -4.85165488e-03 4.80988599e+01] [ 1.66876676e-01 9.85977419e-01 -8.39253707e-04 3.21525922e+00] [ 4.92367580e-03 1.78471469e-05 9.99987878e-01 -6.09092048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.010281692999996 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:48.12, Y:3.22, Z:-0.01 [[ 9.86195647e-01 -1.65513169e-01 -4.85150153e-03 4.81245718e+01] [ 1.65511039e-01 9.86207580e-01 -8.40139292e-04 3.22346734e+00] [ 4.92364169e-03 2.55646549e-05 9.99987878e-01 -7.54438463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.040281693 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:48.15, Y:3.23, Z:-0.01 [[ 9.86114355e-01 -1.65996815e-01 -4.85143462e-03 4.81521700e+01] [ 1.65994688e-01 9.86126289e-01 -8.40525496e-04 3.23084592e+00] [ 4.92365177e-03 2.35418807e-05 9.99987878e-01 -5.46372478e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.070281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:48.18, Y:3.24, Z:-0.00 [[ 9.86038649e-01 -1.66445931e-01 -4.85128286e-03 4.81792450e+01] [ 1.66443806e-01 9.86050583e-01 -8.41400504e-04 3.23749687e+00] [ 4.92365798e-03 2.21874341e-05 9.99987878e-01 -2.74901289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.100281693 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:48.21, Y:3.24, Z:-0.00 [[ 9.85867588e-01 -1.67456173e-01 -4.85063549e-03 4.82073892e+01] [ 1.67454042e-01 9.85879521e-01 -8.45130358e-04 3.24382975e+00] [ 4.92366449e-03 2.09281095e-05 9.99987878e-01 -2.52505026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.13028169299999 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:48.23, Y:3.25, Z:-0.01 [[ 9.85532642e-01 -1.69416287e-01 -4.85109482e-03 4.82345097e+01] [ 1.69414192e-01 9.85544581e-01 -8.42485521e-04 3.25138796e+00] [ 4.92370098e-03 8.45267180e-06 9.99987878e-01 -6.02334495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.160281692999995 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:48.26, Y:3.26, Z:-0.01 [[ 9.85348240e-01 -1.70485526e-01 -4.85094202e-03 4.82621237e+01] [ 1.70483440e-01 9.85360181e-01 -8.43364391e-04 3.25844835e+00] [ 4.92370653e-03 4.00233500e-06 9.99987878e-01 -8.29284103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.190281692999996 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:48.29, Y:3.27, Z:-0.01 [[ 9.84993969e-01 -1.72520579e-01 -4.85078318e-03 4.82880290e+01] [ 1.72518513e-01 9.85005914e-01 -8.44277037e-04 3.26817280e+00] [ 4.92370528e-03 -5.24210963e-06 9.99987878e-01 -8.83185275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.220281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:48.32, Y:3.27, Z:-0.01 [[ 9.84769057e-01 -1.73799813e-01 -4.85071418e-03 4.83151693e+01] [ 1.73797761e-01 9.84781003e-01 -8.44673274e-04 3.27496143e+00] [ 4.92369523e-03 -1.12351606e-05 9.99987878e-01 -5.74818407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.250281693 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:48.34, Y:3.28, Z:-0.00 [[ 9.84402245e-01 -1.75865546e-01 -4.85066681e-03 4.83415430e+01] [ 1.75863517e-01 9.84414196e-01 -8.44945213e-04 3.28092899e+00] [ 4.92366202e-03 -2.12893625e-05 9.99987878e-01 -2.58792072e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.280281693 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:48.37, Y:3.29, Z:-0.00 [[ 9.83111505e-01 -1.82943270e-01 -4.85060167e-03 4.83684768e+01] [ 1.82941325e-01 9.83123470e-01 -8.45319009e-04 3.28640388e+00] [ 4.92338577e-03 -5.63326545e-05 9.99987878e-01 -1.10167798e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31028169299999 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:48.40, Y:3.29, Z:-0.00 [[ 9.82591916e-01 -1.85713755e-01 -4.85045153e-03 4.83963576e+01] [ 1.85711840e-01 9.82603886e-01 -8.46179648e-04 3.29076638e+00] [ 4.92321972e-03 -6.93369967e-05 9.99987878e-01 -2.11878405e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.340281692999994 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:48.42, Y:3.30, Z:-0.01 [[ 9.81935802e-01 -1.89152199e-01 -4.85030245e-03 4.84238813e+01] [ 1.89150322e-01 9.81947778e-01 -8.47033293e-04 3.29590019e+00] [ 4.92296192e-03 -8.57039532e-05 9.99987878e-01 -6.32453930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.370281692999995 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:48.45, Y:3.30, Z:-0.01 [[ 9.81742962e-01 -1.90150551e-01 -4.85015379e-03 4.84517455e+01] [ 1.90148682e-01 9.81754939e-01 -8.47883661e-04 3.30152127e+00] [ 4.92288798e-03 -8.98465334e-05 9.99987878e-01 -6.03156827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.400281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:48.48, Y:3.31, Z:-0.01 [[ 9.81631644e-01 -1.90724391e-01 -4.84999636e-03 4.84782850e+01] [ 1.90722525e-01 9.81643621e-01 -8.48783228e-04 3.30643708e+00] [ 4.92285165e-03 -9.18110760e-05 9.99987878e-01 -5.87827419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.430281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:48.50, Y:3.31, Z:-0.01 [[ 9.81655737e-01 -1.90600349e-01 -4.84992781e-03 4.85048203e+01] [ 1.90598479e-01 9.81667713e-01 -8.49174729e-04 3.31269528e+00] [ 4.92287054e-03 -9.07916179e-05 9.99987878e-01 -5.90450017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.460281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:48.53, Y:3.32, Z:-0.01 [[ 9.81765187e-01 -1.90035777e-01 -4.84982858e-03 4.85324466e+01] [ 1.90033897e-01 9.81777162e-01 -8.49741115e-04 3.31841652e+00] [ 4.92293215e-03 -8.73855788e-05 9.99987878e-01 -6.13012108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49028169299999 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:48.56, Y:3.32, Z:-0.01 [[ 9.81922097e-01 -1.89223350e-01 -4.84967737e-03 4.85592731e+01] [ 1.89221456e-01 9.81934070e-01 -8.50603211e-04 3.32323098e+00] [ 4.92301742e-03 -8.24369244e-05 9.99987878e-01 -7.07499192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.520281692999994 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:48.59, Y:3.32, Z:-0.00 [[ 9.81885493e-01 -1.89413199e-01 -4.84961185e-03 4.85871406e+01] [ 1.89411306e-01 9.81897466e-01 -8.50976618e-04 3.32445846e+00] [ 4.92300779e-03 -8.30097157e-05 9.99987878e-01 -4.76337064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.550281692999995 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:48.61, Y:3.33, Z:-0.00 [[ 9.81781123e-01 -1.89953439e-01 -4.84946253e-03 4.86148835e+01] [ 1.89951548e-01 9.81793096e-01 -8.51826674e-04 3.32953661e+00] [ 4.92297624e-03 -8.48555636e-05 9.99987878e-01 -9.49226933e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.580281692999996 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:48.64, Y:3.34, Z:0.00 [[ 9.81859422e-01 -1.89548303e-01 -4.84930154e-03 4.86410005e+01] [ 1.89546402e-01 9.81871394e-01 -8.52742180e-04 3.33681954e+00] [ 4.92302630e-03 -8.18947151e-05 9.99987878e-01 1.26025705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.610281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:48.67, Y:3.35, Z:0.00 [[ 9.82737298e-01 -1.84942933e-01 -4.84923169e-03 4.86668655e+01] [ 1.84940974e-01 9.82749260e-01 -8.53139222e-04 3.34652915e+00] [ 4.92336092e-03 -5.84098988e-05 9.99987878e-01 1.19859961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.640281693 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:48.69, Y:3.35, Z:-0.00 [[ 9.83242026e-01 -1.82240511e-01 -4.84916500e-03 4.86947359e+01] [ 1.82238517e-01 9.83253983e-01 -8.53518105e-04 3.35249866e+00] [ 4.92350637e-03 -4.44897687e-05 9.99987878e-01 -1.35511339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67028169299999 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:48.72, Y:3.36, Z:-0.00 [[ 9.83642403e-01 -1.80066960e-01 -4.84900961e-03 4.87214519e+01] [ 1.80064936e-01 9.83654354e-01 -8.54400020e-04 3.36130846e+00] [ 4.92359863e-03 -3.27125146e-05 9.99987878e-01 -3.90768130e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.700281692999994 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:48.75, Y:3.37, Z:-0.00 [[ 9.83535460e-01 -1.80650179e-01 -4.84885035e-03 4.87488635e+01] [ 1.80648158e-01 9.83547412e-01 -8.55302866e-04 3.36920309e+00] [ 4.92358483e-03 -3.47151856e-05 9.99987878e-01 -3.85476567e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.730281692999995 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:48.77, Y:3.38, Z:-0.00 [[ 9.83389671e-01 -1.81442125e-01 -4.84868510e-03 4.87749623e+01] [ 1.81440109e-01 9.83401624e-01 -8.56238657e-04 3.37526235e+00] [ 4.92356256e-03 -3.77297002e-05 9.99987878e-01 -4.82971932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.760281692999996 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:48.80, Y:3.38, Z:-0.00 [[ 9.82806393e-01 -1.84575418e-01 -4.84861346e-03 4.88021868e+01] [ 1.84573437e-01 9.82818352e-01 -8.56644120e-04 3.37954171e+00] [ 4.92342174e-03 -5.30099354e-05 9.99987878e-01 -2.76961034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.790281693 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:48.83, Y:3.38, Z:-0.00 [[ 9.82352237e-01 -1.86977470e-01 -4.84845438e-03 4.88295853e+01] [ 1.86975514e-01 9.82364200e-01 -8.57543548e-04 3.38454181e+00] [ 4.92328933e-03 -6.41324281e-05 9.99987878e-01 -2.45292070e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.820281693 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:48.86, Y:3.39, Z:-0.00 [[ 9.81841650e-01 -1.89640368e-01 -4.84829289e-03 4.88564664e+01] [ 1.89638441e-01 9.81853617e-01 -8.58455575e-04 3.38976025e+00] [ 4.92311174e-03 -7.65552662e-05 9.99987878e-01 -4.36856694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.850281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:48.88, Y:3.39, Z:-0.01 [[ 9.80889336e-01 -1.94506055e-01 -4.84822270e-03 4.88844369e+01] [ 1.94504185e-01 9.80901312e-01 -8.58851826e-04 3.39178146e+00] [ 4.92267989e-03 -1.00561006e-04 9.99987878e-01 -7.68289161e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88028169299999 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:48.91, Y:3.39, Z:-0.01 [[ 9.80649829e-01 -1.95710012e-01 -4.84817281e-03 4.89115921e+01] [ 1.95708156e-01 9.80661807e-01 -8.59133364e-04 3.39417797e+00] [ 4.92255891e-03 -1.06317971e-04 9.99987878e-01 -6.99316238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.910281692999995 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:48.94, Y:3.40, Z:-0.00 [[ 9.80666855e-01 -1.95624681e-01 -4.84810567e-03 4.89400891e+01] [ 1.95622821e-01 9.80678833e-01 -8.59512065e-04 3.39509011e+00] [ 4.92257638e-03 -1.05505115e-04 9.99987878e-01 -4.05732092e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.940281692999996 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:48.97, Y:3.40, Z:-0.00 [[ 9.80921353e-01 -1.94344528e-01 -4.84795337e-03 4.89683942e+01] [ 1.94342649e-01 9.80933328e-01 -8.60370212e-04 3.39851724e+00] [ 4.92272728e-03 -9.82085864e-05 9.99987878e-01 -3.20521050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.970281693 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:49.00, Y:3.40, Z:-0.00 [[ 9.81305378e-01 -1.92396087e-01 -4.84779265e-03 4.89965832e+01] [ 1.92394179e-01 9.81317348e-01 -8.61274832e-04 3.40173024e+00] [ 4.92292894e-03 -8.75134619e-05 9.99987878e-01 -3.61177568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.000281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:49.02, Y:3.40, Z:-0.01 [[ 9.82032933e-01 -1.88647338e-01 -4.84763203e-03 4.90232944e+01] [ 1.88645380e-01 9.82044896e-01 -8.62177960e-04 3.40300930e+00] [ 4.92323987e-03 -6.77962357e-05 9.99987878e-01 -5.30986856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.030281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:49.05, Y:3.41, Z:-0.00 [[ 9.82205228e-01 -1.87748213e-01 -4.84756217e-03 4.90513287e+01] [ 1.87746242e-01 9.82217188e-01 -8.62570548e-04 3.40718325e+00] [ 4.92330496e-03 -6.28902780e-05 9.99987878e-01 -3.59889109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06028169299999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:49.08, Y:3.41, Z:-0.00 [[ 9.82444659e-01 -1.86491271e-01 -4.84740258e-03 4.90780051e+01] [ 1.86489280e-01 9.82456616e-01 -8.63466460e-04 3.41093590e+00] [ 4.92339170e-03 -5.56806075e-05 9.99987878e-01 -1.12075887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.090281692999994 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:49.11, Y:3.42, Z:0.00 [[ 9.82717974e-01 -1.85045634e-01 -4.84733299e-03 4.91059338e+01] [ 1.85043624e-01 9.82729928e-01 -8.63856958e-04 3.41512563e+00] [ 4.92347216e-03 -4.80403039e-05 9.99987878e-01 9.67773956e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.120281692999995 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:49.13, Y:3.42, Z:0.00 [[ 9.83547748e-01 -1.80583310e-01 -4.84717096e-03 4.91320964e+01] [ 1.80581241e-01 9.83559692e-01 -8.64765144e-04 3.42145364e+00] [ 4.92364413e-03 -2.47703377e-05 9.99987878e-01 6.80733990e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.150281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:49.16, Y:3.43, Z:-0.00 [[ 9.83981766e-01 -1.78203228e-01 -4.84706098e-03 4.91585187e+01] [ 1.78201127e-01 9.83993704e-01 -8.65381173e-04 3.42809722e+00] [ 4.92369121e-03 -1.22324354e-05 9.99987878e-01 -3.75068191e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.180281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:49.18, Y:3.44, Z:-0.00 [[ 9.84550037e-01 -1.75036373e-01 -4.84690056e-03 4.91847079e+01] [ 1.75034230e-01 9.84561968e-01 -8.66278722e-04 3.43538715e+00] [ 4.92370424e-03 4.52124185e-06 9.99987878e-01 -4.51001000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.210281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:49.21, Y:3.44, Z:-0.01 [[ 9.84550915e-01 -1.75031438e-01 -4.84683287e-03 4.92118860e+01] [ 1.75029293e-01 9.84562845e-01 -8.66657323e-04 3.44164716e+00] [ 4.92370383e-03 4.93053231e-06 9.99987878e-01 -6.11853151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24028169299999 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:49.24, Y:3.45, Z:-0.00 [[ 9.84474692e-01 -1.75459657e-01 -4.84667789e-03 4.92390214e+01] [ 1.75457512e-01 9.84486622e-01 -8.67523161e-04 3.44869495e+00] [ 4.92370486e-03 3.66855232e-06 9.99987878e-01 -4.54864807e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.270281692999994 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:49.27, Y:3.46, Z:-0.00 [[ 9.84108770e-01 -1.77500535e-01 -4.84651459e-03 4.92660124e+01] [ 1.77498410e-01 9.84120704e-01 -8.68434486e-04 3.45771357e+00] [ 4.92370293e-03 -5.61464221e-06 9.99987878e-01 -1.18919557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.300281692999995 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:49.29, Y:3.46, Z:-0.00 [[ 9.83814071e-01 -1.79126728e-01 -4.84646395e-03 4.92925646e+01] [ 1.79124622e-01 9.83826009e-01 -8.68717005e-04 3.46383563e+00] [ 4.92368772e-03 -1.34650069e-05 9.99987878e-01 -2.88411456e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.330281692999996 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:49.32, Y:3.47, Z:-0.00 [[ 9.83315551e-01 -1.81843446e-01 -4.84639420e-03 4.93195596e+01] [ 1.81841371e-01 9.83327494e-01 -8.69105953e-04 3.47067460e+00] [ 4.92363388e-03 -2.66695638e-05 9.99987878e-01 -2.60481357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.360281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:49.35, Y:3.48, Z:-0.00 [[ 9.83147739e-01 -1.82748564e-01 -4.84623083e-03 4.93457076e+01] [ 1.82746495e-01 9.83159683e-01 -8.70015957e-04 3.47631078e+00] [ 4.92361293e-03 -3.02774776e-05 9.99987878e-01 -4.92522558e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.390281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:49.37, Y:3.48, Z:-0.01 [[ 9.82750210e-01 -1.84874387e-01 -4.84615984e-03 4.93724972e+01] [ 1.84872343e-01 9.82762158e-01 -8.70411226e-04 3.48236634e+00] [ 4.92353924e-03 -4.05241063e-05 9.99987878e-01 -5.65105146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42028169299999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:49.40, Y:3.49, Z:-0.00 [[ 9.82535637e-01 -1.86011391e-01 -4.84609021e-03 4.94004396e+01] [ 1.86009358e-01 9.82547587e-01 -8.70798688e-04 3.48758465e+00] [ 4.92349272e-03 -4.58273877e-05 9.99987878e-01 -4.31856016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.450281692999994 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:49.43, Y:3.49, Z:-0.00 [[ 9.82430297e-01 -1.86566954e-01 -4.84593409e-03 4.94275669e+01] [ 1.86564924e-01 9.82442247e-01 -8.71666614e-04 3.49209701e+00] [ 4.92347457e-03 -4.77296341e-05 9.99987878e-01 -3.15723234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.480281692999995 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:49.45, Y:3.50, Z:-0.00 [[ 9.82486282e-01 -1.86271911e-01 -4.84577119e-03 4.94546444e+01] [ 1.86269873e-01 9.82498231e-01 -8.72571300e-04 3.49528865e+00] [ 4.92349714e-03 -4.53318498e-05 9.99987878e-01 -4.25850406e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.510281692999996 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:49.48, Y:3.50, Z:-0.00 [[ 9.82503724e-01 -1.86179893e-01 -4.84560889e-03 4.94817263e+01] [ 1.86177849e-01 9.82515672e-01 -8.73471649e-04 3.50004162e+00] [ 4.92350953e-03 -4.39558928e-05 9.99987878e-01 -4.56647355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.540281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:49.51, Y:3.50, Z:-0.00 [[ 9.82445363e-01 -1.86487616e-01 -4.84544623e-03 4.95093406e+01] [ 1.86485571e-01 9.82457311e-01 -8.74373060e-04 3.50460240e+00] [ 4.92350382e-03 -4.45820502e-05 9.99987878e-01 -2.02303317e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.570281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:49.54, Y:3.51, Z:0.00 [[ 9.82343313e-01 -1.87024428e-01 -4.84539586e-03 4.95363677e+01] [ 1.87022389e-01 9.82355262e-01 -8.74652114e-04 3.50885787e+00] [ 4.92348143e-03 -4.69888516e-05 9.99987878e-01 1.59924524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60028169299999 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:49.56, Y:3.51, Z:0.01 [[ 9.82226897e-01 -1.87634873e-01 -4.84532772e-03 4.95640022e+01] [ 1.87632839e-01 9.82238847e-01 -8.75029410e-04 3.51305664e+00] [ 4.92345514e-03 -4.96651727e-05 9.99987878e-01 5.50062948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63028169299999 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:49.59, Y:3.52, Z:0.01 [[ 9.82262298e-01 -1.87449467e-01 -4.84517120e-03 4.95910498e+01] [ 1.87447426e-01 9.82274246e-01 -8.75895250e-04 3.51787658e+00] [ 4.92347298e-03 -4.78559899e-05 9.99987878e-01 6.83699809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.660281692999995 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:49.62, Y:3.52, Z:0.01 [[ 9.82278579e-01 -1.87364136e-01 -4.84500869e-03 4.96178223e+01] [ 1.87362090e-01 9.82290526e-01 -8.76793243e-04 3.52353968e+00] [ 4.92348574e-03 -4.65157348e-05 9.99987878e-01 5.29398369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.690281692999996 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:49.64, Y:3.53, Z:0.00 [[ 9.82098726e-01 -1.88304591e-01 -4.84493790e-03 4.96445565e+01] [ 1.88302555e-01 9.82110675e-01 -8.77184235e-04 3.52676870e+00] [ 4.92344305e-03 -5.08326656e-05 9.99987878e-01 3.78384336e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.720281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:49.67, Y:3.53, Z:0.00 [[ 9.81850213e-01 -1.89596114e-01 -4.84486743e-03 4.96726253e+01] [ 1.89594091e-01 9.81862165e-01 -8.77573271e-04 3.52972124e+00] [ 4.92337650e-03 -5.69127339e-05 9.99987878e-01 3.42144892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.750281693 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:49.70, Y:3.53, Z:0.00 [[ 9.81457765e-01 -1.91617288e-01 -4.84470391e-03 4.97000667e+01] [ 1.91615286e-01 9.81469720e-01 -8.78475052e-04 3.53290979e+00] [ 4.92326120e-03 -6.61331657e-05 9.99987878e-01 3.46186662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.780281693 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:49.73, Y:3.54, Z:0.00 [[ 9.81042889e-01 -1.93730174e-01 -4.84454008e-03 4.97273266e+01] [ 1.93728193e-01 9.81054848e-01 -8.79377604e-04 3.53727974e+00] [ 4.92312151e-03 -7.58168494e-05 9.99987878e-01 4.52124692e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81028169299999 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:49.76, Y:3.54, Z:0.00 [[ 9.80679584e-01 -1.95560953e-01 -4.84437640e-03 4.97550945e+01] [ 1.95558990e-01 9.80691545e-01 -8.80278375e-04 3.54046241e+00] [ 4.92298706e-03 -8.40903247e-05 9.99987878e-01 4.67248773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.840281692999994 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:49.78, Y:3.55, Z:0.00 [[ 9.80642926e-01 -1.95744696e-01 -4.84421135e-03 4.97830783e+01] [ 1.95742731e-01 9.80654887e-01 -8.81185709e-04 3.54573760e+00] [ 4.92298696e-03 -8.40906260e-05 9.99987878e-01 4.81273136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.870281692999995 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:49.81, Y:3.55, Z:0.00 [[ 9.80566458e-01 -1.96127397e-01 -4.84404608e-03 4.98100981e+01] [ 1.96125432e-01 9.80578420e-01 -8.82093310e-04 3.54826926e+00] [ 4.92296971e-03 -8.50895152e-05 9.99987878e-01 4.07733337e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.900281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:49.84, Y:3.55, Z:0.00 [[ 9.80508913e-01 -1.96414884e-01 -4.84397421e-03 4.98378882e+01] [ 1.96412921e-01 9.80520875e-01 -8.82487806e-04 3.54784003e+00] [ 4.92295157e-03 -8.61319614e-05 9.99987878e-01 3.73282098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.930281693 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:49.86, Y:3.55, Z:0.00 [[ 9.80420275e-01 -1.96856853e-01 -4.84390298e-03 4.98645143e+01] [ 1.96854893e-01 9.80432237e-01 -8.82878609e-04 3.55077301e+00] [ 4.92291934e-03 -8.79539155e-05 9.99987878e-01 3.83321080e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.960281693 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:49.89, Y:3.55, Z:0.00 [[ 9.80324891e-01 -1.97331309e-01 -4.84383279e-03 4.98930154e+01] [ 1.97329353e-01 9.80336853e-01 -8.83263539e-04 3.55127045e+00] [ 4.92288334e-03 -8.99451579e-05 9.99987878e-01 3.49993078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99028169299999 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:49.92, Y:3.55, Z:0.00 [[ 9.80355151e-01 -1.97180924e-01 -4.84366809e-03 4.99201811e+01] [ 1.97178962e-01 9.80367112e-01 -8.84165781e-04 3.55360670e+00] [ 4.92291353e-03 -8.82729683e-05 9.99987878e-01 2.96327025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.020281692999994 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:49.95, Y:3.56, Z:0.00 [[ 9.80462389e-01 -1.96647003e-01 -4.84350451e-03 4.99468909e+01] [ 1.96645029e-01 9.80474349e-01 -8.85060973e-04 3.55659459e+00] [ 4.92297652e-03 -8.46820892e-05 9.99987878e-01 1.51083746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.050281692999995 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:49.97, Y:3.56, Z:0.00 [[ 9.80651996e-01 -1.95699270e-01 -4.84343309e-03 4.99744741e+01] [ 1.95697283e-01 9.80663953e-01 -8.85451631e-04 3.56055590e+00] [ 4.92306248e-03 -7.95267884e-05 9.99987878e-01 3.83487049e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.080281692999996 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:50.00, Y:3.56, Z:-0.00 [[ 9.80940790e-01 -1.94246515e-01 -4.84327114e-03 5.00027547e+01] [ 1.94244506e-01 9.80952744e-01 -8.86336627e-04 3.56242262e+00] [ 4.92318791e-03 -7.13350599e-05 9.99987878e-01 -8.17279633e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.110281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:50.03, Y:3.56, Z:0.00 [[ 9.80942018e-01 -1.94240322e-01 -4.84310836e-03 5.00302765e+01] [ 1.94238308e-01 9.80953971e-01 -8.87225185e-04 3.56482136e+00] [ 4.92320128e-03 -7.04007108e-05 9.99987878e-01 3.69302394e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.140281693 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:50.06, Y:3.57, Z:0.00 [[ 9.81222336e-01 -1.92819276e-01 -4.84294570e-03 5.00580432e+01] [ 1.92817241e-01 9.81234285e-01 -8.88112158e-04 3.56550795e+00] [ 4.92330951e-03 -6.23679433e-05 9.99987878e-01 2.56655226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17028169299999 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:50.09, Y:3.57, Z:0.00 [[ 9.81508792e-01 -1.91355790e-01 -4.84287506e-03 5.00853412e+01] [ 1.91353735e-01 9.81520738e-01 -8.88497218e-04 3.57003499e+00] [ 4.92340139e-03 -5.46344013e-05 9.99987878e-01 2.57396410e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.200281692999994 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:50.11, Y:3.58, Z:0.00 [[ 9.81904280e-01 -1.89315962e-01 -4.84271626e-03 5.01128788e+01] [ 1.89313878e-01 9.81916221e-01 -8.89361882e-04 3.57511831e+00] [ 4.92351205e-03 -4.35251583e-05 9.99987878e-01 2.16626915e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.230281692999995 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:50.14, Y:3.58, Z:0.00 [[ 9.82833443e-01 -1.84431488e-01 -4.84255725e-03 5.01397142e+01] [ 1.84429340e-01 9.82845372e-01 -8.90226848e-04 3.58137128e+00] [ 4.92367085e-03 -1.81649214e-05 9.99987878e-01 6.38547315e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.260281692999996 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:50.17, Y:3.59, Z:-0.00 [[ 9.83226589e-01 -1.82323959e-01 -4.84238817e-03 5.01662669e+01] [ 1.82321781e-01 9.83238513e-01 -8.91145646e-04 3.58868452e+00] [ 4.92369974e-03 -6.67474316e-06 9.99987878e-01 -2.85993570e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.290281693 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:50.19, Y:3.60, Z:0.00 [[ 9.83618434e-01 -1.80198026e-01 -4.84231458e-03 5.01919034e+01] [ 1.80195820e-01 9.83630353e-01 -8.91545336e-04 3.59658598e+00] [ 4.92370231e-03 4.37558016e-06 9.99987878e-01 4.64946496e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.320281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:50.22, Y:3.61, Z:0.00 [[ 9.84295936e-01 -1.76459805e-01 -4.84224279e-03 5.02181054e+01] [ 1.76457552e-01 9.84307847e-01 -8.91935081e-04 3.60690839e+00] [ 4.92364826e-03 2.34777672e-05 9.99987878e-01 2.02827226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35028169299999 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:50.25, Y:3.61, Z:0.00 [[ 9.84384527e-01 -1.75964932e-01 -4.84208145e-03 5.02458189e+01] [ 1.75962670e-01 9.84396435e-01 -8.92810075e-04 3.61357772e+00] [ 4.92363098e-03 2.68428448e-05 9.99987878e-01 3.11395197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38028169299999 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:50.27, Y:3.62, Z:0.00 [[ 9.84200185e-01 -1.76993083e-01 -4.84192444e-03 5.02715955e+01] [ 1.76990828e-01 9.84212095e-01 -8.93660756e-04 3.62068632e+00] [ 4.92365237e-03 2.25648635e-05 9.99987878e-01 4.72266202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.410281692999995 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:50.30, Y:3.63, Z:0.01 [[ 9.83868204e-01 -1.78829284e-01 -4.84185124e-03 5.02991437e+01] [ 1.78827049e-01 9.83880118e-01 -8.94057220e-04 3.62779743e+00] [ 4.92368478e-03 1.37805013e-05 9.99987878e-01 5.94352994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.440281692999996 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:50.32, Y:3.63, Z:0.01 [[ 9.83434389e-01 -1.81199778e-01 -4.84168340e-03 5.03249966e+01] [ 1.81197568e-01 9.83446308e-01 -8.94965190e-04 3.63420547e+00] [ 4.92370316e-03 2.83828687e-06 9.99987878e-01 6.98381879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.470281693 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:50.35, Y:3.64, Z:0.01 [[ 9.82730301e-01 -1.84980307e-01 -4.84161048e-03 5.03521299e+01] [ 1.84978141e-01 9.82742228e-01 -8.95359494e-04 3.64163369e+00] [ 4.92367894e-03 -1.56951989e-05 9.99987878e-01 9.67736004e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.500281693 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:50.38, Y:3.65, Z:0.01 [[ 9.82562145e-01 -1.85871436e-01 -4.84144597e-03 5.03781690e+01] [ 1.85869276e-01 9.82574073e-01 -8.96248175e-04 3.64849869e+00] [ 4.92366622e-03 -1.92565287e-05 9.99987878e-01 9.55142627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.530281693 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:50.40, Y:3.66, Z:0.00 [[ 9.82511155e-01 -1.86140783e-01 -4.84137449e-03 5.04046845e+01] [ 1.86138625e-01 9.82523083e-01 -8.96634121e-04 3.65889623e+00] [ 4.92366237e-03 -2.02137653e-05 9.99987878e-01 2.92476899e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56028169299999 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:50.43, Y:3.67, Z:-0.00 [[ 9.82551939e-01 -1.85925388e-01 -4.84121245e-03 5.04327772e+01] [ 1.85923223e-01 9.82563865e-01 -8.97508203e-04 3.66670119e+00] [ 4.92366998e-03 -1.82453952e-05 9.99987878e-01 -6.49977109e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.590281692999994 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:50.46, Y:3.67, Z:-0.00 [[ 9.82477092e-01 -1.86320498e-01 -4.84107063e-03 5.04599107e+01] [ 1.86318334e-01 9.82489018e-01 -8.98272498e-04 3.67424618e+00] [ 4.92366531e-03 -1.94480637e-05 9.99987878e-01 -1.03141717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.620281692999995 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:50.49, Y:3.68, Z:0.00 [[ 9.82027936e-01 -1.88673522e-01 -4.84090890e-03 5.04871922e+01] [ 1.88671382e-01 9.82039867e-01 -8.99143247e-04 3.68441490e+00] [ 4.92361006e-03 -3.03571819e-05 9.99987878e-01 2.70902273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.650281693 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:50.51, Y:3.69, Z:0.01 [[ 9.81701934e-01 -1.90362496e-01 -4.84076806e-03 5.05144418e+01] [ 1.90360373e-01 9.81713868e-01 -8.99900859e-04 3.69131367e+00] [ 4.92355651e-03 -3.80559972e-05 9.99987878e-01 5.38289272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.680281693 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:50.54, Y:3.70, Z:0.01 [[ 9.80823129e-01 -1.94839823e-01 -4.84071808e-03 5.05415799e+01] [ 1.94837753e-01 9.80835073e-01 -9.00169637e-04 3.69969461e+00] [ 4.92333496e-03 -6.02474315e-05 9.99987878e-01 7.78978286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.710281693 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:50.57, Y:3.71, Z:0.01 [[ 9.80366742e-01 -1.97123361e-01 -4.84055438e-03 5.05682014e+01] [ 1.97121314e-01 9.80378690e-01 -9.01049046e-04 3.70697092e+00] [ 4.92319418e-03 -7.08179212e-05 9.99987878e-01 7.17884893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74028169299999 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:50.59, Y:3.71, Z:0.01 [[ 9.79999836e-01 -1.98939419e-01 -4.84038814e-03 5.05942469e+01] [ 1.98937390e-01 9.80011786e-01 -9.01941156e-04 3.71493788e+00] [ 4.92306908e-03 -7.90320003e-05 9.99987878e-01 6.65630856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.770281692999994 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:50.62, Y:3.72, Z:0.00 [[ 9.79617178e-01 -2.00815227e-01 -4.84031587e-03 5.06203393e+01] [ 2.00813219e-01 9.79629132e-01 -9.02328833e-04 3.72495743e+00] [ 4.92291581e-03 -8.80625861e-05 9.99987878e-01 4.71948250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.800281692999995 meters Centerline goodness : 0.998324 Centerline is valid? [True, True] Translation: X:50.65, Y:3.73, Z:0.00 [[ 9.79323916e-01 -2.02240552e-01 -4.84015184e-03 5.06480567e+01] [ 2.02238557e-01 9.79335872e-01 -9.03207889e-04 3.73145148e+00] [ 4.92279958e-03 -9.43322377e-05 9.99987878e-01 3.43362134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.830281692999996 meters Centerline goodness : 0.998443 Centerline is valid? [True, True] Translation: X:50.67, Y:3.74, Z:0.00 [[ 9.78815071e-01 -2.04689107e-01 -4.83998759e-03 5.06747061e+01] [ 2.04687138e-01 9.78827032e-01 -9.04087196e-04 3.73682353e+00] [ 4.92256748e-03 -1.05749032e-04 9.99987878e-01 2.06655968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.860281693 meters Centerline goodness : 0.997903 Centerline is valid? [True, True] Translation: X:50.70, Y:3.74, Z:0.01 [[ 9.78618329e-01 -2.05627675e-01 -4.83991614e-03 5.07017259e+01] [ 2.05625715e-01 9.78630291e-01 -9.04469494e-04 3.74209793e+00] [ 4.92247250e-03 -1.10080793e-04 9.99987878e-01 5.00239610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.890281693 meters Centerline goodness : 0.997725 Centerline is valid? [True, True] Translation: X:50.73, Y:3.75, Z:0.01 [[ 9.78489741e-01 -2.06238708e-01 -4.83975397e-03 5.07293991e+01] [ 2.06236751e-01 9.78501703e-01 -9.05336449e-04 3.74788602e+00] [ 4.92242292e-03 -1.12272707e-04 9.99987879e-01 7.48865234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92028169299999 meters Centerline goodness : 0.997689 Centerline is valid? [True, True] Translation: X:50.76, Y:3.75, Z:0.01 [[ 9.78745974e-01 -2.05019262e-01 -4.83958955e-03 5.07558759e+01] [ 2.05017286e-01 9.78757933e-01 -9.06214502e-04 3.75286198e+00] [ 4.92257809e-03 -1.05245719e-04 9.99987879e-01 6.89045974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.950281692999994 meters Centerline goodness : 0.997921 Centerline is valid? [True, True] Translation: X:50.78, Y:3.76, Z:0.01 [[ 9.78962435e-01 -2.03983163e-01 -4.83947745e-03 5.07833447e+01] [ 2.03981172e-01 9.78974392e-01 -9.06812765e-04 3.75827049e+00] [ 4.92269903e-03 -9.94266483e-05 9.99987879e-01 5.48995167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.980281692999995 meters Centerline goodness : 0.997954 Centerline is valid? [True, True] Translation: X:50.81, Y:3.76, Z:0.00 [[ 9.79217304e-01 -2.02756139e-01 -4.83931527e-03 5.08106532e+01] [ 2.02754129e-01 9.79229258e-01 -9.07677423e-04 3.76364058e+00] [ 4.92283627e-03 -9.23777123e-05 9.99987879e-01 4.28532723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.010281692999996 meters Centerline goodness : 0.997931 Centerline is valid? [True, True] Translation: X:50.84, Y:3.77, Z:0.01 [[ 9.79333196e-01 -2.02195635e-01 -4.83914463e-03 5.08385588e+01] [ 2.02193613e-01 9.79345147e-01 -9.08586246e-04 3.76832330e+00] [ 4.92290499e-03 -8.86354648e-05 9.99987879e-01 6.11605945e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.040281693 meters Centerline goodness : 0.997669 Centerline is valid? [True, True] Translation: X:50.87, Y:3.77, Z:0.01 [[ 9.80012284e-01 -1.98878122e-01 -4.83897349e-03 5.08660268e+01] [ 1.98876055e-01 9.80024228e-01 -9.09496820e-04 3.77109776e+00] [ 4.92319028e-03 -7.10379014e-05 9.99987879e-01 1.02086933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.070281693 meters Centerline goodness : 0.997632 Centerline is valid? [True, True] Translation: X:50.89, Y:3.78, Z:0.01 [[ 9.80453226e-01 -1.96692796e-01 -4.83892014e-03 5.08938667e+01] [ 1.96690701e-01 9.80465165e-01 -9.09780591e-04 3.77632719e+00] [ 4.92333992e-03 -5.97732782e-05 9.99987879e-01 8.87350281e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10028169299999 meters Centerline goodness : 0.997580 Centerline is valid? [True, True] Translation: X:50.92, Y:3.78, Z:0.01 [[ 9.81062396e-01 -1.93631507e-01 -4.83876733e-03 5.09209494e+01] [ 1.93629371e-01 9.81074328e-01 -9.10592589e-04 3.78229497e+00] [ 4.92350982e-03 -4.35793255e-05 9.99987879e-01 6.54568053e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13028169299999 meters Centerline goodness : 0.997490 Centerline is valid? [True, True] Translation: X:50.95, Y:3.79, Z:0.01 [[ 9.81750171e-01 -1.90113626e-01 -4.83859724e-03 5.09482908e+01] [ 1.90111442e-01 9.81762094e-01 -9.11495493e-04 3.78909460e+00] [ 4.92363907e-03 -2.50118431e-05 9.99987879e-01 5.17742369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.160281692999995 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:50.97, Y:3.80, Z:0.01 [[ 9.83061591e-01 -1.83211615e-01 -4.83854433e-03 5.09748068e+01] [ 1.83209347e-01 9.83073499e-01 -9.11776300e-04 3.79827249e+00] [ 4.92369271e-03 9.86571460e-06 9.99987879e-01 7.52293921e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.190281692999996 meters Centerline goodness : 0.997555 Centerline is valid? [True, True] Translation: X:51.00, Y:3.81, Z:0.01 [[ 9.83688859e-01 -1.79813287e-01 -4.83837365e-03 5.10020309e+01] [ 1.79810973e-01 9.83700758e-01 -9.12681071e-04 3.80567383e+00] [ 4.92362401e-03 2.78015256e-05 9.99987879e-01 8.87441186e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.220281693 meters Centerline goodness : 0.997650 Centerline is valid? [True, True] Translation: X:51.03, Y:3.81, Z:0.01 [[ 9.84658108e-01 -1.74427641e-01 -4.83832051e-03 5.10285112e+01] [ 1.74425260e-01 9.84669993e-01 -9.12962691e-04 3.81460332e+00] [ 4.92339496e-03 5.50307995e-05 9.99987879e-01 7.62308319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.250281693 meters Centerline goodness : 0.997536 Centerline is valid? [True, True] Translation: X:51.06, Y:3.82, Z:0.01 [[ 9.85012012e-01 -1.72417890e-01 -4.83815092e-03 5.10553544e+01] [ 1.72415481e-01 9.85023892e-01 -9.13860564e-04 3.82166049e+00] [ 4.92326016e-03 6.59915176e-05 9.99987879e-01 6.09561240e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.280281693 meters Centerline goodness : 0.997743 Centerline is valid? [True, True] Translation: X:51.08, Y:3.83, Z:0.01 [[ 9.85293296e-01 -1.70803142e-01 -4.83809825e-03 5.10826776e+01] [ 1.70800712e-01 9.85305172e-01 -9.14139292e-04 3.82964366e+00] [ 4.92314109e-03 7.43446897e-05 9.99987879e-01 5.58588071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31028169299999 meters Centerline goodness : 0.997718 Centerline is valid? [True, True] Translation: X:51.11, Y:3.84, Z:0.01 [[ 9.85934818e-01 -1.67060258e-01 -4.83792985e-03 5.11076894e+01] [ 1.67057778e-01 9.85946683e-01 -9.15029669e-04 3.84105948e+00] [ 4.92280598e-03 9.39457986e-05 9.99987879e-01 7.01493489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.340281692999994 meters Centerline goodness : 0.997567 Centerline is valid? [True, True] Translation: X:51.13, Y:3.85, Z:0.01 [[ 9.86265576e-01 -1.65096362e-01 -4.83781477e-03 5.11348774e+01] [ 1.65093856e-01 9.86277436e-01 -9.15637693e-04 3.84969520e+00] [ 4.92259600e-03 1.04368440e-04 9.99987879e-01 8.37610230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.370281692999995 meters Centerline goodness : 0.997677 Centerline is valid? [True, True] Translation: X:51.16, Y:3.86, Z:0.01 [[ 9.86617482e-01 -1.62980182e-01 -4.83776251e-03 5.11616420e+01] [ 1.62977649e-01 9.86629336e-01 -9.15913728e-04 3.85793257e+00] [ 4.92235420e-03 1.15209337e-04 9.99987879e-01 9.48412595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.400281693 meters Centerline goodness : 0.997830 Centerline is valid? [True, True] Translation: X:51.19, Y:3.87, Z:0.01 [[ 9.87160295e-01 -1.59659480e-01 -4.83759452e-03 5.11878601e+01] [ 1.59656903e-01 9.87172139e-01 -9.16800148e-04 3.87007582e+00] [ 4.92191437e-03 1.32673347e-04 9.99987879e-01 1.15337524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.430281693 meters Centerline goodness : 0.997953 Centerline is valid? [True, True] Translation: X:51.21, Y:3.88, Z:0.01 [[ 9.87263397e-01 -1.59020701e-01 -4.83754238e-03 5.12138364e+01] [ 1.59018115e-01 9.87275239e-01 -9.17075194e-04 3.87975093e+00] [ 4.92181975e-03 1.36137901e-04 9.99987879e-01 1.28688236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.460281693 meters Centerline goodness : 0.997995 Centerline is valid? [True, True] Translation: X:51.24, Y:3.89, Z:0.01 [[ 9.87035058e-01 -1.60431896e-01 -4.83747092e-03 5.12392911e+01] [ 1.60429325e-01 9.87046904e-01 -9.17451977e-04 3.89303462e+00] [ 4.92199925e-03 1.29485070e-04 9.99987879e-01 1.28699366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49028169299999 meters Centerline goodness : 0.998031 Centerline is valid? [True, True] Translation: X:51.26, Y:3.90, Z:0.01 [[ 9.86693037e-01 -1.62522159e-01 -4.83729835e-03 5.12649171e+01] [ 1.62519608e-01 9.86704887e-01 -9.18360970e-04 3.90156508e+00] [ 4.92223993e-03 1.19984540e-04 9.99987879e-01 1.18250990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.520281692999994 meters Centerline goodness : 0.997656 Centerline is valid? [True, True] Translation: X:51.29, Y:3.91, Z:0.01 [[ 9.86206509e-01 -1.65448852e-01 -4.83717994e-03 5.12918569e+01] [ 1.65446334e-01 9.86218366e-01 -9.18984230e-04 3.90965071e+00] [ 4.92256058e-03 1.06014541e-04 9.99987879e-01 1.23134837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.550281692999995 meters Centerline goodness : 0.997967 Centerline is valid? [True, True] Translation: X:51.32, Y:3.92, Z:0.01 [[ 9.84978414e-01 -1.72609753e-01 -4.83701377e-03 5.13181782e+01] [ 1.72607317e-01 9.84990288e-01 -9.19858031e-04 3.92065699e+00] [ 4.92318805e-03 7.11363368e-05 9.99987879e-01 1.40803164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.580281692999996 meters Centerline goodness : 0.997963 Centerline is valid? [True, True] Translation: X:51.34, Y:3.93, Z:0.02 [[ 9.84459399e-01 -1.75545710e-01 -4.83684564e-03 5.13444989e+01] [ 1.75543305e-01 9.84471280e-01 -9.20741223e-04 3.92857572e+00] [ 4.92336779e-03 5.73564813e-05 9.99987879e-01 1.56907209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.610281693 meters Centerline goodness : 0.997692 Centerline is valid? [True, True] Translation: X:51.37, Y:3.94, Z:0.01 [[ 9.83772518e-01 -1.79355063e-01 -4.83677280e-03 5.13711318e+01] [ 1.79352702e-01 9.83784407e-01 -9.21123704e-04 3.93807956e+00] [ 4.92354987e-03 3.86879133e-05 9.99987879e-01 1.44048193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.640281693 meters Centerline goodness : 0.997853 Centerline is valid? [True, True] Translation: X:51.40, Y:3.94, Z:0.01 [[ 9.83551837e-01 -1.80561323e-01 -4.83659817e-03 5.13971783e+01] [ 1.80558972e-01 9.83563728e-01 -9.22039744e-04 3.94432091e+00] [ 4.92358725e-03 3.35826916e-05 9.99987879e-01 1.18093004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67028169299999 meters Centerline goodness : 0.997829 Centerline is valid? [True, True] Translation: X:51.42, Y:3.95, Z:0.01 [[ 9.83368052e-01 -1.81559585e-01 -4.83652230e-03 5.14241977e+01] [ 1.81557244e-01 9.83379945e-01 -9.22437549e-04 3.95037471e+00] [ 4.92361641e-03 2.89899555e-05 9.99987879e-01 1.08643672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.700281692999994 meters Centerline goodness : 0.997948 Centerline is valid? [True, True] Translation: X:51.45, Y:3.96, Z:0.01 [[ 9.83166366e-01 -1.82648588e-01 -4.83635614e-03 5.14514831e+01] [ 1.82646256e-01 9.83178261e-01 -9.23307891e-04 3.95738929e+00] [ 4.92364111e-03 2.44229230e-05 9.99987879e-01 1.27312105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.730281692999995 meters Centerline goodness : 0.997825 Centerline is valid? [True, True] Translation: X:51.48, Y:3.96, Z:0.01 [[ 9.83156131e-01 -1.82703674e-01 -4.83618365e-03 5.14790816e+01] [ 1.82701339e-01 9.83168026e-01 -9.24210492e-04 3.96442246e+00] [ 4.92363779e-03 2.50659848e-05 9.99987879e-01 1.37924567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.760281692999996 meters Centerline goodness : 0.997825 Centerline is valid? [True, True] Translation: X:51.51, Y:3.97, Z:0.01 [[ 9.83122197e-01 -1.82886189e-01 -4.83601176e-03 5.15069991e+01] [ 1.82883851e-01 9.83134091e-01 -9.25109057e-04 3.96995212e+00] [ 4.92363770e-03 2.50667953e-05 9.99987879e-01 1.39326991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.790281693 meters Centerline goodness : 0.998052 Centerline is valid? [True, True] Translation: X:51.53, Y:3.98, Z:0.01 [[ 9.83540579e-01 -1.80622657e-01 -4.83583986e-03 5.15330948e+01] [ 1.80620287e-01 9.83552467e-01 -9.26006794e-04 3.97840970e+00] [ 4.92356003e-03 3.73144744e-05 9.99987879e-01 1.32455721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.820281693 meters Centerline goodness : 0.997562 Centerline is valid? [True, True] Translation: X:51.56, Y:3.99, Z:0.01 [[ 9.83631711e-01 -1.80125713e-01 -4.83576512e-03 5.15605835e+01] [ 1.80123335e-01 9.83643597e-01 -9.26396940e-04 3.98540502e+00] [ 4.92353730e-03 4.01992668e-05 9.99987879e-01 1.26387850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85028169299999 meters Centerline goodness : 0.997853 Centerline is valid? [True, True] Translation: X:51.59, Y:3.99, Z:0.01 [[ 9.83646474e-01 -1.80045082e-01 -4.83559156e-03 5.15865531e+01] [ 1.80042699e-01 9.83658359e-01 -9.27301998e-04 3.99088096e+00] [ 4.92352622e-03 4.15243857e-05 9.99987879e-01 1.10590123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88028169299999 meters Centerline goodness : 0.997871 Centerline is valid? [True, True] Translation: X:51.61, Y:4.00, Z:0.01 [[ 9.83394061e-01 -1.81418683e-01 -4.83551596e-03 5.16141723e+01] [ 1.81416314e-01 9.83405949e-01 -9.27696048e-04 3.99703976e+00] [ 4.92357655e-03 3.50493026e-05 9.99987879e-01 1.00139981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.910281692999995 meters Centerline goodness : 0.998228 Centerline is valid? [True, True] Translation: X:51.64, Y:4.00, Z:0.01 [[ 9.83148894e-01 -1.82742638e-01 -4.83534536e-03 5.16417005e+01] [ 1.82740281e-01 9.83160784e-01 -9.28584388e-04 4.00374236e+00] [ 4.92361390e-03 2.93243452e-05 9.99987879e-01 1.18881641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.940281692999996 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:51.67, Y:4.01, Z:0.02 [[ 9.82465242e-01 -1.86383121e-01 -4.83529235e-03 5.16690131e+01] [ 1.86380807e-01 9.82477141e-01 -9.28860356e-04 4.01024667e+00] [ 4.92368809e-03 1.13673247e-05 9.99987879e-01 1.55452564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.970281693 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:51.70, Y:4.01, Z:0.01 [[ 9.82058970e-01 -1.88512073e-01 -4.83511995e-03 5.16959917e+01] [ 1.88509780e-01 9.82070872e-01 -9.29756873e-04 4.01370847e+00] [ 4.92370087e-03 1.60867844e-06 9.99987879e-01 1.44365238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.000281693 meters Centerline goodness : 0.997543 Centerline is valid? [True, True] Translation: X:51.72, Y:4.01, Z:0.01 [[ 9.80996070e-01 -1.93967353e-01 -4.83504502e-03 5.17240365e+01] [ 1.93965124e-01 9.81007984e-01 -9.30146381e-04 4.01440521e+00] [ 4.92363580e-03 -2.53601635e-05 9.99987879e-01 1.11687745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.030281693 meters Centerline goodness : 0.997720 Centerline is valid? [True, True] Translation: X:51.75, Y:4.02, Z:0.01 [[ 9.80576460e-01 -1.96077614e-01 -4.83487602e-03 5.17520513e+01] [ 1.96075407e-01 9.80588378e-01 -9.31023997e-04 4.01867717e+00] [ 4.92357620e-03 -3.50600687e-05 9.99987879e-01 1.07282034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06028169299999 meters Centerline goodness : 0.997703 Centerline is valid? [True, True] Translation: X:51.78, Y:4.02, Z:0.01 [[ 9.80302278e-01 -1.97443839e-01 -4.83470427e-03 5.17788878e+01] [ 1.97441644e-01 9.80314199e-01 -9.31915059e-04 4.02305508e+00] [ 4.92353013e-03 -4.10135042e-05 9.99987879e-01 9.56512796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.090281692999994 meters Centerline goodness : 0.997783 Centerline is valid? [True, True] Translation: X:51.81, Y:4.02, Z:0.01 [[ 9.79983720e-01 -1.99018931e-01 -4.83462975e-03 5.18074964e+01] [ 1.99016753e-01 9.79995644e-01 -9.32301476e-04 4.02326256e+00] [ 4.92346174e-03 -4.85320452e-05 9.99987879e-01 7.01537159e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.120281692999995 meters Centerline goodness : 0.997567 Centerline is valid? [True, True] Translation: X:51.84, Y:4.02, Z:0.01 [[ 9.79979451e-01 -1.99039956e-01 -4.83446120e-03 5.18361523e+01] [ 1.99037774e-01 9.79991374e-01 -9.33174678e-04 4.02497820e+00] [ 4.92346932e-03 -4.77483867e-05 9.99987879e-01 7.19838252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.150281693 meters Centerline goodness : 0.997814 Centerline is valid? [True, True] Translation: X:51.86, Y:4.03, Z:0.01 [[ 9.80703628e-01 -1.95440589e-01 -4.83430132e-03 5.18637683e+01] [ 1.95438359e-01 9.80715543e-01 -9.34002194e-04 4.02629572e+00] [ 4.92361638e-03 -2.88285782e-05 9.99987879e-01 8.47863856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.180281693 meters Centerline goodness : 0.997451 Centerline is valid? [True, True] Translation: X:51.89, Y:4.03, Z:0.01 [[ 9.81296945e-01 -1.92439433e-01 -4.83422741e-03 5.18917977e+01] [ 1.92437165e-01 9.81308853e-01 -9.34384576e-04 4.03111780e+00] [ 4.92368259e-03 -1.33762896e-05 9.99987879e-01 1.00323870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.210281693 meters Centerline goodness : 0.997550 Centerline is valid? [True, True] Translation: X:51.92, Y:4.04, Z:0.01 [[ 9.81961603e-01 -1.89018629e-01 -4.83405925e-03 5.19187900e+01] [ 1.89016316e-01 9.81973502e-01 -9.35253757e-04 4.03514864e+00] [ 4.92369847e-03 4.66720933e-06 9.99987879e-01 1.11504197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24028169299999 meters Centerline goodness : 0.997293 Centerline is valid? [True, True] Translation: X:51.95, Y:4.04, Z:0.01 [[ 9.83142998e-01 -1.82774390e-01 -4.83398577e-03 5.19469660e+01] [ 1.82771999e-01 9.83154882e-01 -9.35633397e-04 4.03526829e+00] [ 4.92356653e-03 3.63441830e-05 9.99987879e-01 1.31908959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.270281692999994 meters Centerline goodness : 0.997506 Centerline is valid? [True, True] Translation: X:51.98, Y:4.04, Z:0.02 [[ 9.83475518e-01 -1.80976624e-01 -4.83393358e-03 5.19751243e+01] [ 1.80974209e-01 9.83487397e-01 -9.35902941e-04 4.03889858e+00] [ 4.92348931e-03 4.56203219e-05 9.99987879e-01 1.55546751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.300281692999995 meters Centerline goodness : 0.997282 Centerline is valid? [True, True] Translation: X:52.00, Y:4.04, Z:0.02 [[ 9.83734638e-01 -1.79562791e-01 -4.83376647e-03 5.20025591e+01] [ 1.79560356e-01 9.83746513e-01 -9.36765271e-04 4.04026171e+00] [ 4.92340909e-03 5.35756196e-05 9.99987879e-01 1.87978406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.330281692999996 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:52.03, Y:4.04, Z:0.02 [[ 9.83606174e-01 -1.80265163e-01 -4.83369364e-03 5.20306678e+01] [ 1.80262734e-01 9.83618050e-01 -9.37140924e-04 4.04283434e+00] [ 4.92344217e-03 5.04427693e-05 9.99987879e-01 1.77660725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.360281693 meters Centerline goodness : 0.997030 Centerline is valid? [True, True] Translation: X:52.06, Y:4.04, Z:0.02 [[ 9.83337811e-01 -1.81723377e-01 -4.83352713e-03 5.20583174e+01] [ 1.81720961e-01 9.83349690e-01 -9.37998960e-04 4.04491333e+00] [ 4.92350374e-03 4.40166496e-05 9.99987879e-01 1.71153693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.390281693 meters Centerline goodness : 0.996990 Centerline is valid? [True, True] Translation: X:52.09, Y:4.05, Z:0.02 [[ 9.83165009e-01 -1.82655971e-01 -4.83334524e-03 5.20855311e+01] [ 1.82653562e-01 9.83176889e-01 -9.38935241e-04 4.04623318e+00] [ 4.92353547e-03 4.03005491e-05 9.99987879e-01 1.64593114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42028169299999 meters Centerline goodness : 0.996854 Centerline is valid? [True, True] Translation: X:52.11, Y:4.05, Z:0.02 [[ 9.83084181e-01 -1.83090506e-01 -4.83326650e-03 5.21127243e+01] [ 1.83088101e-01 9.83096061e-01 -9.39340417e-04 4.05157761e+00] [ 4.92354957e-03 3.85371208e-05 9.99987879e-01 1.77214595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.450281692999994 meters Centerline goodness : 0.997179 Centerline is valid? [True, True] Translation: X:52.14, Y:4.05, Z:0.02 [[ 9.83061125e-01 -1.83214260e-01 -4.83308946e-03 5.21404122e+01] [ 1.83211851e-01 9.83073005e-01 -9.40250401e-04 4.05412759e+00] [ 4.92354706e-03 3.88443506e-05 9.99987879e-01 1.86565832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.480281692999995 meters Centerline goodness : 0.997059 Centerline is valid? [True, True] Translation: X:52.17, Y:4.06, Z:0.02 [[ 9.83074286e-01 -1.83143637e-01 -4.83290585e-03 5.21670985e+01] [ 1.83141223e-01 9.83086164e-01 -9.41193254e-04 4.05594306e+00] [ 4.92353643e-03 4.01586007e-05 9.99987879e-01 1.83661114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.510281692999996 meters Centerline goodness : 0.996896 Centerline is valid? [True, True] Translation: X:52.19, Y:4.06, Z:0.02 [[ 9.82971002e-01 -1.83697180e-01 -4.83282603e-03 5.21943266e+01] [ 1.83694770e-01 9.82982881e-01 -9.41602890e-04 4.05774553e+00] [ 4.92355506e-03 3.78034671e-05 9.99987879e-01 1.87742843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.540281693 meters Centerline goodness : 0.997225 Centerline is valid? [True, True] Translation: X:52.22, Y:4.06, Z:0.02 [[ 9.83046544e-01 -1.83292490e-01 -4.83270580e-03 5.22216411e+01] [ 1.83290073e-01 9.83058422e-01 -9.42219568e-04 4.05728427e+00] [ 4.92353391e-03 4.04586932e-05 9.99987879e-01 1.80713435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.570281693 meters Centerline goodness : 0.997515 Centerline is valid? [True, True] Translation: X:52.25, Y:4.06, Z:0.02 [[ 9.83467423e-01 -1.81020645e-01 -4.83263156e-03 5.22468563e+01] [ 1.81018199e-01 9.83479295e-01 -9.42600180e-04 4.05792410e+00] [ 4.92342318e-03 5.22223090e-05 9.99987879e-01 1.61303148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60028169299999 meters Centerline goodness : 0.997298 Centerline is valid? [True, True] Translation: X:52.28, Y:4.06, Z:0.02 [[ 9.83483517e-01 -1.80933315e-01 -4.82784145e-03 5.22788306e+01] [ 1.80930747e-01 9.83495363e-01 -9.67202644e-04 4.06075044e+00] [ 4.92315886e-03 7.77228997e-05 9.99987878e-01 1.59413387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63028169299999 meters Centerline goodness : 0.997182 Centerline is valid? [True, True] Translation: X:52.31, Y:4.06, Z:0.02 [[ 9.83995337e-01 -1.78128661e-01 -4.83296453e-03 5.23075096e+01] [ 1.78126188e-01 9.84007203e-01 -9.40887449e-04 4.06018230e+00] [ 4.92327093e-03 6.49513140e-05 9.99987879e-01 1.78875157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.660281692999995 meters Centerline goodness : 0.997101 Centerline is valid? [True, True] Translation: X:52.34, Y:4.06, Z:0.02 [[ 9.84445434e-01 -1.75624122e-01 -4.83278530e-03 5.23351135e+01] [ 1.75621614e-01 9.84457293e-01 -9.41807147e-04 4.06410032e+00] [ 4.92307479e-03 7.84161898e-05 9.99987879e-01 1.80691584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.690281692999996 meters Centerline goodness : 0.997557 Centerline is valid? [True, True] Translation: X:52.36, Y:4.07, Z:0.02 [[ 9.85689443e-01 -1.68502128e-01 -4.83260059e-03 5.23621709e+01] [ 1.68499530e-01 9.85701283e-01 -9.42753953e-04 4.06676492e+00] [ 4.92235665e-03 1.14971689e-04 9.99987879e-01 1.70858696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.720281693 meters Centerline goodness : 0.997376 Centerline is valid? [True, True] Translation: X:52.39, Y:4.07, Z:0.02 [[ 9.86300695e-01 -1.64886583e-01 -4.83252018e-03 5.23888296e+01] [ 1.64883939e-01 9.86312525e-01 -9.43165968e-04 4.07116069e+00] [ 4.92189060e-03 1.33440286e-04 9.99987879e-01 1.76480504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.750281693 meters Centerline goodness : 0.997800 Centerline is valid? [True, True] Translation: X:52.42, Y:4.08, Z:0.02 [[ 9.86693809e-01 -1.62517611e-01 -4.83244320e-03 5.24165948e+01] [ 1.62514938e-01 9.86705632e-01 -9.43560226e-04 4.07621259e+00] [ 4.92154408e-03 1.45660829e-04 9.99987879e-01 1.95200731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.780281693 meters Centerline goodness : 0.997321 Centerline is valid? [True, True] Translation: X:52.44, Y:4.08, Z:0.02 [[ 9.86926979e-01 -1.61095585e-01 -4.83226528e-03 5.24445523e+01] [ 1.61092890e-01 9.86938797e-01 -9.44470506e-04 4.08131448e+00] [ 4.92130012e-03 1.53679845e-04 9.99987879e-01 1.92940628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81028169299999 meters Centerline goodness : 0.997166 Centerline is valid? [True, True] Translation: X:52.47, Y:4.09, Z:0.02 [[ 9.86884269e-01 -1.61357030e-01 -4.83208761e-03 5.24717186e+01] [ 1.61354334e-01 9.86896086e-01 -9.45378669e-04 4.08509305e+00] [ 4.92131184e-03 1.53301059e-04 9.99987879e-01 1.51715811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.840281692999994 meters Centerline goodness : 0.997224 Centerline is valid? [True, True] Translation: X:52.50, Y:4.09, Z:0.02 [[ 9.86179961e-01 -1.65607173e-01 -4.83196718e-03 5.24997650e+01] [ 1.65604525e-01 9.86191790e-01 -9.45993766e-04 4.08964700e+00] [ 4.92190972e-03 1.32724468e-04 9.99987879e-01 1.60292563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.870281692999995 meters Centerline goodness : 0.997439 Centerline is valid? [True, True] Translation: X:52.53, Y:4.10, Z:0.02 [[ 9.85668395e-01 -1.68625232e-01 -4.83179239e-03 5.25269587e+01] [ 1.68622615e-01 9.85680231e-01 -9.46885718e-04 4.09549867e+00] [ 4.92227106e-03 1.18565857e-04 9.99987879e-01 1.88149219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.900281693 meters Centerline goodness : 0.997438 Centerline is valid? [True, True] Translation: X:52.55, Y:4.10, Z:0.02 [[ 9.85233491e-01 -1.71147956e-01 -4.83161481e-03 5.25538218e+01] [ 1.71145365e-01 9.85245333e-01 -9.47790989e-04 4.10094093e+00] [ 4.92253843e-03 1.06886946e-04 9.99987879e-01 2.06251594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.930281693 meters Centerline goodness : 0.997177 Centerline is valid? [True, True] Translation: X:52.58, Y:4.11, Z:0.02 [[ 9.84876241e-01 -1.73191938e-01 -4.83149398e-03 5.25813711e+01] [ 1.73189368e-01 9.84888087e-01 -9.48406521e-04 4.10543685e+00] [ 4.92273722e-03 9.72996600e-05 9.99987879e-01 2.08219223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.960281693 meters Centerline goodness : 0.997133 Centerline is valid? [True, True] Translation: X:52.61, Y:4.11, Z:0.02 [[ 9.84627400e-01 -1.74601094e-01 -4.83131476e-03 5.26095466e+01] [ 1.74598538e-01 9.84639248e-01 -9.49318632e-04 4.10895582e+00] [ 4.92285420e-03 9.11846449e-05 9.99987879e-01 1.56668675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99028169299999 meters Centerline goodness : 0.997586 Centerline is valid? [True, True] Translation: X:52.64, Y:4.12, Z:0.01 [[ 9.84723581e-01 -1.74057828e-01 -4.83125912e-03 5.26368732e+01] [ 1.74055263e-01 9.84735428e-01 -9.49601681e-04 4.11578626e+00] [ 4.92279763e-03 9.41890918e-05 9.99987879e-01 1.48079903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.020281692999994 meters Centerline goodness : 0.997744 Centerline is valid? [True, True] Translation: X:52.66, Y:4.12, Z:0.02 [[ 9.84876340e-01 -1.73191384e-01 -4.83108241e-03 5.26634117e+01] [ 1.73188804e-01 9.84888184e-01 -9.50499834e-04 4.12179968e+00] [ 4.92269437e-03 9.94354107e-05 9.99987879e-01 1.54199303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.050281692999995 meters Centerline goodness : 0.997455 Centerline is valid? [True, True] Translation: X:52.69, Y:4.13, Z:0.02 [[ 9.85042477e-01 -1.72243953e-01 -4.83096221e-03 5.26911993e+01] [ 1.72241359e-01 9.85054318e-01 -9.51110387e-04 4.12784933e+00] [ 4.92258320e-03 1.04792636e-04 9.99987879e-01 1.77371108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.080281692999996 meters Centerline goodness : 0.997702 Centerline is valid? [True, True] Translation: X:52.72, Y:4.14, Z:0.02 [[ 9.85564281e-01 -1.69232715e-01 -4.83078475e-03 5.27180082e+01] [ 1.69230080e-01 9.85576113e-01 -9.52010884e-04 4.13640711e+00] [ 4.92221744e-03 1.20753831e-04 9.99987879e-01 2.47303982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.110281693 meters Centerline goodness : 0.997629 Centerline is valid? [True, True] Translation: X:52.74, Y:4.14, Z:0.03 [[ 9.85881472e-01 -1.67374988e-01 -4.83072967e-03 5.27449539e+01] [ 1.67372329e-01 9.85893299e-01 -9.52290246e-04 4.14457829e+00] [ 4.92197358e-03 1.30314831e-04 9.99987879e-01 2.72131819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.140281693 meters Centerline goodness : 0.998046 Centerline is valid? [True, True] Translation: X:52.77, Y:4.16, Z:0.03 [[ 9.86602098e-01 -1.63073499e-01 -4.83055456e-03 5.27708180e+01] [ 1.63070785e-01 9.86613912e-01 -9.53177706e-04 4.15552859e+00] [ 4.92133035e-03 1.52684800e-04 9.99987879e-01 2.92500460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17028169299999 meters Centerline goodness : 0.997929 Centerline is valid? [True, True] Translation: X:52.80, Y:4.16, Z:0.03 [[ 9.86842125e-01 -1.61614627e-01 -4.83037807e-03 5.27977490e+01] [ 1.61611891e-01 9.86853934e-01 -9.54071261e-04 4.16331346e+00] [ 4.92106947e-03 1.60871175e-04 9.99987879e-01 2.99743576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.200281692999994 meters Centerline goodness : 0.998100 Centerline is valid? [True, True] Translation: X:52.82, Y:4.17, Z:0.03 [[ 9.86991570e-01 -1.60699440e-01 -4.83020201e-03 5.28238094e+01] [ 1.60696688e-01 9.87003375e-01 -9.54961780e-04 4.17128121e+00] [ 4.92088751e-03 1.66341761e-04 9.99987879e-01 3.11570275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.230281692999995 meters Centerline goodness : 0.998018 Centerline is valid? [True, True] Translation: X:52.85, Y:4.18, Z:0.03 [[ 9.87063321e-01 -1.60258139e-01 -4.83012554e-03 5.28499642e+01] [ 1.60255380e-01 9.87075124e-01 -9.55348407e-04 4.18204337e+00] [ 4.92079912e-03 1.68935766e-04 9.99987879e-01 3.16822331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.260281692999996 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:52.88, Y:4.19, Z:0.03 [[ 9.87009468e-01 -1.60589482e-01 -4.82994886e-03 5.28770140e+01] [ 1.60586723e-01 9.87021271e-01 -9.56240805e-04 4.19027303e+00] [ 4.92082448e-03 1.68193067e-04 9.99987879e-01 3.01181890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.290281693 meters Centerline goodness : 0.997970 Centerline is valid? [True, True] Translation: X:52.90, Y:4.20, Z:0.03 [[ 9.86862971e-01 -1.61487303e-01 -4.82976839e-03 5.29034986e+01] [ 1.61484550e-01 9.86874776e-01 -9.57151433e-04 4.19969502e+00] [ 4.92094440e-03 1.64644331e-04 9.99987879e-01 2.71304823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.320281693 meters Centerline goodness : 0.998062 Centerline is valid? [True, True] Translation: X:52.93, Y:4.21, Z:0.03 [[ 9.86833769e-01 -1.61665659e-01 -4.82971224e-03 5.29303391e+01] [ 1.61662907e-01 9.86845574e-01 -9.57434664e-04 4.20700335e+00] [ 4.92096446e-03 1.64043536e-04 9.99987879e-01 2.55847595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35028169299999 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:52.96, Y:4.21, Z:0.02 [[ 9.86807149e-01 -1.61828090e-01 -4.82916621e-03 5.29568432e+01] [ 1.61825327e-01 9.86818951e-01 -9.60187464e-04 4.21489459e+00] [ 4.92089804e-03 1.66038454e-04 9.99987879e-01 2.36472169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38028169299999 meters Centerline goodness : 0.998297 Centerline is valid? [True, True] Translation: X:52.98, Y:4.23, Z:0.02 [[ 9.86848978e-01 -1.61572802e-01 -4.82955004e-03 5.29830474e+01] [ 1.61570045e-01 9.86860782e-01 -9.58252969e-04 4.22576852e+00] [ 4.92092115e-03 1.65340346e-04 9.99987879e-01 2.30884280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.410281692999995 meters Centerline goodness : 0.998225 Centerline is valid? [True, True] Translation: X:53.01, Y:4.23, Z:0.02 [[ 9.86786827e-01 -1.61951950e-01 -4.82937280e-03 5.30088290e+01] [ 1.61949194e-01 9.86798631e-01 -9.59145405e-04 4.23351030e+00] [ 4.92095394e-03 1.64359021e-04 9.99987879e-01 2.42585459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.440281692999996 meters Centerline goodness : 0.998138 Centerline is valid? [True, True] Translation: X:53.04, Y:4.24, Z:0.02 [[ 9.86653700e-01 -1.62761033e-01 -4.82929559e-03 5.30357347e+01] [ 1.62758284e-01 9.86665506e-01 -9.59534002e-04 4.24161203e+00] [ 4.92107412e-03 1.60719910e-04 9.99987879e-01 2.46830853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.470281693 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:53.06, Y:4.25, Z:0.02 [[ 9.86267914e-01 -1.65082652e-01 -4.82911849e-03 5.30623676e+01] [ 1.65079926e-01 9.86279725e-01 -9.60424466e-04 4.25090519e+00] [ 4.92141107e-03 1.50045312e-04 9.99987879e-01 2.25915927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.500281693 meters Centerline goodness : 0.998123 Centerline is valid? [True, True] Translation: X:53.09, Y:4.26, Z:0.02 [[ 9.85545524e-01 -1.69341964e-01 -4.82893920e-03 5.30891938e+01] [ 1.69339285e-01 9.85557346e-01 -9.61325060e-04 4.25951504e+00] [ 4.92198918e-03 1.29700499e-04 9.99987879e-01 2.25530198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.530281693 meters Centerline goodness : 0.998452 Centerline is valid? [True, True] Translation: X:53.12, Y:4.27, Z:0.02 [[ 9.85081469e-01 -1.72020877e-01 -4.82875822e-03 5.31153796e+01] [ 1.72018226e-01 9.85093297e-01 -9.62233262e-04 4.26628607e+00] [ 4.92230157e-03 1.17243734e-04 9.99987879e-01 2.31071030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56028169299999 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:53.14, Y:4.27, Z:0.02 [[ 9.84474159e-01 -1.75463140e-01 -4.82867927e-03 5.31423654e+01] [ 1.75460528e-01 9.84485996e-01 -9.62629330e-04 4.27280788e+00] [ 4.92267308e-03 1.00441086e-04 9.99987879e-01 2.38155681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.590281692999994 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:53.17, Y:4.28, Z:0.03 [[ 9.83789809e-01 -1.79260415e-01 -4.82849890e-03 5.31689446e+01] [ 1.79257845e-01 9.83801655e-01 -9.63533209e-04 4.27796710e+00] [ 4.92300857e-03 8.23678463e-05 9.99987879e-01 2.50869120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.620281692999995 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:53.20, Y:4.28, Z:0.03 [[ 9.82372535e-01 -1.86871318e-01 -4.82842060e-03 5.31967548e+01] [ 1.86868838e-01 9.82384400e-01 -9.63925418e-04 4.28214453e+00] [ 4.92349508e-03 4.46525118e-05 9.99987879e-01 2.87900953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.650281693 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:53.22, Y:4.29, Z:0.03 [[ 9.82339254e-01 -1.87046190e-01 -4.82824757e-03 5.32246285e+01] [ 1.87043707e-01 9.82351119e-01 -9.64791325e-04 4.28791957e+00] [ 4.92349494e-03 4.46590662e-05 9.99987879e-01 2.89303377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.680281693 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:53.25, Y:4.29, Z:0.03 [[ 9.81812043e-01 -1.89794102e-01 -4.82807567e-03 5.32522749e+01] [ 1.89791648e-01 9.81823914e-01 -9.65650772e-04 4.29338040e+00] [ 4.92359498e-03 3.17591188e-05 9.99987879e-01 2.94403215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.710281693 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:53.28, Y:4.30, Z:0.03 [[ 9.81391682e-01 -1.91955876e-01 -4.82788812e-03 5.32790027e+01] [ 1.91953443e-01 9.81403557e-01 -9.66587570e-04 4.29941187e+00] [ 4.92364873e-03 2.18712525e-05 9.99987879e-01 2.72214841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74028169299999 meters Centerline goodness : 0.998346 Centerline is valid? [True, True] Translation: X:53.31, Y:4.30, Z:0.03 [[ 9.81377040e-01 -1.92030722e-01 -4.82780671e-03 5.33065788e+01] [ 1.92028289e-01 9.81388914e-01 -9.66994005e-04 4.30449983e+00] [ 4.92364854e-03 2.19102521e-05 9.99987879e-01 2.67860029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.770281692999994 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:53.33, Y:4.31, Z:0.03 [[ 9.81370983e-01 -1.92061677e-01 -4.82762510e-03 5.33341554e+01] [ 1.92059239e-01 9.81382857e-01 -9.67899852e-04 4.30958646e+00] [ 4.92364498e-03 2.26788252e-05 9.99987879e-01 2.61617553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.800281692999995 meters Centerline goodness : 0.998411 Centerline is valid? [True, True] Translation: X:53.36, Y:4.31, Z:0.02 [[ 9.81540330e-01 -1.91194340e-01 -4.82744298e-03 5.33610721e+01] [ 1.91191888e-01 9.81552201e-01 -9.68807292e-04 4.31432746e+00] [ 4.92361776e-03 2.79554925e-05 9.99987879e-01 2.38107829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.830281692999996 meters Centerline goodness : 0.998419 Centerline is valid? [True, True] Translation: X:53.39, Y:4.32, Z:0.02 [[ 9.81535522e-01 -1.91219028e-01 -4.82736400e-03 5.33885090e+01] [ 1.91216573e-01 9.81547392e-01 -9.69200677e-04 4.31979970e+00] [ 4.92361616e-03 2.82328883e-05 9.99987879e-01 2.37656023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.860281693 meters Centerline goodness : 0.998594 Centerline is valid? [True, True] Translation: X:53.41, Y:4.32, Z:0.03 [[ 9.81572212e-01 -1.91030599e-01 -4.82718565e-03 5.34145726e+01] [ 1.91028139e-01 9.81584082e-01 -9.70088154e-04 4.32453930e+00] [ 4.92360512e-03 3.00832849e-05 9.99987879e-01 2.51692492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.890281693 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:53.44, Y:4.33, Z:0.03 [[ 9.81524300e-01 -1.91276625e-01 -4.82710786e-03 5.34410518e+01] [ 1.91274166e-01 9.81536169e-01 -9.70475086e-04 4.32781557e+00] [ 4.92361016e-03 2.92438501e-05 9.99987879e-01 3.10827584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92028169299999 meters Centerline goodness : 0.998420 Centerline is valid? [True, True] Translation: X:53.47, Y:4.33, Z:0.03 [[ 9.81516478e-01 -1.91316762e-01 -4.82703296e-03 5.34687827e+01] [ 1.91314301e-01 9.81528347e-01 -9.70847476e-04 4.33376253e+00] [ 4.92360908e-03 2.94223566e-05 9.99987879e-01 3.28534489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.950281692999994 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:53.50, Y:4.34, Z:0.03 [[ 9.81836160e-01 -1.89669336e-01 -4.82685559e-03 5.34960985e+01] [ 1.89666851e-01 9.81848024e-01 -9.71728562e-04 4.34154150e+00] [ 4.92354573e-03 3.85837400e-05 9.99987879e-01 3.00783495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.980281692999995 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:53.52, Y:4.35, Z:0.03 [[ 9.82177484e-01 -1.87893833e-01 -4.82667253e-03 5.35226624e+01] [ 1.87891322e-01 9.82189343e-01 -9.72636971e-04 4.34825905e+00] [ 4.92345881e-03 4.84122502e-05 9.99987879e-01 2.77103376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.010281692999996 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:53.55, Y:4.35, Z:0.03 [[ 9.82620701e-01 -1.85562014e-01 -4.82659288e-03 5.35489451e+01] [ 1.85559473e-01 9.82632553e-01 -9.73032051e-04 4.35480244e+00] [ 4.92332508e-03 6.05014040e-05 9.99987879e-01 2.70580305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.040281693 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:53.58, Y:4.36, Z:0.03 [[ 9.83109568e-01 -1.82954316e-01 -4.82651661e-03 5.35759914e+01] [ 1.82951742e-01 9.83121413e-01 -9.73410231e-04 4.36206794e+00] [ 4.92314143e-03 7.39492910e-05 9.99987879e-01 2.70743260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.070281693 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:53.60, Y:4.37, Z:0.02 [[ 9.84249746e-01 -1.76717697e-01 -4.82633736e-03 5.36020121e+01] [ 1.76715043e-01 9.84261573e-01 -9.74298188e-04 4.37217303e+00] [ 4.92255413e-03 1.06066329e-04 9.99987879e-01 2.39764743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10028169299999 meters Centerline goodness : 0.998205 Centerline is valid? [True, True] Translation: X:53.63, Y:4.38, Z:0.02 [[ 9.85040568e-01 -1.72255009e-01 -4.82615457e-03 5.36275721e+01] [ 1.72252297e-01 9.85052382e-01 -9.75202800e-04 4.38214642e+00] [ 4.92199862e-03 1.29298108e-04 9.99987879e-01 2.32504340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13028169299999 meters Centerline goodness : 0.998243 Centerline is valid? [True, True] Translation: X:53.65, Y:4.39, Z:0.02 [[ 9.85275443e-01 -1.70906437e-01 -4.82602934e-03 5.36540304e+01] [ 1.70903705e-01 9.85287253e-01 -9.75822120e-04 4.38918427e+00] [ 4.92179947e-03 1.36667276e-04 9.99987879e-01 2.49412376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.160281692999995 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:53.68, Y:4.40, Z:0.03 [[ 9.85288447e-01 -1.70831458e-01 -4.82597301e-03 5.36814522e+01] [ 1.70828725e-01 9.85300256e-01 -9.76100639e-04 4.39652821e+00] [ 4.92178113e-03 1.37325869e-04 9.99987879e-01 2.76394206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.190281692999996 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:53.71, Y:4.41, Z:0.03 [[ 9.84973997e-01 -1.72635273e-01 -4.82579761e-03 5.37079328e+01] [ 1.72632557e-01 9.84985810e-01 -9.76967046e-04 4.40541045e+00] [ 4.92200114e-03 1.29197355e-04 9.99987879e-01 3.25825821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.220281693 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:53.74, Y:4.41, Z:0.03 [[ 9.84642589e-01 -1.74515574e-01 -4.82562202e-03 5.37350561e+01] [ 1.74512876e-01 9.84654406e-01 -9.77833557e-04 4.41295584e+00] [ 4.92221717e-03 1.20683386e-04 9.99987879e-01 3.25350532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.250281693 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:53.76, Y:4.42, Z:0.03 [[ 9.84365485e-01 -1.76071881e-01 -4.82544673e-03 5.37623951e+01] [ 1.76069198e-01 9.84377306e-01 -9.78697813e-04 4.41984115e+00] [ 4.92238142e-03 1.13783813e-04 9.99987879e-01 3.10633496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.280281693 meters Centerline goodness : 0.998432 Centerline is valid? [True, True] Translation: X:53.79, Y:4.43, Z:0.03 [[ 9.83967348e-01 -1.78283411e-01 -4.82527153e-03 5.37894064e+01] [ 1.78280750e-01 9.83979174e-01 -9.79560833e-04 4.42663863e+00] [ 4.92260614e-03 1.03602845e-04 9.99987879e-01 2.90859680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31028169299999 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:53.82, Y:4.43, Z:0.03 [[ 9.83761435e-01 -1.79416160e-01 -4.82508811e-03 5.38164535e+01] [ 1.79413508e-01 9.83773262e-01 -9.80463482e-04 4.43287695e+00] [ 4.92270367e-03 9.88561746e-05 9.99987879e-01 2.81397957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.340281692999994 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:53.84, Y:4.44, Z:0.03 [[ 9.83186685e-01 -1.82539483e-01 -4.82490194e-03 5.38428961e+01] [ 1.82536864e-01 9.83198520e-01 -9.81378810e-04 4.43934009e+00] [ 4.92297683e-03 8.41561108e-05 9.99987879e-01 2.52029322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.370281692999995 meters Centerline goodness : 0.998505 Centerline is valid? [True, True] Translation: X:53.87, Y:4.44, Z:0.02 [[ 9.82782922e-01 -1.84700972e-01 -4.82477364e-03 5.38697432e+01] [ 1.84698376e-01 9.82794763e-01 -9.82009152e-04 4.44457801e+00] [ 4.92314031e-03 7.39739671e-05 9.99987879e-01 2.40132772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.400281693 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:53.90, Y:4.45, Z:0.03 [[ 9.82317860e-01 -1.87158607e-01 -4.82469419e-03 5.38974168e+01] [ 1.87156039e-01 9.82329706e-01 -9.82399329e-04 4.44997695e+00] [ 4.92330492e-03 6.20577499e-05 9.99987879e-01 2.56096308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.430281693 meters Centerline goodness : 0.998482 Centerline is valid? [True, True] Translation: X:53.92, Y:4.46, Z:0.03 [[ 9.81349499e-01 -1.92171500e-01 -4.82451700e-03 5.39247167e+01] [ 1.92168988e-01 9.81361357e-01 -9.83268760e-04 4.45555109e+00] [ 4.92355078e-03 3.78077551e-05 9.99987879e-01 3.07651339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.460281693 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:53.95, Y:4.46, Z:0.03 [[ 9.80806834e-01 -1.94922243e-01 -4.82434020e-03 5.39521875e+01] [ 1.94919760e-01 9.80818698e-01 -9.84135450e-04 4.46113645e+00] [ 4.92363296e-03 2.48875423e-05 9.99987879e-01 3.07770121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49028169299999 meters Centerline goodness : 0.998539 Centerline is valid? [True, True] Translation: X:53.98, Y:4.46, Z:0.03 [[ 9.79926258e-01 -1.99301923e-01 -4.82415916e-03 5.39791489e+01] [ 1.99299489e-01 9.79938133e-01 -9.85022085e-04 4.46477854e+00] [ 4.92369431e-03 3.79655158e-06 9.99987879e-01 2.62873911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.520281692999994 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:54.01, Y:4.47, Z:0.03 [[ 9.79567068e-01 -2.01059912e-01 -4.82408049e-03 5.40063279e+01] [ 2.01057497e-01 9.79578946e-01 -9.85407218e-04 4.46944400e+00] [ 4.92369357e-03 -4.64508988e-06 9.99987879e-01 2.58312426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.550281692999995 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:54.03, Y:4.47, Z:0.03 [[ 9.79186483e-01 -2.02905300e-01 -4.82390001e-03 5.40339980e+01] [ 2.02902904e-01 9.79198365e-01 -9.86289932e-04 4.47486765e+00] [ 4.92367846e-03 -1.30215496e-05 9.99987879e-01 2.61369793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.580281692999996 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:54.06, Y:4.48, Z:0.03 [[ 9.78632368e-01 -2.05561231e-01 -4.82372088e-03 5.40620243e+01] [ 2.05558862e-01 9.78644256e-01 -9.87165246e-04 4.47942974e+00] [ 4.92362963e-03 -2.54867125e-05 9.99987879e-01 2.67451929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.610281693 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:54.09, Y:4.48, Z:0.03 [[ 9.78359902e-01 -2.06854142e-01 -4.82353846e-03 5.40889228e+01] [ 2.06851784e-01 9.78371792e-01 -9.88055817e-04 4.48299977e+00] [ 4.92359740e-03 -3.10833427e-05 9.99987879e-01 2.52956385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.640281693 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:54.12, Y:4.48, Z:0.03 [[ 9.78038763e-01 -2.08367256e-01 -4.82341449e-03 5.41170867e+01] [ 2.08364914e-01 9.78050656e-01 -9.88660590e-04 4.48317433e+00] [ 4.92354820e-03 -3.80819651e-05 9.99987879e-01 2.62315357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67028169299999 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:54.14, Y:4.49, Z:0.03 [[ 9.77955966e-01 -2.08755513e-01 -4.82323444e-03 5.41441016e+01] [ 2.08753172e-01 9.77967859e-01 -9.89538236e-04 4.48708322e+00] [ 4.92353982e-03 -3.91406642e-05 9.99987879e-01 2.61103482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.700281692999994 meters Centerline goodness : 0.998372 Centerline is valid? [True, True] Translation: X:54.17, Y:4.49, Z:0.02 [[ 9.77966272e-01 -2.08707234e-01 -4.82311165e-03 5.41718173e+01] [ 2.08704889e-01 9.77978164e-01 -9.90136343e-04 4.49179888e+00] [ 4.92354649e-03 -3.82870321e-05 9.99987879e-01 2.46836546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.730281692999995 meters Centerline goodness : 0.998217 Centerline is valid? [True, True] Translation: X:54.20, Y:4.49, Z:0.02 [[ 9.77993556e-01 -2.08579345e-01 -4.82293685e-03 5.41997418e+01] [ 2.08576994e-01 9.78005448e-01 -9.90987054e-04 4.49407176e+00] [ 4.92355794e-03 -3.67747156e-05 9.99987879e-01 2.22201093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.760281692999996 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:54.23, Y:4.50, Z:0.02 [[ 9.77888016e-01 -2.09073597e-01 -4.82275783e-03 5.42268656e+01] [ 2.09071248e-01 9.77899908e-01 -9.91857529e-04 4.49743497e+00] [ 4.92354566e-03 -3.83744053e-05 9.99987879e-01 2.31842939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.790281693 meters Centerline goodness : 0.998402 Centerline is valid? [True, True] Translation: X:54.25, Y:4.50, Z:0.03 [[ 9.78021742e-01 -2.08447150e-01 -4.82267986e-03 5.42544988e+01] [ 2.08444792e-01 9.78033631e-01 -9.92236505e-04 4.50055897e+00] [ 4.92357197e-03 -3.48336236e-05 9.99987879e-01 2.72955053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.820281693 meters Centerline goodness : 0.998396 Centerline is valid? [True, True] Translation: X:54.28, Y:4.50, Z:0.03 [[ 9.78350887e-01 -2.06896797e-01 -4.82249657e-03 5.42811686e+01] [ 2.06894415e-01 9.78362773e-01 -9.93126532e-04 4.50491319e+00] [ 4.92362581e-03 -2.61213825e-05 9.99987879e-01 2.68262026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85028169299999 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:54.31, Y:4.51, Z:0.03 [[ 9.78724857e-01 -2.05120449e-01 -4.82237138e-03 5.43091535e+01] [ 2.05118043e-01 9.78736737e-01 -9.93734060e-04 4.50951367e+00] [ 4.92366720e-03 -1.65631528e-05 9.99987879e-01 2.66646882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88028169299999 meters Centerline goodness : 0.998239 Centerline is valid? [True, True] Translation: X:54.34, Y:4.51, Z:0.03 [[ 9.79667571e-01 -2.00569683e-01 -4.82219367e-03 5.43374022e+01] [ 2.00567217e-01 9.79679439e-01 -9.94595659e-04 4.51396956e+00] [ 4.92368972e-03 7.19915104e-06 9.99987879e-01 3.00098719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.910281692999995 meters Centerline goodness : 0.998167 Centerline is valid? [True, True] Translation: X:54.36, Y:4.52, Z:0.03 [[ 9.80035305e-01 -1.98765060e-01 -4.82203917e-03 5.43637728e+01] [ 1.98762568e-01 9.80047168e-01 -9.95344159e-04 4.52080067e+00] [ 4.92366547e-03 1.70315270e-05 9.99987879e-01 3.29026992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.940281692999996 meters Centerline goodness : 0.998160 Centerline is valid? [True, True] Translation: X:54.39, Y:4.53, Z:0.04 [[ 9.80630241e-01 -1.95808783e-01 -4.82191813e-03 5.43903654e+01] [ 1.95806253e-01 9.80642096e-01 -9.95930188e-04 4.53074637e+00] [ 4.92358777e-03 3.24775406e-05 9.99987879e-01 3.59279355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.970281693 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:54.42, Y:4.54, Z:0.04 [[ 9.80892634e-01 -1.94490083e-01 -4.82174245e-03 5.44176639e+01] [ 1.94487533e-01 9.80904484e-01 -9.96779973e-04 4.53838485e+00] [ 4.92353261e-03 3.99653405e-05 9.99987879e-01 3.58199790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.000281693 meters Centerline goodness : 0.998352 Centerline is valid? [True, True] Translation: X:54.44, Y:4.55, Z:0.03 [[ 9.81022707e-01 -1.93832922e-01 -4.82156693e-03 5.44446961e+01] [ 1.93830360e-01 9.81034554e-01 -9.97628299e-04 4.54630165e+00] [ 4.92349697e-03 4.41299618e-05 9.99987879e-01 3.44929869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.030281693 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:54.47, Y:4.55, Z:0.03 [[ 9.81213228e-01 -1.92866158e-01 -4.82138618e-03 5.44709061e+01] [ 1.92863579e-01 9.81225072e-01 -9.98501059e-04 4.55469530e+00] [ 4.92344207e-03 4.98726516e-05 9.99987879e-01 3.43742769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06028169299999 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:54.50, Y:4.56, Z:0.04 [[ 9.81229895e-01 -1.92781348e-01 -4.82130762e-03 5.44976471e+01] [ 1.92778767e-01 9.81241739e-01 -9.98880229e-04 4.56196263e+00] [ 4.92343375e-03 5.06854047e-05 9.99987879e-01 3.55598041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.090281692999994 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:54.52, Y:4.57, Z:0.04 [[ 9.80945364e-01 -1.94223969e-01 -4.82112245e-03 5.45227490e+01] [ 1.94221401e-01 9.80957210e-01 -9.99773149e-04 4.57133947e+00] [ 4.92349474e-03 4.43576794e-05 9.99987879e-01 3.87399698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.120281692999995 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:54.55, Y:4.58, Z:0.04 [[ 9.80667199e-01 -1.95623623e-01 -4.82104160e-03 5.45492394e+01] [ 1.95621070e-01 9.80679049e-01 -1.00016290e-03 4.57887085e+00] [ 4.92354998e-03 3.77296357e-05 9.99987879e-01 3.97995397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.150281693 meters Centerline goodness : 0.998493 Centerline is valid? [True, True] Translation: X:54.58, Y:4.59, Z:0.04 [[ 9.80352490e-01 -1.97194715e-01 -4.82085858e-03 5.45761917e+01] [ 1.97192177e-01 9.80364342e-01 -1.00104429e-03 4.58619352e+00] [ 4.92359849e-03 3.07406624e-05 9.99987879e-01 3.88401193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.180281693 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:54.60, Y:4.59, Z:0.03 [[ 9.79676243e-01 -2.00527356e-01 -4.82066881e-03 5.46026741e+01] [ 2.00524853e-01 9.79688103e-01 -1.00195731e-03 4.59365524e+00] [ 4.92367173e-03 1.49298648e-05 9.99987879e-01 3.21011216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.210281693 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:54.63, Y:4.60, Z:0.03 [[ 9.79332458e-01 -2.02199653e-01 -4.82058625e-03 5.46300940e+01] [ 2.02197168e-01 9.79344322e-01 -1.00235438e-03 4.60103026e+00] [ 4.92368948e-03 6.92928999e-06 9.99987879e-01 2.90225464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24028169299999 meters Centerline goodness : 0.998364 Centerline is valid? [True, True] Translation: X:54.66, Y:4.61, Z:0.03 [[ 9.78115959e-01 -2.08004649e-01 -4.82039914e-03 5.46562917e+01] [ 2.08002230e-01 9.78127837e-01 -1.00325338e-03 4.60804567e+00] [ 4.92364795e-03 -2.13556285e-05 9.99987879e-01 2.70678798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.270281692999994 meters Centerline goodness : 0.998260 Centerline is valid? [True, True] Translation: X:54.68, Y:4.61, Z:0.03 [[ 9.77200891e-01 -2.12262066e-01 -4.82027217e-03 5.46835823e+01] [ 2.12259696e-01 9.77212778e-01 -1.00386307e-03 4.61296802e+00] [ 4.92351361e-03 -4.21736184e-05 9.99987879e-01 2.85426093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.300281692999995 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:54.71, Y:4.62, Z:0.03 [[ 9.76204211e-01 -2.16799691e-01 -4.82008734e-03 5.47099651e+01] [ 2.16797373e-01 9.76216108e-01 -1.00474974e-03 4.61627622e+00] [ 4.92327634e-03 -6.41413489e-05 9.99987879e-01 2.88837369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.330281692999996 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:54.74, Y:4.62, Z:0.03 [[ 9.74156684e-01 -2.25821882e-01 -4.81996179e-03 5.47383625e+01] [ 2.25819670e-01 9.74168602e-01 -1.00535169e-03 4.61584454e+00] [ 4.92248585e-03 -1.09072108e-04 9.99987879e-01 2.73851843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.360281693 meters Centerline goodness : 0.998256 Centerline is valid? [True, True] Translation: X:54.77, Y:4.62, Z:0.03 [[ 9.73345832e-01 -2.29291652e-01 -4.81978045e-03 5.47667594e+01] [ 2.29289479e-01 9.73357757e-01 -1.00622027e-03 4.61833394e+00] [ 4.92208860e-03 -1.25724643e-04 9.99987879e-01 2.74279784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.390281693 meters Centerline goodness : 0.998221 Centerline is valid? [True, True] Translation: X:54.80, Y:4.62, Z:0.03 [[ 9.72807731e-01 -2.31564009e-01 -4.81959915e-03 5.47951075e+01] [ 2.31561860e-01 9.72819660e-01 -1.00708793e-03 4.62099116e+00] [ 4.92180613e-03 -1.36332414e-04 9.99987879e-01 2.86428419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42028169299999 meters Centerline goodness : 0.998315 Centerline is valid? [True, True] Translation: X:54.82, Y:4.62, Z:0.03 [[ 9.72507536e-01 -2.32821534e-01 -4.81941706e-03 5.48237386e+01] [ 2.32819395e-01 9.72519467e-01 -1.00795856e-03 4.61967242e+00] [ 4.92165137e-03 -1.41806474e-04 9.99987879e-01 3.23812617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.450281692999994 meters Centerline goodness : 0.998094 Centerline is valid? [True, True] Translation: X:54.85, Y:4.62, Z:0.03 [[ 9.72480419e-01 -2.32934774e-01 -4.81936049e-03 5.48506416e+01] [ 2.32932635e-01 9.72492350e-01 -1.00822897e-03 4.62155377e+00] [ 4.92164280e-03 -1.42103409e-04 9.99987879e-01 3.44448159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.480281692999995 meters Centerline goodness : 0.998348 Centerline is valid? [True, True] Translation: X:54.88, Y:4.62, Z:0.04 [[ 9.73035399e-01 -2.30605477e-01 -4.81928198e-03 5.48797811e+01] [ 2.30603308e-01 9.73047325e-01 -1.00860412e-03 4.62084426e+00] [ 4.92197907e-03 -1.29934858e-04 9.99987879e-01 3.61182529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.510281692999996 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:54.91, Y:4.62, Z:0.04 [[ 9.73431177e-01 -2.28929073e-01 -4.81910253e-03 5.49072245e+01] [ 2.28926879e-01 9.73443098e-01 -1.00946078e-03 4.62412168e+00] [ 4.92221702e-03 -1.20581510e-04 9.99987879e-01 3.68331089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.540281693 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:54.93, Y:4.63, Z:0.04 [[ 9.73853957e-01 -2.27123862e-01 -4.81891936e-03 5.49336717e+01] [ 2.27121642e-01 9.73865873e-01 -1.01033446e-03 4.62746312e+00] [ 4.92245217e-03 -1.10562660e-04 9.99987879e-01 3.66015295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.570281693 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:54.96, Y:4.63, Z:0.04 [[ 9.73812876e-01 -2.27299935e-01 -4.81883941e-03 5.49614959e+01] [ 2.27297715e-01 9.73824793e-01 -1.01071563e-03 4.63348945e+00] [ 4.92244089e-03 -1.11063296e-04 9.99987879e-01 3.67417326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60028169299999 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:54.99, Y:4.64, Z:0.04 [[ 9.74517434e-01 -2.24260010e-01 -4.81865651e-03 5.49898243e+01] [ 2.24257749e-01 9.74529342e-01 -1.01158686e-03 4.63517776e+00] [ 4.92278064e-03 -9.48120274e-05 9.99987879e-01 3.65833377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63028169299999 meters Centerline goodness : 0.998254 Centerline is valid? [True, True] Translation: X:55.02, Y:4.64, Z:0.04 [[ 9.74740761e-01 -2.23287329e-01 -4.81846949e-03 5.50160084e+01] [ 2.23285052e-01 9.74752666e-01 -1.01247693e-03 4.63954482e+00] [ 4.92288925e-03 -8.89896730e-05 9.99987879e-01 3.68090536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.660281692999995 meters Centerline goodness : 0.998204 Centerline is valid? [True, True] Translation: X:55.04, Y:4.64, Z:0.04 [[ 9.75236583e-01 -2.21111716e-01 -4.81838808e-03 5.50433225e+01] [ 2.21109410e-01 9.75248483e-01 -1.01286421e-03 4.64492423e+00] [ 4.92308180e-03 -7.76087180e-05 9.99987879e-01 3.60411657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.690281692999996 meters Centerline goodness : 0.998205 Centerline is valid? [True, True] Translation: X:55.07, Y:4.65, Z:0.04 [[ 9.75623654e-01 -2.19397515e-01 -4.81820839e-03 5.50705655e+01] [ 2.19395184e-01 9.75635550e-01 -1.01371827e-03 4.65088879e+00] [ 4.92322266e-03 -6.80841953e-05 9.99987879e-01 3.57694431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.720281693 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:55.10, Y:4.66, Z:0.03 [[ 9.76499749e-01 -2.15464677e-01 -4.81802889e-03 5.50979996e+01] [ 2.15462294e-01 9.76511634e-01 -1.01457066e-03 4.65799362e+00] [ 4.92346541e-03 -4.73755585e-05 9.99987879e-01 3.47246071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.750281693 meters Centerline goodness : 0.998437 Centerline is valid? [True, True] Translation: X:55.12, Y:4.66, Z:0.03 [[ 9.76990441e-01 -2.13228672e-01 -4.81783977e-03 5.51240116e+01] [ 2.13226257e-01 9.77002319e-01 -1.01546795e-03 4.66495769e+00] [ 4.92356751e-03 -3.51874647e-05 9.99987879e-01 3.43286555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.780281693 meters Centerline goodness : 0.998228 Centerline is valid? [True, True] Translation: X:55.15, Y:4.67, Z:0.03 [[ 9.77476242e-01 -2.10990485e-01 -4.81775767e-03 5.51504150e+01] [ 2.10988041e-01 9.77488115e-01 -1.01585733e-03 4.67141522e+00] [ 4.92363709e-03 -2.35128486e-05 9.99987879e-01 3.43752485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81028169299999 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:55.18, Y:4.68, Z:0.04 [[ 9.78225327e-01 -2.07489759e-01 -4.81767675e-03 5.51774861e+01] [ 2.07487270e-01 9.78237190e-01 -1.01624095e-03 4.67842954e+00] [ 4.92369015e-03 -5.49396558e-06 9.99987879e-01 3.65078021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.840281692999994 meters Centerline goodness : 0.998268 Centerline is valid? [True, True] Translation: X:55.20, Y:4.69, Z:0.04 [[ 9.78331096e-01 -2.06990479e-01 -4.81748985e-03 5.52043838e+01] [ 2.06987980e-01 9.78342957e-01 -1.01712615e-03 4.68504017e+00] [ 4.92369270e-03 -2.07635648e-06 9.99987879e-01 3.55434202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.870281692999995 meters Centerline goodness : 0.998309 Centerline is valid? [True, True] Translation: X:55.23, Y:4.69, Z:0.03 [[ 9.77994718e-01 -2.08574026e-01 -4.81730308e-03 5.52301853e+01] [ 2.08571542e-01 9.78006583e-01 -1.01800997e-03 4.69140159e+00] [ 4.92368456e-03 -9.14395756e-06 9.99987879e-01 3.20323099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.900281693 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:55.26, Y:4.70, Z:0.03 [[ 9.77685399e-01 -2.10019178e-01 -4.81717587e-03 5.52575172e+01] [ 2.10016708e-01 9.77697266e-01 -1.01861158e-03 4.69598275e+00] [ 4.92366764e-03 -1.58057474e-05 9.99987879e-01 3.18300324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.930281693 meters Centerline goodness : 0.998207 Centerline is valid? [True, True] Translation: X:55.28, Y:4.70, Z:0.03 [[ 9.77162201e-01 -2.12440178e-01 -4.81699093e-03 5.52843224e+01] [ 2.12437733e-01 9.77174074e-01 -1.01948540e-03 4.69851209e+00] [ 4.92361831e-03 -2.71080400e-05 9.99987879e-01 3.34688566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.960281693 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:55.31, Y:4.70, Z:0.03 [[ 9.77033397e-01 -2.13031778e-01 -4.81691023e-03 5.53120563e+01] [ 2.13029339e-01 9.77045271e-01 -1.01986653e-03 4.70389846e+00] [ 4.92360334e-03 -2.96995389e-05 9.99987879e-01 3.43102177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99028169299999 meters Centerline goodness : 0.998442 Centerline is valid? [True, True] Translation: X:55.34, Y:4.71, Z:0.04 [[ 9.77072216e-01 -2.12853668e-01 -4.81672804e-03 5.53392433e+01] [ 2.12851223e-01 9.77084088e-01 -1.02072629e-03 4.71043464e+00] [ 4.92361366e-03 -2.79231572e-05 9.99987879e-01 3.54308338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.020281693 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:55.37, Y:4.72, Z:0.04 [[ 9.77646581e-01 -2.10199817e-01 -4.81653651e-03 5.53659778e+01] [ 2.10197335e-01 9.77658446e-01 -1.02162924e-03 4.71828291e+00] [ 4.92367388e-03 -1.36307984e-05 9.99987879e-01 3.68990382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.050281693 meters Centerline goodness : 0.998167 Centerline is valid? [True, True] Translation: X:55.39, Y:4.72, Z:0.04 [[ 9.78033840e-01 -2.08390523e-01 -4.81634574e-03 5.53923101e+01] [ 2.08388014e-01 9.78045699e-01 -1.02252785e-03 4.72494297e+00] [ 4.92369135e-03 -3.60188388e-06 9.99987879e-01 3.54606808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.080281693 meters Centerline goodness : 0.998526 Centerline is valid? [True, True] Translation: X:55.42, Y:4.73, Z:0.03 [[ 9.78665132e-01 -2.05405365e-01 -4.81626287e-03 5.54184664e+01] [ 2.05402818e-01 9.78676982e-01 -1.02291801e-03 4.73409829e+00] [ 4.92367846e-03 1.18202202e-05 9.99987879e-01 3.20679530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.110281693 meters Centerline goodness : 0.998320 Centerline is valid? [True, True] Translation: X:55.45, Y:4.74, Z:0.03 [[ 9.78680950e-01 -2.05329987e-01 -4.81609738e-03 5.54450907e+01] [ 2.05327436e-01 9.78692800e-01 -1.02369658e-03 4.74191056e+00] [ 4.92367543e-03 1.29954187e-05 9.99987879e-01 3.30119913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.140281693 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:55.47, Y:4.75, Z:0.03 [[ 9.78560940e-01 -2.05901175e-01 -4.81590788e-03 5.54719465e+01] [ 2.05898626e-01 9.78572790e-01 -1.02458732e-03 4.74885759e+00] [ 4.92368014e-03 1.10323118e-05 9.99987879e-01 3.45604726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.170281693 meters Centerline goodness : 0.998273 Centerline is valid? [True, True] Translation: X:55.50, Y:4.76, Z:0.04 [[ 9.77920098e-01 -2.08923644e-01 -4.81584920e-03 5.54998135e+01] [ 2.08921130e-01 9.77931956e-01 -1.02486304e-03 4.75603599e+00] [ 4.92369095e-03 -3.89848719e-06 9.99987879e-01 3.78837353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20028169300001 meters Centerline goodness : 0.998094 Centerline is valid? [True, True] Translation: X:55.53, Y:4.76, Z:0.04 [[ 9.77457206e-01 -2.11078704e-01 -4.81568553e-03 5.55259550e+01] [ 2.11076213e-01 9.77469069e-01 -1.02563150e-03 4.76319722e+00] [ 4.92367262e-03 -1.39657677e-05 9.99987879e-01 3.81549305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23028169300001 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:55.55, Y:4.77, Z:0.04 [[ 9.76559187e-01 -2.15195178e-01 -4.81555807e-03 5.55525393e+01] [ 2.15192733e-01 9.76571060e-01 -1.02622960e-03 4.77283056e+00] [ 4.92357431e-03 -3.40991583e-05 9.99987879e-01 3.99751404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.260281693 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:55.58, Y:4.78, Z:0.04 [[ 9.76252532e-01 -2.16582099e-01 -4.81536944e-03 5.55791473e+01] [ 2.16579667e-01 9.76264407e-01 -1.02711399e-03 4.78013827e+00] [ 4.92352829e-03 -4.01884765e-05 9.99987879e-01 4.09679968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.290281693 meters Centerline goodness : 0.998432 Centerline is valid? [True, True] Translation: X:55.61, Y:4.79, Z:0.04 [[ 9.76020202e-01 -2.17626698e-01 -4.81519101e-03 5.56050616e+01] [ 2.17624275e-01 9.76032078e-01 -1.02794976e-03 4.78632025e+00] [ 4.92349021e-03 -4.46027185e-05 9.99987879e-01 4.10837340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.320281693 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:55.63, Y:4.79, Z:0.04 [[ 9.75741320e-01 -2.18873689e-01 -4.81510781e-03 5.56311968e+01] [ 2.18871279e-01 9.75753199e-01 -1.02833938e-03 4.79362823e+00] [ 4.92343328e-03 -5.04955811e-05 9.99987879e-01 3.88929586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.350281693 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:55.66, Y:4.80, Z:0.04 [[ 9.75544521e-01 -2.19749183e-01 -4.81498323e-03 5.56585768e+01] [ 2.19746781e-01 9.75556402e-01 -1.02892233e-03 4.80081141e+00] [ 4.92339256e-03 -5.43175289e-05 9.99987879e-01 3.79767851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.380281693 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:55.69, Y:4.81, Z:0.04 [[ 9.75337477e-01 -2.20666317e-01 -4.81479293e-03 5.56856157e+01] [ 2.20663921e-01 9.75349360e-01 -1.02981207e-03 4.80597673e+00] [ 4.92335004e-03 -5.80367841e-05 9.99987879e-01 3.78322899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.410281693 meters Centerline goodness : 0.998290 Centerline is valid? [True, True] Translation: X:55.71, Y:4.81, Z:0.04 [[ 9.75149049e-01 -2.21497520e-01 -4.81460354e-03 5.57127044e+01] [ 2.21495131e-01 9.75160933e-01 -1.03069674e-03 4.81075774e+00] [ 4.92331005e-03 -6.13282947e-05 9.99987879e-01 3.86142468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.440281693 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:55.74, Y:4.82, Z:0.04 [[ 9.74991851e-01 -2.22188462e-01 -4.81440615e-03 5.57387599e+01] [ 2.22186076e-01 9.75003735e-01 -1.03161796e-03 4.81556521e+00] [ 4.92327758e-03 -6.38749064e-05 9.99987879e-01 3.93374112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.470281693 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:55.77, Y:4.82, Z:0.04 [[ 9.74792233e-01 -2.23062602e-01 -4.81432029e-03 5.57663054e+01] [ 2.23060225e-01 9.74804119e-01 -1.03201848e-03 4.82066368e+00] [ 4.92322398e-03 -6.78797690e-05 9.99987879e-01 4.04950201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.500281693 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:55.79, Y:4.83, Z:0.04 [[ 9.74950134e-01 -2.22371445e-01 -4.81412820e-03 5.57934411e+01] [ 2.22369055e-01 9.74962018e-01 -1.03291377e-03 4.82597881e+00] [ 4.92328267e-03 -6.34737175e-05 9.99987879e-01 3.94651050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.530281693 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:55.82, Y:4.83, Z:0.04 [[ 9.75590404e-01 -2.19545416e-01 -4.81400629e-03 5.58206763e+01] [ 2.19542989e-01 9.75602280e-01 -1.03348162e-03 4.82960905e+00] [ 4.92345166e-03 -4.86265774e-05 9.99987879e-01 3.88546195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56028169300001 meters Centerline goodness : 0.998546 Centerline is valid? [True, True] Translation: X:55.85, Y:4.83, Z:0.04 [[ 9.75746353e-01 -2.18851276e-01 -4.81387239e-03 5.58484574e+01] [ 2.18848837e-01 9.75758227e-01 -1.03410494e-03 4.83431102e+00] [ 4.92349077e-03 -4.44862557e-05 9.99987879e-01 3.93061115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59028169300001 meters Centerline goodness : 0.998422 Centerline is valid? [True, True] Translation: X:55.88, Y:4.84, Z:0.04 [[ 9.75746852e-01 -2.18849055e-01 -4.81368247e-03 5.58756621e+01] [ 2.18846612e-01 9.75758725e-01 -1.03498824e-03 4.83914233e+00] [ 4.92349887e-03 -4.35715889e-05 9.99987879e-01 4.00345458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62028169300001 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:55.90, Y:4.84, Z:0.04 [[ 9.75598033e-01 -2.19511523e-01 -4.81348869e-03 5.59035208e+01] [ 2.19509083e-01 9.75609906e-01 -1.03588871e-03 4.84172489e+00] [ 4.92347675e-03 -4.59934970e-05 9.99987879e-01 3.98643845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.650281693 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:55.93, Y:4.84, Z:0.04 [[ 9.75629078e-01 -2.19373505e-01 -4.81329411e-03 5.59301779e+01] [ 2.19371060e-01 9.75640950e-01 -1.03679202e-03 4.84497824e+00] [ 4.92349154e-03 -4.43729874e-05 9.99987879e-01 3.82006929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.680281693 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:55.96, Y:4.85, Z:0.04 [[ 9.75938965e-01 -2.17990756e-01 -4.81320971e-03 5.59586016e+01] [ 2.17988292e-01 9.75950833e-01 -1.03718369e-03 4.84666607e+00] [ 4.92355249e-03 -3.69953879e-05 9.99987879e-01 3.98434066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.710281693 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:55.99, Y:4.85, Z:0.04 [[ 9.76025386e-01 -2.17603494e-01 -4.81302379e-03 5.59858650e+01] [ 2.17601021e-01 9.76037252e-01 -1.03804572e-03 4.85101886e+00] [ 4.92357290e-03 -3.41599141e-05 9.99987879e-01 4.19798982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.740281693 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:56.01, Y:4.86, Z:0.04 [[ 9.75953764e-01 -2.17924497e-01 -4.81282658e-03 5.60126332e+01] [ 2.17922024e-01 9.75965631e-01 -1.03895928e-03 4.85576384e+00] [ 4.92356801e-03 -3.48446851e-05 9.99987879e-01 4.19535546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.770281693 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:56.04, Y:4.86, Z:0.04 [[ 9.75281089e-01 -2.20915448e-01 -4.81274056e-03 5.60402802e+01] [ 2.20913009e-01 9.75292962e-01 -1.03935761e-03 4.85828448e+00] [ 4.92344215e-03 -4.95311760e-05 9.99987879e-01 4.09875630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.800281693 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:56.07, Y:4.86, Z:0.04 [[ 9.74763420e-01 -2.23188519e-01 -4.81254962e-03 5.60684309e+01] [ 2.23186103e-01 9.74775298e-01 -1.04024099e-03 4.86202815e+00] [ 4.92332433e-03 -6.01053355e-05 9.99987879e-01 4.05097987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.830281693 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:56.10, Y:4.86, Z:0.04 [[ 9.74015879e-01 -2.26428595e-01 -4.81235472e-03 5.60968771e+01] [ 2.26426214e-01 9.74027764e-01 -1.04114184e-03 4.86434424e+00] [ 4.92311139e-03 -7.55545713e-05 9.99987879e-01 3.91462237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.860281693 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:56.12, Y:4.87, Z:0.04 [[ 9.73836418e-01 -2.27199196e-01 -4.81216003e-03 5.61241375e+01] [ 2.27196820e-01 9.73848304e-01 -1.04204091e-03 4.86963478e+00] [ 4.92306474e-03 -7.85300728e-05 9.99987879e-01 3.93922287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.890281693 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:56.15, Y:4.87, Z:0.04 [[ 9.74052283e-01 -2.26271949e-01 -4.81196618e-03 5.61511938e+01] [ 2.26269557e-01 9.74064166e-01 -1.04293530e-03 4.87462367e+00] [ 4.92315083e-03 -7.29279489e-05 9.99987879e-01 4.25360038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.920281693 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:56.18, Y:4.88, Z:0.04 [[ 9.74324723e-01 -2.25095936e-01 -4.81177295e-03 5.61780410e+01] [ 2.25093525e-01 9.74336603e-01 -1.04382605e-03 4.88046030e+00] [ 4.92324751e-03 -6.60734057e-05 9.99987879e-01 4.34299094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.95028169300001 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:56.20, Y:4.89, Z:0.04 [[ 9.75194253e-01 -2.21298482e-01 -4.81157901e-03 5.62045260e+01] [ 2.21296021e-01 9.75206122e-01 -1.04471928e-03 4.88625725e+00] [ 4.92347609e-03 -4.59790446e-05 9.99987879e-01 4.23630351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98028169300001 meters Centerline goodness : 0.998405 Centerline is valid? [True, True] Translation: X:56.23, Y:4.89, Z:0.04 [[ 9.75664923e-01 -2.19214069e-01 -4.81149427e-03 5.62305667e+01] [ 2.19211580e-01 9.75676786e-01 -1.04510940e-03 4.89193404e+00] [ 4.92356595e-03 -3.50586771e-05 9.99987879e-01 4.04311617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.010281693 meters Centerline goodness : 0.998287 Centerline is valid? [True, True] Translation: X:56.26, Y:4.90, Z:0.04 [[ 9.76042230e-01 -2.17527964e-01 -4.81141112e-03 5.62580304e+01] [ 2.17525453e-01 9.76054089e-01 -1.04549206e-03 4.89840394e+00] [ 4.92362125e-03 -2.61599784e-05 9.99987879e-01 4.01207175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.040281693 meters Centerline goodness : 0.998239 Centerline is valid? [True, True] Translation: X:56.28, Y:4.91, Z:0.04 [[ 9.76468446e-01 -2.15606647e-01 -4.81122424e-03 5.62839747e+01] [ 2.15604108e-01 9.76480299e-01 -1.04635133e-03 4.90665412e+00] [ 4.92366599e-03 -1.55906592e-05 9.99987879e-01 3.99048489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.070281693 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:56.31, Y:4.91, Z:0.04 [[ 9.76227280e-01 -2.16695987e-01 -4.81113711e-03 5.63114154e+01] [ 2.16693460e-01 9.76239135e-01 -1.04675183e-03 4.91428025e+00] [ 4.92364725e-03 -2.06742562e-05 9.99987879e-01 4.26022310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.100281693 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:56.34, Y:4.92, Z:0.04 [[ 9.75261241e-01 -2.21003093e-01 -4.81093390e-03 5.63379944e+01] [ 2.21000613e-01 9.75273106e-01 -1.04768495e-03 4.92052368e+00] [ 4.92351606e-03 -4.14528206e-05 9.99987879e-01 4.24959648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.130281693 meters Centerline goodness : 0.998248 Centerline is valid? [True, True] Translation: X:56.36, Y:4.93, Z:0.04 [[ 9.74746049e-01 -2.23264406e-01 -4.81084561e-03 5.63644424e+01] [ 2.23261952e-01 9.74757920e-01 -1.04809021e-03 4.92594940e+00] [ 4.92341110e-03 -5.24569872e-05 9.99987879e-01 4.00994449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.160281693 meters Centerline goodness : 0.998110 Centerline is valid? [True, True] Translation: X:56.39, Y:4.93, Z:0.04 [[ 9.74312271e-01 -2.25149852e-01 -4.81075976e-03 5.63922692e+01] [ 2.25147419e-01 9.74324145e-01 -1.04848410e-03 4.93174226e+00] [ 4.92330543e-03 -6.15792177e-05 9.99987879e-01 3.86739642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.190281693 meters Centerline goodness : 0.998125 Centerline is valid? [True, True] Translation: X:56.42, Y:4.94, Z:0.04 [[ 9.73962908e-01 -2.26656375e-01 -4.81057392e-03 5.64195902e+01] [ 2.26653956e-01 9.73974786e-01 -1.04933609e-03 4.93803095e+00] [ 4.92321641e-03 -6.83211791e-05 9.99987879e-01 3.88601818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.220281693 meters Centerline goodness : 0.998200 Centerline is valid? [True, True] Translation: X:56.45, Y:4.94, Z:0.04 [[ 9.73956140e-01 -2.26685460e-01 -4.81037970e-03 5.64463830e+01] [ 2.26683037e-01 9.73968017e-01 -1.05022566e-03 4.94419200e+00] [ 4.92322687e-03 -6.75577537e-05 9.99987879e-01 4.07389025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.250281693 meters Centerline goodness : 0.998295 Centerline is valid? [True, True] Translation: X:56.47, Y:4.95, Z:0.04 [[ 9.74132601e-01 -2.25925958e-01 -4.81018229e-03 5.64735691e+01] [ 2.25923522e-01 9.74144475e-01 -1.05112904e-03 4.95052566e+00] [ 4.92328984e-03 -6.27942579e-05 9.99987879e-01 4.44974710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.280281693 meters Centerline goodness : 0.998366 Centerline is valid? [True, True] Translation: X:56.50, Y:4.96, Z:0.05 [[ 9.74190711e-01 -2.25675257e-01 -4.81012102e-03 5.65009152e+01] [ 2.25672816e-01 9.74202584e-01 -1.05140936e-03 4.95665455e+00] [ 4.92330941e-03 -6.12403207e-05 9.99987879e-01 4.54533449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31028169300001 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:56.53, Y:4.96, Z:0.04 [[ 9.74405685e-01 -2.24745248e-01 -4.80992745e-03 5.65285370e+01] [ 2.24742791e-01 9.74417554e-01 -1.05229416e-03 4.96186499e+00] [ 4.92337585e-03 -5.56351102e-05 9.99987879e-01 4.29231618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34028169300001 meters Centerline goodness : 0.998125 Centerline is valid? [True, True] Translation: X:56.56, Y:4.97, Z:0.04 [[ 9.74754681e-01 -2.23226743e-01 -4.80973266e-03 5.65554038e+01] [ 2.23224263e-01 9.74766546e-01 -1.05318375e-03 4.96741006e+00] [ 4.92346527e-03 -4.70532372e-05 9.99987879e-01 4.13243474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37028169300001 meters Centerline goodness : 0.998206 Centerline is valid? [True, True] Translation: X:56.58, Y:4.97, Z:0.04 [[ 9.75204762e-01 -2.21252211e-01 -4.80959990e-03 5.65825428e+01] [ 2.21249704e-01 9.75216621e-01 -1.05378967e-03 4.97387247e+00] [ 4.92355505e-03 -3.64618499e-05 9.99987879e-01 4.13026874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.400281693 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:56.61, Y:4.98, Z:0.04 [[ 9.76589545e-01 -2.15057506e-01 -4.80942219e-03 5.66090792e+01] [ 2.15054920e-01 9.76601387e-01 -1.05460009e-03 4.98226350e+00] [ 4.92368805e-03 -4.37848788e-06 9.99987879e-01 4.45983359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.430281693 meters Centerline goodness : 0.998206 Centerline is valid? [True, True] Translation: X:56.64, Y:4.99, Z:0.05 [[ 9.77373554e-01 -2.11465849e-01 -4.80936300e-03 5.66360063e+01] [ 2.11463218e-01 9.77385387e-01 -1.05486994e-03 4.98942707e+00] [ 4.92367009e-03 1.39986054e-05 9.99987879e-01 4.70292568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.460281693 meters Centerline goodness : 0.998206 Centerline is valid? [True, True] Translation: X:56.66, Y:5.00, Z:0.05 [[ 9.77334919e-01 -2.11644341e-01 -4.80917049e-03 5.66637728e+01] [ 2.11641709e-01 9.77346751e-01 -1.05574689e-03 4.99572567e+00] [ 4.92367001e-03 1.39972476e-05 9.99987879e-01 4.71694996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.490281693 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:56.69, Y:5.00, Z:0.05 [[ 9.78611407e-01 -2.05661343e-01 -4.80897752e-03 5.66895704e+01] [ 2.05658634e-01 9.78623222e-01 -1.05662514e-03 5.00304610e+00] [ 4.92348402e-03 4.50176659e-05 9.99987879e-01 4.87015703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.520281693 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:56.72, Y:5.01, Z:0.05 [[ 9.79111081e-01 -2.03269194e-01 -4.80889360e-03 5.67153695e+01] [ 2.03266454e-01 9.79122889e-01 -1.05700694e-03 5.01041906e+00] [ 4.92335474e-03 5.74404553e-05 9.99987879e-01 4.92543551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.550281693 meters Centerline goodness : 0.998290 Centerline is valid? [True, True] Translation: X:56.74, Y:5.02, Z:0.05 [[ 9.79647880e-01 -2.00666156e-01 -4.80880977e-03 5.67405439e+01] [ 2.00663383e-01 9.79659680e-01 -1.05738819e-03 5.01936853e+00] [ 4.92317906e-03 7.09160674e-05 9.99987879e-01 5.04416083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.580281693 meters Centerline goodness : 0.998588 Centerline is valid? [True, True] Translation: X:56.77, Y:5.03, Z:0.05 [[ 9.79714211e-01 -2.00342060e-01 -4.80867928e-03 5.67676579e+01] [ 2.00339280e-01 9.79726010e-01 -1.05798126e-03 5.02649537e+00] [ 4.92314631e-03 7.31519312e-05 9.99987879e-01 5.06268148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.610281693 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:56.79, Y:5.03, Z:0.05 [[ 9.79689456e-01 -2.00463084e-01 -4.80848961e-03 5.67946444e+01] [ 2.00460301e-01 9.79701254e-01 -1.05884261e-03 5.03367734e+00] [ 4.92314216e-03 7.34256720e-05 9.99987879e-01 5.12993667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.640281693 meters Centerline goodness : 0.998426 Centerline is valid? [True, True] Translation: X:56.82, Y:5.04, Z:0.05 [[ 9.79437427e-01 -2.01690869e-01 -4.80830072e-03 5.68216337e+01] [ 2.01688096e-01 9.79449227e-01 -1.05969967e-03 5.04279794e+00] [ 4.92321818e-03 6.81324993e-05 9.99987879e-01 4.92655647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.670281693 meters Centerline goodness : 0.998219 Centerline is valid? [True, True] Translation: X:56.85, Y:5.05, Z:0.05 [[ 9.79260548e-01 -2.02547924e-01 -4.80810292e-03 5.68483472e+01] [ 2.02545158e-01 9.79272349e-01 -1.06059638e-03 5.05022298e+00] [ 4.92326384e-03 6.47422268e-05 9.99987879e-01 4.83049907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70028169300001 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:56.88, Y:5.06, Z:0.05 [[ 9.79169137e-01 -2.02989371e-01 -4.80790604e-03 5.68750315e+01] [ 2.02986605e-01 9.79180939e-01 -1.06148814e-03 5.05950980e+00] [ 4.92328076e-03 6.34359001e-05 9.99987879e-01 4.74956837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73028169300001 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:56.90, Y:5.07, Z:0.05 [[ 9.79283925e-01 -2.02434877e-01 -4.80770885e-03 5.69011699e+01] [ 2.02432101e-01 9.79295724e-01 -1.06238051e-03 5.06736430e+00] [ 4.92323159e-03 6.71375515e-05 9.99987879e-01 4.73729791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.760281693 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:56.93, Y:5.08, Z:0.05 [[ 9.79510251e-01 -2.01336918e-01 -4.80762306e-03 5.69271362e+01] [ 2.01334126e-01 9.79522047e-01 -1.06276859e-03 5.07531681e+00] [ 4.92314733e-03 7.30541443e-05 9.99987879e-01 4.55438720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.790281693 meters Centerline goodness : 0.998290 Centerline is valid? [True, True] Translation: X:56.95, Y:5.08, Z:0.05 [[ 9.80239921e-01 -1.97753853e-01 -4.80742932e-03 5.69533362e+01] [ 1.97751014e-01 9.80251705e-01 -1.06364427e-03 5.08481850e+00] [ 4.92283054e-03 9.19525469e-05 9.99987879e-01 4.53513390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.820281693 meters Centerline goodness : 0.998397 Centerline is valid? [True, True] Translation: X:56.98, Y:5.09, Z:0.05 [[ 9.80621356e-01 -1.95853637e-01 -4.80723604e-03 5.69797761e+01] [ 1.95850770e-01 9.80633134e-01 -1.06451707e-03 5.09326803e+00] [ 4.92262448e-03 1.02387286e-04 9.99987879e-01 4.63652954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.850281693 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:57.01, Y:5.11, Z:0.05 [[ 9.81359097e-01 -1.92122915e-01 -4.80717618e-03 5.70052332e+01] [ 1.92120002e-01 9.81370863e-01 -1.06478733e-03 5.10610198e+00] [ 4.92219268e-03 1.21384036e-04 9.99987879e-01 5.05435340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.880281693 meters Centerline goodness : 0.998280 Centerline is valid? [True, True] Translation: X:57.03, Y:5.11, Z:0.05 [[ 9.81610722e-01 -1.90833131e-01 -4.80698145e-03 5.70317375e+01] [ 1.90830199e-01 9.81622483e-01 -1.06566570e-03 5.11497322e+00] [ 4.92200539e-03 1.28751648e-04 9.99987879e-01 5.13185496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.910281693 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:57.06, Y:5.12, Z:0.05 [[ 9.81836860e-01 -1.89666184e-01 -4.80827440e-03 5.70581601e+01] [ 1.89663266e-01 9.81848625e-01 -1.05983491e-03 5.12296664e+00] [ 4.92201246e-03 1.28631955e-04 9.99987879e-01 5.04930772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.940281693 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:57.08, Y:5.13, Z:0.05 [[ 9.81661514e-01 -1.90571686e-01 -4.80672656e-03 5.70835137e+01] [ 1.90568746e-01 9.81673273e-01 -1.06680902e-03 5.13215158e+00] [ 4.92193859e-03 1.31233510e-04 9.99987879e-01 5.12092709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.970281693 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:57.11, Y:5.14, Z:0.05 [[ 9.81333664e-01 -1.92252790e-01 -4.80664246e-03 5.71107938e+01] [ 1.92249868e-01 9.81345428e-01 -1.06718781e-03 5.13984730e+00] [ 4.92214644e-03 1.23190950e-04 9.99987879e-01 5.16332635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.000281693 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:57.14, Y:5.15, Z:0.05 [[ 9.80589770e-01 -1.96011738e-01 -4.80644902e-03 5.71382172e+01] [ 1.96008857e-01 9.80601544e-01 -1.06805835e-03 5.14710870e+00] [ 4.92256330e-03 1.05220512e-04 9.99987879e-01 4.86360310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.030281693 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:57.17, Y:5.15, Z:0.05 [[ 9.80210671e-01 -1.97898814e-01 -4.80625435e-03 5.71653900e+01] [ 1.97895951e-01 9.80222449e-01 -1.06893366e-03 5.15466539e+00] [ 4.92273911e-03 9.66419101e-05 9.99987879e-01 4.73949591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06028169300001 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:57.19, Y:5.16, Z:0.05 [[ 9.79933821e-01 -1.99265172e-01 -4.80606116e-03 5.71922939e+01] [ 1.99262321e-01 9.79945602e-01 -1.06980154e-03 5.16297081e+00] [ 4.92285269e-03 9.06678043e-05 9.99987879e-01 4.74645156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09028169300001 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:57.22, Y:5.17, Z:0.05 [[ 9.79443575e-01 -2.01661069e-01 -4.80586752e-03 5.72174498e+01] [ 2.01658243e-01 9.79455362e-01 -1.07067074e-03 5.17208872e+00] [ 4.92304532e-03 7.95187760e-05 9.99987879e-01 4.74104548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12028169300001 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:57.24, Y:5.18, Z:0.05 [[ 9.78920043e-01 -2.04187301e-01 -4.80578333e-03 5.72444190e+01] [ 2.04184503e-01 9.78931837e-01 -1.07104848e-03 5.17966016e+00] [ 4.92322880e-03 6.72043501e-05 9.99987879e-01 4.88243662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.150281693 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:57.27, Y:5.19, Z:0.05 [[ 9.78665589e-01 -2.05403434e-01 -4.80559584e-03 5.72712156e+01] [ 2.05400646e-01 9.78677386e-01 -1.07188906e-03 5.18748746e+00] [ 4.92329767e-03 6.19484456e-05 9.99987879e-01 4.91519341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.180281693 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:57.30, Y:5.20, Z:0.05 [[ 9.78460970e-01 -2.06375962e-01 -4.80540710e-03 5.72981147e+01] [ 2.06373182e-01 9.78472769e-01 -1.07273454e-03 5.19502347e+00] [ 4.92334661e-03 5.79217256e-05 9.99987879e-01 4.94476421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.210281693 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:57.32, Y:5.20, Z:0.05 [[ 9.77982781e-01 -2.08630270e-01 -4.80521831e-03 5.73248620e+01] [ 2.08627513e-01 9.77994585e-01 -1.07357954e-03 5.20177450e+00] [ 4.92345868e-03 4.74415600e-05 9.99987879e-01 4.97577823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.240281693 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:57.35, Y:5.21, Z:0.05 [[ 9.77661443e-01 -2.10130935e-01 -4.80556186e-03 5.73524833e+01] [ 2.10128204e-01 9.77673253e-01 -1.07204258e-03 5.20827682e+00] [ 4.92353861e-03 3.83106140e-05 9.99987879e-01 5.00239783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.270281693 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:57.38, Y:5.22, Z:0.05 [[ 9.77187487e-01 -2.12324111e-01 -4.80495720e-03 5.73798767e+01] [ 2.12321393e-01 9.77199299e-01 -1.07474592e-03 5.21576671e+00] [ 4.92359528e-03 3.00330567e-05 9.99987879e-01 5.21556776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.300281693 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:57.41, Y:5.22, Z:0.05 [[ 9.77039761e-01 -2.13002862e-01 -4.80476718e-03 5.74058543e+01] [ 2.13000148e-01 9.77051575e-01 -1.07559472e-03 5.22150681e+00] [ 4.92361010e-03 2.74826927e-05 9.99987879e-01 5.36223725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.330281693 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:57.43, Y:5.23, Z:0.05 [[ 9.76703004e-01 -2.14541738e-01 -4.80468455e-03 5.74329955e+01] [ 2.14539041e-01 9.76714821e-01 -1.07596372e-03 5.22554368e+00] [ 4.92364574e-03 2.01045805e-05 9.99987879e-01 5.17707163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.360281693 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:57.46, Y:5.23, Z:0.05 [[ 9.76457514e-01 -2.15656297e-01 -4.80460378e-03 5.74601065e+01] [ 2.15653611e-01 9.76469335e-01 -1.07632424e-03 5.23061243e+00] [ 4.92366436e-03 1.48547393e-05 9.99987879e-01 5.09920435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.390281693 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:57.49, Y:5.24, Z:0.05 [[ 9.76371683e-01 -2.16044567e-01 -4.80441910e-03 5.74874068e+01] [ 2.16041882e-01 9.76383503e-01 -1.07714797e-03 5.23629043e+00] [ 4.92366752e-03 1.37410311e-05 9.99987879e-01 4.95889304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.420281693 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:57.52, Y:5.24, Z:0.05 [[ 9.76709170e-01 -2.14513676e-01 -4.80423073e-03 5.75153401e+01] [ 2.14510969e-01 9.76720985e-01 -1.07798748e-03 5.24155044e+00] [ 4.92363603e-03 2.23200642e-05 9.99987879e-01 4.99884418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45028169300001 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:57.54, Y:5.25, Z:0.05 [[ 9.76983199e-01 -2.13262163e-01 -4.80402815e-03 5.75424766e+01] [ 2.13259436e-01 9.76995010e-01 -1.07888956e-03 5.24718471e+00] [ 4.92359784e-03 2.95526376e-05 9.99987879e-01 5.02423001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48028169300001 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:57.57, Y:5.25, Z:0.06 [[ 9.77439252e-01 -2.11162094e-01 -4.80396501e-03 5.75700695e+01] [ 2.11159340e-01 9.77451057e-01 -1.07917060e-03 5.25381416e+00] [ 4.92352060e-03 4.04216238e-05 9.99987879e-01 5.53907613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.510281693 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:57.60, Y:5.26, Z:0.06 [[ 9.77678227e-01 -2.10052869e-01 -4.80379048e-03 5.75973416e+01] [ 2.10050098e-01 9.77690028e-01 -1.07994696e-03 5.26077423e+00] [ 4.92346400e-03 4.68039650e-05 9.99987879e-01 5.73382254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.540281693 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:57.62, Y:5.27, Z:0.06 [[ 9.78042929e-01 -2.08348159e-01 -4.80358944e-03 5.76237894e+01] [ 2.08345363e-01 9.78054723e-01 -1.08084044e-03 5.26755960e+00] [ 4.92336445e-03 5.63027598e-05 9.99987879e-01 5.72848950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.570281693 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:57.65, Y:5.28, Z:0.06 [[ 9.78707164e-01 -2.05205297e-01 -4.80350197e-03 5.76498423e+01] [ 2.05202461e-01 9.78718949e-01 -1.08122901e-03 5.27699400e+00] [ 4.92315232e-03 7.25161468e-05 9.99987879e-01 5.75938939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.600281693 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:57.68, Y:5.28, Z:0.06 [[ 9.79006074e-01 -2.03774473e-01 -4.80330201e-03 5.76768334e+01] [ 2.03771616e-01 9.79017854e-01 -1.08211662e-03 5.28430474e+00] [ 4.92302617e-03 8.06221351e-05 9.99987879e-01 5.76966844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.630281693 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:57.70, Y:5.29, Z:0.06 [[ 9.79262755e-01 -2.02537370e-01 -4.80310081e-03 5.77031450e+01] [ 2.02534494e-01 9.79274530e-01 -1.08300893e-03 5.29197932e+00] [ 4.92290407e-03 8.77567165e-05 9.99987879e-01 5.51197373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.660281693 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:57.73, Y:5.30, Z:0.05 [[ 9.79254007e-01 -2.02579667e-01 -4.80301351e-03 5.77297973e+01] [ 2.02576789e-01 9.79265781e-01 -1.08339596e-03 5.29878567e+00] [ 4.92290077e-03 8.79407807e-05 9.99987879e-01 5.02042856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.690281693 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:57.76, Y:5.31, Z:0.05 [[ 9.79142887e-01 -2.03116073e-01 -4.80295150e-03 5.77564007e+01] [ 2.03113200e-01 9.79154663e-01 -1.08367080e-03 5.30608633e+00] [ 4.92294331e-03 8.55257088e-05 9.99987879e-01 4.80439878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.720281693 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:57.78, Y:5.31, Z:0.05 [[ 9.78827417e-01 -2.04630939e-01 -4.80275658e-03 5.77836692e+01] [ 2.04628080e-01 9.78839196e-01 -1.08453395e-03 5.31391837e+00] [ 4.92305560e-03 7.87927032e-05 9.99987879e-01 4.82890947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.750281693 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:57.81, Y:5.32, Z:0.05 [[ 9.78172547e-01 -2.07738786e-01 -4.80255451e-03 5.78104711e+01] [ 2.07735960e-01 9.78184335e-01 -1.08542803e-03 5.31940657e+00] [ 4.92326909e-03 6.40726260e-05 9.99987879e-01 5.36206539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.780281693 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:57.84, Y:5.32, Z:0.05 [[ 9.77825554e-01 -2.09366000e-01 -4.80246057e-03 5.78368052e+01] [ 2.09363192e-01 9.77837346e-01 -1.08584354e-03 5.32470781e+00] [ 4.92336401e-03 5.63070862e-05 9.99987879e-01 5.47716253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.81028169300001 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:57.86, Y:5.33, Z:0.06 [[ 9.77468668e-01 -2.11025924e-01 -4.80237334e-03 5.78644400e+01] [ 2.11023134e-01 9.77480464e-01 -1.08622916e-03 5.32986374e+00] [ 4.92344864e-03 4.83430980e-05 9.99987879e-01 5.58343115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84028169300001 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:57.89, Y:5.33, Z:0.06 [[ 9.77142993e-01 -2.12528845e-01 -4.80217369e-03 5.78922771e+01] [ 2.12526069e-01 9.77154792e-01 -1.08711112e-03 5.33468602e+00] [ 4.92350950e-03 4.16759204e-05 9.99987879e-01 5.58912144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87028169300001 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:57.92, Y:5.34, Z:0.05 [[ 9.76549730e-01 -2.15238391e-01 -4.80197310e-03 5.79196705e+01] [ 2.15235643e-01 9.76561536e-01 -1.08799644e-03 5.33763029e+00] [ 4.92360083e-03 2.89268599e-05 9.99987879e-01 5.45114297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.900281693 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:57.95, Y:5.34, Z:0.05 [[ 9.76300443e-01 -2.16366329e-01 -4.80183693e-03 5.79479864e+01] [ 2.16363591e-01 9.76312251e-01 -1.08859708e-03 5.33973482e+00] [ 4.92362797e-03 2.38551282e-05 9.99987879e-01 5.32848175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.930281693 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:57.98, Y:5.34, Z:0.06 [[ 9.76427481e-01 -2.15792300e-01 -4.80177573e-03 5.79759286e+01] [ 2.15789555e-01 9.76439288e-01 -1.08886697e-03 5.34351394e+00] [ 4.92361158e-03 2.70265892e-05 9.99987879e-01 5.50553602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.960281693 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:58.00, Y:5.35, Z:0.06 [[ 9.76703860e-01 -2.14537908e-01 -4.80157778e-03 5.80037803e+01] [ 2.14535143e-01 9.76715662e-01 -1.08973916e-03 5.34762310e+00] [ 4.92356658e-03 3.42452696e-05 9.99987879e-01 5.76850659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.990281693 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:58.03, Y:5.35, Z:0.06 [[ 9.77761219e-01 -2.09666272e-01 -4.80138916e-03 5.80305991e+01] [ 2.09663445e-01 9.77773006e-01 -1.09056961e-03 5.35079734e+00] [ 4.92332437e-03 5.96408783e-05 9.99987879e-01 5.94358915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.020281693 meters Centerline goodness : 0.998519 Centerline is valid? [True, True] Translation: X:58.06, Y:5.36, Z:0.06 [[ 9.78370043e-01 -2.06806687e-01 -4.80130119e-03 5.80581759e+01] [ 2.06803823e-01 9.78381822e-01 -1.09095674e-03 5.35632431e+00] [ 4.92312295e-03 7.44319483e-05 9.99987879e-01 5.75802245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.050281693 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:58.09, Y:5.36, Z:0.05 [[ 9.79460884e-01 -2.01577099e-01 -4.80109968e-03 5.80861683e+01] [ 2.01574167e-01 9.79472645e-01 -1.09184281e-03 5.36095348e+00] [ 4.92263632e-03 1.01639655e-04 9.99987879e-01 5.15826370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.080281693 meters Centerline goodness : 0.998326 Centerline is valid? [True, True] Translation: X:58.11, Y:5.37, Z:0.05 [[ 9.79854086e-01 -1.99657009e-01 -4.80092429e-03 5.81135512e+01] [ 1.99654051e-01 9.79865841e-01 -1.09261350e-03 5.36776527e+00] [ 4.92240966e-03 1.12077815e-04 9.99987879e-01 5.23265026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.110281693 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:58.14, Y:5.38, Z:0.05 [[ 9.80149575e-01 -1.98201322e-01 -4.80073119e-03 5.81407282e+01] [ 1.98198342e-01 9.80161324e-01 -1.09346127e-03 5.37588637e+00] [ 4.92221651e-03 1.20258630e-04 9.99987879e-01 5.37795073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.140281693 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:58.17, Y:5.39, Z:0.06 [[ 9.80880102e-01 -1.94553798e-01 -4.80053820e-03 5.81668332e+01] [ 1.94550771e-01 9.80891839e-01 -1.09430790e-03 5.38824169e+00] [ 4.92171050e-03 1.39436434e-04 9.99987879e-01 5.66961522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.170281693 meters Centerline goodness : 0.998122 Centerline is valid? [True, True] Translation: X:58.19, Y:5.40, Z:0.06 [[ 9.81227156e-01 -1.92795812e-01 -4.80034431e-03 5.81931540e+01] [ 1.92792760e-01 9.81238887e-01 -1.09515775e-03 5.39827662e+00] [ 4.92142634e-03 1.49126895e-04 9.99987879e-01 5.74216263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20028169300001 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:58.22, Y:5.41, Z:0.06 [[ 9.81664358e-01 -1.90557201e-01 -4.80015060e-03 5.82180941e+01] [ 1.90554117e-01 9.81676081e-01 -1.09600613e-03 5.41370343e+00] [ 4.92104489e-03 1.61221696e-04 9.99987879e-01 5.74639860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23028169300001 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:58.24, Y:5.43, Z:0.06 [[ 9.81668960e-01 -1.90533499e-01 -4.79995194e-03 5.82445772e+01] [ 1.90530411e-01 9.81680681e-01 -1.09687549e-03 5.42547576e+00] [ 4.92101161e-03 1.62231802e-04 9.99987879e-01 5.64718578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.260281693 meters Centerline goodness : 0.998602 Centerline is valid? [True, True] Translation: X:58.27, Y:5.44, Z:0.06 [[ 9.81328005e-01 -1.92281845e-01 -4.79975251e-03 5.82686272e+01] [ 1.92278774e-01 9.81339731e-01 -1.09774748e-03 5.44070389e+00] [ 4.92126475e-03 1.54359823e-04 9.99987879e-01 5.60898708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.290281693 meters Centerline goodness : 0.998515 Centerline is valid? [True, True] Translation: X:58.29, Y:5.45, Z:0.06 [[ 9.80937540e-01 -1.94264009e-01 -4.79966577e-03 5.82940980e+01] [ 1.94260960e-01 9.80949272e-01 -1.09812658e-03 5.45097357e+00] [ 4.92155512e-03 1.44805906e-04 9.99987879e-01 5.65881910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.320281693 meters Centerline goodness : 0.998553 Centerline is valid? [True, True] Translation: X:58.32, Y:5.46, Z:0.06 [[ 9.80464724e-01 -1.96636440e-01 -4.79957987e-03 5.83205601e+01] [ 1.96633417e-01 9.80476462e-01 -1.09850191e-03 5.46177999e+00] [ 4.92188059e-03 1.33284580e-04 9.99987879e-01 5.75822347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.350281693 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:58.35, Y:5.48, Z:0.05 [[ 9.79030570e-01 -2.03656841e-01 -4.79937656e-03 5.83459868e+01] [ 2.03653897e-01 9.79042329e-01 -1.09938944e-03 5.47586223e+00] [ 4.92269099e-03 9.89241280e-05 9.99987879e-01 5.45381922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.380281693 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:58.37, Y:5.48, Z:0.05 [[ 9.78994843e-01 -2.03828515e-01 -4.79928142e-03 5.83736774e+01] [ 2.03825572e-01 9.79006602e-01 -1.09980464e-03 5.48241904e+00] [ 4.92269974e-03 9.84867950e-05 9.99987879e-01 5.46783656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.410281693 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:58.40, Y:5.49, Z:0.06 [[ 9.78141262e-01 -2.07886125e-01 -4.79908841e-03 5.84007298e+01] [ 2.07883227e-01 9.78153031e-01 -1.10064619e-03 5.49122346e+00] [ 4.92305195e-03 7.89374648e-05 9.99987879e-01 5.50483120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.440281693 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:58.43, Y:5.50, Z:0.06 [[ 9.77337171e-01 -2.11634178e-01 -4.79888693e-03 5.84277997e+01] [ 2.11631320e-01 9.77348950e-01 -1.10152398e-03 5.49840052e+00] [ 4.92330722e-03 6.09655537e-05 9.99987879e-01 5.53333189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.470281693 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:58.46, Y:5.51, Z:0.06 [[ 9.75602189e-01 -2.19493374e-01 -4.79882442e-03 5.84559140e+01] [ 2.19490609e-01 9.75613991e-01 -1.10179620e-03 5.50657175e+00] [ 4.92363721e-03 2.16178912e-05 9.99987879e-01 5.95171448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.500281693 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:58.48, Y:5.51, Z:0.06 [[ 9.74856392e-01 -2.22782377e-01 -4.79865796e-03 5.84833656e+01] [ 2.22779649e-01 9.74868203e-01 -1.10252072e-03 5.51238412e+00] [ 4.92368125e-03 5.75603698e-06 9.99987879e-01 5.86652075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.530281693 meters Centerline goodness : 0.998667 Centerline is valid? [True, True] Translation: X:58.51, Y:5.51, Z:0.06 [[ 9.73294455e-01 -2.29510083e-01 -4.79846889e-03 5.85116430e+01] [ 2.29507433e-01 9.73306283e-01 -1.10334300e-03 5.51425821e+00] [ 4.92360826e-03 -2.74066490e-05 9.99987879e-01 5.69151719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56028169300001 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:58.54, Y:5.52, Z:0.06 [[ 9.72600689e-01 -2.32432522e-01 -4.79827387e-03 5.85390930e+01] [ 2.32429903e-01 9.72612524e-01 -1.10419047e-03 5.51798155e+00] [ 4.92351103e-03 -4.13259160e-05 9.99987879e-01 5.83132381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59028169300001 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:58.57, Y:5.52, Z:0.06 [[ 9.71819306e-01 -2.35678200e-01 -4.79807820e-03 5.85670690e+01] [ 2.35675616e-01 9.71831149e-01 -1.10504005e-03 5.51911252e+00] [ 4.92335570e-03 -5.68907793e-05 9.99987879e-01 6.16763714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62028169300001 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:58.59, Y:5.52, Z:0.06 [[ 9.71761168e-01 -2.35917810e-01 -4.79788807e-03 5.85942851e+01] [ 2.35915225e-01 9.71773010e-01 -1.10586493e-03 5.52241325e+00] [ 4.92335137e-03 -5.72582457e-05 9.99987879e-01 6.22635839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.650281693 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:58.62, Y:5.52, Z:0.06 [[ 9.72071244e-01 -2.34636906e-01 -4.79779940e-03 5.86220219e+01] [ 2.34634303e-01 9.72083083e-01 -1.10624952e-03 5.52242800e+00] [ 4.92342659e-03 -5.03749773e-05 9.99987879e-01 6.18123879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.680281693 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:58.65, Y:5.53, Z:0.06 [[ 9.72449003e-01 -2.33066339e-01 -4.79766363e-03 5.86496950e+01] [ 2.33063715e-01 9.72460837e-01 -1.10683802e-03 5.52607018e+00] [ 4.92350667e-03 -4.18177816e-05 9.99987879e-01 6.22856239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.710281693 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:58.68, Y:5.53, Z:0.06 [[ 9.72986201e-01 -2.30813424e-01 -4.79745291e-03 5.86766977e+01] [ 2.30810768e-01 9.72998028e-01 -1.10775062e-03 5.52983484e+00] [ 4.92359593e-03 -2.94777251e-05 9.99987879e-01 6.18685580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.740281693 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:58.70, Y:5.53, Z:0.06 [[ 9.74626641e-01 -2.23785380e-01 -4.79724243e-03 5.87040532e+01] [ 2.23782634e-01 9.74638448e-01 -1.10866137e-03 5.53085668e+00] [ 4.92367912e-03 6.99136293e-06 9.99987879e-01 6.39416160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.770281693 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:58.73, Y:5.54, Z:0.06 [[ 9.75506901e-01 -2.19916515e-01 -4.79710541e-03 5.87319550e+01] [ 2.19913719e-01 9.75518696e-01 -1.10925393e-03 5.53563662e+00] [ 4.92360927e-03 2.71355754e-05 9.99987879e-01 6.37319284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.800281693 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:58.76, Y:5.54, Z:0.06 [[ 9.77058538e-01 -2.12916891e-01 -4.79692013e-03 5.87597301e+01] [ 2.12914007e-01 9.77070311e-01 -1.11005456e-03 5.54105927e+00] [ 4.92327762e-03 6.32568012e-05 9.99987879e-01 6.25650459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.830281693 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:58.79, Y:5.55, Z:0.06 [[ 9.77616491e-01 -2.10340172e-01 -4.79670771e-03 5.87866168e+01] [ 2.10337252e-01 9.77628256e-01 -1.11097172e-03 5.54649105e+00] [ 4.92307897e-03 7.71779503e-05 9.99987879e-01 6.30158414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.860281693 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:58.81, Y:5.55, Z:0.07 [[ 9.77937978e-01 -2.08840380e-01 -4.79661497e-03 5.88141166e+01] [ 2.08837440e-01 9.77949737e-01 -1.11137199e-03 5.55138358e+00] [ 4.92294770e-03 8.51400803e-05 9.99987879e-01 6.55454478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.890281693 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:58.84, Y:5.55, Z:0.07 [[ 9.78190499e-01 -2.07654381e-01 -4.79640679e-03 5.88413782e+01] [ 2.07651422e-01 9.78202254e-01 -1.11226971e-03 5.55463601e+00] [ 4.92282361e-03 9.20309730e-05 9.99987879e-01 6.86895364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.920281693 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:58.87, Y:5.56, Z:0.07 [[ 9.78181071e-01 -2.07698788e-01 -4.79631642e-03 5.88685325e+01] [ 2.07695829e-01 9.78192826e-01 -1.11265929e-03 5.56087496e+00] [ 4.92282029e-03 9.22073422e-05 9.99987879e-01 6.85131162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.95028169300001 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:58.89, Y:5.57, Z:0.07 [[ 9.78591072e-01 -2.05758380e-01 -4.79610762e-03 5.88944408e+01] [ 2.05755393e-01 9.78602820e-01 -1.11355856e-03 5.56857255e+00] [ 4.92260845e-03 1.02893461e-04 9.99987879e-01 6.57087389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98028169300001 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:58.92, Y:5.58, Z:0.06 [[ 9.79038018e-01 -2.03621116e-01 -4.79596499e-03 5.89210515e+01] [ 2.03618100e-01 9.79049758e-01 -1.11417253e-03 5.57597472e+00] [ 4.92235741e-03 1.14271992e-04 9.99987879e-01 6.41558046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.010281693 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:58.95, Y:5.58, Z:0.06 [[ 9.79558635e-01 -2.01101670e-01 -4.79575893e-03 5.89465941e+01] [ 2.01098619e-01 9.79570366e-01 -1.11505876e-03 5.58378026e+00] [ 4.92202351e-03 1.27844936e-04 9.99987879e-01 6.34094053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.040281693 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:58.97, Y:5.60, Z:0.07 [[ 9.80178531e-01 -1.98058196e-01 -4.79566920e-03 5.89718030e+01] [ 1.98055107e-01 9.80190252e-01 -1.11544454e-03 5.59641837e+00] [ 4.92159114e-03 1.43528018e-04 9.99987879e-01 7.04784339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.070281693 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:59.00, Y:5.61, Z:0.07 [[ 9.80283794e-01 -1.97536545e-01 -4.79545891e-03 5.89972090e+01] [ 1.97533445e-01 9.80295512e-01 -1.11634789e-03 5.60512516e+00] [ 4.92148635e-03 1.47074225e-04 9.99987879e-01 7.11921885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.100281693 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:59.02, Y:5.61, Z:0.07 [[ 9.80162018e-01 -1.98139908e-01 -4.79531475e-03 5.90234590e+01] [ 1.98136813e-01 9.80173738e-01 -1.11696678e-03 5.61365405e+00] [ 4.92155728e-03 1.44680033e-04 9.99987879e-01 7.22571391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.130281693 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:59.05, Y:5.62, Z:0.06 [[ 9.79659576e-01 -2.00609376e-01 -4.79510507e-03 5.90487970e+01] [ 2.00606306e-01 9.79671302e-01 -1.11786623e-03 5.62290608e+00] [ 4.92188127e-03 1.33200043e-04 9.99987879e-01 6.45554471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.160281693 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:59.08, Y:5.63, Z:0.06 [[ 9.79336405e-01 -2.02181143e-01 -4.79501416e-03 5.90763188e+01] [ 2.02178089e-01 9.79348135e-01 -1.11825605e-03 5.63225254e+00] [ 4.92207846e-03 1.25702054e-04 9.99987879e-01 5.98352070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.190281693 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:59.10, Y:5.65, Z:0.06 [[ 9.78772210e-01 -2.04895024e-01 -4.79483769e-03 5.91018837e+01] [ 2.04892000e-01 9.78783948e-01 -1.11901217e-03 5.64532887e+00] [ 4.92239019e-03 1.12834135e-04 9.99987879e-01 6.04197554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.220281693 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:59.13, Y:5.65, Z:0.06 [[ 9.78425694e-01 -2.06543393e-01 -4.79463195e-03 5.91278588e+01] [ 2.06540384e-01 9.78437436e-01 -1.11989303e-03 5.65434566e+00] [ 4.92255389e-03 1.05446997e-04 9.99987879e-01 6.32402729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.250281693 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:59.15, Y:5.66, Z:0.07 [[ 9.77952866e-01 -2.08770697e-01 -4.79456809e-03 5.91540930e+01] [ 2.08767713e-01 9.77964615e-01 -1.12016637e-03 5.66307331e+00] [ 4.92277584e-03 9.45188944e-05 9.99987879e-01 6.56606864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.280281693 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:59.18, Y:5.67, Z:0.07 [[ 9.77077841e-01 -2.12828350e-01 -4.79436895e-03 5.91799129e+01] [ 2.12825411e-01 9.77089601e-01 -1.12101804e-03 5.67358745e+00] [ 4.92311246e-03 7.49583442e-05 9.99987879e-01 6.51971963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31028169300001 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:59.21, Y:5.68, Z:0.07 [[ 9.76506775e-01 -2.15433363e-01 -4.79417087e-03 5.92057478e+01] [ 2.15430451e-01 9.76518542e-01 -1.12186452e-03 5.68239193e+00] [ 4.92328379e-03 6.26979135e-05 9.99987879e-01 6.50128848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34028169300001 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:59.23, Y:5.69, Z:0.07 [[ 9.75150070e-01 -2.21493474e-01 -4.79403570e-03 5.92318480e+01] [ 2.21490632e-01 9.75161853e-01 -1.12244185e-03 5.69251898e+00] [ 4.92357428e-03 3.27152470e-05 9.99987879e-01 6.75823839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37028169300001 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:59.26, Y:5.70, Z:0.07 [[ 9.74374208e-01 -2.24882019e-01 -4.79382859e-03 5.92589273e+01] [ 2.24879214e-01 9.74386000e-01 -1.12332566e-03 5.69965827e+00] [ 4.92365521e-03 1.65071427e-05 9.99987879e-01 6.84975282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.400281693 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:59.29, Y:5.71, Z:0.07 [[ 9.73577009e-01 -2.28308628e-01 -4.79362155e-03 5.92851434e+01] [ 2.28305860e-01 9.73588810e-01 -1.12420852e-03 5.70619349e+00] [ 4.92368280e-03 9.16744804e-08 9.99987879e-01 6.75481360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.430281693 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:59.31, Y:5.71, Z:0.06 [[ 9.72269713e-01 -2.33813233e-01 -4.79353200e-03 5.93122187e+01] [ 2.33810530e-01 9.72281529e-01 -1.12459021e-03 5.71182960e+00] [ 4.92360669e-03 -2.73732562e-05 9.99987879e-01 6.48090955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.460281693 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:59.34, Y:5.72, Z:0.06 [[ 9.71885195e-01 -2.35406440e-01 -4.79331747e-03 5.93387194e+01] [ 2.35403752e-01 9.71897014e-01 -1.12550384e-03 5.71738343e+00] [ 4.92356179e-03 -3.45044001e-05 9.99987879e-01 6.42208533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.490281693 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:59.37, Y:5.72, Z:0.07 [[ 9.71560062e-01 -2.36744740e-01 -4.79322417e-03 5.93666841e+01] [ 2.36742066e-01 9.71571884e-01 -1.12590105e-03 5.72257765e+00] [ 4.92351299e-03 -4.08773028e-05 9.99987879e-01 6.82548499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.520281693 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:59.39, Y:5.73, Z:0.07 [[ 9.71454323e-01 -2.37178256e-01 -4.79304485e-03 5.93933341e+01] [ 2.37175584e-01 9.71466146e-01 -1.12666389e-03 5.72819150e+00] [ 4.92350099e-03 -4.22907040e-05 9.99987879e-01 7.26977271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.550281693 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:59.42, Y:5.73, Z:0.08 [[ 9.71524503e-01 -2.36890622e-01 -4.79295601e-03 5.94206299e+01] [ 2.36887944e-01 9.71536325e-01 -1.12704170e-03 5.73323443e+00] [ 4.92351648e-03 -4.04448667e-05 9.99987879e-01 7.57577696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.580281693 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:59.45, Y:5.74, Z:0.07 [[ 9.72021260e-01 -2.34843991e-01 -4.79276782e-03 5.94488291e+01] [ 2.34841285e-01 9.72033075e-01 -1.12784142e-03 5.73629182e+00] [ 4.92359563e-03 -2.92539200e-05 9.99987879e-01 7.42113720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.610281693 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:59.48, Y:5.74, Z:0.07 [[ 9.72365530e-01 -2.33414455e-01 -4.79255825e-03 5.94764958e+01] [ 2.33411727e-01 9.72377340e-01 -1.12873126e-03 5.74117086e+00] [ 4.92363724e-03 -2.10999266e-05 9.99987879e-01 7.20813358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.640281693 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:59.50, Y:5.75, Z:0.07 [[ 9.72748279e-01 -2.31814191e-01 -4.79234792e-03 5.95044169e+01] [ 2.31811439e-01 9.72760084e-01 -1.12962359e-03 5.74633122e+00] [ 4.92366754e-03 -1.20816651e-05 9.99987879e-01 7.07272083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.670281693 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:59.53, Y:5.75, Z:0.07 [[ 9.73426985e-01 -2.28947460e-01 -4.79213798e-03 5.95312961e+01] [ 2.28944669e-01 9.73438781e-01 -1.13051350e-03 5.74908793e+00] [ 4.92368115e-03 3.33790717e-06 9.99987879e-01 7.26465444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70028169300001 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:59.56, Y:5.75, Z:0.07 [[ 9.73546905e-01 -2.28436993e-01 -4.79204644e-03 5.95584714e+01] [ 2.28434194e-01 9.73558699e-01 -1.13090136e-03 5.75368602e+00] [ 4.92367821e-03 6.31824740e-06 9.99987879e-01 7.46776942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73028169300001 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:59.59, Y:5.76, Z:0.07 [[ 9.73468574e-01 -2.28770569e-01 -4.79183738e-03 5.95852621e+01] [ 2.28767770e-01 9.73480368e-01 -1.13178650e-03 5.75555556e+00] [ 4.92367906e-03 5.54064328e-06 9.99987879e-01 7.44128251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.760281693 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:59.61, Y:5.76, Z:0.07 [[ 9.73239663e-01 -2.29742460e-01 -4.79174673e-03 5.96135292e+01] [ 2.29739670e-01 9.73251459e-01 -1.13217016e-03 5.75934540e+00] [ 4.92368206e-03 1.01859311e-06 9.99987879e-01 7.21382538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.790281693 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:59.64, Y:5.76, Z:0.07 [[ 9.72662634e-01 -2.32173303e-01 -4.79154071e-03 5.96418684e+01] [ 2.32170538e-01 9.72674435e-01 -1.13304142e-03 5.75905213e+00] [ 4.92367112e-03 -1.03875296e-05 9.99987879e-01 7.10407223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.820281693 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:59.67, Y:5.76, Z:0.07 [[ 9.72446079e-01 -2.33078671e-01 -4.79133530e-03 5.96698505e+01] [ 2.33075913e-01 9.72457882e-01 -1.13390936e-03 5.76163425e+00] [ 4.92366187e-03 -1.40791437e-05 9.99987879e-01 7.27251866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.850281693 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:59.70, Y:5.76, Z:0.07 [[ 9.72385589e-01 -2.33330904e-01 -4.79112013e-03 5.96969509e+01] [ 2.33328145e-01 9.72397393e-01 -1.13481782e-03 5.76451271e+00] [ 4.92366079e-03 -1.44226729e-05 9.99987879e-01 7.41303357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.880281693 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:59.73, Y:5.77, Z:0.07 [[ 9.72750574e-01 -2.31804588e-01 -4.79102622e-03 5.97257267e+01] [ 2.31801808e-01 9.72762372e-01 -1.13521413e-03 5.76635194e+00] [ 4.92367788e-03 -6.28834418e-06 9.99987879e-01 7.14816740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.910281693 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:59.75, Y:5.77, Z:0.07 [[ 9.73135907e-01 -2.30181568e-01 -4.79081374e-03 5.97521416e+01] [ 2.30178765e-01 9.73147700e-01 -1.13611015e-03 5.77110163e+00] [ 4.92368098e-03 2.84599778e-06 9.99987879e-01 6.96739064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.940281693 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:59.78, Y:5.77, Z:0.07 [[ 9.74317562e-01 -2.25127383e-01 -4.79066857e-03 5.97795023e+01] [ 2.25124515e-01 9.74329339e-01 -1.13672196e-03 5.77345012e+00] [ 4.92359618e-03 2.90312327e-05 9.99987879e-01 6.89694559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.970281693 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:59.81, Y:5.78, Z:0.07 [[ 9.74857405e-01 -2.22778121e-01 -4.79057601e-03 5.98073089e+01] [ 2.22775223e-01 9.74869174e-01 -1.13711190e-03 5.77800803e+00] [ 4.92350853e-03 4.13003139e-05 9.99987879e-01 7.03409044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.000281693 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:59.83, Y:5.78, Z:0.07 [[ 9.75241539e-01 -2.21090463e-01 -4.79036531e-03 5.98348746e+01] [ 2.21087540e-01 9.75253303e-01 -1.13799883e-03 5.78305617e+00] [ 4.92342028e-03 5.07336477e-05 9.99987879e-01 7.09365949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.030281693 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:59.86, Y:5.79, Z:0.07 [[ 9.75521478e-01 -2.19851998e-01 -4.79015306e-03 5.98618758e+01] [ 2.19849056e-01 9.75533236e-01 -1.13889154e-03 5.78718667e+00] [ 4.92334110e-03 5.79025318e-05 9.99987879e-01 6.92151866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06028169300001 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:59.89, Y:5.79, Z:0.07 [[ 9.74989296e-01 -2.22200196e-01 -4.79006080e-03 5.98905603e+01] [ 2.22197280e-01 9.75001062e-01 -1.13927947e-03 5.78811488e+00] [ 4.92346249e-03 4.64468104e-05 9.99987879e-01 6.66114435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09028169300001 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:59.92, Y:5.79, Z:0.07 [[ 9.74353703e-01 -2.24970929e-01 -4.78985106e-03 5.99173276e+01] [ 2.24968042e-01 9.74365476e-01 -1.14016058e-03 5.79032519e+00] [ 4.92356849e-03 3.33562620e-05 9.99987879e-01 6.61040363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12028169300001 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:59.95, Y:5.79, Z:0.07 [[ 9.73676378e-01 -2.27884552e-01 -4.78975964e-03 5.99457293e+01] [ 2.27881698e-01 9.73688159e-01 -1.14054451e-03 5.79291945e+00] [ 4.92364472e-03 1.90226913e-05 9.99987879e-01 6.74120043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.150281693 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:59.97, Y:5.80, Z:0.07 [[ 9.73108173e-01 -2.30298816e-01 -4.78955219e-03 5.99732368e+01] [ 2.30295987e-01 9.73119959e-01 -1.14141500e-03 5.79562667e+00] [ 4.92367535e-03 7.70561132e-06 9.99987879e-01 6.97908746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.180281693 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:60.00, Y:5.79, Z:0.07 [[ 9.72532982e-01 -2.32715836e-01 -4.78946198e-03 6.00010399e+01] [ 2.32713035e-01 9.72544775e-01 -1.14179341e-03 5.79398489e+00] [ 4.92367963e-03 -4.13848430e-06 9.99987879e-01 7.19724799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.210281693 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:60.03, Y:5.80, Z:0.07 [[ 9.72524487e-01 -2.32751335e-01 -4.78937274e-03 6.00299735e+01] [ 2.32748532e-01 9.72536280e-01 -1.14216762e-03 5.79516035e+00] [ 4.92367978e-03 -3.93349428e-06 9.99987879e-01 7.06750765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.240281693 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:60.06, Y:5.79, Z:0.07 [[ 9.72767795e-01 -2.31732349e-01 -4.78916875e-03 6.00588595e+01] [ 2.31729530e-01 9.72779584e-01 -1.14302232e-03 5.79034023e+00] [ 4.92368083e-03 2.10348155e-06 9.99987879e-01 6.82125283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.270281693 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:60.09, Y:5.80, Z:0.07 [[ 9.72726599e-01 -2.31905216e-01 -4.78896603e-03 6.00865043e+01] [ 2.31902395e-01 9.72738388e-01 -1.14387101e-03 5.79715754e+00] [ 4.92368075e-03 2.10106342e-06 9.99987879e-01 6.83527690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.300281693 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:60.12, Y:5.80, Z:0.07 [[ 9.72973283e-01 -2.30868055e-01 -4.78876261e-03 6.01150910e+01] [ 2.30865218e-01 9.72985067e-01 -1.14472201e-03 5.80007886e+00] [ 4.92367425e-03 8.22521352e-06 9.99987879e-01 6.86208740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.330281693 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:60.14, Y:5.80, Z:0.07 [[ 9.73770645e-01 -2.27481429e-01 -4.78863564e-03 6.01439407e+01] [ 2.27478547e-01 9.73782419e-01 -1.14525290e-03 5.79958398e+00] [ 4.92361296e-03 2.59017771e-05 9.99987879e-01 6.92053422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.360281693 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:60.17, Y:5.80, Z:0.07 [[ 9.74060343e-01 -2.26237750e-01 -4.78843152e-03 6.01713016e+01] [ 2.26234850e-01 9.74072112e-01 -1.14610569e-03 5.80196202e+00] [ 4.92356998e-03 3.30660141e-05 9.99987879e-01 7.05178455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.390281693 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:60.20, Y:5.80, Z:0.07 [[ 9.74214420e-01 -2.25573351e-01 -4.78834258e-03 6.01991648e+01] [ 2.25570440e-01 9.74226186e-01 -1.14647719e-03 5.80473638e+00] [ 4.92354343e-03 3.68060661e-05 9.99987879e-01 7.20583640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.420281693 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:60.23, Y:5.81, Z:0.07 [[ 9.74443719e-01 -2.24580749e-01 -4.78812713e-03 6.02264727e+01] [ 2.24577822e-01 9.74455482e-01 -1.14737628e-03 5.80539679e+00] [ 4.92349535e-03 4.27464505e-05 9.99987879e-01 7.38565058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45028169300001 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:60.25, Y:5.81, Z:0.07 [[ 9.74585110e-01 -2.23966379e-01 -4.78803348e-03 6.02539945e+01] [ 2.23963443e-01 9.74596870e-01 -1.14776692e-03 5.80994091e+00] [ 4.92346365e-03 4.62520818e-05 9.99987879e-01 7.48869962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48028169300001 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:60.28, Y:5.81, Z:0.07 [[ 9.74957813e-01 -2.22338347e-01 -4.78783374e-03 6.02812889e+01] [ 2.22335387e-01 9.74969567e-01 -1.14859952e-03 5.81463405e+00] [ 4.92336991e-03 5.53312040e-05 9.99987879e-01 7.34795385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.510281693 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:60.31, Y:5.82, Z:0.07 [[ 9.75199166e-01 -2.21277350e-01 -4.78761848e-03 6.03077906e+01] [ 2.21274373e-01 9.75210916e-01 -1.14949610e-03 5.82198300e+00] [ 4.92329525e-03 6.16103640e-05 9.99987879e-01 7.28762091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.540281693 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:60.33, Y:5.83, Z:0.07 [[ 9.75449327e-01 -2.20171956e-01 -4.78752458e-03 6.03345707e+01] [ 2.20168964e-01 9.75461073e-01 -1.14988704e-03 5.82978236e+00] [ 4.92321674e-03 6.75922159e-05 9.99987879e-01 7.44216260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.570281693 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:60.36, Y:5.84, Z:0.08 [[ 9.76096320e-01 -2.17285653e-01 -4.78731167e-03 6.03610705e+01] [ 2.17282622e-01 9.76108056e-01 -1.15077277e-03 5.83743873e+00] [ 4.92297990e-03 8.30654402e-05 9.99987879e-01 7.73431664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.600281693 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:60.39, Y:5.84, Z:0.08 [[ 9.76429613e-01 -2.15782982e-01 -4.78709615e-03 6.03874420e+01] [ 2.15779928e-01 9.76441343e-01 -1.15166861e-03 5.84448947e+00] [ 4.92282908e-03 9.15640720e-05 9.99987879e-01 7.74242794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.630281693 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:60.41, Y:5.86, Z:0.07 [[ 9.77016419e-01 -2.13110303e-01 -4.78700271e-03 6.04130510e+01] [ 2.13107215e-01 9.77028141e-01 -1.15205687e-03 5.85506344e+00] [ 4.92255154e-03 1.05433662e-04 9.99987879e-01 7.43006316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.660281693 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:60.44, Y:5.87, Z:0.07 [[ 9.77175457e-01 -2.12379876e-01 -4.78691110e-03 6.04392518e+01] [ 2.12376778e-01 9.77187176e-01 -1.15243738e-03 5.86506032e+00] [ 4.92246265e-03 1.09504770e-04 9.99987879e-01 7.37642561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.690281693 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:60.47, Y:5.87, Z:0.07 [[ 9.77225043e-01 -2.12151605e-01 -4.78669839e-03 6.04653706e+01] [ 2.12148500e-01 9.77236759e-01 -1.15332023e-03 5.87361825e+00] [ 4.92241636e-03 1.11562529e-04 9.99987879e-01 7.33208456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.720281693 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:60.49, Y:5.88, Z:0.08 [[ 9.76595842e-01 -2.15029414e-01 -4.78660617e-03 6.04915053e+01] [ 2.15026341e-01 9.76607568e-01 -1.15370281e-03 5.88248091e+00] [ 4.92271585e-03 9.74549525e-05 9.99987879e-01 7.50036447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.750281693 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:60.52, Y:5.89, Z:0.07 [[ 9.76125133e-01 -2.17156199e-01 -4.78638757e-03 6.05174537e+01] [ 2.17153147e-01 9.76136864e-01 -1.15460904e-03 5.88957633e+00] [ 4.92289986e-03 8.76637760e-05 9.99987879e-01 7.45437629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.780281693 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:60.54, Y:5.90, Z:0.07 [[ 9.75481816e-01 -2.20027993e-01 -4.78629234e-03 6.05434392e+01] [ 2.20024973e-01 9.75493556e-01 -1.15500364e-03 5.89910117e+00] [ 4.92313047e-03 7.35812011e-05 9.99987879e-01 7.24380404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81028169300001 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:60.57, Y:5.91, Z:0.07 [[ 9.75291991e-01 -2.20867890e-01 -4.78608080e-03 6.05692580e+01] [ 2.20864877e-01 9.75303732e-01 -1.15587957e-03 5.90723423e+00] [ 4.92317915e-03 7.02429424e-05 9.99987879e-01 7.11670467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84028169300001 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:60.60, Y:5.92, Z:0.07 [[ 9.75112808e-01 -2.21657633e-01 -4.78598870e-03 6.05960431e+01] [ 2.21654627e-01 9.75124551e-01 -1.15626077e-03 5.91529303e+00] [ 4.92322911e-03 6.66481451e-05 9.99987879e-01 7.00506305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.870281693 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:60.62, Y:5.93, Z:0.07 [[ 9.74750498e-01 -2.23245523e-01 -4.78577985e-03 6.06226432e+01] [ 2.23242532e-01 9.74762244e-01 -1.15712457e-03 5.92584901e+00] [ 4.92332039e-03 5.95181405e-05 9.99987879e-01 7.16275211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.900281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:60.65, Y:5.93, Z:0.07 [[ 9.74526444e-01 -2.24221560e-01 -4.78556357e-03 6.06490709e+01] [ 2.24218577e-01 9.74538193e-01 -1.15801837e-03 5.93380663e+00] [ 4.92336715e-03 5.55072775e-05 9.99987879e-01 7.37057280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.930281693 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:60.68, Y:5.94, Z:0.08 [[ 9.73774075e-01 -2.27466811e-01 -4.78549656e-03 6.06752965e+01] [ 2.27463865e-01 9.73785833e-01 -1.15829520e-03 5.94214101e+00] [ 4.92352247e-03 3.93902895e-05 9.99987879e-01 7.56630596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.960281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:60.70, Y:5.95, Z:0.07 [[ 9.73317035e-01 -2.29414579e-01 -4.78540377e-03 6.07025970e+01] [ 2.29411655e-01 9.73328799e-01 -1.15867845e-03 5.94916817e+00] [ 4.92358903e-03 2.99340782e-05 9.99987879e-01 7.35204782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.990281693 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:60.73, Y:5.96, Z:0.07 [[ 9.72802679e-01 -2.31585943e-01 -4.78519477e-03 6.07293789e+01] [ 2.31583041e-01 9.72814448e-01 -1.15954093e-03 5.95548049e+00] [ 4.92363999e-03 1.98345676e-05 9.99987879e-01 7.12255735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.020281693 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:60.76, Y:5.96, Z:0.07 [[ 9.71562217e-01 -2.36736062e-01 -4.78498569e-03 6.07570503e+01] [ 2.36733218e-01 9.71574000e-01 -1.16040310e-03 5.96140664e+00] [ 4.92367694e-03 -5.36125106e-06 9.99987879e-01 6.81832116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.050281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:60.78, Y:5.97, Z:0.07 [[ 9.70216979e-01 -2.42190255e-01 -4.78477627e-03 6.07841303e+01] [ 2.42187473e-01 9.70228777e-01 -1.16126598e-03 5.96645168e+00] [ 4.92357493e-03 -3.21329045e-05 9.99987879e-01 7.14468723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.080281693 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:60.81, Y:5.97, Z:0.07 [[ 9.69707981e-01 -2.44220264e-01 -4.78471146e-03 6.08103438e+01] [ 2.44217505e-01 9.69719785e-01 -1.16153294e-03 5.97215134e+00] [ 4.92349925e-03 -4.21625382e-05 9.99987879e-01 7.35907164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.110281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:60.84, Y:5.98, Z:0.07 [[ 9.69368747e-01 -2.45563311e-01 -4.78457022e-03 6.08372957e+01] [ 2.45560566e-01 9.69380554e-01 -1.16211443e-03 5.97805001e+00] [ 4.92344200e-03 -4.83843665e-05 9.99987879e-01 7.35963455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.140281693 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:60.87, Y:5.98, Z:0.07 [[ 9.69450209e-01 -2.45241519e-01 -4.78436471e-03 6.08652612e+01] [ 2.45238766e-01 9.69462013e-01 -1.16295989e-03 5.98234184e+00] [ 4.92346590e-03 -4.58799894e-05 9.99987879e-01 6.93608702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.170281693 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:60.89, Y:5.99, Z:0.07 [[ 9.69636829e-01 -2.44502620e-01 -4.78430099e-03 6.08920101e+01] [ 2.44499856e-01 9.69648631e-01 -1.16322198e-03 5.98872893e+00] [ 4.92350173e-03 -4.18580382e-05 9.99987879e-01 6.86843927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20028169300001 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:60.92, Y:6.00, Z:0.07 [[ 9.69838410e-01 -2.43701809e-01 -4.78409670e-03 6.09188706e+01] [ 2.43699032e-01 9.69850208e-01 -1.16406159e-03 5.99587274e+00] [ 4.92354109e-03 -3.69280897e-05 9.99987879e-01 6.92900792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23028169300001 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:60.95, Y:6.00, Z:0.07 [[ 9.70021217e-01 -2.42973154e-01 -4.78389274e-03 6.09454179e+01] [ 2.42970363e-01 9.70033013e-01 -1.16489920e-03 6.00313894e+00] [ 4.92357311e-03 -3.23672187e-05 9.99987879e-01 7.08269802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.260281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:60.97, Y:6.01, Z:0.07 [[ 9.70140820e-01 -2.42495165e-01 -4.78382933e-03 6.09726683e+01] [ 2.42492368e-01 9.70152614e-01 -1.16515952e-03 6.00871488e+00] [ 4.92359008e-03 -2.96732924e-05 9.99987879e-01 7.37954421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.290281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:61.00, Y:6.02, Z:0.07 [[ 9.70192508e-01 -2.42288287e-01 -4.78362751e-03 6.09987708e+01] [ 2.42285483e-01 9.70204301e-01 -1.16598751e-03 6.01519652e+00] [ 4.92360110e-03 -2.77711558e-05 9.99987879e-01 7.49125145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.320281693 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:61.03, Y:6.02, Z:0.08 [[ 9.70347663e-01 -2.41666156e-01 -4.78354023e-03 6.10258423e+01] [ 2.41663342e-01 9.70359453e-01 -1.16634549e-03 6.02273225e+00] [ 4.92361971e-03 -2.42457040e-05 9.99987879e-01 8.38140130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.350281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:61.05, Y:6.03, Z:0.09 [[ 9.70560764e-01 -2.40808892e-01 -4.78333926e-03 6.10519584e+01] [ 2.40806065e-01 9.70572551e-01 -1.16716910e-03 6.03005770e+00] [ 4.92364249e-03 -1.90485732e-05 9.99987879e-01 8.50151333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.380281693 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:61.08, Y:6.04, Z:0.09 [[ 9.70683732e-01 -2.40312739e-01 -4.78320238e-03 6.10788844e+01] [ 2.40309903e-01 9.70695517e-01 -1.16772977e-03 6.03679365e+00] [ 4.92365345e-03 -1.59546108e-05 9.99987879e-01 8.65100853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.410281693 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:61.11, Y:6.04, Z:0.08 [[ 9.70940993e-01 -2.39271208e-01 -4.78299501e-03 6.11050899e+01] [ 2.39268354e-01 9.70952774e-01 -1.16857857e-03 6.04495508e+00] [ 4.92366947e-03 -9.79850747e-06 9.99987879e-01 8.26718392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.440281693 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:61.13, Y:6.05, Z:0.08 [[ 9.70957232e-01 -2.39205303e-01 -4.78289727e-03 6.11314116e+01] [ 2.39202446e-01 9.70969012e-01 -1.16897845e-03 6.05338290e+00] [ 4.92367088e-03 -9.05264482e-06 9.99987879e-01 7.98279333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.470281693 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:61.16, Y:6.06, Z:0.08 [[ 9.70934587e-01 -2.39297209e-01 -4.78269165e-03 6.11585114e+01] [ 2.39294350e-01 9.70946366e-01 -1.16981910e-03 6.06191427e+00] [ 4.92367153e-03 -8.65326305e-06 9.99987879e-01 7.86723205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.500281693 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:61.19, Y:6.07, Z:0.08 [[ 9.70674936e-01 -2.40348280e-01 -4.78249954e-03 6.11851529e+01] [ 2.40345430e-01 9.70686718e-01 -1.17060398e-03 6.06895569e+00] [ 4.92366143e-03 -1.31759612e-05 9.99987879e-01 7.96845330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.530281693 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:61.21, Y:6.07, Z:0.08 [[ 9.70411006e-01 -2.41411700e-01 -4.78227925e-03 6.12117270e+01] [ 2.41408858e-01 9.70422790e-01 -1.17150323e-03 6.07432283e+00] [ 4.92364736e-03 -1.76449460e-05 9.99987879e-01 7.88431786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56028169300001 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:61.24, Y:6.08, Z:0.08 [[ 9.69745471e-01 -2.44071408e-01 -4.78218395e-03 6.12394769e+01] [ 2.44068597e-01 9.69757262e-01 -1.17189213e-03 6.07848077e+00] [ 4.92358298e-03 -3.07438374e-05 9.99987879e-01 7.73137910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59028169300001 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:61.27, Y:6.08, Z:0.08 [[ 9.69384611e-01 -2.45500729e-01 -4.78198089e-03 6.12667918e+01] [ 2.45497931e-01 9.69396405e-01 -1.17272015e-03 6.08372813e+00] [ 4.92353874e-03 -3.71495484e-05 9.99987879e-01 7.78334874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.620281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:61.29, Y:6.09, Z:0.08 [[ 9.69001211e-01 -2.47009693e-01 -4.78177304e-03 6.12947420e+01] [ 2.47006909e-01 9.69013008e-01 -1.17356704e-03 6.08835658e+00] [ 4.92348271e-03 -4.39430990e-05 9.99987879e-01 7.82625584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.650281693 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:61.32, Y:6.09, Z:0.08 [[ 9.68452690e-01 -2.49151608e-01 -4.78155700e-03 6.13230187e+01] [ 2.49148845e-01 9.68464493e-01 -1.17444661e-03 6.08938505e+00] [ 4.92338344e-03 -5.39234245e-05 9.99987879e-01 7.69329010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.680281693 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:61.35, Y:6.09, Z:0.08 [[ 9.68303613e-01 -2.49730358e-01 -4.78134035e-03 6.13510368e+01] [ 2.49727599e-01 9.68315416e-01 -1.17532798e-03 6.09457700e+00] [ 4.92336064e-03 -5.59583134e-05 9.99987879e-01 7.56607894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.710281693 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:61.38, Y:6.10, Z:0.07 [[ 9.68732078e-01 -2.48063099e-01 -4.78112512e-03 6.13791750e+01] [ 2.48060315e-01 9.68743876e-01 -1.17620287e-03 6.09837024e+00] [ 4.92345820e-03 -4.65819532e-05 9.99987879e-01 7.47070049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.740281693 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:61.41, Y:6.10, Z:0.07 [[ 9.69163580e-01 -2.46371869e-01 -4.78090322e-03 6.14060928e+01] [ 2.46369060e-01 9.69175372e-01 -1.17710413e-03 6.10276984e+00] [ 4.92353900e-03 -3.70601725e-05 9.99987879e-01 7.44085193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.770281693 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:61.43, Y:6.11, Z:0.08 [[ 9.70167948e-01 -2.42386669e-01 -4.78080623e-03 6.14342766e+01] [ 2.42383809e-01 9.70179727e-01 -1.17749793e-03 6.10606200e+00] [ 4.92365108e-03 -1.64192746e-05 9.99987879e-01 7.57267010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.800281693 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:61.46, Y:6.11, Z:0.08 [[ 9.70652518e-01 -2.40438838e-01 -4.78060906e-03 6.14609407e+01] [ 2.40435951e-01 9.70664291e-01 -1.17829788e-03 6.11272257e+00] [ 4.92367507e-03 -5.71248271e-06 9.99987879e-01 7.72245197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.830281693 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:61.49, Y:6.12, Z:0.08 [[ 9.71095408e-01 -2.38643785e-01 -4.78039686e-03 6.14877446e+01] [ 2.38640872e-01 9.71107174e-01 -1.17915815e-03 6.11968352e+00] [ 4.92367645e-03 4.27698639e-06 9.99987879e-01 7.90105516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.860281693 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:61.52, Y:6.13, Z:0.08 [[ 9.71797321e-01 -2.35769203e-01 -4.78017630e-03 6.15152276e+01] [ 2.35766251e-01 9.71809077e-01 -1.18005160e-03 6.12535139e+00] [ 4.92363854e-03 1.97667358e-05 9.99987879e-01 7.62279912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.890281693 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:61.54, Y:6.13, Z:0.07 [[ 9.72031783e-01 -2.34800690e-01 -4.77995209e-03 6.15426715e+01] [ 2.34797722e-01 9.72043536e-01 -1.18095907e-03 6.13096972e+00] [ 4.92361154e-03 2.56078872e-05 9.99987879e-01 7.44199729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.920281693 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:61.57, Y:6.14, Z:0.08 [[ 9.72301902e-01 -2.33679621e-01 -4.77974255e-03 6.15704042e+01] [ 2.33676635e-01 9.72313650e-01 -1.18180654e-03 6.13564981e+00] [ 4.92357303e-03 3.21585922e-05 9.99987879e-01 7.58511435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95028169300001 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:61.60, Y:6.14, Z:0.08 [[ 9.72354386e-01 -2.33461139e-01 -4.77951467e-03 6.15979842e+01] [ 2.33458146e-01 9.72366132e-01 -1.18272744e-03 6.14081574e+00] [ 4.92355909e-03 3.42135822e-05 9.99987879e-01 7.78686239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98028169300001 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:61.63, Y:6.14, Z:0.08 [[ 9.72313961e-01 -2.33629450e-01 -4.77928769e-03 6.16258169e+01] [ 2.33626454e-01 9.72325706e-01 -1.18364392e-03 6.14258992e+00] [ 4.92355836e-03 3.43054756e-05 9.99987879e-01 7.92584294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.010281693 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:61.65, Y:6.15, Z:0.08 [[ 9.72307351e-01 -2.33656958e-01 -4.77918871e-03 6.16522950e+01] [ 2.33653960e-01 9.72319096e-01 -1.18404344e-03 6.14699384e+00] [ 4.92355644e-03 3.45777737e-05 9.99987879e-01 8.02404579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.040281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:61.68, Y:6.15, Z:0.08 [[ 9.72399336e-01 -2.33273855e-01 -4.77909293e-03 6.16801302e+01] [ 2.33270851e-01 9.72411079e-01 -1.18442991e-03 6.15240472e+00] [ 4.92353945e-03 3.69157808e-05 9.99987879e-01 8.02412657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.070281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:61.71, Y:6.16, Z:0.08 [[ 9.73014653e-01 -2.30693839e-01 -4.77886999e-03 6.17081219e+01] [ 2.30690799e-01 9.73026387e-01 -1.18532873e-03 6.15622511e+00] [ 4.92341464e-03 5.09008814e-05 9.99987879e-01 7.73016001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.100281693 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:61.74, Y:6.16, Z:0.08 [[ 9.73189925e-01 -2.29953326e-01 -4.77880072e-03 6.17354624e+01] [ 2.29950277e-01 9.73201657e-01 -1.18560795e-03 6.16176607e+00] [ 4.92337127e-03 5.49351677e-05 9.99987879e-01 7.71941437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.130281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:61.76, Y:6.17, Z:0.08 [[ 9.73335898e-01 -2.29334680e-01 -4.77857901e-03 6.17630263e+01] [ 2.29331619e-01 9.73347626e-01 -1.18650089e-03 6.16585706e+00] [ 4.92332433e-03 5.89846512e-05 9.99987879e-01 7.98086448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.160281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:61.79, Y:6.17, Z:0.08 [[ 9.73400179e-01 -2.29061689e-01 -4.77851027e-03 6.17905117e+01] [ 2.29058623e-01 9.73411906e-01 -1.18677765e-03 6.17159852e+00] [ 4.92330408e-03 6.06505922e-05 9.99987879e-01 8.21385325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.190281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:61.82, Y:6.18, Z:0.08 [[ 9.73357578e-01 -2.29242654e-01 -4.77828960e-03 6.18181040e+01] [ 2.29239585e-01 9.73369304e-01 -1.18766549e-03 6.17866189e+00] [ 4.92330401e-03 6.06500771e-05 9.99987879e-01 8.22787739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.220281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:61.85, Y:6.18, Z:0.08 [[ 9.73880862e-01 -2.27009333e-01 -4.77806863e-03 6.18451996e+01] [ 2.27006234e-01 9.73892580e-01 -1.18855378e-03 6.18498690e+00] [ 4.92313839e-03 7.28584198e-05 9.99987879e-01 8.35215127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.250281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:61.87, Y:6.19, Z:0.08 [[ 9.74201587e-01 -2.25628986e-01 -4.77784651e-03 6.18707645e+01] [ 2.25625865e-01 9.74213300e-01 -1.18944600e-03 6.19251390e+00] [ 4.92301511e-03 8.07544284e-05 9.99987879e-01 8.36111343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.280281693 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:61.90, Y:6.20, Z:0.08 [[ 9.74571438e-01 -2.24026083e-01 -4.77769514e-03 6.18972859e+01] [ 2.24022940e-01 9.74583145e-01 -1.19005370e-03 6.20047298e+00] [ 4.92286423e-03 8.94790377e-05 9.99987879e-01 8.31052491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31028169300001 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:61.92, Y:6.21, Z:0.08 [[ 9.75174840e-01 -2.21384750e-01 -4.77747267e-03 6.19228589e+01] [ 2.21381571e-01 9.75186537e-01 -1.19094614e-03 6.21005579e+00] [ 4.92258434e-03 1.03736306e-04 9.99987879e-01 7.92054165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34028169300001 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:61.95, Y:6.22, Z:0.08 [[ 9.75334131e-01 -2.20681919e-01 -4.77732075e-03 6.19500196e+01] [ 2.20678728e-01 9.75345825e-01 -1.19155526e-03 6.21824222e+00] [ 4.92249455e-03 1.07911452e-04 9.99987879e-01 7.90625567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.370281693 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:61.98, Y:6.23, Z:0.08 [[ 9.75385259e-01 -2.20455838e-01 -4.77710537e-03 6.19764719e+01] [ 2.20452641e-01 9.75396951e-01 -1.19241811e-03 6.22559936e+00] [ 4.92244954e-03 1.09941548e-04 9.99987879e-01 8.01426507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.400281693 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:62.00, Y:6.23, Z:0.08 [[ 9.75022237e-01 -2.22055890e-01 -4.77701185e-03 6.20032153e+01] [ 2.22052710e-01 9.75033933e-01 -1.19279263e-03 6.23223146e+00] [ 4.92261529e-03 1.02250908e-04 9.99987879e-01 8.22582445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.430281693 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:62.03, Y:6.24, Z:0.08 [[ 9.74430059e-01 -2.24640250e-01 -4.77679855e-03 6.20290186e+01] [ 2.24637097e-01 9.74441763e-01 -1.19364625e-03 6.23879485e+00] [ 4.92285299e-03 9.00786285e-05 9.99987879e-01 8.09406390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.460281693 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:62.06, Y:6.25, Z:0.08 [[ 9.74144683e-01 -2.25874567e-01 -4.77670552e-03 6.20557715e+01] [ 2.25871427e-01 9.74156390e-01 -1.19401842e-03 6.24671371e+00] [ 4.92295660e-03 8.42254056e-05 9.99987879e-01 7.97596425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.490281693 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:62.08, Y:6.25, Z:0.08 [[ 9.73931653e-01 -2.26791357e-01 -4.77648227e-03 6.20821935e+01] [ 2.26788223e-01 9.73943363e-01 -1.19491082e-03 6.25405783e+00] [ 4.92301865e-03 8.05115435e-05 9.99987879e-01 7.79944728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.520281693 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:62.11, Y:6.26, Z:0.08 [[ 9.73586607e-01 -2.28268053e-01 -4.77638509e-03 6.21090421e+01] [ 2.28264935e-01 9.73598321e-01 -1.19529915e-03 6.26059153e+00] [ 4.92312911e-03 7.34460087e-05 9.99987879e-01 7.93285280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.550281693 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:62.14, Y:6.27, Z:0.08 [[ 9.73419243e-01 -2.28980709e-01 -4.77615294e-03 6.21356824e+01] [ 2.28977595e-01 9.73430958e-01 -1.19622606e-03 6.26697529e+00] [ 4.92316782e-03 7.07974585e-05 9.99987879e-01 8.01145850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.580281693 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:62.16, Y:6.27, Z:0.08 [[ 9.72926582e-01 -2.31065047e-01 -4.77605188e-03 6.21627984e+01] [ 2.31061956e-01 9.72938303e-01 -1.19662940e-03 6.27322784e+00] [ 4.92330304e-03 6.06686576e-05 9.99987879e-01 7.90228453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.610281693 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:62.19, Y:6.28, Z:0.08 [[ 9.72639225e-01 -2.32271670e-01 -4.77582408e-03 6.21905058e+01] [ 2.32268590e-01 9.72650949e-01 -1.19753788e-03 6.27938590e+00] [ 4.92336395e-03 5.54983948e-05 9.99987879e-01 8.48053563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.640281693 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:62.22, Y:6.28, Z:0.08 [[ 9.71830968e-01 -2.35630565e-01 -4.77559544e-03 6.22183235e+01] [ 2.35627520e-01 9.71842701e-01 -1.19844896e-03 6.28448036e+00] [ 4.92351878e-03 3.94281013e-05 9.99987879e-01 7.87154250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.670281693 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:62.25, Y:6.29, Z:0.08 [[ 9.71358767e-01 -2.37569655e-01 -4.77548793e-03 6.22458896e+01] [ 2.37566632e-01 9.71370505e-01 -1.19887721e-03 6.29099035e+00] [ 4.92358497e-03 3.00433064e-05 9.99987879e-01 8.10516106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70028169300001 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:62.27, Y:6.30, Z:0.08 [[ 9.70707251e-01 -2.40217881e-01 -4.77526325e-03 6.22735975e+01] [ 2.40214886e-01 9.70718996e-01 -1.19977148e-03 6.29641330e+00] [ 4.92364531e-03 1.75375641e-05 9.99987879e-01 8.39241353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73028169300001 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:62.30, Y:6.30, Z:0.08 [[ 9.70503816e-01 -2.41038466e-01 -4.77503840e-03 6.23012149e+01] [ 2.41035476e-01 9.70515563e-01 -1.20066572e-03 6.30289416e+00] [ 4.92365570e-03 1.42970072e-05 9.99987879e-01 8.06766270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.760281693 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:62.33, Y:6.31, Z:0.08 [[ 9.70412419e-01 -2.41406167e-01 -4.77481431e-03 6.23284171e+01] [ 2.41403177e-01 9.70424166e-01 -1.20155621e-03 6.30988223e+00] [ 4.92365827e-03 1.33497288e-05 9.99987879e-01 7.71569812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.790281693 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:62.35, Y:6.32, Z:0.08 [[ 9.70377808e-01 -2.41545262e-01 -4.77458916e-03 6.23548227e+01] [ 2.41542270e-01 9.70389554e-01 -1.20245021e-03 6.31734154e+00] [ 4.92365760e-03 1.35659020e-05 9.99987879e-01 7.51442068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.820281693 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:62.38, Y:6.33, Z:0.08 [[ 9.70210910e-01 -2.42214771e-01 -4.77443527e-03 6.23820767e+01] [ 2.42211783e-01 9.70222657e-01 -1.20306094e-03 6.32537659e+00] [ 4.92366440e-03 1.07983635e-05 9.99987879e-01 7.74259443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.850281693 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:62.41, Y:6.33, Z:0.08 [[ 9.69732015e-01 -2.44125020e-01 -4.77423804e-03 6.24092243e+01] [ 2.44122052e-01 9.69743768e-01 -1.20384309e-03 6.33166918e+00] [ 4.92367581e-03 1.90840212e-06 9.99987879e-01 7.98885770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.880281693 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:62.44, Y:6.34, Z:0.08 [[ 9.69391550e-01 -2.45473484e-01 -4.77401376e-03 6.24359502e+01] [ 2.45470528e-01 9.69403305e-01 -1.20473186e-03 6.33815373e+00] [ 4.92367445e-03 -4.02279185e-06 9.99987879e-01 7.86874343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.910281693 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:62.46, Y:6.34, Z:0.08 [[ 9.69043522e-01 -2.46843803e-01 -4.77378818e-03 6.24626027e+01] [ 2.46840859e-01 9.69055281e-01 -1.20562506e-03 6.34420426e+00] [ 4.92366572e-03 -1.00628223e-05 9.99987879e-01 8.39203289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.940281693 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:62.49, Y:6.35, Z:0.08 [[ 9.68519491e-01 -2.48891959e-01 -4.77368988e-03 6.24896730e+01] [ 2.48889038e-01 9.68531255e-01 -1.20601418e-03 6.35010533e+00] [ 4.92363508e-03 -2.00708431e-05 9.99987879e-01 7.89797681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.970281693 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:62.52, Y:6.35, Z:0.08 [[ 9.67519656e-01 -2.52750725e-01 -4.77346701e-03 6.25171672e+01] [ 2.52747846e-01 9.67531431e-01 -1.20689565e-03 6.35362655e+00] [ 4.92352312e-03 -3.87882466e-05 9.99987879e-01 8.35106431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.000281693 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:62.54, Y:6.36, Z:0.09 [[ 9.67004528e-01 -2.54714461e-01 -4.77339761e-03 6.25443710e+01] [ 2.54711605e-01 9.67016309e-01 -1.20717007e-03 6.35937701e+00] [ 4.92343701e-03 -4.85008440e-05 9.99987879e-01 8.57741462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.030281693 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:62.57, Y:6.36, Z:0.09 [[ 9.66660958e-01 -2.56015251e-01 -4.77317814e-03 6.25711779e+01] [ 2.56012407e-01 9.66672741e-01 -1.20803724e-03 6.36454208e+00] [ 4.92337715e-03 -5.42303899e-05 9.99987879e-01 8.62284914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06028169300001 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:62.60, Y:6.37, Z:0.09 [[ 9.66725828e-01 -2.55770191e-01 -4.77308286e-03 6.25990260e+01] [ 2.55767342e-01 9.66737610e-01 -1.20841361e-03 6.37052676e+00] [ 4.92339489e-03 -5.25940685e-05 9.99987879e-01 8.50516552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09028169300001 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:62.63, Y:6.38, Z:0.08 [[ 9.67208806e-01 -2.53937681e-01 -4.77286508e-03 6.26254106e+01] [ 2.53934806e-01 9.67220581e-01 -1.20927313e-03 6.37515095e+00] [ 4.92349335e-03 -4.23769493e-05 9.99987879e-01 8.23355138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.120281693 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:62.65, Y:6.38, Z:0.08 [[ 9.67518133e-01 -2.52756570e-01 -4.77277027e-03 6.26523193e+01] [ 2.52753678e-01 9.67529904e-01 -1.20964722e-03 6.38196003e+00] [ 4.92354424e-03 -3.59796238e-05 9.99987879e-01 8.26279555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.150281693 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:62.68, Y:6.39, Z:0.08 [[ 9.67774573e-01 -2.51772912e-01 -4.77255424e-03 6.26793523e+01] [ 2.51770003e-01 9.67786340e-01 -1.21049896e-03 6.38952954e+00] [ 4.92358365e-03 -3.00958880e-05 9.99987879e-01 8.44194003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.180281693 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:62.71, Y:6.40, Z:0.09 [[ 9.68694267e-01 -2.48210881e-01 -4.77233780e-03 6.27051395e+01] [ 2.48207925e-01 9.68706023e-01 -1.21135165e-03 6.39696137e+00] [ 4.92366303e-03 -1.11026700e-05 9.99987879e-01 8.59528391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.210281693 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:62.73, Y:6.40, Z:0.09 [[ 9.69295481e-01 -2.45852593e-01 -4.77212247e-03 6.27319535e+01] [ 2.45849604e-01 9.69307228e-01 -1.21219937e-03 6.40361583e+00] [ 4.92367516e-03 1.75494876e-06 9.99987879e-01 8.52063569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.240281693 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:62.76, Y:6.41, Z:0.09 [[ 9.70477983e-01 -2.41142516e-01 -4.77189174e-03 6.27575467e+01] [ 2.41139466e-01 9.70489715e-01 -1.21310696e-03 6.41067209e+00] [ 4.92360352e-03 2.66021670e-05 9.99987879e-01 8.99246447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.270281693 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:62.78, Y:6.42, Z:0.08 [[ 9.70913879e-01 -2.39381431e-01 -4.77179175e-03 6.27847493e+01] [ 2.39378358e-01 9.70925604e-01 -1.21350014e-03 6.41897406e+00] [ 4.92354419e-03 3.59404556e-05 9.99987879e-01 8.30205455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.300281693 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:62.81, Y:6.43, Z:0.08 [[ 9.71424649e-01 -2.37300196e-01 -4.77156364e-03 6.28104924e+01] [ 2.37297093e-01 9.71436367e-01 -1.21439642e-03 6.42740160e+00] [ 4.92344696e-03 4.74164360e-05 9.99987879e-01 8.37285955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.330281693 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:62.84, Y:6.44, Z:0.09 [[ 9.72356348e-01 -2.33453133e-01 -4.77146438e-03 6.28355393e+01] [ 2.33449982e-01 9.72368053e-01 -1.21478629e-03 6.43769270e+00] [ 4.92321520e-03 6.73068879e-05 9.99987879e-01 8.79080984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.360281693 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:62.86, Y:6.45, Z:0.09 [[ 9.72574984e-01 -2.32540610e-01 -4.77137067e-03 6.28620840e+01] [ 2.32537446e-01 9.72586685e-01 -1.21515427e-03 6.44711847e+00] [ 4.92314429e-03 7.23062916e-05 9.99987879e-01 8.81767895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.390281693 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:62.89, Y:6.46, Z:0.08 [[ 9.72792082e-01 -2.31630742e-01 -4.77114519e-03 6.28879456e+01] [ 2.31627563e-01 9.72803779e-01 -1.21603892e-03 6.45803955e+00] [ 4.92306007e-03 7.78243034e-05 9.99987879e-01 8.43916040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.420281693 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:62.91, Y:6.47, Z:0.08 [[ 9.72815560e-01 -2.31532124e-01 -4.77091948e-03 6.29137567e+01] [ 2.31528940e-01 9.72827256e-01 -1.21692382e-03 6.46595226e+00] [ 4.92303746e-03 7.92365023e-05 9.99987879e-01 8.24202150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45028169300001 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:62.94, Y:6.47, Z:0.08 [[ 9.72755040e-01 -2.31786264e-01 -4.77076560e-03 6.29407067e+01] [ 2.31783080e-01 9.72766735e-01 -1.21752677e-03 6.47400952e+00] [ 4.92304806e-03 7.85725551e-05 9.99987879e-01 8.21796770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48028169300001 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:62.97, Y:6.48, Z:0.09 [[ 9.72964618e-01 -2.30904945e-01 -4.77054531e-03 6.29672870e+01] [ 2.30901746e-01 9.72976310e-01 -1.21838931e-03 6.48300608e+00] [ 4.92295969e-03 8.39224447e-05 9.99987879e-01 8.63341655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.510281693 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:62.99, Y:6.49, Z:0.09 [[ 9.73111858e-01 -2.30283642e-01 -4.77032604e-03 6.29933256e+01] [ 2.30280431e-01 9.73123546e-01 -1.21924722e-03 6.49096163e+00] [ 4.92288928e-03 8.79511949e-05 9.99987879e-01 8.74676353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.540281693 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:63.02, Y:6.50, Z:0.09 [[ 9.73359195e-01 -2.29235954e-01 -4.77023058e-03 6.30194016e+01] [ 2.29232729e-01 9.73370879e-01 -1.21962058e-03 6.50081028e+00] [ 4.92278442e-03 9.36359282e-05 9.99987879e-01 8.59432387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.570281693 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:63.05, Y:6.51, Z:0.08 [[ 9.73324600e-01 -2.29382801e-01 -4.77001132e-03 6.30464837e+01] [ 2.29379574e-01 9.73336284e-01 -1.22047751e-03 6.50931153e+00] [ 4.92278165e-03 9.37776177e-05 9.99987879e-01 8.26462773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.600281693 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:63.07, Y:6.52, Z:0.08 [[ 9.73208359e-01 -2.29875486e-01 -4.76979270e-03 6.30737058e+01] [ 2.29872260e-01 9.73220043e-01 -1.22133133e-03 6.51759905e+00] [ 4.92281199e-03 9.21668341e-05 9.99987879e-01 8.00032417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.630281693 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:63.10, Y:6.53, Z:0.08 [[ 9.72930202e-01 -2.31049935e-01 -4.76957417e-03 6.31000237e+01] [ 2.31046719e-01 9.72941889e-01 -1.22218412e-03 6.52573882e+00] [ 4.92290407e-03 8.71053833e-05 9.99987879e-01 8.10178191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.660281693 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:63.13, Y:6.53, Z:0.08 [[ 9.72833147e-01 -2.31458249e-01 -4.76933618e-03 6.31273249e+01] [ 2.31455033e-01 9.72844834e-01 -1.22311214e-03 6.53299552e+00] [ 4.92292346e-03 8.59971698e-05 9.99987879e-01 8.14131544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.690281693 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:63.15, Y:6.54, Z:0.08 [[ 9.72418340e-01 -2.33194825e-01 -4.76926198e-03 6.31538140e+01] [ 2.33191628e-01 9.72430032e-01 -1.22340140e-03 6.54174154e+00] [ 4.92306446e-03 7.75059881e-05 9.99987879e-01 8.38041323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.720281693 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:63.18, Y:6.55, Z:0.08 [[ 9.72112066e-01 -2.34468304e-01 -4.76919429e-03 6.31809490e+01] [ 2.34465121e-01 9.72123762e-01 -1.22366524e-03 6.54993655e+00] [ 4.92315781e-03 7.13300273e-05 9.99987879e-01 8.40971694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.750281693 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:63.21, Y:6.56, Z:0.09 [[ 9.71754926e-01 -2.35944105e-01 -4.76898054e-03 6.32079659e+01] [ 2.35940936e-01 9.71766626e-01 -1.22449770e-03 6.55851136e+00] [ 4.92324914e-03 6.47139436e-05 9.99987879e-01 8.52836596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.780281693 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:63.23, Y:6.57, Z:0.09 [[ 9.71581090e-01 -2.36658922e-01 -4.76874769e-03 6.32343000e+01] [ 2.36655757e-01 9.71592791e-01 -1.22540387e-03 6.56608869e+00] [ 4.92328363e-03 6.20276331e-05 9.99987879e-01 8.61254392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81028169300001 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:63.26, Y:6.57, Z:0.09 [[ 9.71360505e-01 -2.37562687e-01 -4.76864623e-03 6.32600507e+01] [ 2.37559531e-01 9.71372208e-01 -1.22579857e-03 6.57359857e+00] [ 4.92333442e-03 5.78549570e-05 9.99987879e-01 8.77655714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84028169300001 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:63.29, Y:6.58, Z:0.09 [[ 9.71174362e-01 -2.38322511e-01 -4.76854677e-03 6.32861442e+01] [ 2.38319363e-01 9.71186068e-01 -1.22618534e-03 6.58122039e+00] [ 4.92337376e-03 5.44027357e-05 9.99987879e-01 9.19582002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.870281693 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:63.31, Y:6.59, Z:0.09 [[ 9.71114923e-01 -2.38564601e-01 -4.76844879e-03 6.33130260e+01] [ 2.38561454e-01 9.71126628e-01 -1.22656626e-03 6.58840136e+00] [ 4.92338289e-03 5.35687214e-05 9.99987879e-01 9.17985876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.900281693 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:63.34, Y:6.60, Z:0.09 [[ 9.71008193e-01 -2.38998645e-01 -4.76824020e-03 6.33392384e+01] [ 2.38995500e-01 9.71019899e-01 -1.22737661e-03 6.59592018e+00] [ 4.92339747e-03 5.22047971e-05 9.99987879e-01 8.74424382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.930281693 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:63.37, Y:6.60, Z:0.09 [[ 9.70792655e-01 -2.39872645e-01 -4.76814929e-03 6.33661157e+01] [ 2.39869508e-01 9.70804363e-01 -1.22772969e-03 6.60291646e+00] [ 4.92343890e-03 4.81373390e-05 9.99987879e-01 8.74954383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.960281693 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:63.39, Y:6.61, Z:0.09 [[ 9.70195439e-01 -2.42276860e-01 -4.76792093e-03 6.33928813e+01] [ 2.42273747e-01 9.70207154e-01 -1.22861589e-03 6.60708893e+00] [ 4.92353619e-03 3.68554619e-05 9.99987879e-01 8.95163727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.990281693 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:63.42, Y:6.61, Z:0.09 [[ 9.69697937e-01 -2.44260472e-01 -4.76782163e-03 6.34202158e+01] [ 2.44257382e-01 9.69709658e-01 -1.22900113e-03 6.61247826e+00] [ 4.92359907e-03 2.71842305e-05 9.99987879e-01 8.94630689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.020281693 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:63.45, Y:6.62, Z:0.09 [[ 9.69304649e-01 -2.45816534e-01 -4.76758736e-03 6.34464208e+01] [ 2.45813458e-01 9.69316373e-01 -1.22990924e-03 6.61836961e+00] [ 4.92363251e-03 2.02196099e-05 9.99987879e-01 8.81438159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.050281693 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:63.47, Y:6.63, Z:0.09 [[ 9.69406700e-01 -2.45413774e-01 -4.76748544e-03 6.34734189e+01] [ 2.45410691e-01 9.69418423e-01 -1.23030418e-03 6.62596578e+00] [ 4.92362181e-03 2.26732163e-05 9.99987879e-01 8.56637195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.080281693 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:63.50, Y:6.63, Z:0.08 [[ 9.69776493e-01 -2.43948412e-01 -4.76724981e-03 6.35003625e+01] [ 2.43945307e-01 9.69788210e-01 -1.23121653e-03 6.63353968e+00] [ 4.92357597e-03 3.10566300e-05 9.99987879e-01 8.48748759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.110281693 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:63.53, Y:6.64, Z:0.09 [[ 9.69729765e-01 -2.44134098e-01 -4.76701465e-03 6.35278862e+01] [ 2.44130991e-01 9.69741482e-01 -1.23212634e-03 6.64085377e+00] [ 4.92357590e-03 3.10535791e-05 9.99987879e-01 8.50151177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.140281693 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:63.55, Y:6.65, Z:0.09 [[ 9.70848326e-01 -2.39647251e-01 -4.76677855e-03 6.35544085e+01] [ 2.39644085e-01 9.70860027e-01 -1.23303906e-03 6.65149312e+00] [ 4.92336918e-03 5.47636275e-05 9.99987879e-01 9.04930158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.170281693 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:63.58, Y:6.66, Z:0.08 [[ 9.71464318e-01 -2.37137847e-01 -4.76654040e-03 6.35791701e+01] [ 2.37134647e-01 9.71476009e-01 -1.23395900e-03 6.66184779e+00] [ 4.92319803e-03 6.84352644e-05 9.99987879e-01 8.37782491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20028169300001 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:63.60, Y:6.67, Z:0.08 [[ 9.72210816e-01 -2.34058561e-01 -4.76637789e-03 6.36048053e+01] [ 2.34055320e-01 9.72222497e-01 -1.23458643e-03 6.67241638e+00] [ 4.92294533e-03 8.46821732e-05 9.99987879e-01 8.33471866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23028169300001 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:63.63, Y:6.69, Z:0.08 [[ 9.73140298e-01 -2.30163515e-01 -4.76621782e-03 6.36301550e+01] [ 2.30160225e-01 9.73151964e-01 -1.23520408e-03 6.68585243e+00] [ 4.92255314e-03 1.05033099e-04 9.99987879e-01 8.41319887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.260281693 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:63.66, Y:6.70, Z:0.08 [[ 9.73095887e-01 -2.30351212e-01 -4.76598403e-03 6.36554668e+01] [ 2.30347919e-01 9.73107552e-01 -1.23610548e-03 6.69694026e+00] [ 4.92255345e-03 1.05014652e-04 9.99987879e-01 8.40366362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.290281693 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:63.68, Y:6.71, Z:0.08 [[ 9.72148376e-01 -2.34317777e-01 -4.76588264e-03 6.36802562e+01] [ 2.34314530e-01 9.72160055e-01 -1.23649629e-03 6.71416323e+00] [ 4.92293378e-03 8.53423053e-05 9.99987879e-01 8.48022835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.320281693 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:63.71, Y:6.73, Z:0.09 [[ 9.71232604e-01 -2.38085106e-01 -4.76565227e-03 6.37064564e+01] [ 2.38081900e-01 9.71244294e-01 -1.23738350e-03 6.72540915e+00] [ 4.92321516e-03 6.71716477e-05 9.99987879e-01 8.58567603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.350281693 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:63.73, Y:6.73, Z:0.09 [[ 9.70141616e-01 -2.42492337e-01 -4.76558066e-03 6.37333663e+01] [ 2.42489183e-01 9.70153320e-01 -1.23765924e-03 6.73476313e+00] [ 4.92346678e-03 4.51029755e-05 9.99987879e-01 8.74855153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.380281693 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:63.76, Y:6.74, Z:0.09 [[ 9.67783918e-01 -2.51737123e-01 -4.76535049e-03 6.37591163e+01] [ 2.51734076e-01 9.67795650e-01 -1.23854482e-03 6.74294403e+00] [ 4.92367319e-03 -9.57343733e-07 9.99987879e-01 8.86041333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.410281693 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:63.79, Y:6.75, Z:0.09 [[ 9.66737614e-01 -2.55725786e-01 -4.76525086e-03 6.37863256e+01] [ 2.55722786e-01 9.66749358e-01 -1.23892803e-03 6.75071556e+00] [ 4.92362906e-03 -2.08648940e-05 9.99987879e-01 8.83557599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.440281693 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:63.81, Y:6.76, Z:0.09 [[ 9.65416446e-01 -2.60669101e-01 -4.76502747e-03 6.38120188e+01] [ 2.60666156e-01 9.65428204e-01 -1.23978661e-03 6.75774375e+00] [ 4.92346598e-03 -4.51710159e-05 9.99987879e-01 8.85604937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.470281693 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:63.84, Y:6.76, Z:0.09 [[ 9.65056718e-01 -2.61997759e-01 -4.76493058e-03 6.38388597e+01] [ 2.61994829e-01 9.65068480e-01 -1.24015891e-03 6.76382324e+00] [ 4.92340316e-03 -5.15634822e-05 9.99987879e-01 8.85051337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.500281693 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:63.87, Y:6.77, Z:0.09 [[ 9.64901543e-01 -2.62568678e-01 -4.76470314e-03 6.38652616e+01] [ 2.62565751e-01 9.64913305e-01 -1.24103211e-03 6.76873968e+00] [ 4.92338161e-03 -5.35740555e-05 9.99987879e-01 8.75646949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.530281693 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:63.89, Y:6.77, Z:0.09 [[ 9.64570853e-01 -2.63780911e-01 -4.76460406e-03 6.38927740e+01] [ 2.63777996e-01 9.64582618e-01 -1.24141240e-03 6.77217346e+00] [ 4.92331515e-03 -5.93674967e-05 9.99987879e-01 8.88605322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56028169300001 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:63.92, Y:6.78, Z:0.09 [[ 9.64408733e-01 -2.64373023e-01 -4.76437886e-03 6.39192746e+01] [ 2.64370112e-01 9.64420500e-01 -1.24227606e-03 6.77753613e+00] [ 4.92328892e-03 -6.14974956e-05 9.99987879e-01 9.10406033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59028169300001 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:63.95, Y:6.78, Z:0.09 [[ 9.64313430e-01 -2.64720437e-01 -4.76428091e-03 6.39470673e+01] [ 2.64717528e-01 9.64325197e-01 -1.24265161e-03 6.77939616e+00] [ 4.92327140e-03 -6.28830293e-05 9.99987879e-01 9.41598270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.620281693 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:63.98, Y:6.78, Z:0.09 [[ 9.64352918e-01 -2.64576554e-01 -4.76418359e-03 6.39750089e+01] [ 2.64573641e-01 9.64364684e-01 -1.24302459e-03 6.78448365e+00] [ 4.92328557e-03 -6.17630142e-05 9.99987879e-01 9.43949669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.650281693 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:64.00, Y:6.79, Z:0.09 [[ 9.64540101e-01 -2.63893345e-01 -4.76396093e-03 6.40024442e+01] [ 2.63890420e-01 9.64551864e-01 -1.24387737e-03 6.79092256e+00] [ 4.92333836e-03 -5.73940467e-05 9.99987879e-01 9.44176482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.680281693 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:64.03, Y:6.80, Z:0.09 [[ 9.65504467e-01 -2.60342910e-01 -4.76373411e-03 6.40282357e+01] [ 2.60339937e-01 9.65516218e-01 -1.24474542e-03 6.79809483e+00] [ 4.92352319e-03 -3.83829768e-05 9.99987879e-01 9.40233699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.710281693 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:64.05, Y:6.80, Z:0.09 [[ 9.66661130e-01 -2.56014781e-01 -4.76363559e-03 6.40545202e+01] [ 2.56011754e-01 9.66672867e-01 -1.24512234e-03 6.80287601e+00] [ 4.92364700e-03 -1.59353335e-05 9.99987879e-01 9.42570076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.740281693 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:64.08, Y:6.81, Z:0.09 [[ 9.67186009e-01 -2.54024670e-01 -4.76353983e-03 6.40811661e+01] [ 2.54021617e-01 9.67197739e-01 -1.24548860e-03 6.80959001e+00] [ 4.92366979e-03 -5.42294048e-06 9.99987879e-01 9.45572633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.770281693 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:64.11, Y:6.82, Z:0.09 [[ 9.67758405e-01 -2.51835225e-01 -4.76330448e-03 6.41077653e+01] [ 2.51832141e-01 9.67770127e-01 -1.24638802e-03 6.81760121e+00] [ 4.92366819e-03 6.64931349e-06 9.99987879e-01 9.45165212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.800281693 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:64.13, Y:6.83, Z:0.09 [[ 9.68881375e-01 -2.47479685e-01 -4.76306939e-03 6.41332347e+01] [ 2.47476544e-01 9.68893082e-01 -1.24728577e-03 6.82760600e+00] [ 4.92358287e-03 2.97240040e-05 9.99987879e-01 9.22582695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.830281693 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:64.16, Y:6.84, Z:0.09 [[ 9.69204867e-01 -2.46209747e-01 -4.76296732e-03 6.41595947e+01] [ 2.46206588e-01 9.69216570e-01 -1.24767543e-03 6.83587496e+00] [ 4.92353670e-03 3.65791666e-05 9.99987879e-01 9.03669941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.860281693 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:64.19, Y:6.84, Z:0.09 [[ 9.69687590e-01 -2.44301645e-01 -4.76273275e-03 6.41859495e+01] [ 2.44298459e-01 9.69699285e-01 -1.24857020e-03 6.84495193e+00] [ 4.92344630e-03 4.71947521e-05 9.99987879e-01 8.78943110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.890281693 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:64.21, Y:6.85, Z:0.09 [[ 9.69785977e-01 -2.43910794e-01 -4.76265997e-03 6.42129193e+01] [ 2.43907602e-01 9.69797671e-01 -1.24884776e-03 6.85410371e+00] [ 4.92342400e-03 4.94660662e-05 9.99987879e-01 8.80278476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.920281693 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:64.24, Y:6.86, Z:0.09 [[ 9.69928243e-01 -2.43344451e-01 -4.76242731e-03 6.42381260e+01] [ 2.43341248e-01 9.69939934e-01 -1.24973437e-03 6.86302355e+00] [ 4.92338436e-03 5.32576512e-05 9.99987879e-01 8.72500095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95028169300001 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:64.26, Y:6.87, Z:0.09 [[ 9.70408507e-01 -2.41422140e-01 -4.76232595e-03 6.42641590e+01] [ 2.41418911e-01 9.70420191e-01 -1.25012050e-03 6.87375784e+00] [ 4.92326402e-03 6.34120180e-05 9.99987879e-01 8.77913609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98028169300001 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:64.29, Y:6.88, Z:0.09 [[ 9.70603616e-01 -2.40636537e-01 -4.76209222e-03 6.42897181e+01] [ 2.40633295e-01 9.70615296e-01 -1.25101021e-03 6.88240064e+00] [ 4.92319832e-03 6.83170883e-05 9.99987879e-01 8.71316589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.010281693 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:64.31, Y:6.89, Z:0.09 [[ 9.70523555e-01 -2.40959236e-01 -4.76199039e-03 6.43141404e+01] [ 2.40955996e-01 9.70535235e-01 -1.25139771e-03 6.89374095e+00] [ 4.92321530e-03 6.70808155e-05 9.99987879e-01 8.66594325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.040281693 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:64.34, Y:6.90, Z:0.09 [[ 9.70183946e-01 -2.42322998e-01 -4.76189066e-03 6.43409999e+01] [ 2.42319772e-01 9.70195630e-01 -1.25177709e-03 6.90241850e+00] [ 4.92329989e-03 6.05537764e-05 9.99987879e-01 8.70743487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.070281693 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:64.37, Y:6.91, Z:0.08 [[ 9.69829278e-01 -2.43738584e-01 -4.76165267e-03 6.43670022e+01] [ 2.43735371e-01 9.69840966e-01 -1.25268176e-03 6.90916392e+00] [ 4.92337270e-03 5.43042655e-05 9.99987879e-01 8.48129788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.100281693 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:64.39, Y:6.91, Z:0.08 [[ 9.69085226e-01 -2.46680263e-01 -4.76149078e-03 6.43938872e+01] [ 2.46677083e-01 9.69096923e-01 -1.25329678e-03 6.91330246e+00] [ 4.92350965e-03 4.00007402e-05 9.99987879e-01 8.49297672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.130281693 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:64.42, Y:6.92, Z:0.09 [[ 9.68680138e-01 -2.48266227e-01 -4.76139894e-03 6.44207505e+01] [ 2.48263064e-01 9.68691839e-01 -1.25364561e-03 6.91973790e+00] [ 4.92356616e-03 3.23021073e-05 9.99987879e-01 8.80841317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.160281693 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:64.45, Y:6.93, Z:0.09 [[ 9.68197066e-01 -2.50143505e-01 -4.76116149e-03 6.44477261e+01] [ 2.50140360e-01 9.68208772e-01 -1.25454676e-03 6.92668962e+00] [ 4.92361504e-03 2.36898426e-05 9.99987879e-01 9.23323340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.190281693 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:64.48, Y:6.93, Z:0.10 [[ 9.68183404e-01 -2.50196381e-01 -4.76105096e-03 6.44750533e+01] [ 2.50193235e-01 9.68195110e-01 -1.25496608e-03 6.93322136e+00] [ 4.92361423e-03 2.38545867e-05 9.99987879e-01 9.53106135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.220281693 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:64.50, Y:6.94, Z:0.10 [[ 9.68661616e-01 -2.48338494e-01 -4.76081707e-03 6.45009516e+01] [ 2.48335321e-01 9.68673315e-01 -1.25585274e-03 6.93893838e+00] [ 4.92355303e-03 3.42173102e-05 9.99987879e-01 9.81447244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.250281693 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:64.53, Y:6.95, Z:0.10 [[ 9.68978541e-01 -2.47099015e-01 -4.76071560e-03 6.45283684e+01] [ 2.47095825e-01 9.68990235e-01 -1.25623728e-03 6.94652848e+00] [ 4.92350192e-03 4.09140137e-05 9.99987879e-01 9.81948239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.280281693 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:64.55, Y:6.95, Z:0.10 [[ 9.69287255e-01 -2.45885247e-01 -4.76048586e-03 6.45539834e+01] [ 2.45882038e-01 9.69298944e-01 -1.25710728e-03 6.95338669e+00] [ 4.92343805e-03 4.79801042e-05 9.99987879e-01 9.73450971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31028169300001 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:64.58, Y:6.96, Z:0.10 [[ 9.69425283e-01 -2.45340496e-01 -4.76038619e-03 6.45810647e+01] [ 2.45337279e-01 9.69436970e-01 -1.25748458e-03 6.95855151e+00] [ 4.92340625e-03 5.11371464e-05 9.99987879e-01 9.62493553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34028169300001 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:64.61, Y:6.96, Z:0.10 [[ 9.69255551e-01 -2.46010197e-01 -4.76015746e-03 6.46078121e+01] [ 2.46006984e-01 9.69267239e-01 -1.25834985e-03 6.96461557e+00] [ 4.92343157e-03 4.86306043e-05 9.99987879e-01 9.69846022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.370281693 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:64.63, Y:6.97, Z:0.10 [[ 9.68797311e-01 -2.47808619e-01 -4.76005795e-03 6.46346561e+01] [ 2.47805425e-01 9.68809004e-01 -1.25872615e-03 6.97137215e+00] [ 4.92351019e-03 3.98823193e-05 9.99987879e-01 9.70486336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.400281693 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:64.66, Y:6.98, Z:0.10 [[ 9.68728024e-01 -2.48079341e-01 -4.75982978e-03 6.46615850e+01] [ 2.48076146e-01 9.68739717e-01 -1.25958837e-03 6.97803443e+00] [ 4.92351401e-03 3.93983248e-05 9.99987879e-01 9.69505543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.430281693 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:64.69, Y:6.98, Z:0.10 [[ 9.68809545e-01 -2.47760793e-01 -4.75959893e-03 6.46879528e+01] [ 2.47757591e-01 9.68821236e-01 -1.26046008e-03 6.98373379e+00] [ 4.92349311e-03 4.19189930e-05 9.99987879e-01 9.68244770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.460281693 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:64.72, Y:6.99, Z:0.09 [[ 9.69143147e-01 -2.46452650e-01 -4.75949813e-03 6.47157698e+01] [ 2.46449429e-01 9.69154832e-01 -1.26084059e-03 6.98889895e+00] [ 4.92342812e-03 4.89594234e-05 9.99987879e-01 9.39755444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.490281693 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:64.74, Y:7.00, Z:0.09 [[ 9.69280424e-01 -2.45912199e-01 -4.75927115e-03 6.47427002e+01] [ 2.45908968e-01 9.69292106e-01 -1.26169679e-03 6.99515462e+00] [ 4.92339059e-03 5.25905450e-05 9.99987879e-01 9.27218481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.520281693 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:64.77, Y:7.00, Z:0.09 [[ 9.69790806e-01 -2.43891664e-01 -4.75904401e-03 6.47688797e+01] [ 2.43888404e-01 9.69802481e-01 -1.26255295e-03 7.00016882e+00] [ 4.92325883e-03 6.37365950e-05 9.99987879e-01 9.30216338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.550281693 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:64.79, Y:7.01, Z:0.09 [[ 9.70113482e-01 -2.42604998e-01 -4.75888907e-03 6.47948899e+01] [ 2.42601720e-01 9.70125152e-01 -1.26313670e-03 7.00620208e+00] [ 4.92316126e-03 7.08712646e-05 9.99987879e-01 9.38638781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.580281693 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:64.82, Y:7.01, Z:0.09 [[ 9.70457962e-01 -2.41223337e-01 -4.75879052e-03 6.48227024e+01] [ 2.41220041e-01 9.70469626e-01 -1.26350789e-03 7.01233059e+00] [ 4.92304924e-03 7.82656452e-05 9.99987879e-01 9.47073101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.610281693 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:64.85, Y:7.02, Z:0.09 [[ 9.70396679e-01 -2.41469753e-01 -4.75856637e-03 6.48502253e+01] [ 2.41466456e-01 9.70408343e-01 -1.26435151e-03 7.01955187e+00] [ 4.92305515e-03 7.78883461e-05 9.99987879e-01 9.30391158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.640281693 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:64.88, Y:7.03, Z:0.09 [[ 9.70311736e-01 -2.41810863e-01 -4.75834215e-03 6.48776507e+01] [ 2.41807565e-01 9.70323400e-01 -1.26519477e-03 7.02636225e+00] [ 4.92306857e-03 7.70301994e-05 9.99987879e-01 9.08686673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.670281693 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:64.90, Y:7.03, Z:0.09 [[ 9.70088786e-01 -2.42703744e-01 -4.75811543e-03 6.49036566e+01] [ 2.42700453e-01 9.70100452e-01 -1.26604683e-03 7.03256385e+00] [ 4.92312424e-03 7.33810600e-05 9.99987879e-01 9.09123966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70028169300001 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:64.93, Y:7.04, Z:0.09 [[ 9.69942202e-01 -2.43288894e-01 -4.75801690e-03 6.49311220e+01] [ 2.43285608e-01 9.69953870e-01 -1.26641701e-03 7.03918563e+00] [ 4.92316210e-03 7.07942704e-05 9.99987879e-01 9.34519499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73028169300001 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:64.96, Y:7.04, Z:0.10 [[ 9.69404150e-01 -2.45424036e-01 -4.75779239e-03 6.49575825e+01] [ 2.45420772e-01 9.69415823e-01 -1.26725991e-03 7.04482979e+00] [ 4.92329527e-03 6.08259350e-05 9.99987879e-01 9.66464905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.760281693 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:64.98, Y:7.05, Z:0.10 [[ 9.69000209e-01 -2.47014087e-01 -4.75763948e-03 6.49838137e+01] [ 2.47010839e-01 9.69011887e-01 -1.26783373e-03 7.05080944e+00] [ 4.92338200e-03 5.33426260e-05 9.99987879e-01 9.59638928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.790281693 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:65.01, Y:7.06, Z:0.09 [[ 9.68556722e-01 -2.48747347e-01 -4.75749047e-03 6.50115149e+01] [ 2.48744117e-01 9.68568405e-01 -1.26839262e-03 7.05671283e+00] [ 4.92346426e-03 4.51124324e-05 9.99987879e-01 9.37204400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.820281693 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:65.04, Y:7.06, Z:0.09 [[ 9.68094510e-01 -2.50540193e-01 -4.75726343e-03 6.50392059e+01] [ 2.50536981e-01 9.68106198e-01 -1.26924361e-03 7.06230393e+00] [ 4.92353275e-03 3.68773583e-05 9.99987879e-01 9.23751379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.850281693 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:65.07, Y:7.06, Z:0.09 [[ 9.67183486e-01 -2.54034396e-01 -4.75702031e-03 6.50660498e+01] [ 2.54031221e-01 9.67195185e-01 -1.27015416e-03 7.06488938e+00] [ 4.92362998e-03 2.00404497e-05 9.99987879e-01 9.01579187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.880281693 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:65.09, Y:7.07, Z:0.09 [[ 9.67112759e-01 -2.54303526e-01 -4.75691467e-03 6.50933832e+01] [ 2.54300353e-01 9.67124457e-01 -1.27054968e-03 7.07005767e+00] [ 4.92363378e-03 1.90797269e-05 9.99987879e-01 9.46367597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.910281693 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:65.12, Y:7.08, Z:0.10 [[ 9.67354226e-01 -2.53383455e-01 -4.75663466e-03 6.51217497e+01] [ 2.53380265e-01 9.67365920e-01 -1.27159763e-03 7.07745334e+00] [ 4.92360807e-03 2.48479919e-05 9.99987879e-01 9.63191586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.940281693 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:65.15, Y:7.08, Z:0.10 [[ 9.67721314e-01 -2.51977840e-01 -4.75673039e-03 6.51482755e+01] [ 2.51974635e-01 9.67733004e-01 -1.27123945e-03 7.08467415e+00] [ 4.92356916e-03 3.16301071e-05 9.99987879e-01 9.58171491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.970281693 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:65.18, Y:7.09, Z:0.09 [[ 9.68627428e-01 -2.48471891e-01 -4.75649419e-03 6.51750062e+01] [ 2.48468640e-01 9.68639106e-01 -1.27212260e-03 7.09231819e+00] [ 4.92341299e-03 5.03732029e-05 9.99987879e-01 9.38956880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.000281693 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:65.20, Y:7.10, Z:0.09 [[ 9.69043896e-01 -2.46842674e-01 -4.75625724e-03 6.52006527e+01] [ 2.46839398e-01 9.69055566e-01 -1.27300792e-03 7.09984368e+00] [ 4.92331023e-03 5.95688795e-05 9.99987879e-01 9.41416529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.030281693 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:65.23, Y:7.11, Z:0.09 [[ 9.68998265e-01 -2.47021742e-01 -4.75615374e-03 6.52281080e+01] [ 2.47018467e-01 9.69009936e-01 -1.27339447e-03 7.10740558e+00] [ 4.92331635e-03 5.90592270e-05 9.99987879e-01 9.42818778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06028169300001 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:65.25, Y:7.12, Z:0.10 [[ 9.69517452e-01 -2.44976105e-01 -4.75591827e-03 6.52549237e+01] [ 2.44972801e-01 9.69529114e-01 -1.27427333e-03 7.11681436e+00] [ 4.92316774e-03 7.03596167e-05 9.99987879e-01 9.73839563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09028169300001 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:65.28, Y:7.13, Z:0.10 [[ 9.69865885e-01 -2.43593000e-01 -4.75566500e-03 6.52801285e+01] [ 2.43589674e-01 9.69877541e-01 -1.27521783e-03 7.12532140e+00] [ 4.92304681e-03 7.83593825e-05 9.99987879e-01 9.75277749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.120281693 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:65.30, Y:7.14, Z:0.10 [[ 9.70762802e-01 -2.39993679e-01 -4.75555529e-03 6.53045676e+01] [ 2.39990309e-01 9.70774446e-01 -1.27562683e-03 7.13732030e+00] [ 4.92271393e-03 9.70438918e-05 9.99987879e-01 9.55792942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.150281693 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:65.33, Y:7.15, Z:0.10 [[ 9.71131687e-01 -2.38496611e-01 -4.75539085e-03 6.53302115e+01] [ 2.38493220e-01 9.71143324e-01 -1.27623957e-03 7.14858008e+00] [ 4.92254488e-03 1.05268209e-04 9.99987879e-01 9.50874355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.180281693 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:65.35, Y:7.16, Z:0.10 [[ 9.71928430e-01 -2.35228643e-01 -4.75515974e-03 6.53538747e+01] [ 2.35225208e-01 9.71940055e-01 -1.27710007e-03 7.16367563e+00] [ 4.92214074e-03 1.22716422e-04 9.99987879e-01 9.50201868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.210281693 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:65.38, Y:7.17, Z:0.09 [[ 9.72108085e-01 -2.34485098e-01 -4.75505930e-03 6.53797831e+01] [ 2.34481652e-01 9.72119706e-01 -1.27747393e-03 7.17415350e+00] [ 4.92203545e-03 1.26868570e-04 9.99987879e-01 9.44319664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.240281693 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:65.41, Y:7.18, Z:0.09 [[ 9.72258237e-01 -2.33861739e-01 -4.75481821e-03 6.54053360e+01] [ 2.33858281e-01 9.72269854e-01 -1.27837064e-03 7.18434267e+00] [ 4.92192839e-03 1.30952766e-04 9.99987879e-01 9.22387629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.270281693 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:65.43, Y:7.20, Z:0.09 [[ 9.72271966e-01 -2.33804654e-01 -4.75471348e-03 6.54311346e+01] [ 2.33801194e-01 9.72283583e-01 -1.27876007e-03 7.19511422e+00] [ 4.92190991e-03 1.31644884e-04 9.99987879e-01 9.12533971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.300281693 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:65.46, Y:7.21, Z:0.09 [[ 9.72133015e-01 -2.34381730e-01 -4.75448124e-03 6.54561013e+01] [ 2.34378272e-01 9.72144633e-01 -1.27962296e-03 7.21145022e+00] [ 4.92196366e-03 1.29616628e-04 9.99987879e-01 9.47110611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.330281693 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:65.48, Y:7.23, Z:0.10 [[ 9.72008187e-01 -2.34898873e-01 -4.75427775e-03 6.54812741e+01] [ 2.34895418e-01 9.72019806e-01 -1.28037854e-03 7.22732404e+00] [ 4.92201161e-03 1.27780367e-04 9.99987879e-01 1.00553647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.360281693 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:65.51, Y:7.24, Z:0.10 [[ 9.72090522e-01 -2.34557916e-01 -4.75406423e-03 6.55068575e+01] [ 2.34554453e-01 9.72102138e-01 -1.28117086e-03 7.23825518e+00] [ 4.92194477e-03 1.30327108e-04 9.99987879e-01 1.01192421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.390281693 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:65.53, Y:7.25, Z:0.10 [[ 9.72241176e-01 -2.33932678e-01 -4.75382175e-03 6.55329356e+01] [ 2.33929203e-01 9.72252788e-01 -1.28206996e-03 7.24930938e+00] [ 4.92183451e-03 1.34423467e-04 9.99987879e-01 1.01190909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.420281693 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:65.56, Y:7.26, Z:0.10 [[ 9.72325773e-01 -2.33580810e-01 -4.75358019e-03 6.55584939e+01] [ 2.33577327e-01 9.72337383e-01 -1.28296497e-03 7.26004873e+00] [ 4.92175972e-03 1.37131351e-04 9.99987879e-01 1.00774292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.45028169300001 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:65.58, Y:7.27, Z:0.10 [[ 9.72252526e-01 -2.33885507e-01 -4.75347517e-03 6.55843030e+01] [ 2.33882025e-01 9.72264137e-01 -1.28335396e-03 7.27363352e+00] [ 4.92179132e-03 1.35991727e-04 9.99987879e-01 9.95953423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48028169300001 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:65.61, Y:7.29, Z:0.10 [[ 9.71753679e-01 -2.35949559e-01 -4.75323416e-03 6.56104917e+01] [ 2.35946098e-01 9.71765296e-01 -1.28424599e-03 7.28505578e+00] [ 4.92204527e-03 1.26463717e-04 9.99987879e-01 9.95221659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.510281693 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:65.64, Y:7.29, Z:0.10 [[ 9.71200813e-01 -2.38215007e-01 -4.75299349e-03 6.56370919e+01] [ 2.38211569e-01 9.71212437e-01 -1.28513610e-03 7.29499991e+00] [ 4.92230509e-03 1.15907185e-04 9.99987879e-01 1.01018082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.540281693 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:65.66, Y:7.30, Z:0.10 [[ 9.70523154e-01 -2.40961033e-01 -4.75275210e-03 6.56621399e+01] [ 2.40957624e-01 9.70534785e-01 -1.28602819e-03 7.30446198e+00] [ 4.92259392e-03 1.02908280e-04 9.99987879e-01 1.02364515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.570281693 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:65.69, Y:7.31, Z:0.10 [[ 9.68957952e-01 -2.47179894e-01 -4.75264743e-03 6.56878052e+01] [ 2.47176557e-01 9.68969605e-01 -1.28641490e-03 7.31336047e+00] [ 4.92314680e-03 7.17389220e-05 9.99987879e-01 1.03536382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.600281693 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:65.71, Y:7.32, Z:0.10 [[ 9.68205463e-01 -2.50111164e-01 -4.75254397e-03 6.57148430e+01] [ 2.50107860e-01 9.68217126e-01 -1.28679699e-03 7.32060522e+00] [ 4.92333676e-03 5.72352718e-05 9.99987879e-01 1.03239094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.630281693 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:65.74, Y:7.33, Z:0.10 [[ 9.67245846e-01 -2.53796945e-01 -4.75230861e-03 6.57412149e+01] [ 2.53793682e-01 9.67257519e-01 -1.28766564e-03 7.32966189e+00] [ 4.92351184e-03 3.93833429e-05 9.99987879e-01 1.03004835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.660281693 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:65.77, Y:7.34, Z:0.10 [[ 9.67126783e-01 -2.54250276e-01 -4.75207353e-03 6.57669343e+01] [ 2.54247014e-01 9.67138457e-01 -1.28853260e-03 7.33820437e+00] [ 4.92352283e-03 3.79738816e-05 9.99987879e-01 1.02733700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.690281693 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:65.79, Y:7.35, Z:0.10 [[ 9.67108134e-01 -2.54321207e-01 -4.75197138e-03 6.57937699e+01] [ 2.54317944e-01 9.67119808e-01 -1.28890922e-03 7.34699542e+00] [ 4.92352259e-03 3.80030036e-05 9.99987879e-01 1.01346340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.720281693 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:65.82, Y:7.36, Z:0.10 [[ 9.67170640e-01 -2.54083399e-01 -4.75173898e-03 6.58196864e+01] [ 2.54080128e-01 9.67182312e-01 -1.28976540e-03 7.35652284e+00] [ 4.92350587e-03 4.01007807e-05 9.99987879e-01 9.73307170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.750281693 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:65.85, Y:7.36, Z:0.10 [[ 9.67041274e-01 -2.54575326e-01 -4.75150720e-03 6.58460040e+01] [ 2.54572058e-01 9.67052947e-01 -1.29061874e-03 7.36421761e+00] [ 4.92351872e-03 3.84806279e-05 9.99987879e-01 9.61379652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.780281693 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:65.87, Y:7.37, Z:0.10 [[ 9.66392476e-01 -2.57027249e-01 -4.75140641e-03 6.58737831e+01] [ 2.57024008e-01 9.66404156e-01 -1.29098967e-03 7.37009414e+00] [ 4.92359843e-03 2.63771812e-05 9.99987879e-01 9.69355995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81028169300001 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:65.90, Y:7.38, Z:0.10 [[ 9.65804626e-01 -2.59227411e-01 -4.75117723e-03 6.59004021e+01] [ 2.59224193e-01 9.65816312e-01 -1.29183256e-03 7.37598148e+00] [ 4.92364288e-03 1.60377823e-05 9.99987879e-01 9.81202637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84028169300001 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:65.93, Y:7.38, Z:0.10 [[ 9.64725579e-01 -2.63214711e-01 -4.75107735e-03 6.59268191e+01] [ 2.63211539e-01 9.64737278e-01 -1.29219981e-03 7.38148297e+00] [ 4.92366743e-03 -3.92017297e-06 9.99987879e-01 1.00430752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.870281693 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:65.95, Y:7.39, Z:0.10 [[ 9.64325659e-01 -2.64676127e-01 -4.75097825e-03 6.59542773e+01] [ 2.64672971e-01 9.64337362e-01 -1.29256407e-03 7.38893811e+00] [ 4.92365668e-03 -1.10028325e-05 9.99987879e-01 1.00671420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.900281693 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:65.98, Y:7.40, Z:0.10 [[ 9.64105660e-01 -2.65476376e-01 -4.75075304e-03 6.59808260e+01] [ 2.65473226e-01 9.64117365e-01 -1.29339128e-03 7.39596105e+00] [ 4.92364833e-03 -1.42318783e-05 9.99987879e-01 9.91237416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.930281693 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:66.01, Y:7.40, Z:0.10 [[ 9.63848738e-01 -2.66407661e-01 -4.75065502e-03 6.60084096e+01] [ 2.66404520e-01 9.63860445e-01 -1.29375120e-03 7.40264883e+00] [ 4.92363370e-03 -1.86155035e-05 9.99987879e-01 9.75937950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.960281693 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:66.04, Y:7.41, Z:0.10 [[ 9.63935012e-01 -2.66095333e-01 -4.75043178e-03 6.60352925e+01] [ 2.66092184e-01 9.63946717e-01 -1.29457037e-03 7.41026504e+00] [ 4.92364226e-03 -1.61710609e-05 9.99987879e-01 9.84804863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.990281693 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:66.06, Y:7.42, Z:0.10 [[ 9.64163886e-01 -2.65264842e-01 -4.75020987e-03 6.60622093e+01] [ 2.65261679e-01 9.64175587e-01 -1.29538414e-03 7.41786721e+00] [ 4.92365626e-03 -1.10860404e-05 9.99987879e-01 1.00614117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.020281693 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:66.09, Y:7.42, Z:0.10 [[ 9.64833052e-01 -2.62820509e-01 -4.74998753e-03 6.60888941e+01] [ 2.62817312e-01 9.64844744e-01 -1.29619891e-03 7.42413682e+00] [ 4.92366816e-03 2.23658784e-06 9.99987879e-01 1.02730349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.050281693 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:66.11, Y:7.43, Z:0.10 [[ 9.65096927e-01 -2.61849880e-01 -4.74989064e-03 6.61148014e+01] [ 2.61846670e-01 9.65108616e-01 -1.29655387e-03 7.43112953e+00] [ 4.92366286e-03 7.55711049e-06 9.99987879e-01 1.01483188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.080281693 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:66.14, Y:7.44, Z:0.10 [[ 9.65530338e-01 -2.60247201e-01 -4.74979427e-03 6.61411169e+01] [ 2.60243970e-01 9.65542021e-01 -1.29690682e-03 7.44079741e+00] [ 4.92364233e-03 1.60975626e-05 9.99987879e-01 9.87157846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.110281693 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:66.17, Y:7.45, Z:0.10 [[ 9.65715726e-01 -2.59558430e-01 -4.74957447e-03 6.61665024e+01] [ 2.59555187e-01 9.65727405e-01 -1.29771126e-03 7.44967560e+00] [ 4.92362613e-03 2.04434876e-05 9.99987879e-01 9.86936764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.140281693 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:66.19, Y:7.46, Z:0.10 [[ 9.66028063e-01 -2.58393545e-01 -4.74942451e-03 6.61923205e+01] [ 2.58390285e-01 9.66039738e-01 -1.29825986e-03 7.45896853e+00] [ 4.92359478e-03 2.69502989e-05 9.99987879e-01 9.81054413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.170281693 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:66.22, Y:7.47, Z:0.10 [[ 9.66075983e-01 -2.58214329e-01 -4.74932948e-03 6.62189457e+01] [ 2.58211065e-01 9.66087656e-01 -1.29860743e-03 7.46770095e+00] [ 4.92358763e-03 2.82240272e-05 9.99987879e-01 9.75842497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20028169300001 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:66.25, Y:7.48, Z:0.10 [[ 9.66154682e-01 -2.57919708e-01 -4.74911238e-03 6.62451694e+01] [ 2.57916437e-01 9.66166354e-01 -1.29940089e-03 7.47857542e+00] [ 4.92357369e-03 3.05481138e-05 9.99987879e-01 1.00933953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23028169300001 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:66.27, Y:7.49, Z:0.10 [[ 9.66177370e-01 -2.57834708e-01 -4.74889581e-03 6.62720258e+01] [ 2.57831432e-01 9.66189041e-01 -1.30019191e-03 7.48716942e+00] [ 4.92356569e-03 3.18013911e-05 9.99987879e-01 1.04441263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.260281693 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:66.30, Y:7.50, Z:0.11 [[ 9.65965073e-01 -2.58628939e-01 -4.74867970e-03 6.62986104e+01] [ 2.58625669e-01 9.65976744e-01 -1.30098072e-03 7.49649362e+00] [ 4.92358542e-03 2.85714751e-05 9.99987879e-01 1.05842322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.290281693 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:66.32, Y:7.51, Z:0.10 [[ 9.65743840e-01 -2.59453825e-01 -4.74846468e-03 6.63247848e+01] [ 2.59450561e-01 9.65755513e-01 -1.30176503e-03 7.50623181e+00] [ 4.92360387e-03 2.51797355e-05 9.99987879e-01 1.03868592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.320281693 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:66.35, Y:7.52, Z:0.10 [[ 9.65687660e-01 -2.59662854e-01 -4.74824963e-03 6.63509997e+01] [ 2.59659588e-01 9.65699333e-01 -1.30254897e-03 7.51626060e+00] [ 4.92360509e-03 2.49269212e-05 9.99987879e-01 1.02197350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.350281693 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:66.38, Y:7.53, Z:0.10 [[ 9.66052715e-01 -2.58301392e-01 -4.74800873e-03 6.63752297e+01] [ 2.58298105e-01 9.66064382e-01 -1.30342651e-03 7.52919110e+00] [ 4.92355900e-03 3.27770593e-05 9.99987879e-01 1.01706304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.380281693 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:66.40, Y:7.54, Z:0.10 [[ 9.66242378e-01 -2.57591005e-01 -4.74784484e-03 6.64013041e+01] [ 2.57587706e-01 9.66254042e-01 -1.30402323e-03 7.54000866e+00] [ 4.92352892e-03 3.70160403e-05 9.99987879e-01 1.02051302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.410281693 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:66.43, Y:7.55, Z:0.10 [[ 9.66529801e-01 -2.56510436e-01 -4.74760013e-03 6.64251282e+01] [ 2.56507121e-01 9.66541460e-01 -1.30491355e-03 7.55331977e+00] [ 4.92347630e-03 4.34445972e-05 9.99987879e-01 1.01724543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.440281693 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:66.45, Y:7.56, Z:0.10 [[ 9.66440333e-01 -2.56847317e-01 -4.74749343e-03 6.64508465e+01] [ 2.56844004e-01 9.66451993e-01 -1.30530160e-03 7.56387733e+00] [ 4.92348770e-03 4.21308877e-05 9.99987879e-01 1.03688285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.470281693 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:66.48, Y:7.58, Z:0.10 [[ 9.66007927e-01 -2.58468854e-01 -4.74725379e-03 6.64765573e+01] [ 2.58465555e-01 9.66019591e-01 -1.30617257e-03 7.57653653e+00] [ 4.92354510e-03 3.47714668e-05 9.99987879e-01 1.04719270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.500281693 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:66.50, Y:7.59, Z:0.10 [[ 9.65694630e-01 -2.59636953e-01 -4.74700254e-03 6.65018865e+01] [ 2.59633664e-01 9.65706297e-01 -1.30708506e-03 7.58535298e+00] [ 4.92357783e-03 2.97633619e-05 9.99987879e-01 1.04775630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.530281693 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:66.53, Y:7.59, Z:0.10 [[ 9.65267614e-01 -2.61220025e-01 -4.74689347e-03 6.65272213e+01] [ 2.61216753e-01 9.65279285e-01 -1.30748105e-03 7.59403034e+00] [ 4.92361817e-03 2.21010097e-05 9.99987879e-01 1.04834069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56028169300001 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:66.55, Y:7.60, Z:0.10 [[ 9.64002401e-01 -2.65851160e-01 -4.74678839e-03 6.65526834e+01] [ 2.65847943e-01 9.64014087e-01 -1.30786244e-03 7.60340671e+00] [ 4.92366762e-03 -1.14139766e-06 9.99987879e-01 1.04967121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59028169300001 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:66.58, Y:7.61, Z:0.10 [[ 9.62465129e-01 -2.71363862e-01 -4.74662549e-03 6.65780873e+01] [ 2.71360709e-01 9.62476833e-01 -1.30845337e-03 7.61110814e+00] [ 4.92358403e-03 -2.87069110e-05 9.99987879e-01 1.04204899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.620281693 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:66.60, Y:7.62, Z:0.10 [[ 9.61942231e-01 -2.73211666e-01 -4.74652334e-03 6.66049758e+01] [ 2.73208534e-01 9.61953941e-01 -1.30882382e-03 7.61777384e+00] [ 4.92352277e-03 -3.77777712e-05 9.99987879e-01 1.04367250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.650281693 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:66.63, Y:7.62, Z:0.11 [[ 9.61636456e-01 -2.74285980e-01 -4.74628630e-03 6.66320130e+01] [ 2.74282856e-01 9.61648168e-01 -1.30968285e-03 7.62445802e+00] [ 4.92348517e-03 -4.23861845e-05 9.99987879e-01 1.05630579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.680281693 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:66.66, Y:7.63, Z:0.11 [[ 9.61476662e-01 -2.74845598e-01 -4.74604779e-03 6.66589989e+01] [ 2.74842477e-01 9.61488375e-01 -1.31054659e-03 7.63226987e+00] [ 4.92346774e-03 -4.43555691e-05 9.99987879e-01 1.08668114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.710281693 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:66.68, Y:7.64, Z:0.11 [[ 9.61477910e-01 -2.74841236e-01 -4.74580749e-03 6.66847676e+01] [ 2.74838111e-01 9.61489622e-01 -1.31141619e-03 7.64058342e+00] [ 4.92347590e-03 -4.34310635e-05 9.99987879e-01 1.09144001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.740281693 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:66.71, Y:7.65, Z:0.11 [[ 9.61017284e-01 -2.76447568e-01 -4.74570292e-03 6.67114423e+01] [ 2.76444461e-01 9.61029000e-01 -1.31179451e-03 7.64725753e+00] [ 4.92340054e-03 -5.12660849e-05 9.99987879e-01 1.09361860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.770281693 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:66.74, Y:7.65, Z:0.11 [[ 9.60543631e-01 -2.78088860e-01 -4.74546448e-03 6.67385625e+01] [ 2.78085768e-01 9.60555351e-01 -1.31265651e-03 7.65333303e+00] [ 4.92331645e-03 -5.87822855e-05 9.99987879e-01 1.09498404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.800281693 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:66.76, Y:7.66, Z:0.11 [[ 9.60174808e-01 -2.79359661e-01 -4.74522522e-03 6.67648002e+01] [ 2.79356580e-01 9.60186532e-01 -1.31352085e-03 7.65906512e+00] [ 4.92324609e-03 -6.44002604e-05 9.99987879e-01 1.09838755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.830281693 meters Centerline goodness : 0.998315 Centerline is valid? [True, True] Translation: X:66.79, Y:7.67, Z:0.11 [[ 9.59995252e-01 -2.79976071e-01 -4.74512096e-03 6.67922657e+01] [ 2.79972996e-01 9.60006977e-01 -1.31389738e-03 7.66574317e+00] [ 4.92320906e-03 -6.71704819e-05 9.99987879e-01 1.11898225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.860281693 meters Centerline goodness : 0.998541 Centerline is valid? [True, True] Translation: X:66.82, Y:7.67, Z:0.11 [[ 9.60203986e-01 -2.79259364e-01 -4.74488325e-03 6.68181485e+01] [ 2.79256276e-01 9.60215707e-01 -1.31475528e-03 7.67213848e+00] [ 4.92326915e-03 -6.26051639e-05 9.99987879e-01 1.12046040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.890281693 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:66.85, Y:7.68, Z:0.11 [[ 9.60865499e-01 -2.76974690e-01 -4.74477958e-03 6.68451987e+01] [ 2.76971573e-01 9.60877213e-01 -1.31512930e-03 7.67896178e+00] [ 4.92340811e-03 -5.05066947e-05 9.99987879e-01 1.07492288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.920281693 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:66.87, Y:7.69, Z:0.11 [[ 9.60814383e-01 -2.77151965e-01 -4.74453729e-03 6.68725710e+01] [ 2.77148845e-01 9.60826095e-01 -1.31600283e-03 7.68674142e+00] [ 4.92340801e-03 -5.05085841e-05 9.99987879e-01 1.07632529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95028169300001 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:66.90, Y:7.69, Z:0.11 [[ 9.61268813e-01 -2.75571698e-01 -4.74429433e-03 6.68996939e+01] [ 2.75568554e-01 9.61280520e-01 -1.31687814e-03 7.69488552e+00] [ 4.92349206e-03 -4.15044406e-05 9.99987879e-01 1.05345887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98028169300001 meters Centerline goodness : 0.998440 Centerline is valid? [True, True] Translation: X:66.93, Y:7.70, Z:0.10 [[ 9.61955396e-01 -2.73165354e-01 -4.74404930e-03 6.69250024e+01] [ 2.73162177e-01 9.61967093e-01 -1.31776026e-03 7.70303755e+00] [ 4.92358576e-03 -2.82682430e-05 9.99987879e-01 1.03910020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.010281693 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:66.95, Y:7.71, Z:0.11 [[ 9.63543699e-01 -2.67508944e-01 -4.74394239e-03 6.69519778e+01] [ 2.67505697e-01 9.63555377e-01 -1.31814503e-03 7.71214748e+00] [ 4.92366678e-03 1.05872190e-06 9.99987879e-01 1.05777682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.040281693 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:66.98, Y:7.72, Z:0.11 [[ 9.64358218e-01 -2.64557602e-01 -4.74374147e-03 6.69782581e+01] [ 2.64554315e-01 9.64369885e-01 -1.31886770e-03 7.72004577e+00] [ 4.92363789e-03 1.68836321e-05 9.99987879e-01 1.11290964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.070281693 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:67.00, Y:7.73, Z:0.11 [[ 9.64219078e-01 -2.65064272e-01 -4.74366423e-03 6.70047765e+01] [ 2.65060989e-01 9.64230746e-01 -1.31914547e-03 7.72837571e+00] [ 4.92364523e-03 1.45848931e-05 9.99987879e-01 1.13293789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.100281693 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:67.03, Y:7.74, Z:0.11 [[ 9.63939374e-01 -2.66079657e-01 -4.74342111e-03 6.70303272e+01] [ 2.66076383e-01 9.63951044e-01 -1.32001908e-03 7.73587195e+00] [ 4.92365596e-03 1.03060291e-05 9.99987879e-01 1.12498488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.130281693 meters Centerline goodness : 0.998594 Centerline is valid? [True, True] Translation: X:67.06, Y:7.74, Z:0.11 [[ 9.63169913e-01 -2.68851668e-01 -4.74331537e-03 6.70574339e+01] [ 2.68848426e-01 9.63181593e-01 -1.32039896e-03 7.74161490e+00] [ 4.92366551e-03 -3.46431576e-06 9.99987879e-01 1.06509247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.160281693 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:67.08, Y:7.75, Z:0.11 [[ 9.62650344e-01 -2.70706149e-01 -4.74307155e-03 6.70849036e+01] [ 2.70702925e-01 9.62662028e-01 -1.32127419e-03 7.74777913e+00] [ 4.92365193e-03 -1.20382934e-05 9.99987879e-01 1.06060368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.190281693 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:67.11, Y:7.75, Z:0.11 [[ 9.61768682e-01 -2.73822036e-01 -4.74282792e-03 6.71128900e+01] [ 2.73818845e-01 9.61780376e-01 -1.32214818e-03 7.75246577e+00] [ 4.92359212e-03 -2.70749554e-05 9.99987879e-01 1.11376795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.220281693 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:67.14, Y:7.76, Z:0.11 [[ 9.61579150e-01 -2.74486876e-01 -4.74258638e-03 6.71392433e+01] [ 2.74483689e-01 9.61590845e-01 -1.32301402e-03 7.75754258e+00] [ 4.92357763e-03 -2.95799104e-05 9.99987879e-01 1.13314615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.250281693 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:67.17, Y:7.76, Z:0.11 [[ 9.61528665e-01 -2.74663680e-01 -4.74234632e-03 6.71672198e+01] [ 2.74660491e-01 9.61540359e-01 -1.32387396e-03 7.76266623e+00] [ 4.92357747e-03 -2.95924080e-05 9.99987879e-01 1.12576594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.280281693 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:67.20, Y:7.76, Z:0.11 [[ 9.62257647e-01 -2.72098756e-01 -4.74210894e-03 6.71960646e+01] [ 2.72095531e-01 9.62269332e-01 -1.32472369e-03 7.76456484e+00] [ 4.92364167e-03 -1.55811527e-05 9.99987879e-01 1.07967077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.31028169300001 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:67.22, Y:7.77, Z:0.11 [[ 9.63782270e-01 -2.66648178e-01 -4.74186433e-03 6.72225875e+01] [ 2.66644884e-01 9.63793935e-01 -1.32559869e-03 7.76906281e+00] [ 4.92364856e-03 1.31946536e-05 9.99987879e-01 1.06477007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34028169300001 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:67.25, Y:7.78, Z:0.11 [[ 9.64504675e-01 -2.64023198e-01 -4.74162060e-03 6.72495804e+01] [ 2.64019867e-01 9.64516330e-01 -1.32646995e-03 7.77509440e+00] [ 4.92358933e-03 2.75044295e-05 9.99987879e-01 1.07814638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.370281693 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:67.28, Y:7.78, Z:0.11 [[ 9.65078777e-01 -2.61916919e-01 -4.74138181e-03 6.72765814e+01] [ 2.61913559e-01 9.65090424e-01 -1.32732293e-03 7.78059514e+00] [ 4.92351051e-03 3.91390101e-05 9.99987879e-01 1.08557310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.400281693 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:67.30, Y:7.78, Z:0.11 [[ 9.65794851e-01 -2.59264013e-01 -4.74114437e-03 6.73035690e+01] [ 2.59260616e-01 9.65806486e-01 -1.32817051e-03 7.78431505e+00] [ 4.92337480e-03 5.35482281e-05 9.99987879e-01 1.08835809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.430281693 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:67.33, Y:7.79, Z:0.11 [[ 9.65980460e-01 -2.58571602e-01 -4.74098176e-03 6.73293491e+01] [ 2.58568194e-01 9.65992093e-01 -1.32875071e-03 7.79085235e+00] [ 4.92332809e-03 5.76801290e-05 9.99987879e-01 1.10128581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.460281693 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:67.36, Y:7.80, Z:0.11 [[ 9.66191843e-01 -2.57780617e-01 -4.74087882e-03 6.73572007e+01] [ 2.57777198e-01 9.66203472e-01 -1.32911788e-03 7.79665638e+00] [ 4.92327441e-03 6.20923942e-05 9.99987879e-01 1.11865215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.490281693 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:67.38, Y:7.80, Z:0.11 [[ 9.66191494e-01 -2.57781929e-01 -4.74064584e-03 6.73839894e+01] [ 2.57778506e-01 9.66203122e-01 -1.32994835e-03 7.80369257e+00] [ 4.92326346e-03 6.29481834e-05 9.99987879e-01 1.11240454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.520281693 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:67.41, Y:7.81, Z:0.11 [[ 9.66071095e-01 -2.58232779e-01 -4.74040964e-03 6.74099029e+01] [ 2.58229357e-01 9.66082723e-01 -1.33078973e-03 7.80981174e+00] [ 4.92328138e-03 6.15245542e-05 9.99987879e-01 1.08248936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.550281693 meters Centerline goodness : 0.998266 Centerline is valid? [True, True] Translation: X:67.44, Y:7.82, Z:0.11 [[ 9.65798987e-01 -2.59248618e-01 -4.74024906e-03 6.74374316e+01] [ 2.59245205e-01 9.65810619e-01 -1.33136144e-03 7.81700481e+00] [ 4.92333649e-03 5.69406897e-05 9.99987879e-01 1.07548873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.580281693 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:67.46, Y:7.82, Z:0.11 [[ 9.65498358e-01 -2.60365998e-01 -4.74001456e-03 6.74634596e+01] [ 2.60362595e-01 9.65509992e-01 -1.33219581e-03 7.82303266e+00] [ 4.92338991e-03 5.21103685e-05 9.99987879e-01 1.07526220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.610281693 meters Centerline goodness : 0.998564 Centerline is valid? [True, True] Translation: X:67.49, Y:7.83, Z:0.11 [[ 9.64718618e-01 -2.63240425e-01 -4.73991230e-03 6.74909051e+01] [ 2.63237055e-01 9.64730261e-01 -1.33255954e-03 7.82834418e+00] [ 4.92352038e-03 3.78244455e-05 9.99987879e-01 1.09148105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.640281693 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:67.52, Y:7.84, Z:0.11 [[ 9.64359317e-01 -2.64553668e-01 -4.73966996e-03 6.75171644e+01] [ 2.64550309e-01 9.64370964e-01 -1.33342096e-03 7.83529311e+00] [ 4.92356149e-03 3.20157716e-05 9.99987879e-01 1.09488365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.670281693 meters Centerline goodness : 0.998500 Centerline is valid? [True, True] Translation: X:67.54, Y:7.84, Z:0.11 [[ 9.63770778e-01 -2.66689753e-01 -4.73950543e-03 6.75445783e+01] [ 2.66686418e-01 9.63782431e-01 -1.33400550e-03 7.84113395e+00] [ 4.92361767e-03 2.17137885e-05 9.99987879e-01 1.09217958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70028169300001 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:67.57, Y:7.85, Z:0.11 [[ 9.63585374e-01 -2.67358871e-01 -4.73925984e-03 6.75711902e+01] [ 2.67355539e-01 9.63597029e-01 -1.33487743e-03 7.84730882e+00] [ 4.92362802e-03 1.92010011e-05 9.99987879e-01 1.08493954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73028169300001 meters Centerline goodness : 0.998566 Centerline is valid? [True, True] Translation: X:67.60, Y:7.85, Z:0.11 [[ 9.63439528e-01 -2.67883960e-01 -4.73915302e-03 6.75978973e+01] [ 2.67880633e-01 9.63451184e-01 -1.33525655e-03 7.85384257e+00] [ 4.92363640e-03 1.69116276e-05 9.99987879e-01 1.07992086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.760281693 meters Centerline goodness : 0.998598 Centerline is valid? [True, True] Translation: X:67.62, Y:7.86, Z:0.11 [[ 9.63320818e-01 -2.68310536e-01 -4.73905326e-03 6.76237228e+01] [ 2.68307212e-01 9.63332474e-01 -1.33561053e-03 7.86045753e+00] [ 4.92364228e-03 1.50992554e-05 9.99987879e-01 1.09019588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.790281693 meters Centerline goodness : 0.998270 Centerline is valid? [True, True] Translation: X:67.65, Y:7.87, Z:0.11 [[ 9.63158890e-01 -2.68891232e-01 -4.73895447e-03 6.76501242e+01] [ 2.68887914e-01 9.63170548e-01 -1.33596098e-03 7.86835377e+00] [ 4.92364957e-03 1.24951176e-05 9.99987879e-01 1.10792169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.820281693 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:67.68, Y:7.88, Z:0.11 [[ 9.63178133e-01 -2.68822298e-01 -4.73870768e-03 6.76764176e+01] [ 2.68818975e-01 9.63189790e-01 -1.33683575e-03 7.87619821e+00] [ 4.92364612e-03 1.37564214e-05 9.99987879e-01 1.12108103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.850281693 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:67.70, Y:7.88, Z:0.11 [[ 9.63130395e-01 -2.68993286e-01 -4.73860011e-03 6.77027666e+01] [ 2.68989962e-01 9.63142052e-01 -1.33721695e-03 7.88420696e+00] [ 4.92364742e-03 1.32784194e-05 9.99987879e-01 1.10703883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.880281693 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:67.73, Y:7.89, Z:0.11 [[ 9.63101485e-01 -2.69096781e-01 -4.73835375e-03 6.77281665e+01] [ 2.69093454e-01 9.63113141e-01 -1.33808934e-03 7.89194169e+00] [ 4.92364630e-03 1.36558547e-05 9.99987879e-01 1.09014366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.910281693 meters Centerline goodness : 0.998076 Centerline is valid? [True, True] Translation: X:67.75, Y:7.90, Z:0.11 [[ 9.63092336e-01 -2.69129524e-01 -4.73824683e-03 6.77537577e+01] [ 2.69126196e-01 9.63103992e-01 -1.33846785e-03 7.90023760e+00] [ 4.92364565e-03 1.38817842e-05 9.99987879e-01 1.07231301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.940281693 meters Centerline goodness : 0.998470 Centerline is valid? [True, True] Translation: X:67.78, Y:7.91, Z:0.11 [[ 9.62811749e-01 -2.70131610e-01 -4.73814287e-03 6.77807984e+01] [ 2.70128293e-01 9.62823407e-01 -1.33883577e-03 7.90765196e+00] [ 4.92365672e-03 9.14036176e-06 9.99987879e-01 1.09762806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.970281693 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:67.81, Y:7.91, Z:0.11 [[ 9.62566193e-01 -2.71005307e-01 -4.73790302e-03 6.78075283e+01] [ 2.71001996e-01 9.62577853e-01 -1.33968402e-03 7.91442298e+00] [ 4.92366200e-03 5.55336966e-06 9.99987879e-01 1.11062133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.000281693 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:67.83, Y:7.92, Z:0.11 [[ 9.62210578e-01 -2.72265235e-01 -4.73766281e-03 6.78344725e+01] [ 2.72261935e-01 9.62222241e-01 -1.34053295e-03 7.92172479e+00] [ 4.92366505e-03 -1.02605371e-08 9.99987879e-01 1.11975079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.030281693 meters Centerline goodness : 0.998602 Centerline is valid? [True, True] Translation: X:67.86, Y:7.93, Z:0.11 [[ 9.61878201e-01 -2.73437166e-01 -4.73742372e-03 6.78610482e+01] [ 2.73433876e-01 9.61889867e-01 -1.34137737e-03 7.92925745e+00] [ 4.92366230e-03 -5.13047295e-06 9.99987879e-01 1.13151414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06028169300001 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:67.89, Y:7.94, Z:0.11 [[ 9.61463182e-01 -2.74892904e-01 -4.73718576e-03 6.78875772e+01] [ 2.74889627e-01 9.61474852e-01 -1.34221720e-03 7.93669011e+00] [ 4.92365097e-03 -1.17108048e-05 9.99987879e-01 1.13496901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09028169300001 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:67.92, Y:7.94, Z:0.11 [[ 9.61666987e-01 -2.74179081e-01 -4.73694323e-03 6.79150160e+01] [ 2.74175791e-01 9.61678653e-01 -1.34307260e-03 7.94204230e+00] [ 4.92365960e-03 -7.16658286e-06 9.99987879e-01 1.11904465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.120281693 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:67.94, Y:7.95, Z:0.11 [[ 9.62171052e-01 -2.72404901e-01 -4.73669923e-03 6.79408739e+01] [ 2.72401585e-01 9.62182711e-01 -1.34393259e-03 7.94836558e+00] [ 4.92366393e-03 2.80865524e-06 9.99987879e-01 1.11251915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.150281693 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:67.97, Y:7.96, Z:0.11 [[ 9.62760252e-01 -2.70315116e-01 -4.73659274e-03 6.79674338e+01] [ 2.70311774e-01 9.62771903e-01 -1.34430780e-03 7.95550385e+00] [ 4.92364513e-03 1.38893280e-05 9.99987879e-01 1.11296756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.180281693 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:67.99, Y:7.96, Z:0.11 [[ 9.64267595e-01 -2.64887849e-01 -4.73636439e-03 6.79938168e+01] [ 2.64884437e-01 9.64279226e-01 -1.34511187e-03 7.96212500e+00] [ 4.92348157e-03 4.24585770e-05 9.99987879e-01 1.12648726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.210281693 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:68.02, Y:7.97, Z:0.11 [[ 9.64872416e-01 -2.62676205e-01 -4.73625792e-03 6.80208437e+01] [ 2.62672765e-01 9.64884039e-01 -1.34548663e-03 7.96974413e+00] [ 4.92336700e-03 5.41369696e-05 9.99987879e-01 1.12951016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.240281693 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:68.05, Y:7.98, Z:0.11 [[ 9.65962975e-01 -2.58637007e-01 -4.73601496e-03 6.80482125e+01] [ 2.58633514e-01 9.65974582e-01 -1.34634131e-03 7.97600866e+00] [ 4.92308375e-03 7.56236693e-05 9.99987879e-01 1.12624789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.270281693 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:68.07, Y:7.98, Z:0.11 [[ 9.66414275e-01 -2.56945561e-01 -4.73576307e-03 6.80746036e+01] [ 2.56942043e-01 9.66425875e-01 -1.34722675e-03 7.98302641e+00] [ 4.92292790e-03 8.51625213e-05 9.99987879e-01 1.13034707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.300281693 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:68.10, Y:7.99, Z:0.11 [[ 9.66803434e-01 -2.55477383e-01 -4.73565328e-03 6.81013929e+01] [ 2.55473846e-01 9.66815028e-01 -1.34761255e-03 7.99048621e+00] [ 4.92278529e-03 9.30408901e-05 9.99987879e-01 1.14474552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.330281693 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:68.13, Y:8.00, Z:0.11 [[ 9.67541949e-01 -2.52666090e-01 -4.73541139e-03 6.81273236e+01] [ 2.52662515e-01 9.67553531e-01 -1.34846200e-03 7.99873533e+00] [ 4.92247463e-03 1.08232606e-04 9.99987879e-01 1.14188568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.360281693 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:68.15, Y:8.01, Z:0.11 [[ 9.67935637e-01 -2.51153698e-01 -4.73530648e-03 6.81533026e+01] [ 2.51150103e-01 9.67947213e-01 -1.34883030e-03 8.00763681e+00] [ 4.92229043e-03 1.16308203e-04 9.99987879e-01 1.13064106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.390281693 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:68.18, Y:8.02, Z:0.11 [[ 9.68584998e-01 -2.48637647e-01 -4.73520199e-03 6.81794723e+01] [ 2.48634020e-01 9.68596564e-01 -1.34919703e-03 8.01919487e+00] [ 4.92196155e-03 1.29479699e-04 9.99987879e-01 1.13870694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.420281693 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:68.21, Y:8.03, Z:0.12 [[ 9.68715707e-01 -2.48127908e-01 -4.73494733e-03 6.82058653e+01] [ 2.48124271e-01 9.68727270e-01 -1.35009014e-03 8.02897712e+00] [ 4.92186765e-03 1.32998174e-04 9.99987879e-01 1.15141065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45028169300001 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:68.23, Y:8.04, Z:0.12 [[ 9.68724760e-01 -2.48092568e-01 -4.73468940e-03 6.82319070e+01] [ 2.48088926e-01 9.68736321e-01 -1.35099409e-03 8.03880215e+00] [ 4.92183719e-03 1.34117418e-04 9.99987879e-01 1.15519852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48028169300001 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:68.26, Y:8.05, Z:0.11 [[ 9.68700964e-01 -2.48185471e-01 -4.73443134e-03 6.82564757e+01] [ 2.48181825e-01 9.68712524e-01 -1.35189783e-03 8.05018503e+00] [ 4.92182433e-03 1.34584925e-04 9.99987879e-01 1.10938316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.510281693 meters Centerline goodness : 0.998068 Centerline is valid? [True, True] Translation: X:68.28, Y:8.06, Z:0.11 [[ 9.68669977e-01 -2.48306387e-01 -4.73425492e-03 6.82828234e+01] [ 2.48302740e-01 9.68681537e-01 -1.35251539e-03 8.05928448e+00] [ 4.92182354e-03 1.34612581e-04 9.99987879e-01 1.08462556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.540281693 meters Centerline goodness : 0.997957 Centerline is valid? [True, True] Translation: X:68.31, Y:8.07, Z:0.11 [[ 9.68642997e-01 -2.48411621e-01 -4.73400092e-03 6.83084207e+01] [ 2.48407971e-01 9.68654556e-01 -1.35340381e-03 8.06792165e+00] [ 4.92181280e-03 1.35001559e-04 9.99987879e-01 1.06276829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.570281693 meters Centerline goodness : 0.997944 Centerline is valid? [True, True] Translation: X:68.33, Y:8.08, Z:0.11 [[ 9.68519700e-01 -2.48891909e-01 -4.73382814e-03 6.83348135e+01] [ 2.48888262e-01 9.68531259e-01 -1.35400787e-03 8.07883206e+00] [ 4.92186214e-03 1.33189041e-04 9.99987879e-01 1.08752633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.600281693 meters Centerline goodness : 0.998056 Centerline is valid? [True, True] Translation: X:68.36, Y:8.09, Z:0.11 [[ 9.68456878e-01 -2.49136246e-01 -4.73357879e-03 6.83607226e+01] [ 2.49132597e-01 9.68468437e-01 -1.35487905e-03 8.08912620e+00] [ 4.92187113e-03 1.32853153e-04 9.99987879e-01 1.12566554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.630281693 meters Centerline goodness : 0.997724 Centerline is valid? [True, True] Translation: X:68.39, Y:8.10, Z:0.12 [[ 9.68351472e-01 -2.49545630e-01 -4.73350120e-03 6.83862406e+01] [ 2.49541985e-01 9.68363032e-01 -1.35515008e-03 8.09998705e+00] [ 4.92191935e-03 1.31054288e-04 9.99987879e-01 1.15601043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.660281693 meters Centerline goodness : 0.997822 Centerline is valid? [True, True] Translation: X:68.41, Y:8.11, Z:0.11 [[ 9.68255108e-01 -2.49919272e-01 -4.73325211e-03 6.84124968e+01] [ 2.49915627e-01 9.68266668e-01 -1.35601952e-03 8.10861949e+00] [ 4.92194566e-03 1.30059160e-04 9.99987879e-01 1.14538149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.690281693 meters Centerline goodness : 0.997809 Centerline is valid? [True, True] Translation: X:68.44, Y:8.12, Z:0.11 [[ 9.68164527e-01 -2.50269949e-01 -4.73299895e-03 6.84393723e+01] [ 2.50266304e-01 9.68176087e-01 -1.35690258e-03 8.11766887e+00] [ 4.92196834e-03 1.29194785e-04 9.99987879e-01 1.12990972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.720281693 meters Centerline goodness : 0.997727 Centerline is valid? [True, True] Translation: X:68.46, Y:8.13, Z:0.11 [[ 9.68159780e-01 -2.50288318e-01 -4.73273877e-03 6.84647366e+01] [ 2.50284669e-01 9.68171339e-01 -1.35780946e-03 8.12899774e+00] [ 4.92194587e-03 1.30044550e-04 9.99987879e-01 1.11131193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.750281693 meters Centerline goodness : 0.997737 Centerline is valid? [True, True] Translation: X:68.49, Y:8.14, Z:0.11 [[ 9.68058426e-01 -2.50680048e-01 -4.73265789e-03 6.84896536e+01] [ 2.50676402e-01 9.68069986e-01 -1.35809129e-03 8.14237010e+00] [ 4.92199045e-03 1.28346064e-04 9.99987879e-01 1.14758010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.780281693 meters Centerline goodness : 0.998004 Centerline is valid? [True, True] Translation: X:68.52, Y:8.15, Z:0.12 [[ 9.67882291e-01 -2.51359253e-01 -4.73257740e-03 6.85150278e+01] [ 2.51355614e-01 9.67893853e-01 -1.35837174e-03 8.15349862e+00] [ 4.92207188e-03 1.25184056e-04 9.99987879e-01 1.16110867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.81028169300001 meters Centerline goodness : 0.997812 Centerline is valid? [True, True] Translation: X:68.54, Y:8.17, Z:0.12 [[ 9.67591693e-01 -2.52475583e-01 -4.73246660e-03 6.85405655e+01] [ 2.52471956e-01 9.67603258e-01 -1.35875763e-03 8.16508691e+00] [ 4.92220323e-03 1.19907499e-04 9.99987879e-01 1.17015206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84028169300001 meters Centerline goodness : 0.997812 Centerline is valid? [True, True] Translation: X:68.57, Y:8.17, Z:0.12 [[ 9.67544965e-01 -2.52654602e-01 -4.73221472e-03 6.85678610e+01] [ 2.52650972e-01 9.67556530e-01 -1.35963429e-03 8.17313479e+00] [ 4.92220312e-03 1.19908664e-04 9.99987879e-01 1.17155449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.870281693 meters Centerline goodness : 0.997721 Centerline is valid? [True, True] Translation: X:68.59, Y:8.19, Z:0.12 [[ 9.66859236e-01 -2.55266186e-01 -4.73196301e-03 6.85931225e+01] [ 2.55262583e-01 9.66870810e-01 -1.36050978e-03 8.18730940e+00] [ 4.92248905e-03 1.07528351e-04 9.99987879e-01 1.16856198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.900281693 meters Centerline goodness : 0.997798 Centerline is valid? [True, True] Translation: X:68.62, Y:8.20, Z:0.12 [[ 9.66482665e-01 -2.56688271e-01 -4.73171202e-03 6.86184552e+01] [ 2.56684680e-01 9.66494243e-01 -1.36138214e-03 8.19753043e+00] [ 4.92262325e-03 1.01194257e-04 9.99987879e-01 1.16979317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.930281693 meters Centerline goodness : 0.997634 Centerline is valid? [True, True] Translation: X:68.64, Y:8.21, Z:0.12 [[ 9.65486967e-01 -2.60408389e-01 -4.73160276e-03 6.86438091e+01] [ 2.60404841e-01 9.65498557e-01 -1.36176175e-03 8.20957402e+00] [ 4.92296983e-03 8.26309583e-05 9.99987879e-01 1.17357107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.960281693 meters Centerline goodness : 0.997833 Centerline is valid? [True, True] Translation: X:68.67, Y:8.22, Z:0.12 [[ 9.64674008e-01 -2.63404009e-01 -4.73135136e-03 6.86698016e+01] [ 2.63400493e-01 9.64685609e-01 -1.36263468e-03 8.21963756e+00] [ 4.92319000e-03 6.82579725e-05 9.99987879e-01 1.16115645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.990281693 meters Centerline goodness : 0.997804 Centerline is valid? [True, True] Translation: X:68.70, Y:8.23, Z:0.11 [[ 9.62681487e-01 -2.70595585e-01 -4.73109697e-03 6.86953098e+01] [ 2.70592151e-01 9.62693112e-01 -1.36351738e-03 8.23055672e+00] [ 4.92355624e-03 3.24352297e-05 9.99987879e-01 1.11827462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.020281693 meters Centerline goodness : 0.997832 Centerline is valid? [True, True] Translation: X:68.72, Y:8.24, Z:0.11 [[ 9.61500218e-01 -2.74763440e-01 -4.73101787e-03 6.87221542e+01] [ 2.74760056e-01 9.61511857e-01 -1.36379177e-03 8.23874502e+00] [ 4.92364989e-03 1.13913558e-05 9.99987879e-01 1.11756203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.050281693 meters Centerline goodness : 0.997814 Centerline is valid? [True, True] Translation: X:68.75, Y:8.25, Z:0.11 [[ 9.60205151e-01 -2.79255597e-01 -4.73076829e-03 6.87483664e+01] [ 2.79252263e-01 9.60216804e-01 -1.36465697e-03 8.24622437e+00] [ 4.92365130e-03 -1.07271011e-05 9.99987879e-01 1.12027858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.080281693 meters Centerline goodness : 0.997909 Centerline is valid? [True, True] Translation: X:68.78, Y:8.25, Z:0.12 [[ 9.57703637e-01 -2.87717509e-01 -4.73066041e-03 6.87765818e+01] [ 2.87714275e-01 9.57715319e-01 -1.36503083e-03 8.25196680e+00] [ 4.92336921e-03 -5.37835378e-05 9.99987879e-01 1.15798927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.110281693 meters Centerline goodness : 0.997876 Centerline is valid? [True, True] Translation: X:68.80, Y:8.26, Z:0.12 [[ 9.56456022e-01 -2.91838141e-01 -4.73044382e-03 6.88031318e+01] [ 2.91834955e-01 9.56467717e-01 -1.36578100e-03 8.25745960e+00] [ 4.92310379e-03 -7.41993937e-05 9.99987879e-01 1.17981343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.140281693 meters Centerline goodness : 0.997959 Centerline is valid? [True, True] Translation: X:68.83, Y:8.26, Z:0.12 [[ 9.54333403e-01 -2.98706176e-01 -4.73033632e-03 6.88316673e+01] [ 2.98703072e-01 9.54345120e-01 -1.36615324e-03 8.25852394e+00] [ 4.92245179e-03 -1.09200319e-04 9.99987879e-01 1.17558845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.170281693 meters Centerline goodness : 0.997676 Centerline is valid? [True, True] Translation: X:68.86, Y:8.26, Z:0.12 [[ 9.53328082e-01 -3.01899312e-01 -4.73009817e-03 6.88600367e+01] [ 3.01896243e-01 9.53339808e-01 -1.36697729e-03 8.26230545e+00] [ 4.92208038e-03 -1.24821027e-04 9.99987879e-01 1.15605813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20028169300001 meters Centerline goodness : 0.997864 Centerline is valid? [True, True] Translation: X:68.89, Y:8.26, Z:0.12 [[ 9.52189286e-01 -3.05472082e-01 -4.72985912e-03 6.88892777e+01] [ 3.05469053e-01 9.52201022e-01 -1.36780393e-03 8.26247242e+00] [ 4.92160260e-03 -1.42417343e-04 9.99987879e-01 1.15028753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23028169300001 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:68.92, Y:8.27, Z:0.12 [[ 9.52116821e-01 -3.05697874e-01 -4.72961620e-03 6.89171871e+01] [ 3.05694843e-01 9.52128557e-01 -1.36864338e-03 8.26716485e+00] [ 4.92159402e-03 -1.42710893e-04 9.99987879e-01 1.17694041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.260281693 meters Centerline goodness : 0.998066 Centerline is valid? [True, True] Translation: X:68.95, Y:8.27, Z:0.12 [[ 9.52407446e-01 -3.04791224e-01 -4.72937154e-03 6.89451441e+01] [ 3.04788178e-01 9.52419178e-01 -1.36948827e-03 8.27161939e+00] [ 4.92175216e-03 -1.37145714e-04 9.99987879e-01 1.19667672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.290281693 meters Centerline goodness : 0.998295 Centerline is valid? [True, True] Translation: X:68.97, Y:8.27, Z:0.12 [[ 9.53478290e-01 -3.01424595e-01 -4.72912812e-03 6.89728683e+01] [ 3.01421504e-01 9.53490010e-01 -1.37032835e-03 8.27329221e+00] [ 4.92222709e-03 -1.18882577e-04 9.99987879e-01 1.17804097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.320281693 meters Centerline goodness : 0.998103 Centerline is valid? [True, True] Translation: X:69.00, Y:8.28, Z:0.12 [[ 9.54022517e-01 -2.99697639e-01 -4.72888585e-03 6.90002256e+01] [ 2.99694522e-01 9.54034231e-01 -1.37116388e-03 8.27974478e+00] [ 4.92245355e-03 -1.09099971e-04 9.99987879e-01 1.16264879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.350281693 meters Centerline goodness : 0.997920 Centerline is valid? [True, True] Translation: X:69.03, Y:8.29, Z:0.12 [[ 9.54932940e-01 -2.96783961e-01 -4.72864361e-03 6.90263596e+01] [ 2.96780805e-01 9.54944643e-01 -1.37199879e-03 8.28503333e+00] [ 4.92278012e-03 -9.32038136e-05 9.99987879e-01 1.16638675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.380281693 meters Centerline goodness : 0.998398 Centerline is valid? [True, True] Translation: X:69.05, Y:8.29, Z:0.12 [[ 9.55072482e-01 -2.96334599e-01 -4.72853786e-03 6.90534973e+01] [ 2.96331435e-01 9.55084183e-01 -1.37236316e-03 8.29115834e+00] [ 4.92283040e-03 -9.05081173e-05 9.99987879e-01 1.19753425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.410281693 meters Centerline goodness : 0.998432 Centerline is valid? [True, True] Translation: X:69.08, Y:8.29, Z:0.12 [[ 9.55077363e-01 -2.96318872e-01 -4.72829383e-03 6.90817663e+01] [ 2.96315704e-01 9.55089063e-01 -1.37320342e-03 8.29480022e+00] [ 4.92284781e-03 -8.95522145e-05 9.99987879e-01 1.24488925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.440281693 meters Centerline goodness : 0.998402 Centerline is valid? [True, True] Translation: X:69.11, Y:8.30, Z:0.13 [[ 9.54970954e-01 -2.96661627e-01 -4.72821806e-03 6.91085936e+01] [ 2.96658462e-01 9.54982655e-01 -1.37346425e-03 8.30154130e+00] [ 4.92282037e-03 -9.10474349e-05 9.99987879e-01 1.25012016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.470281693 meters Centerline goodness : 0.998448 Centerline is valid? [True, True] Translation: X:69.14, Y:8.31, Z:0.12 [[ 9.55036593e-01 -2.96450253e-01 -4.72797951e-03 6.91355774e+01] [ 2.96447081e-01 9.55048292e-01 -1.37428495e-03 8.30851722e+00] [ 4.92285587e-03 -8.91033077e-05 9.99987879e-01 1.24128414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.500281693 meters Centerline goodness : 0.998401 Centerline is valid? [True, True] Translation: X:69.16, Y:8.31, Z:0.12 [[ 9.55902564e-01 -2.93645936e-01 -4.72773938e-03 6.91624488e+01] [ 2.93642725e-01 9.55914253e-01 -1.37511052e-03 8.31436552e+00] [ 4.92310907e-03 -7.37946010e-05 9.99987879e-01 1.23080047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.530281693 meters Centerline goodness : 0.998301 Centerline is valid? [True, True] Translation: X:69.19, Y:8.32, Z:0.12 [[ 9.56405796e-01 -2.92002745e-01 -4.72763508e-03 6.91890868e+01] [ 2.91999513e-01 9.56417478e-01 -1.37546900e-03 8.32161515e+00] [ 4.92323355e-03 -6.49606193e-05 9.99987879e-01 1.23422353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56028169300001 meters Centerline goodness : 0.998350 Centerline is valid? [True, True] Translation: X:69.22, Y:8.33, Z:0.13 [[ 9.57039359e-01 -2.89919499e-01 -4.72739706e-03 6.92151314e+01] [ 2.89916238e-01 9.57051034e-01 -1.37628658e-03 8.32936324e+00] [ 4.92337256e-03 -5.33887371e-05 9.99987879e-01 1.25252100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59028169300001 meters Centerline goodness : 0.998411 Centerline is valid? [True, True] Translation: X:69.24, Y:8.34, Z:0.13 [[ 9.57010584e-01 -2.90014475e-01 -4.72723434e-03 6.92419160e+01] [ 2.90011211e-01 9.57022258e-01 -1.37684524e-03 8.33716531e+00] [ 4.92337354e-03 -5.32954881e-05 9.99987879e-01 1.26253344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.620281693 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:69.27, Y:8.34, Z:0.13 [[ 9.56852455e-01 -2.90535772e-01 -4.72699619e-03 6.92681211e+01] [ 2.90532511e-01 9.56864129e-01 -1.37766239e-03 8.34403524e+00] [ 4.92335330e-03 -5.51264336e-05 9.99987879e-01 1.26871806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.650281693 meters Centerline goodness : 0.998614 Centerline is valid? [True, True] Translation: X:69.30, Y:8.35, Z:0.13 [[ 9.56013610e-01 -2.93284219e-01 -4.72689262e-03 6.92959627e+01] [ 2.93280990e-01 9.56025294e-01 -1.37801767e-03 8.34721964e+00] [ 4.92317974e-03 -6.89041030e-05 9.99987879e-01 1.27574444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.680281693 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:69.32, Y:8.35, Z:0.13 [[ 9.55339519e-01 -2.95472608e-01 -4.72663568e-03 6.93228182e+01] [ 2.95469401e-01 9.55351209e-01 -1.37889840e-03 8.35081733e+00] [ 4.92302382e-03 -7.92600826e-05 9.99987879e-01 1.27673745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.710281693 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:69.35, Y:8.35, Z:0.13 [[ 9.53668668e-01 -3.00821763e-01 -4.72646148e-03 6.93521652e+01] [ 3.00818618e-01 9.53680374e-01 -1.37949526e-03 8.34941311e+00] [ 4.92251575e-03 -1.06226200e-04 9.99987879e-01 1.28194249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.740281693 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:69.38, Y:8.35, Z:0.13 [[ 9.52881293e-01 -3.03306618e-01 -4.72621143e-03 6.93804164e+01] [ 3.03303500e-01 9.52893006e-01 -1.38035140e-03 8.35278628e+00] [ 4.92224354e-03 -1.18165440e-04 9.99987879e-01 1.28461316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.770281693 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:69.41, Y:8.35, Z:0.13 [[ 9.52090620e-01 -3.05779522e-01 -4.72596072e-03 6.94086766e+01] [ 3.05776431e-01 9.52102340e-01 -1.38120925e-03 8.35303163e+00] [ 4.92194376e-03 -1.30051031e-04 9.99987879e-01 1.28655016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.800281693 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:69.44, Y:8.36, Z:0.13 [[ 9.52140185e-01 -3.05625155e-01 -4.72585131e-03 6.94370452e+01] [ 3.05622059e-01 9.52151904e-01 -1.38158348e-03 8.35702152e+00] [ 4.92197499e-03 -1.28863260e-04 9.99987879e-01 1.27585936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.830281693 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:69.47, Y:8.36, Z:0.13 [[ 9.52613325e-01 -3.04147204e-01 -4.72560032e-03 6.94651173e+01] [ 3.04144086e-01 9.52625038e-01 -1.38244146e-03 8.36050082e+00] [ 4.92219089e-03 -1.20331236e-04 9.99987879e-01 1.25565905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.860281693 meters Centerline goodness : 0.998392 Centerline is valid? [True, True] Translation: X:69.49, Y:8.36, Z:0.12 [[ 9.54224020e-01 -2.99055497e-01 -4.72534048e-03 6.94935538e+01] [ 2.99052312e-01 9.54235716e-01 -1.38332905e-03 8.36064283e+00] [ 4.92278081e-03 -9.31181811e-05 9.99987879e-01 1.22063245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.890281693 meters Centerline goodness : 0.998348 Centerline is valid? [True, True] Translation: X:69.52, Y:8.37, Z:0.12 [[ 9.55014184e-01 -2.96522480e-01 -4.72522697e-03 6.95210294e+01] [ 2.96519262e-01 9.55025870e-01 -1.38371666e-03 8.36594471e+00] [ 4.92301710e-03 -7.96517753e-05 9.99987879e-01 1.22512548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.920281693 meters Centerline goodness : 0.998415 Centerline is valid? [True, True] Translation: X:69.55, Y:8.37, Z:0.13 [[ 9.56417125e-01 -2.91965680e-01 -4.72497912e-03 6.95492583e+01] [ 2.91962402e-01 9.56428794e-01 -1.38456247e-03 8.36829541e+00] [ 4.92335081e-03 -5.52970037e-05 9.99987879e-01 1.25304149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95028169300001 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:69.58, Y:8.37, Z:0.13 [[ 9.56891948e-01 -2.90405710e-01 -4.72472101e-03 6.95764111e+01] [ 2.90402409e-01 9.56903611e-01 -1.38544270e-03 8.37269556e+00] [ 4.92344307e-03 -4.63514027e-05 9.99987879e-01 1.26058180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98028169300001 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:69.60, Y:8.38, Z:0.13 [[ 9.57121154e-01 -2.89649400e-01 -4.72460848e-03 6.96035103e+01] [ 2.89646088e-01 9.57132814e-01 -1.38582634e-03 8.37763743e+00] [ 4.92348158e-03 -4.20606560e-05 9.99987879e-01 1.26306250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.010281693 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:69.63, Y:8.38, Z:0.13 [[ 9.57095292e-01 -2.89734846e-01 -4.72449717e-03 6.96320640e+01] [ 2.89731533e-01 9.57106952e-01 -1.38620571e-03 8.38029534e+00] [ 4.92348118e-03 -4.21048437e-05 9.99987879e-01 1.26744984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.040281693 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:69.66, Y:8.38, Z:0.13 [[ 9.56969381e-01 -2.90150453e-01 -4.72424372e-03 6.96601077e+01] [ 2.90147141e-01 9.56981041e-01 -1.38706896e-03 8.38152723e+00] [ 4.92347036e-03 -4.33432826e-05 9.99987879e-01 1.26709375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.070281693 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:69.69, Y:8.39, Z:0.13 [[ 9.57023317e-01 -2.89972505e-01 -4.72413346e-03 6.96881803e+01] [ 2.89969189e-01 9.57034975e-01 -1.38744438e-03 8.38672352e+00] [ 4.92348167e-03 -4.20365290e-05 9.99987879e-01 1.26863105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.100281693 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:69.71, Y:8.39, Z:0.13 [[ 9.57310592e-01 -2.89022691e-01 -4.72387581e-03 6.97147430e+01] [ 2.89019359e-01 9.57322246e-01 -1.38832104e-03 8.39159629e+00] [ 4.92352768e-03 -3.62371176e-05 9.99987879e-01 1.26370172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.130281693 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:69.74, Y:8.40, Z:0.13 [[ 9.58497879e-01 -2.85060525e-01 -4.72362010e-03 6.97424572e+01] [ 2.85057140e-01 9.58509519e-01 -1.38919052e-03 8.39510015e+00] [ 4.92363821e-03 -1.49654661e-05 9.99987879e-01 1.26721731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.160281693 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:69.77, Y:8.40, Z:0.13 [[ 9.59084013e-01 -2.83082223e-01 -4.72336703e-03 6.97689180e+01] [ 2.83078810e-01 9.59095644e-01 -1.39005047e-03 8.40136696e+00] [ 4.92365932e-03 -3.90993358e-06 9.99987879e-01 1.27811977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.190281693 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:69.80, Y:8.41, Z:0.13 [[ 9.60076293e-01 -2.79698414e-01 -4.72319471e-03 6.97954015e+01] [ 2.79694958e-01 9.60087911e-01 -1.39063573e-03 8.40558893e+00] [ 4.92364075e-03 1.40626498e-05 9.99987879e-01 1.29735095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.220281693 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:69.82, Y:8.41, Z:0.13 [[ 9.60372577e-01 -2.78679398e-01 -4.72294549e-03 6.98224754e+01] [ 2.78675925e-01 9.60384190e-01 -1.39148163e-03 8.41121047e+00] [ 4.92361944e-03 2.01695939e-05 9.99987879e-01 1.30979843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.250281693 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:69.85, Y:8.42, Z:0.13 [[ 9.60638168e-01 -2.77762501e-01 -4.72268154e-03 6.98487756e+01] [ 2.77759013e-01 9.60649776e-01 -1.39237690e-03 8.41640719e+00] [ 4.92359305e-03 2.58030329e-05 9.99987879e-01 1.31825972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.280281693 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:69.88, Y:8.42, Z:0.13 [[ 9.60982290e-01 -2.76569584e-01 -4.72256713e-03 6.98773128e+01] [ 2.76566079e-01 9.60993894e-01 -1.39276485e-03 8.41939361e+00] [ 4.92355457e-03 3.23204816e-05 9.99987879e-01 1.30617011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31028169300001 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:69.90, Y:8.43, Z:0.13 [[ 9.61077547e-01 -2.76238392e-01 -4.72230166e-03 6.99034285e+01] [ 2.76234879e-01 9.61089148e-01 -1.39366434e-03 8.42547471e+00] [ 4.92353648e-03 3.49550772e-05 9.99987879e-01 1.29455976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34028169300001 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:69.93, Y:8.43, Z:0.13 [[ 9.61442174e-01 -2.74966627e-01 -4.72218625e-03 6.99305742e+01] [ 2.74963097e-01 9.61453770e-01 -1.39405531e-03 8.43075395e+00] [ 4.92348246e-03 4.18766118e-05 9.99987879e-01 1.27088808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.370281693 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:69.96, Y:8.44, Z:0.13 [[ 9.61820059e-01 -2.73641880e-01 -4.72192341e-03 6.99571983e+01] [ 2.73638329e-01 9.61831648e-01 -1.39494501e-03 8.43791233e+00] [ 4.92341075e-03 4.95868624e-05 9.99987879e-01 1.27360921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.400281693 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:69.98, Y:8.45, Z:0.13 [[ 9.62993839e-01 -2.69482044e-01 -4.72166041e-03 6.99836174e+01] [ 2.69478439e-01 9.63005412e-01 -1.39583467e-03 8.44649897e+00] [ 4.92313690e-03 7.17945122e-05 9.99987879e-01 1.29831881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.430281693 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:70.01, Y:8.46, Z:0.13 [[ 9.63711442e-01 -2.66904413e-01 -4.72139758e-03 7.00101151e+01] [ 2.66900772e-01 9.63723003e-01 -1.39672312e-03 8.45603405e+00] [ 4.92291102e-03 8.58933918e-05 9.99987879e-01 1.32355905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.460281693 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:70.04, Y:8.47, Z:0.13 [[ 9.64447395e-01 -2.64232726e-01 -4.72113565e-03 7.00358912e+01] [ 2.64229049e-01 9.64458945e-01 -1.39760790e-03 8.46560396e+00] [ 4.92263526e-03 1.00458116e-04 9.99987879e-01 1.33626743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.490281693 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:70.06, Y:8.48, Z:0.13 [[ 9.65640271e-01 -2.59839525e-01 -4.72102173e-03 7.00615690e+01] [ 2.59835794e-01 9.65651804e-01 -1.39799262e-03 8.47762640e+00] [ 4.92211689e-03 1.23267545e-04 9.99987879e-01 1.31727412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.520281693 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:70.09, Y:8.49, Z:0.13 [[ 9.65967791e-01 -2.58619298e-01 -4.72076223e-03 7.00871456e+01] [ 2.58615547e-01 9.65979317e-01 -1.39886836e-03 8.48830258e+00] [ 4.92193303e-03 1.30399272e-04 9.99987879e-01 1.31284059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.550281693 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:70.11, Y:8.50, Z:0.13 [[ 9.66141033e-01 -2.57971358e-01 -4.72050233e-03 7.01116210e+01] [ 2.57967596e-01 9.66152555e-01 -1.39974483e-03 8.50226876e+00] [ 4.92181947e-03 1.34614277e-04 9.99987879e-01 1.31128566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.580281693 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:70.14, Y:8.51, Z:0.13 [[ 9.65932507e-01 -2.58751057e-01 -4.72038934e-03 7.01361508e+01] [ 2.58747302e-01 9.65944032e-01 -1.40012577e-03 8.51362971e+00] [ 4.92191594e-03 1.31038986e-04 9.99987879e-01 1.30643121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.610281693 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:70.16, Y:8.53, Z:0.13 [[ 9.65479000e-01 -2.60438129e-01 -4.72027708e-03 7.01605111e+01] [ 2.60434392e-01 9.65490531e-01 -1.40050414e-03 8.52966121e+00] [ 4.92212750e-03 1.22834844e-04 9.99987879e-01 1.33574230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.640281693 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:70.18, Y:8.54, Z:0.14 [[ 9.65107347e-01 -2.61812013e-01 -4.72002097e-03 7.01848352e+01] [ 2.61808288e-01 9.65118882e-01 -1.40136675e-03 8.54119620e+00] [ 4.92227601e-03 1.16728736e-04 9.99987879e-01 1.36506735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.670281693 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:70.21, Y:8.55, Z:0.14 [[ 9.64558513e-01 -2.63826832e-01 -4.71990942e-03 7.02110282e+01] [ 2.63823130e-01 9.64570055e-01 -1.40174236e-03 8.55245312e+00] [ 4.92250054e-03 1.06841249e-04 9.99987879e-01 1.37877606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70028169300001 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:70.24, Y:8.57, Z:0.13 [[ 9.62756928e-01 -2.70327252e-01 -4.71965309e-03 7.02362075e+01] [ 2.70323623e-01 9.62768493e-01 -1.40260490e-03 8.56501628e+00] [ 4.92309562e-03 7.45338649e-05 9.99987879e-01 1.34943972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73028169300001 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:70.26, Y:8.57, Z:0.14 [[ 9.62704037e-01 -2.70515553e-01 -4.71937974e-03 7.02634477e+01] [ 2.70511922e-01 9.62715602e-01 -1.40352405e-03 8.57331333e+00] [ 4.92309559e-03 7.45297888e-05 9.99987879e-01 1.35084214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.760281693 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:70.29, Y:8.58, Z:0.13 [[ 9.61438481e-01 -2.74979593e-01 -4.71910504e-03 7.02893673e+01] [ 2.74976012e-01 9.61450061e-01 -1.40444706e-03 8.58339248e+00] [ 4.92337811e-03 5.26487608e-05 9.99987879e-01 1.33299449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.790281693 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:70.32, Y:8.59, Z:0.13 [[ 9.58298493e-01 -2.85730169e-01 -4.71901977e-03 7.03155750e+01] [ 2.85726716e-01 9.58310112e-01 -1.40473353e-03 8.59259978e+00] [ 4.92365911e-03 -2.19599538e-06 9.99987879e-01 1.30839128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.820281693 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:70.34, Y:8.60, Z:0.13 [[ 9.56508757e-01 -2.91665442e-01 -4.71876802e-03 7.03430035e+01] [ 2.91662057e-01 9.56520396e-01 -1.40557868e-03 8.59943747e+00] [ 4.92355659e-03 -3.18372713e-05 9.99987879e-01 1.30946092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.850281693 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:70.37, Y:8.61, Z:0.13 [[ 9.54784359e-01 -2.97261774e-01 -4.71851687e-03 7.03702377e+01] [ 2.97258453e-01 9.54796017e-01 -1.40642130e-03 8.60520775e+00] [ 4.92329640e-03 -5.97899647e-05 9.99987879e-01 1.31877889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.880281693 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:70.40, Y:8.61, Z:0.13 [[ 9.53232005e-01 -3.02202716e-01 -4.71826748e-03 7.03964786e+01] [ 3.02199452e-01 9.53243679e-01 -1.40725746e-03 8.61004414e+00] [ 4.92293567e-03 -8.44149948e-05 9.99987879e-01 1.32452307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.910281693 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:70.42, Y:8.61, Z:0.13 [[ 9.50494352e-01 -3.10706012e-01 -4.71815874e-03 7.04240709e+01] [ 3.10702850e-01 9.50506053e-01 -1.40762195e-03 8.61075344e+00] [ 4.92199504e-03 -1.28008656e-04 9.99987879e-01 1.33729802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.940281693 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:70.45, Y:8.61, Z:0.13 [[ 9.48299259e-01 -3.17342490e-01 -4.71805167e-03 7.04541723e+01] [ 3.17339408e-01 9.48310982e-01 -1.40798070e-03 8.60838511e+00] [ 4.92099232e-03 -1.62036669e-04 9.99987879e-01 1.31872655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.970281693 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:70.48, Y:8.61, Z:0.13 [[ 9.47636600e-01 -3.19315857e-01 -4.71780559e-03 7.04822904e+01] [ 3.19312796e-01 9.47648328e-01 -1.40880479e-03 8.61041581e+00] [ 4.92067429e-03 -1.71420708e-04 9.99987879e-01 1.31503076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.000281693 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:70.51, Y:8.61, Z:0.13 [[ 9.47387438e-01 -3.20054349e-01 -4.71756059e-03 7.05112359e+01] [ 3.20051292e-01 9.47399168e-01 -1.40962474e-03 8.61280138e+00] [ 4.92056950e-03 -1.74400589e-04 9.99987879e-01 1.31819684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.030281693 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:70.54, Y:8.61, Z:0.13 [[ 9.48262250e-01 -3.17453071e-01 -4.71730544e-03 7.05416078e+01] [ 3.17449977e-01 9.48273970e-01 -1.41047806e-03 8.60755657e+00] [ 4.92105855e-03 -1.60005410e-04 9.99987879e-01 1.33161442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06028169300001 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:70.57, Y:8.61, Z:0.13 [[ 9.49087025e-01 -3.14978678e-01 -4.71703982e-03 7.05698110e+01] [ 3.14975550e-01 9.49098736e-01 -1.41136583e-03 8.60867526e+00] [ 4.92148667e-03 -1.46243210e-04 9.99987879e-01 1.32820816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09028169300001 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:70.60, Y:8.61, Z:0.13 [[ 9.51215992e-01 -3.08489687e-01 -4.71692405e-03 7.05996218e+01] [ 3.08486477e-01 9.51227681e-01 -1.41175263e-03 8.60783881e+00] [ 4.92237985e-03 -1.12225606e-04 9.99987879e-01 1.33152126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.120281693 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:70.63, Y:8.61, Z:0.13 [[ 9.52431842e-01 -3.04715178e-01 -4.71666134e-03 7.06273859e+01] [ 3.04711917e-01 9.52443516e-01 -1.41262979e-03 8.61196557e+00] [ 4.92280325e-03 -9.17893227e-05 9.99987879e-01 1.33408328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.150281693 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:70.65, Y:8.62, Z:0.13 [[ 9.53537084e-01 -3.01238752e-01 -4.71639356e-03 7.06544756e+01] [ 3.01235445e-01 9.53548745e-01 -1.41352328e-03 8.61565246e+00] [ 4.92311915e-03 -7.28980417e-05 9.99987879e-01 1.32540614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.180281693 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:70.68, Y:8.62, Z:0.13 [[ 9.55499094e-01 -2.94956334e-01 -4.71621134e-03 7.06828799e+01] [ 2.94952946e-01 9.55510732e-01 -1.41413097e-03 8.61597139e+00] [ 4.92349744e-03 -3.98595690e-05 9.99987879e-01 1.30847512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.210281693 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:70.71, Y:8.62, Z:0.13 [[ 9.56275370e-01 -2.92429782e-01 -4.71594640e-03 7.07108150e+01] [ 2.92426360e-01 9.56286998e-01 -1.41501399e-03 8.62153176e+00] [ 4.92359045e-03 -2.59240091e-05 9.99987879e-01 1.30986308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.240281693 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:70.74, Y:8.63, Z:0.13 [[ 9.57921013e-01 -2.86993199e-01 -4.71567792e-03 7.07377327e+01] [ 2.86989706e-01 9.57932620e-01 -1.41590815e-03 8.62558643e+00] [ 4.92365771e-03 2.97715263e-06 9.99987879e-01 1.30770860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.270281693 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:70.77, Y:8.63, Z:0.13 [[ 9.58671069e-01 -2.84477671e-01 -4.71556171e-03 7.07652141e+01] [ 2.84474146e-01 9.58682666e-01 -1.41629507e-03 8.63219234e+00] [ 4.92363160e-03 1.63057227e-05 9.99987879e-01 1.29796502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.300281693 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:70.79, Y:8.64, Z:0.13 [[ 9.60066535e-01 -2.79732040e-01 -4.71529646e-03 7.07928194e+01] [ 2.79728454e-01 9.60078113e-01 -1.41717762e-03 8.63839733e+00] [ 4.92348292e-03 4.15822167e-05 9.99987879e-01 1.27850289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.330281693 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:70.82, Y:8.65, Z:0.13 [[ 9.60771827e-01 -2.77299954e-01 -4.71503219e-03 7.08196621e+01] [ 2.77296334e-01 9.60783395e-01 -1.41805633e-03 8.64590645e+00] [ 4.92335159e-03 5.49674312e-05 9.99987879e-01 1.29014184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.360281693 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:70.85, Y:8.65, Z:0.13 [[ 9.62470983e-01 -2.71343652e-01 -4.71476251e-03 7.08467613e+01] [ 2.71339955e-01 9.62482527e-01 -1.41895239e-03 8.65192277e+00] [ 4.92290026e-03 8.63970497e-05 9.99987879e-01 1.32753884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.390281693 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:70.87, Y:8.66, Z:0.13 [[ 9.63152061e-01 -2.68916120e-01 -4.71467906e-03 7.08743217e+01] [ 2.68912394e-01 9.63163595e-01 -1.41922960e-03 8.65896170e+00] [ 4.92266095e-03 9.90982797e-05 9.99987879e-01 1.33015947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.420281693 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:70.90, Y:8.67, Z:0.13 [[ 9.64292908e-01 -2.64796075e-01 -4.71441920e-03 7.08998947e+01] [ 2.64792295e-01 9.64304425e-01 -1.42009228e-03 8.66612283e+00] [ 4.92217016e-03 1.21043032e-04 9.99987879e-01 1.29545583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45028169300001 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:70.93, Y:8.67, Z:0.13 [[ 9.64686516e-01 -2.63358504e-01 -4.71430653e-03 7.09264476e+01] [ 2.63354704e-01 9.64698026e-01 -1.42046624e-03 8.67439692e+00] [ 4.92197406e-03 1.28769828e-04 9.99987879e-01 1.28640613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48028169300001 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:70.95, Y:8.68, Z:0.13 [[ 9.65025799e-01 -2.62112542e-01 -4.71404977e-03 7.09534566e+01] [ 2.62108723e-01 9.65037303e-01 -1.42131783e-03 8.68241851e+00] [ 4.92177910e-03 1.36014808e-04 9.99987879e-01 1.29094312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.510281693 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:70.98, Y:8.69, Z:0.13 [[ 9.65249831e-01 -2.61286325e-01 -4.71378756e-03 7.09795136e+01] [ 2.61282493e-01 9.65261331e-01 -1.42218689e-03 8.68889276e+00] [ 4.92163484e-03 1.41135487e-04 9.99987879e-01 1.30353082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.540281693 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:71.01, Y:8.70, Z:0.13 [[ 9.65043868e-01 -2.62046015e-01 -4.71367363e-03 7.10060348e+01] [ 2.62042190e-01 9.65055370e-01 -1.42256440e-03 8.69655136e+00] [ 4.92173338e-03 1.37655684e-04 9.99987879e-01 1.31205693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.570281693 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:71.03, Y:8.70, Z:0.13 [[ 9.64478786e-01 -2.64118261e-01 -4.71341970e-03 7.10338989e+01] [ 2.64114457e-01 9.64490294e-01 -1.42340526e-03 8.70182095e+00] [ 4.92199488e-03 1.27961889e-04 9.99987879e-01 1.32630984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.600281693 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:71.06, Y:8.71, Z:0.13 [[ 9.64227712e-01 -2.65033405e-01 -4.71315544e-03 7.10617289e+01] [ 2.65029607e-01 9.64239223e-01 -1.42427973e-03 8.70781983e+00] [ 4.92209105e-03 1.24204245e-04 9.99987879e-01 1.33049979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.630281693 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:71.09, Y:8.71, Z:0.13 [[ 9.64087648e-01 -2.65542454e-01 -4.71288879e-03 7.10883879e+01] [ 2.65538658e-01 9.64099160e-01 -1.42516153e-03 8.71384339e+00] [ 4.92213301e-03 1.22526464e-04 9.99987879e-01 1.32381777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.660281693 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:71.12, Y:8.72, Z:0.13 [[ 9.63999306e-01 -2.65862989e-01 -4.71270759e-03 7.11155727e+01] [ 2.65859194e-01 9.64010817e-01 -1.42576048e-03 8.72112464e+00] [ 4.92215804e-03 1.21515477e-04 9.99987879e-01 1.29895984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.690281693 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:71.14, Y:8.73, Z:0.13 [[ 9.63944857e-01 -2.66060342e-01 -4.71243873e-03 7.11417001e+01] [ 2.66056545e-01 9.63956368e-01 -1.42664855e-03 8.72868247e+00] [ 4.92215993e-03 1.21435367e-04 9.99987879e-01 1.29086292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.720281693 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:71.17, Y:8.73, Z:0.13 [[ 9.63610556e-01 -2.67268574e-01 -4.71232178e-03 7.11693929e+01] [ 2.67264790e-01 9.63622071e-01 -1.42703473e-03 8.73433070e+00] [ 4.92229881e-03 1.15668036e-04 9.99987879e-01 1.29133010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.750281693 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:71.20, Y:8.74, Z:0.13 [[ 9.63320216e-01 -2.68313172e-01 -4.71205346e-03 7.11953259e+01] [ 2.68309396e-01 9.63331734e-01 -1.42792018e-03 8.74066803e+00] [ 4.92240042e-03 1.11256165e-04 9.99987879e-01 1.30144646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.780281693 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:71.22, Y:8.75, Z:0.13 [[ 9.62948851e-01 -2.69642927e-01 -4.71193668e-03 7.12227373e+01] [ 2.69639164e-01 9.62960374e-01 -1.42830543e-03 8.74841285e+00] [ 4.92254076e-03 1.04862402e-04 9.99987879e-01 1.32213546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81028169300001 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:71.25, Y:8.76, Z:0.14 [[ 9.62054046e-01 -2.72818278e-01 -4.71168202e-03 7.12497571e+01] [ 2.72814549e-01 9.62065580e-01 -1.42914500e-03 8.75590895e+00] [ 4.92284397e-03 8.94993250e-05 9.99987879e-01 1.36398574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84028169300001 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:71.28, Y:8.76, Z:0.14 [[ 9.61564703e-01 -2.74538021e-01 -4.71142904e-03 7.12763935e+01] [ 2.74534309e-01 9.61576242e-01 -1.42997854e-03 8.76356247e+00] [ 4.92298170e-03 8.15679736e-05 9.99987879e-01 1.36470064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.870281693 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:71.30, Y:8.77, Z:0.14 [[ 9.61153087e-01 -2.75975628e-01 -4.71116835e-03 7.13035942e+01] [ 2.75971929e-01 9.61164630e-01 -1.43083687e-03 8.77172686e+00] [ 4.92308449e-03 7.51030584e-05 9.99987879e-01 1.36210055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.900281693 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:71.33, Y:8.78, Z:0.14 [[ 9.61478541e-01 -2.74839632e-01 -4.71089785e-03 7.13288996e+01] [ 2.74835915e-01 9.61490078e-01 -1.43172690e-03 8.78060099e+00] [ 4.92297684e-03 8.18507718e-05 9.99987879e-01 1.35905240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.930281693 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:71.35, Y:8.79, Z:0.14 [[ 9.62100648e-01 -2.72653906e-01 -4.71071284e-03 7.13548459e+01] [ 2.72650160e-01 9.62112176e-01 -1.43233537e-03 8.79003290e+00] [ 4.92276602e-03 9.36741769e-05 9.99987879e-01 1.36548869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.960281693 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:71.38, Y:8.80, Z:0.14 [[ 9.63975008e-01 -2.65951113e-01 -4.71044392e-03 7.13799892e+01] [ 2.65947283e-01 9.63986509e-01 -1.43321923e-03 8.80095644e+00] [ 4.92197063e-03 1.28857759e-04 9.99987879e-01 1.35912883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.990281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:71.41, Y:8.81, Z:0.14 [[ 9.64918693e-01 -2.62506626e-01 -4.71032691e-03 7.14059565e+01] [ 2.62502753e-01 9.64930179e-01 -1.43360366e-03 8.81149388e+00] [ 4.92146705e-03 1.46837185e-04 9.99987879e-01 1.35752272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.020281693 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:71.43, Y:8.83, Z:0.14 [[ 9.66755348e-01 -2.55659761e-01 -4.71006548e-03 7.14307855e+01] [ 2.55655801e-01 9.66766804e-01 -1.43446206e-03 8.82629057e+00] [ 4.92026918e-03 1.82618306e-04 9.99987879e-01 1.38588773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.050281693 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:71.46, Y:8.84, Z:0.14 [[ 9.67562176e-01 -2.52589101e-01 -4.70980145e-03 7.14555201e+01] [ 2.52585102e-01 9.67573618e-01 -1.43532844e-03 8.83808303e+00] [ 4.91962795e-03 1.99143832e-04 9.99987879e-01 1.39773872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.080281693 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:71.48, Y:8.85, Z:0.14 [[ 9.68887439e-01 -2.47456966e-01 -4.70968670e-03 7.14803299e+01] [ 2.47452904e-01 9.68898859e-01 -1.43570487e-03 8.85276846e+00] [ 4.91848524e-03 2.25610764e-04 9.99987879e-01 1.38965191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.110281693 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:71.50, Y:8.86, Z:0.14 [[ 9.69257432e-01 -2.46003765e-01 -4.70943151e-03 7.15048947e+01] [ 2.45999682e-01 9.69268845e-01 -1.43654146e-03 8.86376048e+00] [ 4.91809985e-03 2.33859830e-04 9.99987879e-01 1.37339470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.140281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:71.53, Y:8.88, Z:0.14 [[ 9.69408873e-01 -2.45406315e-01 -4.70925752e-03 7.15306523e+01] [ 2.45402222e-01 9.69420283e-01 -1.43711161e-03 8.87565611e+00] [ 4.91792602e-03 2.37486485e-04 9.99987879e-01 1.36546027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.170281693 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:71.56, Y:8.89, Z:0.14 [[ 9.69515255e-01 -2.44985706e-01 -4.70900355e-03 7.15551819e+01] [ 2.44981604e-01 9.69526661e-01 -1.43794331e-03 8.89289079e+00] [ 4.91778005e-03 2.40488726e-04 9.99987879e-01 1.35632617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20028169300001 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:71.58, Y:8.91, Z:0.14 [[ 9.69505221e-01 -2.45025415e-01 -4.70876481e-03 7.15806707e+01] [ 2.45021310e-01 9.69516626e-01 -1.43872469e-03 8.90552232e+00] [ 4.91774988e-03 2.41103379e-04 9.99987879e-01 1.35562730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23028169300001 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:71.60, Y:8.92, Z:0.14 [[ 9.69045084e-01 -2.46838927e-01 -4.70850887e-03 7.16037914e+01] [ 2.46834839e-01 9.69056495e-01 -1.43956182e-03 8.92262456e+00] [ 4.91815099e-03 2.32776278e-04 9.99987879e-01 1.35723370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.260281693 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:71.63, Y:8.94, Z:0.14 [[ 9.68542918e-01 -2.48802022e-01 -4.70839744e-03 7.16289892e+01] [ 2.48797956e-01 9.68554337e-01 -1.43992617e-03 8.93528655e+00] [ 4.91859531e-03 2.23190637e-04 9.99987879e-01 1.35844374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.290281693 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:71.65, Y:8.95, Z:0.14 [[ 9.68050643e-01 -2.50710563e-01 -4.70813153e-03 7.16536379e+01] [ 2.50706515e-01 9.68062068e-01 -1.44079509e-03 8.94750046e+00] [ 4.91898610e-03 2.14403364e-04 9.99987879e-01 1.35147480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.320281693 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:71.68, Y:8.96, Z:0.13 [[ 9.67346623e-01 -2.53413388e-01 -4.70801601e-03 7.16774449e+01] [ 2.53409370e-01 9.67358059e-01 -1.44117248e-03 8.96290766e+00] [ 4.91954963e-03 2.01057957e-04 9.99987879e-01 1.33473850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.350281693 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:71.70, Y:8.98, Z:0.13 [[ 9.66947657e-01 -2.54931491e-01 -4.70784212e-03 7.17033018e+01] [ 2.54927487e-01 9.66959098e-01 -1.44174028e-03 8.97502161e+00] [ 4.91983577e-03 1.93929025e-04 9.99987879e-01 1.34478024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.380281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:71.73, Y:8.99, Z:0.14 [[ 9.66099277e-01 -2.58127925e-01 -4.70757833e-03 7.17273983e+01] [ 2.58123956e-01 9.66110730e-01 -1.44260110e-03 8.99230430e+00] [ 4.92041757e-03 1.78557135e-04 9.99987879e-01 1.37649983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.410281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:71.75, Y:9.00, Z:0.14 [[ 9.65693116e-01 -2.59643306e-01 -4.70730753e-03 7.17522420e+01] [ 2.59639350e-01 9.65704574e-01 -1.44348422e-03 9.00496567e+00] [ 4.92065942e-03 1.71760511e-04 9.99987879e-01 1.37901452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.440281693 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:71.78, Y:9.02, Z:0.14 [[ 9.64697905e-01 -2.63316910e-01 -4.70712325e-03 7.17766667e+01] [ 2.63312995e-01 9.64709377e-01 -1.44408488e-03 9.02192374e+00] [ 4.92125791e-03 1.53658935e-04 9.99987879e-01 1.36258867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.470281693 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:71.80, Y:9.03, Z:0.14 [[ 9.64202041e-01 -2.65126895e-01 -4.70685449e-03 7.18016200e+01] [ 2.65122998e-01 9.64213518e-01 -1.44496036e-03 9.03411811e+00] [ 4.92151058e-03 1.45338360e-04 9.99987879e-01 1.35379612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.500281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:71.83, Y:9.05, Z:0.13 [[ 9.62665266e-01 -2.70653714e-01 -4.70673736e-03 7.18262115e+01] [ 2.70649881e-01 9.62676765e-01 -1.44534178e-03 9.04985927e+00] [ 4.92225382e-03 1.17502421e-04 9.99987879e-01 1.34933450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.530281693 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:71.85, Y:9.06, Z:0.13 [[ 9.61730378e-01 -2.73957168e-01 -4.70647110e-03 7.18520242e+01] [ 2.73953370e-01 9.61741888e-01 -1.44620830e-03 9.06058013e+00] [ 4.92260953e-03 1.01508841e-04 9.99987879e-01 1.34887332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56028169300001 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:71.88, Y:9.07, Z:0.14 [[ 9.60676566e-01 -2.77629948e-01 -4.70620379e-03 7.18785256e+01] [ 2.77626189e-01 9.60688089e-01 -1.44707763e-03 9.07042273e+00] [ 4.92294602e-03 8.36081482e-05 9.99987879e-01 1.35503083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59028169300001 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:71.90, Y:9.08, Z:0.14 [[ 9.58647445e-01 -2.84557429e-01 -4.70593230e-03 7.19044590e+01] [ 2.84553749e-01 9.58658994e-01 -1.44796000e-03 9.07988610e+00] [ 4.92341210e-03 4.89924775e-05 9.99987879e-01 1.38940984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.620281693 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:71.93, Y:9.09, Z:0.14 [[ 9.58595614e-01 -2.84731985e-01 -4.70584785e-03 7.19316150e+01] [ 2.84728306e-01 9.58607164e-01 -1.44823440e-03 9.08845715e+00] [ 4.92341812e-03 4.83830575e-05 9.99987879e-01 1.39081202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.650281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:71.96, Y:9.10, Z:0.14 [[ 9.57663676e-01 -2.87850899e-01 -4.70558398e-03 7.19576702e+01] [ 2.87847254e-01 9.57675237e-01 -1.44909124e-03 9.09792535e+00] [ 4.92354347e-03 3.32526218e-05 9.99987879e-01 1.41111684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.680281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:71.98, Y:9.11, Z:0.14 [[ 9.56414906e-01 -2.91973264e-01 -4.70531919e-03 7.19824547e+01] [ 2.91969664e-01 9.56426481e-01 -1.44995056e-03 9.10842688e+00] [ 4.92363867e-03 1.29438641e-05 9.99987879e-01 1.41421491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.710281693 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:72.01, Y:9.12, Z:0.14 [[ 9.56088327e-01 -2.93040904e-01 -4.70520414e-03 7.20078733e+01] [ 2.93037315e-01 9.56099905e-01 -1.45032380e-03 9.11678186e+00] [ 4.92364943e-03 7.83726721e-06 9.99987879e-01 1.40218851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.740281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:72.03, Y:9.13, Z:0.14 [[ 9.55808695e-01 -2.93951699e-01 -4.70509047e-03 7.20338138e+01] [ 2.93948119e-01 9.55820275e-01 -1.45069247e-03 9.12534217e+00] [ 4.92365438e-03 3.53197849e-06 9.99987879e-01 1.37073351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.770281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:72.06, Y:9.13, Z:0.14 [[ 9.55751922e-01 -2.94136238e-01 -4.70497703e-03 7.20607007e+01] [ 2.94132659e-01 9.55763503e-01 -1.45106028e-03 9.13415835e+00] [ 4.92365474e-03 2.96624319e-06 9.99987879e-01 1.36903428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.800281693 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:72.09, Y:9.14, Z:0.14 [[ 9.55730869e-01 -2.94204644e-01 -4.70471858e-03 7.20868777e+01] [ 2.94201061e-01 9.55742448e-01 -1.45189777e-03 9.14296658e+00] [ 4.92365432e-03 3.49031282e-06 9.99987879e-01 1.36014725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.830281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:72.11, Y:9.15, Z:0.14 [[ 9.55944053e-01 -2.93511220e-01 -4.70446117e-03 7.21139382e+01] [ 2.93507624e-01 9.55955629e-01 -1.45273135e-03 9.15163604e+00] [ 4.92364909e-03 7.93466915e-06 9.99987879e-01 1.36574230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.860281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:72.14, Y:9.16, Z:0.14 [[ 9.56229544e-01 -2.92579782e-01 -4.70419891e-03 7.21391770e+01] [ 2.92576172e-01 9.56241115e-01 -1.45358009e-03 9.15995291e+00] [ 4.92363656e-03 1.36197230e-05 9.99987879e-01 1.37748024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.890281693 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:72.17, Y:9.17, Z:0.14 [[ 9.56725148e-01 -2.90955087e-01 -4.70401943e-03 7.21651650e+01] [ 2.90951454e-01 9.56736712e-01 -1.45416071e-03 9.17152999e+00] [ 4.92360354e-03 2.25908242e-05 9.99987879e-01 1.42194661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.920281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:72.19, Y:9.18, Z:0.14 [[ 9.56854303e-01 -2.90530062e-01 -4.70374742e-03 7.21909606e+01] [ 2.90526419e-01 9.56865864e-01 -1.45504001e-03 9.18053263e+00] [ 4.92358821e-03 2.56984022e-05 9.99987879e-01 1.43306961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.95028169300001 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:72.22, Y:9.19, Z:0.14 [[ 9.56765099e-01 -2.90823696e-01 -4.70362931e-03 7.22167918e+01] [ 2.90820055e-01 9.56776660e-01 -1.45542175e-03 9.18830997e+00] [ 4.92359387e-03 2.45869997e-05 9.99987879e-01 1.41865813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98028169300001 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:72.24, Y:9.20, Z:0.14 [[ 9.56751041e-01 -2.90869940e-01 -4.70351818e-03 7.22431367e+01] [ 2.90866298e-01 9.56762602e-01 -1.45578077e-03 9.19625457e+00] [ 4.92359317e-03 2.47248484e-05 9.99987879e-01 1.40904573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.010281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:72.27, Y:9.21, Z:0.14 [[ 9.56842197e-01 -2.90569941e-01 -4.70323824e-03 7.22689042e+01] [ 2.90566291e-01 9.56853755e-01 -1.45668463e-03 9.20502633e+00] [ 4.92357994e-03 2.72148331e-05 9.99987879e-01 1.40486858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.040281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:72.29, Y:9.22, Z:0.14 [[ 9.57937209e-01 -2.86939339e-01 -4.70311647e-03 7.22934756e+01] [ 2.86935643e-01 9.57948753e-01 -1.45707768e-03 9.21552288e+00] [ 4.92343747e-03 4.62971772e-05 9.99987879e-01 1.42126501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.070281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:72.32, Y:9.23, Z:0.14 [[ 9.59688242e-01 -2.81027330e-01 -4.70293031e-03 7.23190618e+01] [ 2.81023560e-01 9.59699762e-01 -1.45767828e-03 9.22787036e+00] [ 4.92304854e-03 7.72824909e-05 9.99987879e-01 1.41258915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.100281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:72.34, Y:9.24, Z:0.14 [[ 9.60545647e-01 -2.78082623e-01 -4.70264808e-03 7.23438832e+01] [ 2.78078814e-01 9.60557154e-01 -1.45858825e-03 9.23848780e+00] [ 4.92277030e-03 9.33337971e-05 9.99987879e-01 1.39696493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.130281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:72.37, Y:9.25, Z:0.14 [[ 9.61261422e-01 -2.75598195e-01 -4.70252480e-03 7.23691150e+01] [ 2.75594354e-01 9.61272918e-01 -1.45898560e-03 9.24986833e+00] [ 4.92250353e-03 1.06477288e-04 9.99987879e-01 1.38434217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.160281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:72.39, Y:9.26, Z:0.14 [[ 9.62138361e-01 -2.72520936e-01 -4.70240508e-03 7.23944075e+01] [ 2.72517056e-01 9.62149845e-01 -1.45937133e-03 9.26358699e+00] [ 4.92212757e-03 1.22631552e-04 9.99987879e-01 1.41256335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.190281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:72.42, Y:9.27, Z:0.14 [[ 9.62142427e-01 -2.72506587e-01 -4.70212906e-03 7.24196101e+01] [ 2.72502703e-01 9.62153909e-01 -1.46026015e-03 9.27350034e+00] [ 4.92210237e-03 1.23635367e-04 9.99987879e-01 1.44525452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.220281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:72.45, Y:9.28, Z:0.15 [[ 9.61815364e-01 -2.73658722e-01 -4.70200985e-03 7.24455377e+01] [ 2.73654850e-01 9.61826850e-01 -1.46064390e-03 9.28495494e+00] [ 4.92223727e-03 1.18141942e-04 9.99987879e-01 1.47583273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.250281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:72.47, Y:9.30, Z:0.15 [[ 9.60894297e-01 -2.76875503e-01 -4.70173487e-03 7.24703209e+01] [ 2.76871665e-01 9.60905794e-01 -1.46152850e-03 9.29957886e+00] [ 4.92258572e-03 1.02597239e-04 9.99987879e-01 1.47738837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.280281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:72.50, Y:9.31, Z:0.14 [[ 9.60343956e-01 -2.78778375e-01 -4.70146130e-03 7.24957840e+01] [ 2.78774555e-01 9.60355460e-01 -1.46240802e-03 9.31025574e+00] [ 4.92276176e-03 9.37669259e-05 9.99987879e-01 1.44464927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.31028169300001 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:72.52, Y:9.32, Z:0.14 [[ 9.59063558e-01 -2.83151884e-01 -4.70134237e-03 7.25213192e+01] [ 2.83148115e-01 9.59075078e-01 -1.46279025e-03 9.32193668e+00] [ 4.92313211e-03 7.17325912e-05 9.99987879e-01 1.38107625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34028169300001 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:72.55, Y:9.33, Z:0.14 [[ 9.58338510e-01 -2.85596219e-01 -4.70106935e-03 7.25480113e+01] [ 2.85592474e-01 9.58350038e-01 -1.46366714e-03 9.33173175e+00] [ 4.92328779e-03 6.00985548e-05 9.99987879e-01 1.36897158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.370281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:72.57, Y:9.34, Z:0.14 [[ 9.56904189e-01 -2.90365762e-01 -4.70079780e-03 7.25739817e+01] [ 2.90362071e-01 9.56915735e-01 -1.46453875e-03 9.34174453e+00] [ 4.92351929e-03 3.64898793e-05 9.99987879e-01 1.41746410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.400281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:72.60, Y:9.35, Z:0.15 [[ 9.56159720e-01 -2.92807945e-01 -4.70071334e-03 7.26001340e+01] [ 2.92804282e-01 9.56171275e-01 -1.46480980e-03 9.35071933e+00] [ 4.92359501e-03 2.42031350e-05 9.99987879e-01 1.46084464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.430281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:72.63, Y:9.36, Z:0.15 [[ 9.55627748e-01 -2.94539493e-01 -4.70044571e-03 7.26260560e+01] [ 2.94535847e-01 9.55639308e-01 -1.46566809e-03 9.35966174e+00] [ 4.92362782e-03 1.61833325e-05 9.99987879e-01 1.47762854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.460281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:72.65, Y:9.37, Z:0.14 [[ 9.54985170e-01 -2.96616304e-01 -4.70026360e-03 7.26515670e+01] [ 2.96612680e-01 9.54996737e-01 -1.46625187e-03 9.36934046e+00] [ 4.92365061e-03 6.09100970e-06 9.99987879e-01 1.44871917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.490281693 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:72.68, Y:9.38, Z:0.14 [[ 9.54694220e-01 -2.97551432e-01 -4.70014796e-03 7.26778786e+01] [ 2.97547818e-01 9.54705790e-01 -1.46662247e-03 9.37798645e+00] [ 4.92365408e-03 1.65722253e-06 9.99987879e-01 1.44017845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.520281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:72.70, Y:9.39, Z:0.14 [[ 9.54540201e-01 -2.98045156e-01 -4.69998405e-03 7.27033874e+01] [ 2.98041545e-01 9.54551772e-01 -1.46714753e-03 9.38551583e+00] [ 4.92365432e-03 -3.39210858e-07 9.99987879e-01 1.44888839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.550281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:72.73, Y:9.39, Z:0.15 [[ 9.54488813e-01 -2.98209688e-01 -4.69980402e-03 7.27293623e+01] [ 2.98206076e-01 9.54500384e-01 -1.46772402e-03 9.39330229e+00] [ 4.92365426e-03 -5.83950150e-07 9.99987879e-01 1.45702442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.580281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:72.76, Y:9.40, Z:0.15 [[ 9.54382738e-01 -2.98548998e-01 -4.69954567e-03 7.27559757e+01] [ 2.98545387e-01 9.54394308e-01 -1.46855075e-03 9.40133860e+00] [ 4.92365400e-03 -1.46819043e-06 9.99987879e-01 1.46783991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.610281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:72.78, Y:9.41, Z:0.15 [[ 9.54057249e-01 -2.99587521e-01 -4.69926492e-03 7.27828073e+01] [ 2.99583918e-01 9.54068822e-01 -1.46944861e-03 9.40753487e+00] [ 4.92365061e-03 -5.88610081e-06 9.99987879e-01 1.48764679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.640281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:72.81, Y:9.42, Z:0.15 [[ 9.53708908e-01 -3.00694590e-01 -4.69914290e-03 7.28096092e+01] [ 3.00690998e-01 9.53720485e-01 -1.46983872e-03 9.41527577e+00] [ 4.92364139e-03 -1.11916851e-05 9.99987879e-01 1.48749933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.670281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:72.84, Y:9.42, Z:0.15 [[ 9.53369959e-01 -3.01767530e-01 -4.69886528e-03 7.28369098e+01] [ 3.01763947e-01 9.53381538e-01 -1.47072568e-03 9.42252543e+00] [ 4.92362867e-03 -1.58024528e-05 9.99987879e-01 1.48392210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70028169300001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:72.86, Y:9.43, Z:0.15 [[ 9.53096537e-01 -3.02629995e-01 -4.69858695e-03 7.28637023e+01] [ 3.02626418e-01 9.53108119e-01 -1.47161433e-03 9.42607445e+00] [ 4.92361601e-03 -1.93260120e-05 9.99987879e-01 1.45462623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73028169300001 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:72.89, Y:9.43, Z:0.14 [[ 9.53071555e-01 -3.02708664e-01 -4.69846556e-03 7.28900139e+01] [ 3.02705086e-01 9.53083136e-01 -1.47200180e-03 9.43138133e+00] [ 4.92361599e-03 -1.93263734e-05 9.99987879e-01 1.44000611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.760281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:72.92, Y:9.43, Z:0.14 [[ 9.53388474e-01 -3.01709037e-01 -4.69834645e-03 7.29178030e+01] [ 3.01705445e-01 9.53400051e-01 -1.47238186e-03 9.43483036e+00] [ 4.92363466e-03 -1.37648084e-05 9.99987879e-01 1.42952600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.790281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:72.94, Y:9.44, Z:0.14 [[ 9.53829095e-01 -3.00313147e-01 -4.69807484e-03 7.29441866e+01] [ 3.00309533e-01 9.53840665e-01 -1.47324803e-03 9.44176227e+00] [ 4.92365058e-03 -5.64983003e-06 9.99987879e-01 1.44177130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.820281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:72.97, Y:9.45, Z:0.15 [[ 9.54477003e-01 -2.98247516e-01 -4.69795657e-03 7.29713178e+01] [ 2.98243875e-01 9.54488564e-01 -1.47362506e-03 9.44950551e+00] [ 4.92365084e-03 5.40445831e-06 9.99987879e-01 1.45885111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.850281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:73.00, Y:9.46, Z:0.15 [[ 9.56232395e-01 -2.92570572e-01 -4.69768672e-03 7.29988521e+01] [ 2.92566858e-01 9.56243933e-01 -1.47448482e-03 9.45671311e+00] [ 4.92352529e-03 3.55627036e-05 9.99987879e-01 1.47406368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.880281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:73.02, Y:9.46, Z:0.15 [[ 9.56970921e-01 -2.90145809e-01 -4.69741604e-03 7.30245218e+01] [ 2.90142063e-01 9.56982449e-01 -1.47534664e-03 9.46441024e+00] [ 4.92341035e-03 4.89458591e-05 9.99987879e-01 1.46987224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.910281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:73.05, Y:9.47, Z:0.15 [[ 9.57348916e-01 -2.88896155e-01 -4.69729836e-03 7.30509729e+01] [ 2.88892391e-01 9.57360438e-01 -1.47572121e-03 9.47280761e+00] [ 4.92333780e-03 5.57663387e-05 9.99987879e-01 1.47199097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.940281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:73.08, Y:9.48, Z:0.15 [[ 9.57134558e-01 -2.89605552e-01 -4.69703085e-03 7.30777122e+01] [ 2.89601793e-01 9.57146081e-01 -1.47657219e-03 9.48160959e+00] [ 4.92336817e-03 5.30097159e-05 9.99987879e-01 1.47983427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.970281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:73.10, Y:9.49, Z:0.15 [[ 9.56649070e-01 -2.91205249e-01 -4.69676410e-03 7.31030924e+01] [ 2.91201505e-01 9.56660599e-01 -1.47742019e-03 9.48950132e+00] [ 4.92344167e-03 4.56678795e-05 9.99987879e-01 1.47351403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.000281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:73.13, Y:9.50, Z:0.14 [[ 9.54808936e-01 -2.97183172e-01 -4.69664764e-03 7.31303551e+01] [ 2.97179498e-01 9.54820487e-01 -1.47779031e-03 9.49750878e+00] [ 4.92362980e-03 1.52600119e-05 9.99987879e-01 1.44708856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.030281693 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:73.16, Y:9.50, Z:0.14 [[ 9.53922570e-01 -3.00016122e-01 -4.69638363e-03 7.31561034e+01] [ 3.00012479e-01 9.53934131e-01 -1.47862885e-03 9.50470509e+00] [ 4.92365313e-03 1.52374019e-06 9.99987879e-01 1.43915433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06028169300001 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:73.18, Y:9.51, Z:0.14 [[ 9.52964931e-01 -3.03044197e-01 -4.69626899e-03 7.31826371e+01] [ 3.03040588e-01 9.52976503e-01 -1.47899287e-03 9.51205693e+00] [ 4.92363420e-03 -1.37317748e-05 9.99987879e-01 1.43890774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09028169300001 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:73.21, Y:9.52, Z:0.14 [[ 9.52211124e-01 -3.05404525e-01 -4.69600668e-03 7.32092744e+01] [ 3.05400940e-01 9.52222703e-01 -1.47982527e-03 9.51878581e+00] [ 4.92358951e-03 -2.50587690e-05 9.99987879e-01 1.42697659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.120281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:73.24, Y:9.53, Z:0.14 [[ 9.50991235e-01 -3.09182177e-01 -4.69589275e-03 7.32363902e+01] [ 3.09178637e-01 9.51002828e-01 -1.48018673e-03 9.52515218e+00] [ 4.92345464e-03 -4.42251145e-05 9.99987879e-01 1.42437483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.150281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:73.26, Y:9.53, Z:0.14 [[ 9.50491668e-01 -3.10714565e-01 -4.69563551e-03 7.32632807e+01] [ 3.10711040e-01 9.50503265e-01 -1.48100231e-03 9.53249296e+00] [ 4.92338587e-03 -5.13054348e-05 9.99987879e-01 1.44139112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.180281693 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:73.29, Y:9.54, Z:0.15 [[ 9.50051898e-01 -3.12056636e-01 -4.69537706e-03 7.32904773e+01] [ 3.12053123e-01 9.50063499e-01 -1.48182125e-03 9.53613311e+00] [ 4.92331852e-03 -5.73999849e-05 9.99987879e-01 1.48653226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.210281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:73.32, Y:9.54, Z:0.15 [[ 9.49853791e-01 -3.12659128e-01 -4.69520082e-03 7.33172975e+01] [ 3.12655619e-01 9.49865394e-01 -1.48237945e-03 9.54209412e+00] [ 4.92328825e-03 -5.99371770e-05 9.99987879e-01 1.50728210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.240281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:73.34, Y:9.55, Z:0.15 [[ 9.49694975e-01 -3.13141200e-01 -4.69509007e-03 7.33443511e+01] [ 3.13137695e-01 9.49706579e-01 -1.48273015e-03 9.54802621e+00] [ 4.92326183e-03 -6.20683142e-05 9.99987879e-01 1.50890140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.270281693 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:73.37, Y:9.55, Z:0.15 [[ 9.49313737e-01 -3.14295064e-01 -4.69482091e-03 7.33717748e+01] [ 3.14291569e-01 9.49325344e-01 -1.48358194e-03 9.55061954e+00] [ 4.92319495e-03 -6.71579186e-05 9.99987879e-01 1.47336435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.300281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:73.40, Y:9.56, Z:0.15 [[ 9.48991904e-01 -3.15265487e-01 -4.69455298e-03 7.33995836e+01] [ 3.15262000e-01 9.49003513e-01 -1.48442927e-03 9.55546501e+00] [ 4.92313658e-03 -7.13028001e-05 9.99987879e-01 1.45975752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.330281693 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:73.43, Y:9.56, Z:0.15 [[ 9.48657521e-01 -3.16270249e-01 -4.69430086e-03 7.34271312e+01] [ 3.16266771e-01 9.48669133e-01 -1.48522612e-03 9.56026472e+00] [ 4.92307116e-03 -7.56804472e-05 9.99987879e-01 1.46421032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.360281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:73.46, Y:9.56, Z:0.15 [[ 9.48835324e-01 -3.15736430e-01 -4.69402359e-03 7.34552354e+01] [ 3.15732941e-01 9.48846933e-01 -1.48610190e-03 9.56115624e+00] [ 4.92312640e-03 -7.19918954e-05 9.99987879e-01 1.49097705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.390281693 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:73.48, Y:9.57, Z:0.15 [[ 9.49194214e-01 -3.14655862e-01 -4.69390324e-03 7.34826779e+01] [ 3.14652358e-01 9.49205818e-01 -1.48648194e-03 9.56637764e+00] [ 4.92321052e-03 -6.59876655e-05 9.99987879e-01 1.49887427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.420281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:73.51, Y:9.57, Z:0.15 [[ 9.49927075e-01 -3.12436428e-01 -4.69363103e-03 7.35092866e+01] [ 3.12432892e-01 9.49938669e-01 -1.48734095e-03 9.57105079e+00] [ 4.92336111e-03 -5.35792776e-05 9.99987879e-01 1.48801816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.45028169300001 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:73.54, Y:9.57, Z:0.14 [[ 9.51519572e-01 -3.07552393e-01 -4.69351240e-03 7.35371612e+01] [ 3.07548796e-01 9.51531148e-01 -1.48771524e-03 9.57321578e+00] [ 4.92357362e-03 -2.78939212e-05 9.99987879e-01 1.44961003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.480281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:73.56, Y:9.58, Z:0.14 [[ 9.52143487e-01 -3.05615367e-01 -4.69339695e-03 7.35645475e+01] [ 3.05611744e-01 9.52155054e-01 -1.48807935e-03 9.57892094e+00] [ 4.92362154e-03 -1.74921712e-05 9.99987879e-01 1.44441761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.510281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:73.59, Y:9.59, Z:0.14 [[ 9.52087637e-01 -3.05789318e-01 -4.69312544e-03 7.35916339e+01] [ 3.05785693e-01 9.52099203e-01 -1.48893514e-03 9.58772659e+00] [ 4.92362146e-03 -1.74938810e-05 9.99987879e-01 1.44582002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.540281693 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:73.62, Y:9.59, Z:0.15 [[ 9.53081204e-01 -3.02678372e-01 -4.69285326e-03 7.36206957e+01] [ 3.02674705e-01 9.53092757e-01 -1.48979251e-03 9.58893949e+00] [ 4.92365243e-03 -5.14738163e-07 9.99987879e-01 1.47174070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.570281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:73.65, Y:9.59, Z:0.15 [[ 9.53368195e-01 -3.01773197e-01 -4.69276876e-03 7.36486667e+01] [ 3.01769518e-01 9.53379745e-01 -1.49005865e-03 9.59313417e+00] [ 4.92365044e-03 4.43995950e-06 9.99987879e-01 1.48925540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.600281693 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:73.68, Y:9.60, Z:0.15 [[ 9.53675738e-01 -3.00799879e-01 -4.69249813e-03 7.36768680e+01] [ 3.00796185e-01 9.53687282e-01 -1.49091042e-03 9.59781576e+00] [ 4.92364147e-03 1.03595622e-05 9.99987879e-01 1.50161750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.630281693 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:73.71, Y:9.60, Z:0.15 [[ 9.54484155e-01 -2.98224714e-01 -4.69222535e-03 7.37059153e+01] [ 2.98220984e-01 9.54495688e-01 -1.49176843e-03 9.59893983e+00] [ 4.92359108e-03 2.45492657e-05 9.99987879e-01 1.49102742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.660281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:73.73, Y:9.60, Z:0.15 [[ 9.54836733e-01 -2.97093921e-01 -4.69194253e-03 7.37328611e+01] [ 2.97090173e-01 9.54848261e-01 -1.49265743e-03 9.60303333e+00] [ 4.92355261e-03 3.13141279e-05 9.99987879e-01 1.48470836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.690281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:73.76, Y:9.61, Z:0.15 [[ 9.55145618e-01 -2.96099370e-01 -4.69174934e-03 7.37604073e+01] [ 2.96095607e-01 9.55157140e-01 -1.49326444e-03 9.60686646e+00] [ 4.92351254e-03 3.70786189e-05 9.99987879e-01 1.48288473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.720281693 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:73.79, Y:9.61, Z:0.15 [[ 9.55823094e-01 -2.93905090e-01 -4.69163047e-03 7.37888448e+01] [ 2.93901299e-01 9.55834607e-01 -1.49363780e-03 9.60854601e+00] [ 4.92341052e-03 4.87772116e-05 9.99987879e-01 1.48435955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.750281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:73.82, Y:9.61, Z:0.15 [[ 9.56285867e-01 -2.92395849e-01 -4.69136203e-03 7.38164187e+01] [ 2.92392035e-01 9.56297372e-01 -1.49448047e-03 9.61411518e+00] [ 4.92331707e-03 5.74336553e-05 9.99987879e-01 1.47805450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.780281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:73.85, Y:9.61, Z:0.14 [[ 9.57611688e-01 -2.88024042e-01 -4.69108224e-03 7.38457391e+01] [ 2.88020172e-01 9.57623175e-01 -1.49535819e-03 9.61488040e+00] [ 4.92298818e-03 8.08461644e-05 9.99987879e-01 1.44883080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81028169300001 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:73.87, Y:9.62, Z:0.15 [[ 9.58335845e-01 -2.85605327e-01 -4.69099550e-03 7.38735428e+01] [ 2.85601426e-01 9.58347321e-01 -1.49563027e-03 9.62010351e+00] [ 4.92276294e-03 9.35610888e-05 9.99987879e-01 1.46100439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84028169300001 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:73.90, Y:9.63, Z:0.15 [[ 9.58985159e-01 -2.83417470e-01 -4.69072830e-03 7.39008956e+01] [ 2.83413539e-01 9.58996625e-01 -1.49646779e-03 9.62615014e+00] [ 4.92251773e-03 1.05674492e-04 9.99987879e-01 1.48671132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.870281693 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:73.93, Y:9.63, Z:0.15 [[ 9.60024502e-01 -2.79876677e-01 -4.69045470e-03 7.39286153e+01] [ 2.79872699e-01 9.60035953e-01 -1.49732486e-03 9.63102092e+00] [ 4.92207146e-03 1.24738337e-04 9.99987879e-01 1.51223659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.900281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:73.96, Y:9.64, Z:0.15 [[ 9.60404779e-01 -2.78568954e-01 -4.69017099e-03 7.39550980e+01] [ 2.78564957e-01 9.60416222e-01 -1.49821302e-03 9.63718465e+00] [ 4.92187194e-03 1.32373667e-04 9.99987879e-01 1.51177117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.930281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:73.98, Y:9.64, Z:0.15 [[ 9.61126149e-01 -2.76069789e-01 -4.69004806e-03 7.39814865e+01] [ 2.76065760e-01 9.61137581e-01 -1.49859774e-03 9.64181731e+00] [ 4.92149902e-03 1.45579796e-04 9.99987879e-01 1.49087977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.960281693 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:74.01, Y:9.65, Z:0.15 [[ 9.61401351e-01 -2.75109882e-01 -4.68992752e-03 7.40072971e+01] [ 2.75105840e-01 9.61412778e-01 -1.49897490e-03 9.64960685e+00] [ 4.92133905e-03 1.50890043e-04 9.99987879e-01 1.48554976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.990281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:74.03, Y:9.66, Z:0.15 [[ 9.61638860e-01 -2.74278525e-01 -4.68974471e-03 7.40344844e+01] [ 2.74274470e-01 9.61650283e-01 -1.49954662e-03 9.65765751e+00] [ 4.92118776e-03 1.55745056e-04 9.99987879e-01 1.49465690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.020281693 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:74.06, Y:9.66, Z:0.15 [[ 9.62069879e-01 -2.72762823e-01 -4.68947694e-03 7.40622820e+01] [ 2.72758746e-01 9.62081294e-01 -1.50038353e-03 9.66415197e+00] [ 4.92090689e-03 1.64377947e-04 9.99987879e-01 1.50568703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.050281693 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:74.09, Y:9.67, Z:0.15 [[ 9.62153689e-01 -2.72467044e-01 -4.68919575e-03 7.40882903e+01] [ 2.72462959e-01 9.62165101e-01 -1.50126183e-03 9.67158658e+00] [ 4.92082488e-03 1.66812452e-04 9.99987879e-01 1.49023005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.080281693 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:74.12, Y:9.68, Z:0.15 [[ 9.62253087e-01 -2.72115802e-01 -4.68907371e-03 7.41150831e+01] [ 2.72111711e-01 9.62264497e-01 -1.50164293e-03 9.68123084e+00] [ 4.92074992e-03 1.69008668e-04 9.99987879e-01 1.46277075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.110281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:74.14, Y:9.69, Z:0.15 [[ 9.62378953e-01 -2.71670324e-01 -4.68880530e-03 7.41417697e+01] [ 2.71666224e-01 9.62390360e-01 -1.50248056e-03 9.69101889e+00] [ 4.92064040e-03 1.72165637e-04 9.99987879e-01 1.45629785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.140281693 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:74.17, Y:9.70, Z:0.15 [[ 9.62550707e-01 -2.71061164e-01 -4.68852809e-03 7.41672208e+01] [ 2.71057053e-01 9.62562109e-01 -1.50334510e-03 9.70049332e+00] [ 4.92049796e-03 1.76187283e-04 9.99987879e-01 1.45657107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.170281693 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:74.19, Y:9.71, Z:0.15 [[ 9.62752012e-01 -2.70345300e-01 -4.68840744e-03 7.41932966e+01] [ 2.70341178e-01 9.62763411e-01 -1.50372127e-03 9.71275876e+00] [ 4.92035112e-03 1.80241083e-04 9.99987879e-01 1.49720920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20028169300001 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:74.22, Y:9.72, Z:0.15 [[ 9.62930959e-01 -2.69707228e-01 -4.68816681e-03 7.42185593e+01] [ 2.69703095e-01 9.62942354e-01 -1.50447111e-03 9.72368151e+00] [ 4.92020112e-03 1.84288714e-04 9.99987879e-01 1.51229892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.230281693 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:74.24, Y:9.74, Z:0.15 [[ 9.63228003e-01 -2.68644444e-01 -4.68798032e-03 7.42436089e+01] [ 2.68640296e-01 9.63239392e-01 -1.50505201e-03 9.73740390e+00] [ 4.91997117e-03 1.90327821e-04 9.99987879e-01 1.50884355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.260281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:74.27, Y:9.75, Z:0.15 [[ 9.63233450e-01 -2.68624919e-01 -4.68770159e-03 7.42680379e+01] [ 2.68620766e-01 9.63244837e-01 -1.50591965e-03 9.74807636e+00] [ 4.91993189e-03 1.91338194e-04 9.99987879e-01 1.48353095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.290281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:74.29, Y:9.76, Z:0.15 [[ 9.63022542e-01 -2.69380048e-01 -4.68758052e-03 7.42936400e+01] [ 2.69375902e-01 9.63033932e-01 -1.50629641e-03 9.75898211e+00] [ 4.92006530e-03 1.87876174e-04 9.99987879e-01 1.47295773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.320281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:74.32, Y:9.77, Z:0.15 [[ 9.62212650e-01 -2.72258783e-01 -4.68730309e-03 7.43180055e+01] [ 2.72254667e-01 9.62224051e-01 -1.50715921e-03 9.77263239e+00] [ 4.92057310e-03 1.74067514e-04 9.99987879e-01 1.47821642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.350281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:74.34, Y:9.78, Z:0.15 [[ 9.61658157e-01 -2.74210905e-01 -4.68718193e-03 7.43435296e+01] [ 2.74206810e-01 9.61669565e-01 -1.50753594e-03 9.78366398e+00] [ 4.92090300e-03 1.64477028e-04 9.99987879e-01 1.50317867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.380281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:74.37, Y:9.79, Z:0.15 [[ 9.61032121e-01 -2.76396990e-01 -4.68690698e-03 7.43693318e+01] [ 2.76392917e-01 9.61043537e-01 -1.50839026e-03 9.79407598e+00] [ 4.92123619e-03 1.54183602e-04 9.99987879e-01 1.52955166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.410281693 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:74.39, Y:9.80, Z:0.15 [[ 9.59479994e-01 -2.81737781e-01 -4.68663164e-03 7.43949807e+01] [ 2.81733768e-01 9.59491431e-01 -1.50924528e-03 9.80452796e+00] [ 4.92199431e-03 1.27708264e-04 9.99987879e-01 1.54876970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.440281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:74.42, Y:9.81, Z:0.15 [[ 9.58643663e-01 -2.84570493e-01 -4.68635084e-03 7.44206446e+01] [ 2.84566509e-01 9.58655111e-01 -1.51011667e-03 9.81266152e+00] [ 4.92232883e-03 1.14085275e-04 9.99987879e-01 1.54429234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.470281693 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:74.45, Y:9.82, Z:0.15 [[ 9.57263578e-01 -2.89178981e-01 -4.68615976e-03 7.44474381e+01] [ 2.89175049e-01 9.57275043e-01 -1.51070939e-03 9.81905783e+00] [ 4.92280919e-03 9.10265996e-05 9.99987879e-01 1.52860838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.500281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:74.47, Y:9.83, Z:0.15 [[ 9.56632204e-01 -2.91260825e-01 -4.68597438e-03 7.44731875e+01] [ 2.91256915e-01 9.56643677e-01 -1.51128419e-03 9.82618207e+00] [ 4.92298564e-03 8.09206866e-05 9.99987879e-01 1.53014843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.530281693 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:74.50, Y:9.83, Z:0.15 [[ 9.55905994e-01 -2.93635443e-01 -4.68585664e-03 7.45003260e+01] [ 2.93631560e-01 9.55917476e-01 -1.51164917e-03 9.83339697e+00] [ 4.92316603e-03 6.90791026e-05 9.99987879e-01 1.53498647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56028169300001 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:74.53, Y:9.84, Z:0.15 [[ 9.55142828e-01 -2.96108465e-01 -4.68558724e-03 7.45275179e+01] [ 2.96104608e-01 9.55154319e-01 -1.51248377e-03 9.84028324e+00] [ 4.92331813e-03 5.72140577e-05 9.99987879e-01 1.53873085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59028169300001 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:74.55, Y:9.84, Z:0.15 [[ 9.53694818e-01 -3.00739493e-01 -4.68531849e-03 7.45549077e+01] [ 3.00735687e-01 9.53706326e-01 -1.51331582e-03 9.84387474e+00] [ 4.92353172e-03 3.41989739e-05 9.99987879e-01 1.51395446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.620281693 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:74.58, Y:9.85, Z:0.15 [[ 9.53139822e-01 -3.02493848e-01 -4.68520156e-03 7.45829803e+01] [ 3.02490062e-01 9.53151337e-01 -1.51367776e-03 9.84960945e+00] [ 4.92358434e-03 2.55196372e-05 9.99987879e-01 1.50385272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.650281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:74.61, Y:9.85, Z:0.15 [[ 9.52354872e-01 -3.04956144e-01 -4.68492971e-03 7.46117206e+01] [ 3.04952383e-01 9.52366395e-01 -1.51451868e-03 9.85229073e+00] [ 4.92363139e-03 1.36787647e-05 9.99987879e-01 1.51734073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.680281693 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:74.64, Y:9.86, Z:0.15 [[ 9.52093521e-01 -3.05771126e-01 -4.68464490e-03 7.46385370e+01] [ 3.05767371e-01 9.52105046e-01 -1.51539913e-03 9.85772903e+00] [ 4.92363935e-03 1.03901428e-05 9.99987879e-01 1.52925007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.710281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:74.67, Y:9.86, Z:0.15 [[ 9.51903414e-01 -3.06362443e-01 -4.68452097e-03 7.46652294e+01] [ 3.06358693e-01 9.51914940e-01 -1.51578213e-03 9.86345578e+00] [ 4.92364422e-03 7.73446482e-06 9.99987879e-01 1.53509551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.740281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:74.69, Y:9.87, Z:0.15 [[ 9.51322890e-01 -3.08160372e-01 -4.68440163e-03 7.46936615e+01] [ 3.08156642e-01 9.51334423e-01 -1.51615085e-03 9.86663008e+00] [ 4.92365013e-03 -1.18046543e-06 9.99987879e-01 1.53768883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.770281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:74.72, Y:9.87, Z:0.15 [[ 9.50946238e-01 -3.09320724e-01 -4.68413401e-03 7.47206500e+01] [ 3.09317005e-01 9.50957775e-01 -1.51697721e-03 9.87121237e+00] [ 4.92364615e-03 -6.31853031e-06 9.99987879e-01 1.53580110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.800281693 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:74.75, Y:9.87, Z:0.15 [[ 9.50071758e-01 -3.11996336e-01 -4.68401774e-03 7.47488680e+01] [ 3.11992647e-01 9.50083305e-01 -1.51733615e-03 9.87046504e+00] [ 4.92361037e-03 -1.98008697e-05 9.99987879e-01 1.52620291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.830281693 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:74.78, Y:9.87, Z:0.15 [[ 9.49742485e-01 -3.12997243e-01 -4.68390357e-03 7.47766138e+01] [ 3.12993564e-01 9.49754034e-01 -1.51768848e-03 9.87472509e+00] [ 4.92358862e-03 -2.46184439e-05 9.99987879e-01 1.51866502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.860281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:74.80, Y:9.88, Z:0.15 [[ 9.49550250e-01 -3.13579954e-01 -4.68362552e-03 7.48048077e+01] [ 3.13576278e-01 9.49561800e-01 -1.51854608e-03 9.88005881e+00] [ 4.92357749e-03 -2.67380491e-05 9.99987879e-01 1.50826170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.890281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:74.83, Y:9.89, Z:0.15 [[ 9.49621790e-01 -3.13363245e-01 -4.68333819e-03 7.48312975e+01] [ 3.13359562e-01 9.49633338e-01 -1.51943170e-03 9.88524712e+00] [ 4.92358813e-03 -2.46833534e-05 9.99987879e-01 1.49880568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.920281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:74.86, Y:9.89, Z:0.15 [[ 9.50618941e-01 -3.10325145e-01 -4.68321364e-03 7.48603089e+01] [ 3.10321424e-01 9.50630477e-01 -1.51981552e-03 9.88798067e+00] [ 4.92364258e-03 -8.53610224e-06 9.99987879e-01 1.52041254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.95028169300001 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:74.89, Y:9.89, Z:0.15 [[ 9.51494225e-01 -3.07630965e-01 -4.68294189e-03 7.48874098e+01] [ 3.07627206e-01 9.51505749e-01 -1.52065237e-03 9.89392197e+00] [ 4.92364589e-03 6.29161392e-06 9.99987879e-01 1.52393260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.980281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:74.91, Y:9.90, Z:0.15 [[ 9.53800208e-01 -3.00405120e-01 -4.68266813e-03 7.49148389e+01] [ 3.00401271e-01 9.53811701e-01 -1.52149492e-03 9.90105667e+00] [ 4.92344852e-03 4.45227144e-05 9.99987879e-01 1.51069555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.010281693 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:74.94, Y:9.91, Z:0.15 [[ 9.55213059e-01 -2.95881880e-01 -4.68238510e-03 7.49412645e+01] [ 2.95877971e-01 9.55224533e-01 -1.52236543e-03 9.90932449e+00] [ 4.92316947e-03 6.87687329e-05 9.99987879e-01 1.51948780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.040281693 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:74.97, Y:9.92, Z:0.15 [[ 9.56529477e-01 -2.91598075e-01 -4.68210010e-03 7.49672807e+01] [ 2.91594111e-01 9.56540932e-01 -1.52324147e-03 9.91802449e+00] [ 4.92279467e-03 9.17525536e-05 9.99987879e-01 1.53854589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.070281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:74.99, Y:9.93, Z:0.16 [[ 9.58534731e-01 -2.84937270e-01 -4.68201163e-03 7.49926782e+01] [ 2.84933225e-01 9.58546158e-01 -1.52351336e-03 9.92870899e+00] [ 4.92202999e-03 1.26279797e-04 9.99987879e-01 1.57658842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.100281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:75.02, Y:9.94, Z:0.16 [[ 9.59348560e-01 -2.82185082e-01 -4.68189007e-03 7.50182371e+01] [ 2.82181003e-01 9.59359974e-01 -1.52388682e-03 9.94027639e+00] [ 4.92163606e-03 1.40798189e-04 9.99987879e-01 1.56756035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.130281693 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:75.04, Y:9.95, Z:0.15 [[ 9.60135681e-01 -2.79495183e-01 -4.68160676e-03 7.50425393e+01] [ 2.79491067e-01 9.60147082e-01 -1.52475669e-03 9.95138295e+00] [ 4.92119322e-03 1.55506035e-04 9.99987879e-01 1.53767287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.160281693 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:75.07, Y:9.97, Z:0.15 [[ 9.61041569e-01 -2.76364228e-01 -4.68148397e-03 7.50686367e+01] [ 2.76360073e-01 9.61052956e-01 -1.52513360e-03 9.96519628e+00] [ 4.92064638e-03 1.71941534e-04 9.99987879e-01 1.49002401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.190281693 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:75.09, Y:9.98, Z:0.15 [[ 9.61131278e-01 -2.76052083e-01 -4.68123661e-03 7.50938388e+01] [ 2.76047921e-01 9.61142662e-01 -1.52589249e-03 9.97635674e+00] [ 4.92056201e-03 1.74337371e-04 9.99987879e-01 1.48762747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.220281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:75.12, Y:9.99, Z:0.15 [[ 9.60952984e-01 -2.76672097e-01 -4.68111379e-03 7.51188250e+01] [ 2.76667941e-01 9.60964370e-01 -1.52626917e-03 9.99143864e+00] [ 4.92065966e-03 1.71558798e-04 9.99987879e-01 1.54143588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.250281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:75.14, Y:10.00, Z:0.16 [[ 9.60789646e-01 -2.77238788e-01 -4.68087423e-03 7.51445573e+01] [ 2.77234635e-01 9.60801033e-01 -1.52700353e-03 1.00025130e+01] [ 4.92073340e-03 1.69428726e-04 9.99987879e-01 1.55737869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.280281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:75.17, Y:10.01, Z:0.16 [[ 9.60578109e-01 -2.77970841e-01 -4.68059238e-03 7.51698422e+01] [ 2.77966691e-01 9.60589498e-01 -1.52786695e-03 1.00125409e+01] [ 4.92083035e-03 1.66586767e-04 9.99987879e-01 1.55551574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.31028169300001 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:75.19, Y:10.02, Z:0.15 [[ 9.60351760e-01 -2.78751845e-01 -4.68046987e-03 7.51946096e+01] [ 2.78747703e-01 9.60363151e-01 -1.52824215e-03 1.00225538e+01] [ 4.92095112e-03 1.62979811e-04 9.99987879e-01 1.54651728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34028169300001 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:75.22, Y:10.04, Z:0.16 [[ 9.60358891e-01 -2.78727278e-01 -4.68034914e-03 7.52190823e+01] [ 2.78723134e-01 9.60370282e-01 -1.52861182e-03 1.00363737e+01] [ 4.92093403e-03 1.63494371e-04 9.99987879e-01 1.56600122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.370281693 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:75.24, Y:10.05, Z:0.16 [[ 9.61177920e-01 -2.75889656e-01 -4.68004970e-03 7.52427854e+01] [ 2.75885475e-01 9.61189297e-01 -1.52952804e-03 1.00497992e+01] [ 4.92039465e-03 1.78990848e-04 9.99987879e-01 1.60602406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.400281693 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:75.27, Y:10.06, Z:0.16 [[ 9.61763071e-01 -2.73842826e-01 -4.67991931e-03 7.52673553e+01] [ 2.73838619e-01 9.61774438e-01 -1.52992690e-03 1.00610878e+01] [ 4.91998627e-03 1.89884559e-04 9.99987879e-01 1.61464997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.430281693 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:75.29, Y:10.07, Z:0.16 [[ 9.61717912e-01 -2.74001382e-01 -4.67980257e-03 7.52943715e+01] [ 2.73997175e-01 9.61729279e-01 -1.53028391e-03 1.00701458e+01] [ 4.92000306e-03 1.89448768e-04 9.99987879e-01 1.61605266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.460281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:75.32, Y:10.08, Z:0.16 [[ 9.62274981e-01 -2.72038531e-01 -4.67955015e-03 7.53198724e+01] [ 2.72034296e-01 9.62286339e-01 -1.53105540e-03 1.00824391e+01] [ 4.91957324e-03 2.00298176e-04 9.99987879e-01 1.60191813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.490281693 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:75.34, Y:10.10, Z:0.16 [[ 9.63311768e-01 -2.68344072e-01 -4.67926202e-03 7.53432955e+01] [ 2.68339790e-01 9.63323108e-01 -1.53193549e-03 1.00993631e+01] [ 4.91872704e-03 2.20099294e-04 9.99987879e-01 1.57894008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.520281693 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:75.37, Y:10.11, Z:0.16 [[ 9.63537610e-01 -2.67532019e-01 -4.67896862e-03 7.53689060e+01] [ 2.67527722e-01 9.63548944e-01 -1.53283109e-03 1.01125522e+01] [ 4.91849667e-03 2.25186590e-04 9.99987879e-01 1.57870674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.550281693 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:75.39, Y:10.13, Z:0.16 [[ 9.63287047e-01 -2.68432813e-01 -4.67867537e-03 7.53919000e+01] [ 2.68428522e-01 9.63298384e-01 -1.53372568e-03 1.01287234e+01] [ 4.91866272e-03 2.21528162e-04 9.99987879e-01 1.58074730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.580281693 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:75.42, Y:10.14, Z:0.16 [[ 9.62759585e-01 -2.70318502e-01 -4.67854827e-03 7.54161314e+01] [ 2.70314232e-01 9.62770929e-01 -1.53411327e-03 1.01414911e+01] [ 4.91906947e-03 2.12304072e-04 9.99987879e-01 1.58046674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.610281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:75.44, Y:10.16, Z:0.16 [[ 9.61964112e-01 -2.73135788e-01 -4.67842397e-03 7.54411342e+01] [ 2.73131550e-01 9.61975468e-01 -1.53449226e-03 1.01550131e+01] [ 4.91965384e-03 1.98301299e-04 9.99987879e-01 1.56957004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.640281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:75.46, Y:10.17, Z:0.15 [[ 9.60019856e-01 -2.79892821e-01 -4.67815533e-03 7.54648301e+01] [ 2.79888659e-01 9.60031240e-01 -1.53531080e-03 1.01713860e+01] [ 4.92089774e-03 1.64566227e-04 9.99987879e-01 1.53989017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.670281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:75.49, Y:10.18, Z:0.15 [[ 9.58937758e-01 -2.83578020e-01 -4.67788433e-03 7.54909241e+01] [ 2.83573897e-01 9.58949157e-01 -1.53613605e-03 1.01830355e+01] [ 4.92146766e-03 1.46532968e-04 9.99987879e-01 1.53260103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70028169300001 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:75.52, Y:10.19, Z:0.15 [[ 9.57730362e-01 -2.87629404e-01 -4.67760417e-03 7.55158994e+01] [ 2.87625326e-01 9.57741776e-01 -1.53698868e-03 1.01934673e+01] [ 4.92202007e-03 1.26623298e-04 9.99987879e-01 1.52090880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.730281693 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:75.54, Y:10.20, Z:0.16 [[ 9.55293015e-01 -2.95623709e-01 -4.67748232e-03 7.55410975e+01] [ 2.95619724e-01 9.55304462e-01 -1.53735942e-03 1.02049027e+01] [ 4.92289963e-03 8.58726862e-05 9.99987879e-01 1.55863810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.760281693 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:75.57, Y:10.21, Z:0.16 [[ 9.54204199e-01 -2.99119490e-01 -4.67721853e-03 7.55678098e+01] [ 2.99115543e-01 9.54215660e-01 -1.53816156e-03 1.02146175e+01] [ 4.92316927e-03 6.86914595e-05 9.99987879e-01 1.57425704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.790281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:75.59, Y:10.22, Z:0.16 [[ 9.52982665e-01 -3.02988723e-01 -4.67692744e-03 7.55928782e+01] [ 3.02984818e-01 9.52994140e-01 -1.53904612e-03 1.02236827e+01] [ 4.92339807e-03 4.96462594e-05 9.99987879e-01 1.57884594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.820281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:75.62, Y:10.23, Z:0.16 [[ 9.52805038e-01 -3.03546844e-01 -4.67680083e-03 7.56195587e+01] [ 3.03542944e-01 9.52816515e-01 -1.53943076e-03 1.02322281e+01] [ 4.92342242e-03 4.71674898e-05 9.99987879e-01 1.58605662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.850281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:75.64, Y:10.24, Z:0.16 [[ 9.52750726e-01 -3.03717276e-01 -4.67651289e-03 7.56448033e+01] [ 3.03713374e-01 9.52762202e-01 -1.54030498e-03 1.02409268e+01] [ 4.92342195e-03 4.72071758e-05 9.99987879e-01 1.59752498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.880281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:75.67, Y:10.25, Z:0.16 [[ 9.53057787e-01 -3.02752350e-01 -4.67638782e-03 7.56709597e+01] [ 3.02748434e-01 9.53069259e-01 -1.54068460e-03 1.02506317e+01] [ 4.92336736e-03 5.25923698e-05 9.99987879e-01 1.62379384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.910281693 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:75.70, Y:10.26, Z:0.16 [[ 9.53374411e-01 -3.01753819e-01 -4.67610190e-03 7.56976275e+01] [ 3.01749887e-01 9.53385876e-01 -1.54155192e-03 1.02601794e+01] [ 4.92329868e-03 5.86629310e-05 9.99987879e-01 1.63614844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.940281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:75.72, Y:10.27, Z:0.16 [[ 9.53752634e-01 -3.00556234e-01 -4.67581526e-03 7.57240769e+01] [ 3.00552284e-01 9.53764093e-01 -1.54242086e-03 1.02702530e+01] [ 4.92320890e-03 6.57610017e-05 9.99987879e-01 1.64404733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.970281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:75.75, Y:10.28, Z:0.16 [[ 9.54615184e-01 -2.97805290e-01 -4.67552977e-03 7.57485877e+01] [ 2.97801302e-01 9.54626630e-01 -1.54328577e-03 1.02810694e+01] [ 4.92298389e-03 8.08651721e-05 9.99987879e-01 1.64185446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.000281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:75.77, Y:10.29, Z:0.16 [[ 9.54820862e-01 -2.97145190e-01 -4.67533573e-03 7.57748946e+01] [ 2.97141191e-01 9.54832304e-01 -1.54387337e-03 1.02906864e+01] [ 4.92291614e-03 8.48876744e-05 9.99987879e-01 1.64549942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.030281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:75.80, Y:10.30, Z:0.16 [[ 9.54834967e-01 -2.97099866e-01 -4.67504510e-03 7.58018701e+01] [ 2.97095863e-01 9.54846408e-01 -1.54475295e-03 1.02979697e+01] [ 4.92289591e-03 8.60475776e-05 9.99987879e-01 1.63683946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06028169300001 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:75.83, Y:10.31, Z:0.16 [[ 9.54465730e-01 -2.98283955e-01 -4.67475637e-03 7.58275253e+01] [ 2.98279961e-01 9.54477174e-01 -1.54562620e-03 1.03055975e+01] [ 4.92298375e-03 8.08610924e-05 9.99987879e-01 1.61987362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09028169300001 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:75.85, Y:10.31, Z:0.16 [[ 9.53989420e-01 -2.99803826e-01 -4.67463072e-03 7.58545777e+01] [ 2.99799849e-01 9.54000870e-01 -1.54600613e-03 1.03144586e+01] [ 4.92310033e-03 7.34199054e-05 9.99987879e-01 1.62203159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.120281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:75.88, Y:10.32, Z:0.16 [[ 9.53548050e-01 -3.01204693e-01 -4.67435181e-03 7.58802205e+01] [ 3.01200728e-01 9.53559504e-01 -1.54684896e-03 1.03239469e+01] [ 4.92319076e-03 6.70766385e-05 9.99987879e-01 1.64929336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.150281693 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:75.91, Y:10.33, Z:0.17 [[ 9.53512639e-01 -3.01316775e-01 -4.67423033e-03 7.59051229e+01] [ 3.01312810e-01 9.53524093e-01 -1.54721595e-03 1.03331164e+01] [ 4.92319336e-03 6.68844924e-05 9.99987879e-01 1.65513326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.180281693 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:75.93, Y:10.34, Z:0.16 [[ 9.53664253e-01 -3.00836576e-01 -4.67410962e-03 7.59311665e+01] [ 3.00832604e-01 9.53675705e-01 -1.54758054e-03 1.03433816e+01] [ 4.92315362e-03 6.97476710e-05 9.99987879e-01 1.63383938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.210281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:75.96, Y:10.35, Z:0.16 [[ 9.53737711e-01 -3.00603617e-01 -4.67381938e-03 7.59578970e+01] [ 3.00599638e-01 9.53749160e-01 -1.54845660e-03 1.03530559e+01] [ 4.92312296e-03 7.18730382e-05 9.99987879e-01 1.62254097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.240281693 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:75.98, Y:10.36, Z:0.16 [[ 9.53698183e-01 -3.00729005e-01 -4.67352991e-03 7.59846734e+01] [ 3.00725023e-01 9.53709631e-01 -1.54932976e-03 1.03624163e+01] [ 4.92311889e-03 7.21455894e-05 9.99987879e-01 1.60986924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.270281693 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:76.01, Y:10.37, Z:0.16 [[ 9.53425109e-01 -3.01593639e-01 -4.67323529e-03 7.60103368e+01] [ 3.01589663e-01 9.53436559e-01 -1.55021793e-03 1.03704919e+01] [ 4.92316924e-03 6.86172402e-05 9.99987879e-01 1.59949185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.300281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:76.04, Y:10.38, Z:0.16 [[ 9.52197300e-01 -3.05447973e-01 -4.67310726e-03 7.60373191e+01] [ 3.05444041e-01 9.52208766e-01 -1.55060378e-03 1.03761957e+01] [ 4.92340248e-03 4.91079684e-05 9.99987879e-01 1.58764930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.330281693 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:76.06, Y:10.38, Z:0.16 [[ 9.51301295e-01 -3.08227203e-01 -4.67298183e-03 7.60644073e+01] [ 3.08223303e-01 9.51312772e-01 -1.55098169e-03 1.03838971e+01] [ 4.92352204e-03 3.51289990e-05 9.99987879e-01 1.58215863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.360281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:76.09, Y:10.39, Z:0.16 [[ 9.50201126e-01 -3.11602288e-01 -4.67269702e-03 7.60919065e+01] [ 3.11598424e-01 9.50212615e-01 -1.55183926e-03 1.03912233e+01] [ 4.92361232e-03 1.85543825e-05 9.99987879e-01 1.59605224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.390281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:76.12, Y:10.40, Z:0.16 [[ 9.50088298e-01 -3.11946140e-01 -4.67241009e-03 7.61171870e+01] [ 3.11942276e-01 9.50099787e-01 -1.55270269e-03 1.03994517e+01] [ 4.92361545e-03 1.76824168e-05 9.99987879e-01 1.61135802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.420281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:76.14, Y:10.41, Z:0.16 [[ 9.50397353e-01 -3.11003282e-01 -4.67221456e-03 7.61436188e+01] [ 3.10999404e-01 9.50408837e-01 -1.55329083e-03 1.04085447e+01] [ 4.92359256e-03 2.31875510e-05 9.99987879e-01 1.62376506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.45028169300001 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:76.17, Y:10.42, Z:0.16 [[ 9.52011692e-01 -3.06025999e-01 -4.67193372e-03 7.61691780e+01] [ 3.06022056e-01 9.52023154e-01 -1.55413508e-03 1.04193245e+01] [ 4.92339482e-03 4.98400021e-05 9.99987879e-01 1.60480214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.480281693 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:76.20, Y:10.43, Z:0.16 [[ 9.52865929e-01 -3.03355726e-01 -4.67165446e-03 7.61955524e+01] [ 3.03351747e-01 9.52877379e-01 -1.55497408e-03 1.04295492e+01] [ 4.92322415e-03 6.45272762e-05 9.99987879e-01 1.58149666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.510281693 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:76.22, Y:10.44, Z:0.16 [[ 9.53436292e-01 -3.01558313e-01 -4.67137120e-03 7.62216867e+01] [ 3.01554309e-01 9.53447732e-01 -1.55582456e-03 1.04397425e+01] [ 4.92308011e-03 7.47074827e-05 9.99987879e-01 1.57100092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.540281693 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:76.25, Y:10.45, Z:0.16 [[ 9.54140330e-01 -2.99323255e-01 -4.67108906e-03 7.62474053e+01] [ 2.99319219e-01 9.54151760e-01 -1.55667117e-03 1.04499616e+01] [ 4.92287573e-03 8.71360133e-05 9.99987879e-01 1.57983855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.570281693 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:76.27, Y:10.46, Z:0.16 [[ 9.54096173e-01 -2.99463982e-01 -4.67080664e-03 7.62740138e+01] [ 2.99459944e-01 9.54107602e-01 -1.55751814e-03 1.04581819e+01] [ 4.92287270e-03 8.73026004e-05 9.99987879e-01 1.61587532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.600281693 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:76.30, Y:10.47, Z:0.16 [[ 9.53891819e-01 -3.00114282e-01 -4.67071897e-03 7.63002214e+01] [ 3.00110251e-01 9.53903250e-01 -1.55778097e-03 1.04667685e+01] [ 4.92292633e-03 8.42238843e-05 9.99987879e-01 1.63361348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.630281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:76.33, Y:10.48, Z:0.16 [[ 9.53842322e-01 -3.00271564e-01 -4.67044649e-03 7.63269115e+01] [ 3.00267531e-01 9.53853752e-01 -1.55859748e-03 1.04752799e+01] [ 4.92292542e-03 8.42727975e-05 9.99987879e-01 1.64892519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.660281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:76.35, Y:10.48, Z:0.17 [[ 9.54016475e-01 -2.99717793e-01 -4.67017497e-03 7.63535055e+01] [ 2.99713749e-01 9.54027901e-01 -1.55941066e-03 1.04842318e+01] [ 4.92286034e-03 8.79878132e-05 9.99987879e-01 1.65187166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.690281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:76.38, Y:10.49, Z:0.16 [[ 9.54859577e-01 -2.97020842e-01 -4.66990487e-03 7.63785836e+01] [ 2.97016762e-01 9.54870991e-01 -1.56021909e-03 1.04930841e+01] [ 4.92257428e-03 1.02750120e-04 9.99987879e-01 1.64776513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.720281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:76.40, Y:10.50, Z:0.17 [[ 9.55332275e-01 -2.95496936e-01 -4.66972083e-03 7.64045509e+01] [ 2.95492835e-01 9.55343681e-01 -1.56076972e-03 1.05036957e+01] [ 4.92239096e-03 1.11184646e-04 9.99987879e-01 1.65612523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.750281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:76.43, Y:10.51, Z:0.16 [[ 9.56308879e-01 -2.92320928e-01 -4.66943652e-03 7.64295889e+01] [ 2.92316785e-01 9.56320270e-01 -1.56161985e-03 1.05146001e+01] [ 4.92197095e-03 1.28436260e-04 9.99987879e-01 1.64675103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.780281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:76.45, Y:10.52, Z:0.16 [[ 9.56530430e-01 -2.91595155e-01 -4.66931275e-03 7.64548665e+01] [ 2.91591002e-01 9.56541817e-01 -1.56198983e-03 1.05230205e+01] [ 4.92186157e-03 1.32561219e-04 9.99987879e-01 1.63848108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81028169300001 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:76.48, Y:10.53, Z:0.16 [[ 9.56427234e-01 -2.91933461e-01 -4.66919640e-03 7.64816720e+01] [ 2.91929310e-01 9.56438622e-01 -1.56233754e-03 1.05318932e+01] [ 4.92189838e-03 1.31186891e-04 9.99987879e-01 1.63539338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84028169300001 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:76.51, Y:10.54, Z:0.16 [[ 9.55844938e-01 -2.93834401e-01 -4.66893320e-03 7.65082091e+01] [ 2.93830269e-01 9.55856333e-01 -1.56312371e-03 1.05414684e+01] [ 4.92212889e-03 1.22229991e-04 9.99987879e-01 1.61140188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.870281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:76.53, Y:10.55, Z:0.16 [[ 9.55427502e-01 -2.95188911e-01 -4.66865486e-03 7.65342523e+01] [ 2.95184790e-01 9.55438901e-01 -1.56395459e-03 1.05514542e+01] [ 4.92227653e-03 1.16129321e-04 9.99987879e-01 1.59681600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.900281693 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:76.56, Y:10.56, Z:0.16 [[ 9.54314150e-01 -2.98768657e-01 -4.66835625e-03 7.65587579e+01] [ 2.98764575e-01 9.54325563e-01 -1.56484543e-03 1.05618488e+01] [ 4.92265848e-03 9.86146598e-05 9.99987879e-01 1.58513786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.930281693 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:76.58, Y:10.57, Z:0.16 [[ 9.53668882e-01 -3.00821995e-01 -4.66805814e-03 7.65846530e+01] [ 3.00817934e-01 9.53680302e-01 -1.56573422e-03 1.05712887e+01] [ 4.92284239e-03 8.89563990e-05 9.99987879e-01 1.59591831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.960281693 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:76.61, Y:10.58, Z:0.16 [[ 9.53033240e-01 -3.02829748e-01 -4.66776189e-03 7.66104610e+01] [ 3.02825706e-01 9.53044667e-01 -1.56661690e-03 1.05809311e+01] [ 4.92300378e-03 7.95196878e-05 9.99987879e-01 1.60969312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.990281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:76.64, Y:10.59, Z:0.16 [[ 9.52002174e-01 -3.06055672e-01 -4.66746719e-03 7.66368434e+01] [ 3.06051665e-01 9.52013614e-01 -1.56749441e-03 1.05906576e+01] [ 4.92323287e-03 6.37719823e-05 9.99987879e-01 1.63229907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.020281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:76.66, Y:10.60, Z:0.16 [[ 9.51438208e-01 -3.07804405e-01 -4.66737542e-03 7.66634461e+01] [ 3.07800417e-01 9.51449655e-01 -1.56776763e-03 1.05998379e+01] [ 4.92333851e-03 5.50139248e-05 9.99987879e-01 1.64298791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.050281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:76.69, Y:10.61, Z:0.16 [[ 9.50864403e-01 -3.09572456e-01 -4.66708703e-03 7.66897312e+01] [ 3.09568485e-01 9.50875855e-01 -1.56862568e-03 1.06084266e+01] [ 4.92342367e-03 4.67672564e-05 9.99987879e-01 1.64593176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.080281693 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:76.72, Y:10.62, Z:0.17 [[ 9.49588937e-01 -3.13463032e-01 -4.66679458e-03 7.67165087e+01] [ 3.13459104e-01 9.49600404e-01 -1.56949525e-03 1.06161375e+01] [ 4.92356876e-03 2.75260848e-05 9.99987879e-01 1.65445836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.110281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:76.74, Y:10.62, Z:0.17 [[ 9.49021624e-01 -3.15176427e-01 -4.66650237e-03 7.67420246e+01] [ 3.15172516e-01 9.49033097e-01 -1.57036358e-03 1.06237575e+01] [ 4.92360678e-03 1.95557065e-05 9.99987879e-01 1.65526099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.140281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:76.77, Y:10.63, Z:0.17 [[ 9.48459021e-01 -3.16865447e-01 -4.66637505e-03 7.67691022e+01] [ 3.16861554e-01 9.48470500e-01 -1.57074183e-03 1.06305188e+01] [ 4.92363288e-03 1.11894102e-05 9.99987879e-01 1.65490520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.170281693 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:76.80, Y:10.64, Z:0.17 [[ 9.48481491e-01 -3.16798183e-01 -4.66608555e-03 7.67965677e+01] [ 3.16794285e-01 9.48492968e-01 -1.57160134e-03 1.06380363e+01] [ 4.92362979e-03 1.24455402e-05 9.99987879e-01 1.66610867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20028169300001 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:76.82, Y:10.64, Z:0.17 [[ 9.48669203e-01 -3.16235631e-01 -4.66579630e-03 7.68230375e+01] [ 3.16231722e-01 9.48680676e-01 -1.57245962e-03 1.06448343e+01] [ 4.92361855e-03 1.62712144e-05 9.99987879e-01 1.67962586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.230281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:76.85, Y:10.65, Z:0.17 [[ 9.49281696e-01 -3.14392261e-01 -4.66567004e-03 7.68502675e+01] [ 3.14388328e-01 9.49293161e-01 -1.57283416e-03 1.06494384e+01] [ 4.92357554e-03 2.62304827e-05 9.99987879e-01 1.70533326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.260281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:76.88, Y:10.66, Z:0.17 [[ 9.49699630e-01 -3.13127522e-01 -4.66554578e-03 7.68774419e+01] [ 3.13123572e-01 9.49711090e-01 -1.57320266e-03 1.06570527e+01] [ 4.92353362e-03 3.31776312e-05 9.99987879e-01 1.71541059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.290281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:76.90, Y:10.66, Z:0.17 [[ 9.50996067e-01 -3.09167778e-01 -4.66526138e-03 7.69044275e+01] [ 3.09163776e-01 9.51007509e-01 -1.57404557e-03 1.06637355e+01] [ 4.92334278e-03 5.45813224e-05 9.99987879e-01 1.73726977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.320281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:76.93, Y:10.67, Z:0.17 [[ 9.50940048e-01 -3.09340045e-01 -4.66497531e-03 7.69313517e+01] [ 3.09336041e-01 9.50951489e-01 -1.57489295e-03 1.06730420e+01] [ 4.92334267e-03 5.45837841e-05 9.99987879e-01 1.73867218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.350281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:76.96, Y:10.68, Z:0.17 [[ 9.51809232e-01 -3.06655225e-01 -4.66468987e-03 7.69570583e+01] [ 3.06651184e-01 9.51820660e-01 -1.57573794e-03 1.06818771e+01] [ 4.92315646e-03 6.93692447e-05 9.99987879e-01 1.74563778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.380281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:76.98, Y:10.69, Z:0.18 [[ 9.52783940e-01 -3.03613249e-01 -4.66456577e-03 7.69834163e+01] [ 3.03609170e-01 9.52795355e-01 -1.57610522e-03 1.06922462e+01] [ 4.92290302e-03 8.54827961e-05 9.99987879e-01 1.75024296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.410281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:77.01, Y:10.71, Z:0.17 [[ 9.54926368e-01 -2.96806125e-01 -4.66428300e-03 7.70079118e+01] [ 2.96801961e-01 9.54937751e-01 -1.57694159e-03 1.07054966e+01] [ 4.92214585e-03 1.21494760e-04 9.99987879e-01 1.73692125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.440281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:77.03, Y:10.72, Z:0.17 [[ 9.55797628e-01 -2.93988335e-01 -4.66409114e-03 7.70338302e+01] [ 2.93984134e-01 9.55808998e-01 -1.57750887e-03 1.07177807e+01] [ 4.92174948e-03 1.36610442e-04 9.99987879e-01 1.72098713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.470281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:77.06, Y:10.73, Z:0.17 [[ 9.56447968e-01 -2.91865610e-01 -4.66381017e-03 7.70596089e+01] [ 2.91861380e-01 9.56459327e-01 -1.57833908e-03 1.07303435e+01] [ 4.92140764e-03 1.48413128e-04 9.99987879e-01 1.70558744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.500281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:77.08, Y:10.75, Z:0.17 [[ 9.57109465e-01 -2.89689011e-01 -4.66352440e-03 7.70837763e+01] [ 2.89684751e-01 9.57120813e-01 -1.57918299e-03 1.07455643e+01] [ 4.92102823e-03 1.60499083e-04 9.99987879e-01 1.68262332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.530281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:77.11, Y:10.76, Z:0.17 [[ 9.57135356e-01 -2.89603462e-01 -4.66323442e-03 7.71080278e+01] [ 2.89599197e-01 9.57146702e-01 -1.58003882e-03 1.07575551e+01] [ 4.92098416e-03 1.61842076e-04 9.99987879e-01 1.67914757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56028169300001 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:77.13, Y:10.77, Z:0.17 [[ 9.56565401e-01 -2.91480511e-01 -4.66310895e-03 7.71322526e+01] [ 2.91476267e-01 9.56576755e-01 -1.58040905e-03 1.07728285e+01] [ 4.92128006e-03 1.52579029e-04 9.99987879e-01 1.70172280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59028169300001 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:77.16, Y:10.79, Z:0.17 [[ 9.55857015e-01 -2.93795210e-01 -4.66283447e-03 7.71570593e+01] [ 2.93790989e-01 9.55868377e-01 -1.58121844e-03 1.07851002e+01] [ 4.92161043e-03 1.41519987e-04 9.99987879e-01 1.70833822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.620281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:77.18, Y:10.80, Z:0.17 [[ 9.54927263e-01 -2.96803271e-01 -4.66271540e-03 7.71813445e+01] [ 2.96799084e-01 9.54938638e-01 -1.58156949e-03 1.07977886e+01] [ 4.92202209e-03 1.26394165e-04 9.99987879e-01 1.72823213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.650281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:77.20, Y:10.81, Z:0.17 [[ 9.53012465e-01 -3.02895200e-01 -4.66252967e-03 7.72049471e+01] [ 3.02891083e-01 9.53023866e-01 -1.58211683e-03 1.08139053e+01] [ 4.92271765e-03 9.55383964e-05 9.99987879e-01 1.74565917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.680281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:77.23, Y:10.83, Z:0.17 [[ 9.51905503e-01 -3.06356291e-01 -4.66224621e-03 7.72297898e+01] [ 3.06352211e-01 9.51916917e-01 -1.58295172e-03 1.08254991e+01] [ 4.92301825e-03 7.85310216e-05 9.99987879e-01 1.74508815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.710281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:77.25, Y:10.84, Z:0.17 [[ 9.50739140e-01 -3.09957017e-01 -4.66212263e-03 7.72543567e+01] [ 3.09952979e-01 9.50750569e-01 -1.58331559e-03 1.08357844e+01] [ 4.92327552e-03 6.02812985e-05 9.99987879e-01 1.73039316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.740281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:77.28, Y:10.85, Z:0.17 [[ 9.47948006e-01 -3.18391024e-01 -4.66193698e-03 7.72802142e+01] [ 3.18387085e-01 9.47959469e-01 -1.58386204e-03 1.08456379e+01] [ 4.92361476e-03 1.71183411e-05 9.99987879e-01 1.68909048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.770281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:77.31, Y:10.85, Z:0.17 [[ 9.46307337e-01 -3.23234733e-01 -4.66164996e-03 7.73060916e+01] [ 3.23230848e-01 9.46318819e-01 -1.58470635e-03 1.08542304e+01] [ 4.92363922e-03 -7.16982358e-06 9.99987879e-01 1.67482253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.800281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:77.33, Y:10.86, Z:0.17 [[ 9.42870361e-01 -3.33127233e-01 -4.66152551e-03 7.73323474e+01] [ 3.33123467e-01 9.42881882e-01 -1.58507235e-03 1.08621887e+01] [ 4.92329871e-03 -5.83458017e-05 9.99987879e-01 1.69583495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.830281693 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:77.36, Y:10.87, Z:0.17 [[ 9.41328603e-01 -3.37459231e-01 -4.66143803e-03 7.73592071e+01] [ 3.37455517e-01 9.41340141e-01 -1.58532958e-03 1.08704725e+01] [ 4.92298283e-03 -8.07119028e-05 9.99987879e-01 1.71954223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.860281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:77.39, Y:10.88, Z:0.17 [[ 9.39895084e-01 -3.41431553e-01 -4.66116054e-03 7.73866386e+01] [ 3.41427883e-01 9.39906636e-01 -1.58614501e-03 1.08780812e+01] [ 4.92261568e-03 -1.00640281e-04 9.99987879e-01 1.73756089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.890281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:77.41, Y:10.88, Z:0.17 [[ 9.37721555e-01 -3.47356535e-01 -4.66086425e-03 7.74142952e+01] [ 3.47352934e-01 9.37733129e-01 -1.58701518e-03 1.08821519e+01] [ 4.92190691e-03 -1.30786538e-04 9.99987879e-01 1.72869054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.920281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:77.44, Y:10.89, Z:0.17 [[ 9.36937280e-01 -3.49466467e-01 -4.66073558e-03 7.74414980e+01] [ 3.49462891e-01 9.36948861e-01 -1.58739297e-03 1.08890349e+01] [ 4.92161151e-03 -1.41466481e-04 9.99987879e-01 1.70185680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.95028169300001 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:77.47, Y:10.89, Z:0.16 [[ 9.35867615e-01 -3.52321002e-01 -4.66046413e-03 7.74700183e+01] [ 3.52317456e-01 9.35879206e-01 -1.58818953e-03 1.08928584e+01] [ 4.92118399e-03 -1.55627725e-04 9.99987879e-01 1.64787391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.980281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:77.50, Y:10.90, Z:0.17 [[ 9.35505836e-01 -3.53280500e-01 -4.66033775e-03 7.74976510e+01] [ 3.53276965e-01 9.35517430e-01 -1.58856028e-03 1.08988783e+01] [ 4.92103457e-03 -1.60282563e-04 9.99987879e-01 1.66065502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.010281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:77.52, Y:10.90, Z:0.17 [[ 9.35356227e-01 -3.53676423e-01 -4.66006592e-03 7.75249727e+01] [ 3.53672889e-01 9.35367822e-01 -1.58935730e-03 1.09043261e+01] [ 4.92099392e-03 -1.61523725e-04 9.99987879e-01 1.74696310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.040281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:77.55, Y:10.91, Z:0.18 [[ 9.35621203e-01 -3.52974857e-01 -4.65998123e-03 7.75511949e+01] [ 3.52971313e-01 9.35632794e-01 -1.58960558e-03 1.09131663e+01] [ 4.92112206e-03 -1.57571012e-04 9.99987879e-01 1.77482393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.070281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:77.58, Y:10.92, Z:0.18 [[ 9.36174204e-01 -3.51505542e-01 -4.65969750e-03 7.75783086e+01] [ 3.51501976e-01 9.36185789e-01 -1.59043685e-03 1.09215769e+01] [ 4.92138995e-03 -1.48966920e-04 9.99987879e-01 1.78804684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.100281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:77.61, Y:10.93, Z:0.18 [[ 9.37026594e-01 -3.49226936e-01 -4.65942987e-03 7.76053245e+01] [ 3.49223337e-01 9.37038168e-01 -1.59122053e-03 1.09257454e+01] [ 4.92176070e-03 -1.36165693e-04 9.99987879e-01 1.79725617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.130281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:77.63, Y:10.93, Z:0.18 [[ 9.36923071e-01 -3.49504578e-01 -4.65930509e-03 7.76317344e+01] [ 3.49500981e-01 9.36934646e-01 -1.59158583e-03 1.09327151e+01] [ 4.92173090e-03 -1.37238218e-04 9.99987879e-01 1.78445117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.160281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:77.66, Y:10.94, Z:0.17 [[ 9.36538213e-01 -3.50534545e-01 -4.65911144e-03 7.76590334e+01] [ 3.50530958e-01 9.36549792e-01 -1.59215250e-03 1.09390930e+01] [ 4.92159430e-03 -1.42051135e-04 9.99987879e-01 1.73436653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.190281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:77.69, Y:10.95, Z:0.17 [[ 9.36348872e-01 -3.51040005e-01 -4.65882519e-03 7.76851033e+01] [ 3.51036420e-01 9.36360451e-01 -1.59298965e-03 1.09460709e+01] [ 4.92154275e-03 -1.43823256e-04 9.99987879e-01 1.72376255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.220281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:77.71, Y:10.95, Z:0.18 [[ 9.36069285e-01 -3.51784865e-01 -4.65870031e-03 7.77130498e+01] [ 3.51781287e-01 9.36080866e-01 -1.59335478e-03 1.09518293e+01] [ 4.92143832e-03 -1.47353124e-04 9.99987879e-01 1.76013145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.250281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:77.74, Y:10.96, Z:0.18 [[ 9.36050163e-01 -3.51835745e-01 -4.65840722e-03 7.77396360e+01] [ 3.51832164e-01 9.36061743e-01 -1.59421123e-03 1.09599921e+01] [ 4.92145728e-03 -1.46715816e-04 9.99987879e-01 1.76616220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.280281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:77.77, Y:10.97, Z:0.17 [[ 9.36358305e-01 -3.51014854e-01 -4.65811106e-03 7.77670904e+01] [ 3.51011258e-01 9.36369880e-01 -1.59507611e-03 1.09670454e+01] [ 4.92161030e-03 -1.41486661e-04 9.99987879e-01 1.74527030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.31028169300001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:77.79, Y:10.97, Z:0.17 [[ 9.36691754e-01 -3.50124066e-01 -4.65781315e-03 7.77929462e+01] [ 3.50120455e-01 9.36703325e-01 -1.59594556e-03 1.09738798e+01] [ 4.92176801e-03 -1.35886613e-04 9.99987879e-01 1.73388316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34028169300001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:77.82, Y:10.98, Z:0.17 [[ 9.37061912e-01 -3.49132182e-01 -4.65761040e-03 7.78203462e+01] [ 3.49128556e-01 9.37073478e-01 -1.59653704e-03 1.09815600e+01] [ 4.92192564e-03 -1.30050742e-04 9.99987879e-01 1.73483663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.370281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:77.85, Y:10.99, Z:0.18 [[ 9.38253937e-01 -3.45915972e-01 -4.65733735e-03 7.78464668e+01] [ 3.45912302e-01 9.38265489e-01 -1.59733318e-03 1.09871383e+01] [ 4.92236196e-03 -1.12326136e-04 9.99987879e-01 1.75332658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.400281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:77.87, Y:10.99, Z:0.17 [[ 9.39000219e-01 -3.43885009e-01 -4.65721833e-03 7.78729443e+01] [ 3.43881312e-01 9.39011763e-01 -1.59768011e-03 1.09947062e+01] [ 4.92260103e-03 -1.01308376e-04 9.99987879e-01 1.74699002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.430281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:77.90, Y:11.00, Z:0.17 [[ 9.39824022e-01 -3.41627166e-01 -4.65694192e-03 7.78995896e+01] [ 3.41623438e-01 9.39835556e-01 -1.59848539e-03 1.10021487e+01] [ 4.92284563e-03 -8.86255379e-05 9.99987879e-01 1.74061894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.460281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:77.93, Y:11.01, Z:0.17 [[ 9.41529039e-01 -3.36899665e-01 -4.65666579e-03 7.79271561e+01] [ 3.36895875e-01 9.41540552e-01 -1.59928942e-03 1.10080790e+01] [ 4.92323975e-03 -6.30340677e-05 9.99987879e-01 1.72520381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.490281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:77.95, Y:11.02, Z:0.17 [[ 9.42256531e-01 -3.34859594e-01 -4.65649410e-03 7.79538014e+01] [ 3.34855776e-01 9.42268035e-01 -1.59978915e-03 1.10158392e+01] [ 4.92337029e-03 -5.18421749e-05 9.99987879e-01 1.72452234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.520281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:77.98, Y:11.02, Z:0.17 [[ 9.43692914e-01 -3.30789970e-01 -4.65619168e-03 7.79799378e+01] [ 3.30786098e-01 9.43704400e-01 -1.60066884e-03 1.10236176e+01] [ 4.92355378e-03 -2.96636336e-05 9.99987879e-01 1.72224639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.550281693 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:78.01, Y:11.03, Z:0.17 [[ 9.44383052e-01 -3.28814494e-01 -4.65606043e-03 7.80066959e+01] [ 3.28810597e-01 9.44394530e-01 -1.60105054e-03 1.10328112e+01] [ 4.92360663e-03 -1.89570123e-05 9.99987879e-01 1.74124977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.580281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:78.03, Y:11.04, Z:0.18 [[ 9.45038136e-01 -3.26926970e-01 -4.65596692e-03 7.80331225e+01] [ 3.26923048e-01 9.45049605e-01 -1.60132244e-03 1.10422261e+01] [ 4.92363519e-03 -8.83212342e-06 9.99987879e-01 1.75371984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.610281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:78.06, Y:11.05, Z:0.18 [[ 9.46732044e-01 -3.21988761e-01 -4.65566547e-03 7.80584379e+01] [ 3.21984775e-01 9.46743491e-01 -1.60219838e-03 1.10530121e+01] [ 4.92361085e-03 1.77991424e-05 9.99987879e-01 1.76668128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.640281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:78.08, Y:11.06, Z:0.18 [[ 9.47680484e-01 -3.19186506e-01 -4.65553418e-03 7.80846122e+01] [ 3.19182485e-01 9.47691919e-01 -1.60257979e-03 1.10640360e+01] [ 4.92353396e-03 3.27686269e-05 9.99987879e-01 1.77359836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.670281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:78.11, Y:11.08, Z:0.18 [[ 9.49547507e-01 -3.13588682e-01 -4.65522669e-03 7.81080806e+01] [ 3.13584588e-01 9.49558916e-01 -1.60347249e-03 1.10787910e+01] [ 4.92324284e-03 6.27659562e-05 9.99987879e-01 1.76395796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70028169300001 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:78.13, Y:11.09, Z:0.18 [[ 9.50183665e-01 -3.11655794e-01 -4.65509323e-03 7.81326010e+01] [ 3.11651675e-01 9.50195065e-01 -1.60385987e-03 1.10909606e+01] [ 4.92309883e-03 7.31938412e-05 9.99987879e-01 1.76143337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.730281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:78.16, Y:11.10, Z:0.18 [[ 9.50613294e-01 -3.10342870e-01 -4.65496315e-03 7.81570474e+01] [ 3.10338734e-01 9.50624688e-01 -1.60423732e-03 1.11023165e+01] [ 4.92298650e-03 8.03939500e-05 9.99987879e-01 1.75971359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.760281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:78.18, Y:11.11, Z:0.18 [[ 9.50740239e-01 -3.09953754e-01 -4.65483508e-03 7.81820141e+01] [ 3.09949612e-01 9.50751631e-01 -1.60460881e-03 1.11146493e+01] [ 4.92294657e-03 8.28018399e-05 9.99987879e-01 1.76386784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.790281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:78.21, Y:11.13, Z:0.18 [[ 9.50491045e-01 -3.10717086e-01 -4.65454567e-03 7.82082436e+01] [ 3.10712949e-01 9.50502439e-01 -1.60544788e-03 1.11250297e+01] [ 4.92299710e-03 7.97362205e-05 9.99987879e-01 1.75842132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.820281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:78.23, Y:11.14, Z:0.17 [[ 9.50191267e-01 -3.11632627e-01 -4.65423960e-03 7.82328295e+01] [ 3.11628496e-01 9.50202663e-01 -1.60633470e-03 1.11351482e+01] [ 4.92305716e-03 7.59315156e-05 9.99987879e-01 1.74961861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.850281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:78.26, Y:11.15, Z:0.18 [[ 9.49441614e-01 -3.13909161e-01 -4.65410637e-03 7.82587513e+01] [ 3.13905055e-01 9.49453019e-01 -1.60672062e-03 1.11462871e+01] [ 4.92321966e-03 6.45399004e-05 9.99987879e-01 1.75837275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.880281693 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:78.28, Y:11.16, Z:0.18 [[ 9.49076316e-01 -3.15011887e-01 -4.65380112e-03 7.82837721e+01] [ 3.15007790e-01 9.49087724e-01 -1.60760429e-03 1.11553662e+01] [ 4.92327997e-03 5.97555485e-05 9.99987879e-01 1.76253410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.910281693 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:78.31, Y:11.17, Z:0.18 [[ 9.48927603e-01 -3.15459583e-01 -4.65366823e-03 7.83092027e+01] [ 3.15455490e-01 9.48939012e-01 -1.60798889e-03 1.11662158e+01] [ 4.92330283e-03 5.78398493e-05 9.99987879e-01 1.76603041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.940281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:78.33, Y:11.18, Z:0.18 [[ 9.49303425e-01 -3.14326826e-01 -4.65336361e-03 7.83345459e+01] [ 3.14322715e-01 9.49314828e-01 -1.60886993e-03 1.11764902e+01] [ 4.92321805e-03 6.46478519e-05 9.99987879e-01 1.77070548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.970281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:78.36, Y:11.19, Z:0.18 [[ 9.49859485e-01 -3.12642457e-01 -4.65315606e-03 7.83597536e+01] [ 3.12638323e-01 9.49870880e-01 -1.60946998e-03 1.11866742e+01] [ 4.92308609e-03 7.40154217e-05 9.99987879e-01 1.78166068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.000281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:78.38, Y:11.20, Z:0.18 [[ 9.51178637e-01 -3.08605816e-01 -4.65302686e-03 7.83842980e+01] [ 3.08601632e-01 9.51190013e-01 -1.60984341e-03 1.11982520e+01] [ 4.92271972e-03 9.53169818e-05 9.99987879e-01 1.82548095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.030281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:78.41, Y:11.21, Z:0.18 [[ 9.51652224e-01 -3.07142303e-01 -4.65289823e-03 7.84095315e+01] [ 3.07138100e-01 9.51663593e-01 -1.61021510e-03 1.12099083e+01] [ 4.92255903e-03 1.03282464e-04 9.99987879e-01 1.84782128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06028169300001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:78.43, Y:11.22, Z:0.19 [[ 9.52757798e-01 -3.03695459e-01 -4.65259728e-03 7.84325219e+01] [ 3.03691210e-01 9.52769150e-01 -1.61108422e-03 1.12248436e+01] [ 4.92213012e-03 1.22020151e-04 9.99987879e-01 1.85934483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09028169300001 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:78.46, Y:11.24, Z:0.18 [[ 9.53278898e-01 -3.02055786e-01 -4.65246658e-03 7.84578813e+01] [ 3.02051516e-01 9.53290242e-01 -1.61146157e-03 1.12371930e+01] [ 4.92190228e-03 1.30887725e-04 9.99987879e-01 1.83828631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.120281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:78.48, Y:11.25, Z:0.18 [[ 9.53835219e-01 -3.00294408e-01 -4.65216148e-03 7.84828549e+01] [ 3.00290113e-01 9.53846554e-01 -1.61234188e-03 1.12493476e+01] [ 4.92162545e-03 1.40910374e-04 9.99987879e-01 1.81702561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.150281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:78.51, Y:11.26, Z:0.18 [[ 9.54988837e-01 -2.96605262e-01 -4.65185752e-03 7.85055879e+01] [ 2.96600919e-01 9.55000153e-01 -1.61321838e-03 1.12649757e+01] [ 4.92101370e-03 1.60860334e-04 9.99987879e-01 1.79526055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.180281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:78.53, Y:11.28, Z:0.18 [[ 9.55452090e-01 -2.95109583e-01 -4.65172594e-03 7.85303380e+01] [ 2.95105220e-01 9.55463398e-01 -1.61359769e-03 1.12786097e+01] [ 4.92074202e-03 1.68966677e-04 9.99987879e-01 1.80273691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.210281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:78.55, Y:11.30, Z:0.18 [[ 9.56239780e-01 -2.92547172e-01 -4.65142645e-03 7.85540103e+01] [ 2.92542775e-01 9.56251075e-01 -1.61446057e-03 1.12964091e+01] [ 4.92023741e-03 1.83070218e-04 9.99987879e-01 1.82363535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.240281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:78.58, Y:11.31, Z:0.18 [[ 9.56185846e-01 -2.92723409e-01 -4.65112916e-03 7.85808477e+01] [ 2.92719010e-01 9.56197141e-01 -1.61531656e-03 1.13059336e+01] [ 4.92023738e-03 1.83068914e-04 9.99987879e-01 1.82503775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.270281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:78.61, Y:11.32, Z:0.18 [[ 9.56285467e-01 -2.92397802e-01 -4.65083129e-03 7.86054548e+01] [ 2.92393395e-01 9.56296759e-01 -1.61617374e-03 1.13184032e+01] [ 4.92014054e-03 1.85651110e-04 9.99987879e-01 1.81978753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.300281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:78.63, Y:11.33, Z:0.18 [[ 9.55755020e-01 -2.94127036e-01 -4.65070182e-03 7.86303456e+01] [ 2.94122647e-01 9.55766318e-01 -1.61654623e-03 1.13330591e+01] [ 4.92045411e-03 1.77145441e-04 9.99987879e-01 1.80467903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.330281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:78.66, Y:11.35, Z:0.18 [[ 9.55266656e-01 -2.95709299e-01 -4.65040786e-03 7.86555984e+01] [ 2.95704924e-01 9.55277960e-01 -1.61739142e-03 1.13452909e+01] [ 4.92070982e-03 1.69891590e-04 9.99987879e-01 1.81453408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.360281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:78.68, Y:11.36, Z:0.19 [[ 9.54315737e-01 -2.98763872e-01 -4.65011473e-03 7.86807816e+01] [ 2.98759530e-01 9.54327053e-01 -1.61823377e-03 1.13588717e+01] [ 4.92120007e-03 1.55039867e-04 9.99987879e-01 1.86264768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.390281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:78.71, Y:11.37, Z:0.19 [[ 9.53896066e-01 -3.00101107e-01 -4.64980868e-03 7.87057408e+01] [ 3.00096776e-01 9.53907387e-01 -1.61911270e-03 1.13700450e+01] [ 4.92138436e-03 1.49072644e-04 9.99987879e-01 1.89105235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.420281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:78.73, Y:11.38, Z:0.19 [[ 9.53652834e-01 -3.00873152e-01 -4.64959946e-03 7.87313055e+01] [ 3.00868827e-01 9.53664157e-01 -1.61971327e-03 1.13815272e+01] [ 4.92148459e-03 1.45724615e-04 9.99987879e-01 1.90171551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45028169300001 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:78.76, Y:11.40, Z:0.19 [[ 9.53232357e-01 -3.02202676e-01 -4.64929629e-03 7.87562813e+01] [ 3.02198363e-01 9.53243685e-01 -1.62058303e-03 1.13958029e+01] [ 4.92165686e-03 1.39782458e-04 9.99987879e-01 1.87086053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.480281693 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:78.78, Y:11.41, Z:0.18 [[ 9.52794486e-01 -3.03580390e-01 -4.64920200e-03 7.87816350e+01] [ 3.03576092e-01 9.52805819e-01 -1.62085350e-03 1.14072944e+01] [ 4.92184606e-03 1.32953703e-04 9.99987879e-01 1.84912177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.510281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:78.81, Y:11.42, Z:0.18 [[ 9.51758007e-01 -3.06814411e-01 -4.64889568e-03 7.88061268e+01] [ 3.06810148e-01 9.51769354e-01 -1.62173161e-03 1.14200339e+01] [ 4.92224707e-03 1.17167671e-04 9.99987879e-01 1.84558254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.540281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:78.83, Y:11.43, Z:0.19 [[ 9.51134721e-01 -3.08741206e-01 -4.64868630e-03 7.88317359e+01] [ 3.08736963e-01 9.51146075e-01 -1.62233157e-03 1.14304717e+01] [ 4.92246033e-03 1.07834596e-04 9.99987879e-01 1.86590604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.570281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:78.86, Y:11.44, Z:0.19 [[ 9.50266170e-01 -3.11404236e-01 -4.64838190e-03 7.88570510e+01] [ 3.11400020e-01 9.50277535e-01 -1.62320329e-03 1.14406284e+01] [ 4.92272527e-03 9.49689601e-05 9.99987879e-01 1.88760019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.600281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:78.88, Y:11.45, Z:0.19 [[ 9.48208022e-01 -3.17616027e-01 -4.64817402e-03 7.88825197e+01] [ 3.17611882e-01 9.48219413e-01 -1.62379834e-03 1.14517812e+01] [ 4.92323322e-03 6.33833126e-05 9.99987879e-01 1.86685329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.630281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:78.91, Y:11.46, Z:0.18 [[ 9.47241102e-01 -3.20488208e-01 -4.64787031e-03 7.89085144e+01] [ 3.20484094e-01 9.47252504e-01 -1.62466720e-03 1.14624535e+01] [ 4.92339347e-03 4.93830472e-05 9.99987879e-01 1.84640559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.660281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:78.93, Y:11.47, Z:0.18 [[ 9.46038528e-01 -3.24020838e-01 -4.64756747e-03 7.89338153e+01] [ 3.24016762e-01 9.46049943e-01 -1.62553306e-03 1.14721961e+01] [ 4.92353753e-03 3.19271372e-05 9.99987879e-01 1.82281522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.690281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:78.96, Y:11.48, Z:0.18 [[ 9.45595263e-01 -3.25312159e-01 -4.64743599e-03 7.89601870e+01] [ 3.25308097e-01 9.45606683e-01 -1.62590888e-03 1.14821822e+01] [ 4.92357446e-03 2.56031734e-05 9.99987879e-01 1.81899024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.720281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:78.99, Y:11.49, Z:0.18 [[ 9.45312578e-01 -3.26132694e-01 -4.64713708e-03 7.89859993e+01] [ 3.26128638e-01 9.45324000e-01 -1.62676278e-03 1.14924579e+01] [ 4.92359074e-03 2.22348289e-05 9.99987879e-01 1.81132515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.750281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:79.01, Y:11.50, Z:0.18 [[ 9.45246307e-01 -3.26324725e-01 -4.64683889e-03 7.90110359e+01] [ 3.26320667e-01 9.45257728e-01 -1.62761411e-03 1.15039977e+01] [ 4.92359110e-03 2.21366592e-05 9.99987879e-01 1.79841989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.780281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:79.04, Y:11.51, Z:0.18 [[ 9.45353090e-01 -3.26015252e-01 -4.64663618e-03 7.90368001e+01] [ 3.26011187e-01 9.45364509e-01 -1.62819259e-03 1.15149301e+01] [ 4.92358055e-03 2.43615220e-05 9.99987879e-01 1.80267073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.81028169300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:79.06, Y:11.53, Z:0.18 [[ 9.46230606e-01 -3.23459504e-01 -4.64634303e-03 7.90609895e+01] [ 3.23455404e-01 9.46242013e-01 -1.62902874e-03 1.15286725e+01] [ 4.92348981e-03 3.85520922e-05 9.99987879e-01 1.80046996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84028169300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:79.09, Y:11.54, Z:0.18 [[ 9.46944558e-01 -3.21363371e-01 -4.64621557e-03 7.90863237e+01] [ 3.21359244e-01 9.46955955e-01 -1.62939217e-03 1.15412843e+01] [ 4.92338847e-03 4.98397273e-05 9.99987879e-01 1.79084264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.870281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:79.11, Y:11.55, Z:0.18 [[ 9.47826225e-01 -3.18753608e-01 -4.64592234e-03 7.91101974e+01] [ 3.18749445e-01 9.47837609e-01 -1.63022785e-03 1.15542498e+01] [ 4.92322093e-03 6.42875404e-05 9.99987879e-01 1.78437782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.900281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:79.13, Y:11.57, Z:0.18 [[ 9.49697681e-01 -3.13133728e-01 -4.64579472e-03 7.91330914e+01] [ 3.13129496e-01 9.49709040e-01 -1.63059146e-03 1.15736583e+01] [ 4.92274642e-03 9.38335720e-05 9.99987879e-01 1.79333479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.930281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:79.16, Y:11.59, Z:0.18 [[ 9.50432356e-01 -3.10896695e-01 -4.64550437e-03 7.91577520e+01] [ 3.10892433e-01 9.50443703e-01 -1.63141822e-03 1.15883142e+01] [ 4.92249292e-03 1.06300509e-04 9.99987879e-01 1.79468795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.960281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:79.18, Y:11.61, Z:0.18 [[ 9.51285784e-01 -3.08275493e-01 -4.64520221e-03 7.91801432e+01] [ 3.08271195e-01 9.51297118e-01 -1.63227814e-03 1.16069620e+01] [ 4.92215882e-03 1.20780957e-04 9.99987879e-01 1.78611200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.990281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:79.20, Y:11.62, Z:0.18 [[ 9.50942680e-01 -3.09332252e-01 -4.64507141e-03 7.92041185e+01] [ 3.09327965e-01 9.50954018e-01 -1.63265028e-03 1.16205526e+01] [ 4.92228071e-03 1.15706350e-04 9.99987879e-01 1.78235513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.020281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:79.23, Y:11.63, Z:0.18 [[ 9.50084193e-01 -3.11959054e-01 -4.64486776e-03 7.92276505e+01] [ 3.11954796e-01 9.50095541e-01 -1.63322946e-03 1.16336323e+01] [ 4.92256886e-03 1.02716721e-04 9.99987879e-01 1.79326478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.050281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:79.25, Y:11.65, Z:0.18 [[ 9.47086281e-01 -3.20945484e-01 -4.64474240e-03 7.92523132e+01] [ 3.20941331e-01 9.47097668e-01 -1.63358589e-03 1.16477427e+01] [ 4.92331671e-03 5.64569807e-05 9.99987879e-01 1.82964552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.080281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:79.28, Y:11.66, Z:0.18 [[ 9.45292812e-01 -3.26190020e-01 -4.64443870e-03 7.92786461e+01] [ 3.26185926e-01 9.45304221e-01 -1.63444886e-03 1.16579233e+01] [ 4.92354842e-03 3.00822215e-05 9.99987879e-01 1.83942759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.110281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:79.30, Y:11.67, Z:0.19 [[ 9.42358757e-01 -3.34571974e-01 -4.64413130e-03 7.93043803e+01] [ 3.34567978e-01 9.42370200e-01 -1.63532185e-03 1.16679861e+01] [ 4.92362380e-03 -1.27177589e-05 9.99987879e-01 1.86374580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.140281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:79.33, Y:11.68, Z:0.19 [[ 9.41524706e-01 -3.36911950e-01 -4.64381840e-03 7.93295554e+01] [ 3.36907978e-01 9.41536158e-01 -1.63620991e-03 1.16779499e+01] [ 4.92358161e-03 -2.40074104e-05 9.99987879e-01 1.87083119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.170281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:79.36, Y:11.69, Z:0.19 [[ 9.41088034e-01 -3.38129781e-01 -4.64368323e-03 7.93551968e+01] [ 3.38125821e-01 9.41099490e-01 -1.63659345e-03 1.16879986e+01] [ 4.92354890e-03 -2.99706965e-05 9.99987879e-01 1.85461180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20028169300001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:79.38, Y:11.70, Z:0.18 [[ 9.41117688e-01 -3.38047240e-01 -4.64337670e-03 7.93806823e+01] [ 3.38043275e-01 9.41129142e-01 -1.63746267e-03 1.17002952e+01] [ 4.92355687e-03 -2.86171856e-05 9.99987879e-01 1.83346527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.230281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:79.41, Y:11.71, Z:0.18 [[ 9.41186250e-01 -3.37856308e-01 -4.64306745e-03 7.94062415e+01] [ 3.37852337e-01 9.41197702e-01 -1.63833910e-03 1.17117389e+01] [ 4.92356761e-03 -2.66889571e-05 9.99987879e-01 1.83642287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.260281693 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:79.43, Y:11.72, Z:0.18 [[ 9.41067659e-01 -3.38186495e-01 -4.64275704e-03 7.94309226e+01] [ 3.38182523e-01 9.41079111e-01 -1.63921828e-03 1.17224962e+01] [ 4.92356315e-03 -2.74839825e-05 9.99987879e-01 1.83830741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.290281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:79.46, Y:11.73, Z:0.18 [[ 9.40726286e-01 -3.39134931e-01 -4.64262207e-03 7.94560771e+01] [ 3.39130969e-01 9.40737741e-01 -1.63960045e-03 1.17308070e+01] [ 4.92353558e-03 -3.20416760e-05 9.99987879e-01 1.83453198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.320281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:79.48, Y:11.74, Z:0.18 [[ 9.39303623e-01 -3.43055611e-01 -4.64241158e-03 7.94822156e+01] [ 3.43051694e-01 9.39315094e-01 -1.64019621e-03 1.17397369e+01] [ 4.92336578e-03 -5.19449175e-05 9.99987879e-01 1.84821403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.350281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:79.51, Y:11.75, Z:0.19 [[ 9.38435112e-01 -3.45424365e-01 -4.64210553e-03 7.95086043e+01] [ 3.45420472e-01 9.38446591e-01 -1.64106196e-03 1.17497252e+01] [ 4.92323089e-03 -6.34481211e-05 9.99987879e-01 1.85389867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.380281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:79.53, Y:11.76, Z:0.18 [[ 9.36984710e-01 -3.49339531e-01 -4.64180017e-03 7.95343110e+01] [ 3.49335682e-01 9.36996203e-01 -1.64192520e-03 1.17590932e+01] [ 4.92293852e-03 -8.30876205e-05 9.99987879e-01 1.84442666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.410281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:79.56, Y:11.77, Z:0.18 [[ 9.36453531e-01 -3.50760942e-01 -4.64166810e-03 7.95615977e+01] [ 3.50757109e-01 9.36465031e-01 -1.64229848e-03 1.17672294e+01] [ 4.92281402e-03 -9.01618767e-05 9.99987879e-01 1.83608733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.440281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:79.59, Y:11.77, Z:0.18 [[ 9.36067747e-01 -3.51789186e-01 -4.64136952e-03 7.95876940e+01] [ 3.51785361e-01 9.36079249e-01 -1.64314189e-03 1.17742866e+01] [ 4.92272924e-03 -9.46737227e-05 9.99987879e-01 1.82947482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.470281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:79.62, Y:11.78, Z:0.18 [[ 9.35683189e-01 -3.52810755e-01 -4.64124030e-03 7.96157634e+01] [ 3.52806941e-01 9.35694695e-01 -1.64350681e-03 1.17788973e+01] [ 4.92263080e-03 -9.96601029e-05 9.99987879e-01 1.82300179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.500281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:79.64, Y:11.79, Z:0.18 [[ 9.35586585e-01 -3.53066855e-01 -4.64094264e-03 7.96426683e+01] [ 3.53063040e-01 9.35598090e-01 -1.64434690e-03 1.17852914e+01] [ 4.92262146e-03 -1.00116414e-04 9.99987879e-01 1.81331704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.530281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:79.67, Y:11.79, Z:0.18 [[ 9.36097771e-01 -3.51709295e-01 -4.64064581e-03 7.96697093e+01] [ 3.51705459e-01 9.36109269e-01 -1.64518418e-03 1.17883042e+01] [ 4.92277813e-03 -9.20872189e-05 9.99987879e-01 1.81450415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56028169300001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:79.70, Y:11.80, Z:0.18 [[ 9.36688321e-01 -3.50133482e-01 -4.64051684e-03 7.96969410e+01] [ 3.50129625e-01 9.36699812e-01 -1.64554788e-03 1.17963200e+01] [ 4.92293266e-03 -8.34169350e-05 9.99987879e-01 1.82582661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59028169300001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:79.72, Y:11.80, Z:0.18 [[ 9.38984063e-01 -3.43929351e-01 -4.64022201e-03 7.97238253e+01] [ 3.43925414e-01 9.38995527e-01 -1.64637884e-03 1.18039023e+01] [ 4.92338572e-03 -4.99667900e-05 9.99987879e-01 1.83037854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.620281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:79.75, Y:11.81, Z:0.18 [[ 9.40280548e-01 -3.40368862e-01 -4.63992754e-03 7.97495359e+01] [ 3.40364878e-01 9.40291996e-01 -1.64720832e-03 1.18120586e+01] [ 4.92354515e-03 -3.04304315e-05 9.99987879e-01 1.82531116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.650281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:79.78, Y:11.82, Z:0.18 [[ 9.41402832e-01 -3.37252398e-01 -4.63979896e-03 7.97764498e+01] [ 3.37248374e-01 9.41414266e-01 -1.64757044e-03 1.18197984e+01] [ 4.92362001e-03 -1.37371785e-05 9.99987879e-01 1.82496313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.680281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:79.80, Y:11.83, Z:0.18 [[ 9.42647918e-01 -3.33756464e-01 -4.63949010e-03 7.98031536e+01] [ 3.33752393e-01 9.42659335e-01 -1.64843971e-03 1.18250330e+01] [ 4.92363606e-03 5.45733769e-06 9.99987879e-01 1.83331608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.710281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:79.83, Y:11.83, Z:0.19 [[ 9.42570438e-01 -3.33975221e-01 -4.63918183e-03 7.98298048e+01] [ 3.33971148e-01 9.42581854e-01 -1.64930681e-03 1.18328530e+01] [ 4.92363622e-03 5.23495586e-06 9.99987879e-01 1.85753078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.740281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:79.86, Y:11.84, Z:0.19 [[ 9.41672806e-01 -3.36497857e-01 -4.63887586e-03 7.98556271e+01] [ 3.36493811e-01 9.41684232e-01 -1.65016694e-03 1.18399207e+01] [ 4.92363389e-03 -7.03568609e-06 9.99987879e-01 1.88431446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.770281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:79.88, Y:11.85, Z:0.19 [[ 9.41015038e-01 -3.38332942e-01 -4.63874266e-03 7.98823918e+01] [ 3.38328917e-01 9.41026471e-01 -1.65054129e-03 1.18480052e+01] [ 4.92361213e-03 -1.62366051e-05 9.99987879e-01 1.88352727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.800281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:79.91, Y:11.85, Z:0.19 [[ 9.40039707e-01 -3.41033479e-01 -4.63842880e-03 7.99088093e+01] [ 3.41029482e-01 9.40051150e-01 -1.65142284e-03 1.18530514e+01] [ 4.92355081e-03 -2.94379279e-05 9.99987879e-01 1.88246991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.830281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:79.94, Y:11.86, Z:0.19 [[ 9.39623898e-01 -3.42177464e-01 -4.63829257e-03 7.99352957e+01] [ 3.42173479e-01 9.39635345e-01 -1.65180537e-03 1.18607812e+01] [ 4.92351421e-03 -3.50249082e-05 9.99987879e-01 1.88409731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.860281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:79.96, Y:11.87, Z:0.19 [[ 9.39464591e-01 -3.42614609e-01 -4.63800302e-03 7.99626304e+01] [ 3.42610625e-01 9.39476039e-01 -1.65261798e-03 1.18684760e+01] [ 4.92350377e-03 -3.64530356e-05 9.99987879e-01 1.88955598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.890281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:79.99, Y:11.87, Z:0.19 [[ 9.39499170e-01 -3.42519782e-01 -4.63771477e-03 7.99898084e+01] [ 3.42515793e-01 9.39510616e-01 -1.65342649e-03 1.18730539e+01] [ 4.92351355e-03 -3.50977388e-05 9.99987879e-01 1.90381039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.920281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:80.02, Y:11.88, Z:0.19 [[ 9.39623115e-01 -3.42179624e-01 -4.63751739e-03 8.00157411e+01] [ 3.42175628e-01 9.39634559e-01 -1.65397992e-03 1.18795480e+01] [ 4.92352983e-03 -3.27276644e-05 9.99987879e-01 1.91312636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.95028169300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:80.04, Y:11.88, Z:0.19 [[ 9.39670843e-01 -3.42048537e-01 -4.63732244e-03 8.00438055e+01] [ 3.42044537e-01 9.39682285e-01 -1.65452632e-03 1.18844220e+01] [ 4.92353806e-03 -3.14606637e-05 9.99987879e-01 1.91238342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.980281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:80.07, Y:11.89, Z:0.19 [[ 9.39391503e-01 -3.42814969e-01 -4.63701895e-03 8.00709691e+01] [ 3.42810974e-01 9.39402947e-01 -1.65537646e-03 1.18910295e+01] [ 4.92351710e-03 -3.45744034e-05 9.99987879e-01 1.90313142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.010281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.10, Y:11.89, Z:0.19 [[ 9.38566256e-01 -3.45067941e-01 -4.63671622e-03 8.00993251e+01] [ 3.45063969e-01 9.38577708e-01 -1.65622398e-03 1.18926559e+01] [ 4.92342828e-03 -4.54877589e-05 9.99987879e-01 1.87551481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.040281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:80.13, Y:11.90, Z:0.19 [[ 9.38222350e-01 -3.46001913e-01 -4.63658439e-03 8.01264841e+01] [ 3.45997951e-01 9.38233806e-01 -1.65659296e-03 1.18982840e+01] [ 4.92338455e-03 -4.99961543e-05 9.99987879e-01 1.87364075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.070281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:80.15, Y:11.90, Z:0.19 [[ 9.38030140e-01 -3.46522668e-01 -4.63645396e-03 8.01540588e+01] [ 3.46518711e-01 9.38041597e-01 -1.65695793e-03 1.19047367e+01] [ 4.92336016e-03 -5.23415682e-05 9.99987879e-01 1.88305536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.100281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:80.18, Y:11.91, Z:0.19 [[ 9.38005220e-01 -3.46590123e-01 -4.63615525e-03 8.01813101e+01] [ 3.46586162e-01 9.38016676e-01 -1.65779328e-03 1.19089047e+01] [ 4.92336571e-03 -5.18084994e-05 9.99987879e-01 1.88974643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.130281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:80.21, Y:11.92, Z:0.19 [[ 9.37943183e-01 -3.46757974e-01 -4.63602518e-03 8.02080522e+01] [ 3.46754013e-01 9.37954639e-01 -1.65815694e-03 1.19186807e+01] [ 4.92336047e-03 -5.23033326e-05 9.99987879e-01 1.89114854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.160281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:80.23, Y:11.92, Z:0.19 [[ 9.37877343e-01 -3.46936016e-01 -4.63572830e-03 8.02347689e+01] [ 3.46932053e-01 9.37888799e-01 -1.65898651e-03 1.19247745e+01] [ 4.92335982e-03 -5.23568743e-05 9.99987879e-01 1.88683235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.190281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:80.26, Y:11.93, Z:0.19 [[ 9.37671864e-01 -3.47490988e-01 -4.63559924e-03 8.02621493e+01] [ 3.47487030e-01 9.37683321e-01 -1.65934708e-03 1.19304613e+01] [ 4.92333224e-03 -5.48875458e-05 9.99987879e-01 1.87943558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.220281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:80.29, Y:11.93, Z:0.19 [[ 9.37114274e-01 -3.48991906e-01 -4.63530412e-03 8.02899766e+01] [ 3.48987963e-01 9.37125736e-01 -1.66017107e-03 1.19328466e+01] [ 4.92324905e-03 -6.18953400e-05 9.99987879e-01 1.87277711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.250281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:80.32, Y:11.94, Z:0.19 [[ 9.36797591e-01 -3.49841091e-01 -4.63517569e-03 8.03162214e+01] [ 3.49837156e-01 9.36809056e-01 -1.66052956e-03 1.19393387e+01] [ 4.92319603e-03 -6.59765899e-05 9.99987879e-01 1.88061159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.280281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:80.34, Y:11.94, Z:0.19 [[ 9.36310997e-01 -3.51141329e-01 -4.63504781e-03 8.03433183e+01] [ 3.51137409e-01 9.36322467e-01 -1.66088642e-03 1.19437995e+01] [ 4.92310527e-03 -7.24324555e-05 9.99987879e-01 1.88689703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.31028169300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:80.37, Y:11.95, Z:0.19 [[ 9.36146608e-01 -3.51579360e-01 -4.63484894e-03 8.03710452e+01] [ 3.51575442e-01 9.36158079e-01 -1.66144120e-03 1.19507720e+01] [ 4.92307972e-03 -7.41465218e-05 9.99987879e-01 1.88320455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34028169300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:80.40, Y:11.96, Z:0.19 [[ 9.36299735e-01 -3.51171365e-01 -4.63455848e-03 8.03976441e+01] [ 3.51167438e-01 9.36311202e-01 -1.66225106e-03 1.19555708e+01] [ 4.92312399e-03 -7.11408011e-05 9.99987879e-01 1.87402469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.370281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:80.43, Y:11.96, Z:0.19 [[ 9.36571730e-01 -3.50445315e-01 -4.63427058e-03 8.04250779e+01] [ 3.50441375e-01 9.36583193e-01 -1.66305332e-03 1.19631848e+01] [ 4.92318918e-03 -6.64714284e-05 9.99987879e-01 1.88365720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.400281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:80.45, Y:11.97, Z:0.19 [[ 9.36882367e-01 -3.49614010e-01 -4.63398234e-03 8.04520186e+01] [ 3.49610056e-01 9.36893825e-01 -1.66385608e-03 1.19698381e+01] [ 4.92325684e-03 -6.12494091e-05 9.99987879e-01 1.89353864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.430281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:80.48, Y:11.97, Z:0.19 [[ 9.37694906e-01 -3.47428832e-01 -4.63369529e-03 8.04803932e+01] [ 3.47424847e-01 9.37706353e-01 -1.66465511e-03 1.19720198e+01] [ 4.92339469e-03 -4.89222577e-05 9.99987879e-01 1.87344493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.460281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.51, Y:11.98, Z:0.19 [[ 9.37935274e-01 -3.46779401e-01 -4.63349923e-03 8.05072404e+01] [ 3.46775406e-01 9.37946718e-01 -1.66520066e-03 1.19787969e+01] [ 4.92343268e-03 -4.49331391e-05 9.99987879e-01 1.85685811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.490281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:80.53, Y:11.98, Z:0.19 [[ 9.38817900e-01 -3.44382757e-01 -4.63321482e-03 8.05338314e+01] [ 3.44378729e-01 9.38829332e-01 -1.66599163e-03 1.19832558e+01] [ 4.92353676e-03 -3.15178693e-05 9.99987879e-01 1.85740567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.520281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:80.56, Y:11.99, Z:0.19 [[ 9.39331530e-01 -3.42979317e-01 -4.63309079e-03 8.05604364e+01] [ 3.42975270e-01 9.39342955e-01 -1.66633648e-03 1.19901150e+01] [ 4.92358014e-03 -2.37931693e-05 9.99987879e-01 1.87097164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.550281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:80.59, Y:12.00, Z:0.19 [[ 9.39815046e-01 -3.41652184e-01 -4.63289755e-03 8.05875692e+01] [ 3.41648118e-01 9.39826465e-01 -1.66687357e-03 1.19965514e+01] [ 4.92361072e-03 -1.62678654e-05 9.99987879e-01 1.89464627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.580281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:80.61, Y:12.00, Z:0.19 [[ 9.40632402e-01 -3.39395378e-01 -4.63261528e-03 8.06147407e+01] [ 3.39391280e-01 9.40643810e-01 -1.66765769e-03 1.20001796e+01] [ 4.92363620e-03 -3.61637105e-06 9.99987879e-01 1.94352962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.610281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:80.64, Y:12.01, Z:0.20 [[ 9.40808344e-01 -3.38907361e-01 -4.63249252e-03 8.06421795e+01] [ 3.38903256e-01 9.40819749e-01 -1.66799862e-03 1.20079577e+01] [ 4.92363746e-03 -6.99776457e-07 9.99987879e-01 1.95643413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.640281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:80.67, Y:12.01, Z:0.19 [[ 9.40755288e-01 -3.39054615e-01 -4.63221233e-03 8.06697545e+01] [ 3.39050508e-01 9.40766692e-01 -1.66877639e-03 1.20142475e+01] [ 4.92363740e-03 -6.43731466e-07 9.99987879e-01 1.92753139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.670281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:80.70, Y:12.02, Z:0.19 [[ 9.40666648e-01 -3.39300461e-01 -4.63189220e-03 8.06954576e+01] [ 3.39296353e-01 9.40678052e-01 -1.66966446e-03 1.20216174e+01] [ 4.92363725e-03 -9.86461712e-07 9.99987879e-01 1.90588695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70028169300001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:80.72, Y:12.03, Z:0.19 [[ 9.40562571e-01 -3.39588865e-01 -4.63175310e-03 8.07220730e+01] [ 3.39584759e-01 9.40573975e-01 -1.67005024e-03 1.20292896e+01] [ 4.92363689e-03 -2.08600857e-06 9.99987879e-01 1.89885405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.730281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:80.75, Y:12.04, Z:0.19 [[ 9.41175452e-01 -3.37886546e-01 -4.63143582e-03 8.07484922e+01] [ 3.37882415e-01 9.41186847e-01 -1.67092967e-03 1.20355260e+01] [ 4.92363114e-03 7.75726342e-06 9.99987879e-01 1.92949336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.760281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:80.77, Y:12.05, Z:0.19 [[ 9.41534603e-01 -3.36884466e-01 -4.63129725e-03 8.07746477e+01] [ 3.36880320e-01 9.41545993e-01 -1.67131367e-03 1.20454396e+01] [ 4.92361898e-03 1.34067512e-05 9.99987879e-01 1.93421898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.790281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:80.80, Y:12.06, Z:0.19 [[ 9.42589602e-01 -3.33921243e-01 -4.63101798e-03 8.08006388e+01] [ 3.33917058e-01 9.42600977e-01 -1.67208712e-03 1.20567563e+01] [ 4.92354749e-03 2.97160320e-05 9.99987879e-01 1.90358988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.820281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:80.83, Y:12.07, Z:0.19 [[ 9.43104591e-01 -3.32463962e-01 -4.63073912e-03 8.08270310e+01] [ 3.32459756e-01 9.43115959e-01 -1.67285907e-03 1.20672485e+01] [ 4.92348932e-03 3.81466732e-05 9.99987879e-01 1.88163716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.850281693 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:80.85, Y:12.08, Z:0.19 [[ 9.43431084e-01 -3.31536346e-01 -4.63046016e-03 8.08532952e+01] [ 3.31532125e-01 9.43442446e-01 -1.67363086e-03 1.20780040e+01] [ 4.92344212e-03 4.38090789e-05 9.99987879e-01 1.87414186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.880281693 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:80.88, Y:12.09, Z:0.19 [[ 9.44131539e-01 -3.29536339e-01 -4.63018108e-03 8.08787414e+01] [ 3.29532089e-01 9.44142891e-01 -1.67440260e-03 1.20907967e+01] [ 4.92332905e-03 5.50630600e-05 9.99987879e-01 1.92298958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.910281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:80.90, Y:12.10, Z:0.20 [[ 9.44339075e-01 -3.28941144e-01 -4.62987460e-03 8.09046537e+01] [ 3.28936884e-01 9.44350422e-01 -1.67524961e-03 1.21027120e+01] [ 4.92328256e-03 5.90671463e-05 9.99987879e-01 1.95313735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.940281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:80.93, Y:12.12, Z:0.20 [[ 9.44784603e-01 -3.27659305e-01 -4.62956891e-03 8.09282826e+01] [ 3.27655025e-01 9.44795944e-01 -1.67609395e-03 1.21161478e+01] [ 4.92318571e-03 6.66462413e-05 9.99987879e-01 1.97389198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.970281693 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:80.95, Y:12.13, Z:0.20 [[ 9.44864856e-01 -3.27427814e-01 -4.62943626e-03 8.09538461e+01] [ 3.27423529e-01 9.44876194e-01 -1.67646025e-03 1.21285627e+01] [ 4.92316383e-03 6.82420180e-05 9.99987879e-01 1.96292912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.000281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:80.98, Y:12.14, Z:0.19 [[ 9.44554289e-01 -3.28322656e-01 -4.62912148e-03 8.09775929e+01] [ 3.28318378e-01 9.44565630e-01 -1.67732900e-03 1.21429131e+01] [ 4.92321416e-03 6.45026438e-05 9.99987879e-01 1.90944212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.030281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:81.00, Y:12.15, Z:0.19 [[ 9.43903174e-01 -3.30189901e-01 -4.62898473e-03 8.10033585e+01] [ 3.30185643e-01 9.43914523e-01 -1.67770632e-03 1.21537842e+01] [ 4.92332759e-03 5.51680219e-05 9.99987879e-01 1.90136731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06028169300001 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:81.03, Y:12.16, Z:0.19 [[ 9.43016538e-01 -3.32713666e-01 -4.62868421e-03 8.10291523e+01] [ 3.32709435e-01 9.43027897e-01 -1.67853502e-03 1.21639989e+01] [ 4.92344988e-03 4.28793763e-05 9.99987879e-01 1.90294919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09028169300001 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:81.05, Y:12.17, Z:0.19 [[ 9.41145388e-01 -3.37970318e-01 -4.62837419e-03 8.10545934e+01] [ 3.37966146e-01 9.41156769e-01 -1.67938942e-03 1.21739290e+01] [ 4.92360948e-03 1.63158176e-05 9.99987879e-01 1.90076239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.120281693 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:81.08, Y:12.18, Z:0.19 [[ 9.39950725e-01 -3.41278792e-01 -4.62823911e-03 8.10804324e+01] [ 3.41274658e-01 9.39962119e-01 -1.67976161e-03 1.21842406e+01] [ 4.92363646e-03 -6.07577210e-07 9.99987879e-01 1.90871640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.150281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:81.11, Y:12.19, Z:0.19 [[ 9.37500467e-01 -3.47953240e-01 -4.62794403e-03 8.11064280e+01] [ 3.47949183e-01 9.37511889e-01 -1.68057420e-03 1.21942066e+01] [ 4.92351379e-03 -3.47502510e-05 9.99987879e-01 1.94399137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.180281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:81.13, Y:12.20, Z:0.20 [[ 9.36302071e-01 -3.51165226e-01 -4.62764361e-03 8.11332715e+01] [ 3.51161205e-01 9.36313506e-01 -1.68140104e-03 1.22034622e+01] [ 4.92337479e-03 -5.07496319e-05 9.99987879e-01 1.95247114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.210281693 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:81.16, Y:12.21, Z:0.19 [[ 9.35340073e-01 -3.53719572e-01 -4.62734406e-03 8.11595785e+01] [ 3.53715578e-01 9.35351517e-01 -1.68222501e-03 1.22117036e+01] [ 4.92322920e-03 -6.33112167e-05 9.99987879e-01 1.94751400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.240281693 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:81.19, Y:12.22, Z:0.19 [[ 9.34601048e-01 -3.55667642e-01 -4.62702961e-03 8.11865192e+01] [ 3.55663667e-01 9.34612499e-01 -1.68308949e-03 1.22199805e+01] [ 4.92310017e-03 -7.26491224e-05 9.99987879e-01 1.93587289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.270281693 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:81.21, Y:12.23, Z:0.19 [[ 9.34659157e-01 -3.55514913e-01 -4.62670733e-03 8.12119059e+01] [ 3.55510932e-01 9.34670606e-01 -1.68397494e-03 1.22288102e+01] [ 4.92312555e-03 -7.09024335e-05 9.99987879e-01 1.93814207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.300281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:81.24, Y:12.24, Z:0.20 [[ 9.35017286e-01 -3.54571953e-01 -4.62656678e-03 8.12372721e+01] [ 3.54567958e-01 9.35028730e-01 -1.68436100e-03 1.22375773e+01] [ 4.92320003e-03 -6.55256902e-05 9.99987879e-01 1.95717855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.330281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:81.26, Y:12.25, Z:0.19 [[ 9.35038081e-01 -3.54517114e-01 -4.62635055e-03 8.12637175e+01] [ 3.54513115e-01 9.35049524e-01 -1.68495469e-03 1.22472040e+01] [ 4.92321216e-03 -6.46051452e-05 9.99987879e-01 1.94913807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.360281693 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:81.29, Y:12.26, Z:0.19 [[ 9.35114060e-01 -3.54316658e-01 -4.62603592e-03 8.12902151e+01] [ 3.54312653e-01 9.35125501e-01 -1.68581807e-03 1.22567845e+01] [ 4.92323758e-03 -6.26308773e-05 9.99987879e-01 1.92884397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.390281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:81.32, Y:12.26, Z:0.19 [[ 9.35345730e-01 -3.53704633e-01 -4.62572285e-03 8.13163767e+01] [ 3.53700617e-01 9.35357166e-01 -1.68667666e-03 1.22642858e+01] [ 4.92328837e-03 -5.84952105e-05 9.99987879e-01 1.91337776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.420281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:81.34, Y:12.27, Z:0.19 [[ 9.35333033e-01 -3.53738210e-01 -4.62558682e-03 8.13422731e+01] [ 3.53734192e-01 9.35344469e-01 -1.68704962e-03 1.22719986e+01] [ 4.92329097e-03 -5.82749774e-05 9.99987879e-01 1.92317154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.45028169300001 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:81.37, Y:12.28, Z:0.19 [[ 9.35321869e-01 -3.53767729e-01 -4.62545176e-03 8.13693565e+01] [ 3.53763709e-01 9.35333305e-01 -1.68741987e-03 1.22804655e+01] [ 4.92329377e-03 -5.80362637e-05 9.99987879e-01 1.93461676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.480281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:81.40, Y:12.29, Z:0.19 [[ 9.35790425e-01 -3.52526436e-01 -4.62514336e-03 8.13958315e+01] [ 3.52522397e-01 9.35801854e-01 -1.68826474e-03 1.22894460e+01] [ 4.92337568e-03 -5.06046522e-05 9.99987879e-01 1.93870980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.510281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:81.42, Y:12.30, Z:0.19 [[ 9.36400943e-01 -3.50901531e-01 -4.62482822e-03 8.14206125e+01] [ 3.50897468e-01 9.36412363e-01 -1.68912761e-03 1.22988610e+01] [ 4.92346378e-03 -4.11398238e-05 9.99987879e-01 1.93669259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.540281693 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:81.45, Y:12.31, Z:0.19 [[ 9.38078179e-01 -3.46392757e-01 -4.62469094e-03 8.14465534e+01] [ 3.46388637e-01 9.38089579e-01 -1.68950337e-03 1.23081753e+01] [ 4.92360611e-03 -1.70541453e-05 9.99987879e-01 1.92499841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.570281693 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:81.47, Y:12.32, Z:0.19 [[ 9.38970894e-01 -3.43965514e-01 -4.62437267e-03 8.14722046e+01] [ 3.43961360e-01 9.38982282e-01 -1.69037406e-03 1.23176965e+01] [ 4.92363439e-03 -3.39347452e-06 9.99987879e-01 1.90619002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.600281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:81.50, Y:12.33, Z:0.19 [[ 9.39723210e-01 -3.41904820e-01 -4.62423362e-03 8.14984314e+01] [ 3.41900639e-01 9.39734587e-01 -1.69075438e-03 1.23272370e+01] [ 4.92362934e-03 7.81269961e-06 9.99987879e-01 1.88787722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.630281693 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:81.53, Y:12.33, Z:0.19 [[ 9.41036510e-01 -3.38273418e-01 -4.62391553e-03 8.15251562e+01] [ 3.38269190e-01 9.41047870e-01 -1.69162385e-03 1.23346159e+01] [ 4.92355724e-03 2.77516402e-05 9.99987879e-01 1.88794243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.660281693 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:81.55, Y:12.34, Z:0.19 [[ 9.41352427e-01 -3.37393287e-01 -4.62359513e-03 8.15513127e+01] [ 3.37389043e-01 9.41363781e-01 -1.69249911e-03 1.23433605e+01] [ 4.92352284e-03 3.32878046e-05 9.99987879e-01 1.90469022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.690281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:81.58, Y:12.35, Z:0.19 [[ 9.41592493e-01 -3.36722737e-01 -4.62326496e-03 8.15761035e+01] [ 3.36718481e-01 9.41603843e-01 -1.69340053e-03 1.23527307e+01] [ 4.92349052e-03 3.77544709e-05 9.99987879e-01 1.90877358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.720281693 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:81.60, Y:12.36, Z:0.19 [[ 9.41584341e-01 -3.36745537e-01 -4.62312149e-03 8.16017243e+01] [ 3.36741279e-01 9.41595689e-01 -1.69379214e-03 1.23623487e+01] [ 4.92348821e-03 3.80523132e-05 9.99987879e-01 1.89844978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.750281693 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:81.63, Y:12.37, Z:0.19 [[ 9.41321261e-01 -3.37480238e-01 -4.62298452e-03 8.16285931e+01] [ 3.37475987e-01 9.41332613e-01 -1.69416588e-03 1.23709410e+01] [ 4.92351361e-03 3.46080952e-05 9.99987879e-01 1.91587703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.780281693 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:81.66, Y:12.38, Z:0.20 [[ 9.40648277e-01 -3.39351514e-01 -4.62266301e-03 8.16560526e+01] [ 3.39347282e-01 9.40659635e-01 -1.69504269e-03 1.23763141e+01] [ 4.92356781e-03 2.57508604e-05 9.99987879e-01 1.96845935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.81028169300001 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:81.68, Y:12.38, Z:0.20 [[ 9.40228912e-01 -3.40511713e-01 -4.62234157e-03 8.16829936e+01] [ 3.40507490e-01 9.40240274e-01 -1.69591880e-03 1.23849125e+01] [ 4.92359192e-03 2.06099617e-05 9.99987879e-01 1.98982991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84028169300001 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:81.71, Y:12.39, Z:0.20 [[ 9.39989141e-01 -3.41173051e-01 -4.62201313e-03 8.17089567e+01] [ 3.41168832e-01 9.40000505e-01 -1.69681347e-03 1.23911629e+01] [ 4.92360170e-03 1.80994151e-05 9.99987879e-01 2.01793140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.870281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:81.74, Y:12.40, Z:0.20 [[ 9.40066769e-01 -3.40959100e-01 -4.62187042e-03 8.17355467e+01] [ 3.40954876e-01 9.40078131e-01 -1.69720210e-03 1.23991528e+01] [ 4.92359580e-03 1.96340391e-05 9.99987879e-01 2.00574849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.900281693 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:81.76, Y:12.41, Z:0.20 [[ 9.40245139e-01 -3.40466916e-01 -4.62155536e-03 8.17620726e+01] [ 3.40462682e-01 9.40256496e-01 -1.69805957e-03 1.24076289e+01] [ 4.92358056e-03 2.31251273e-05 9.99987879e-01 1.99004202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.930281693 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:81.79, Y:12.42, Z:0.19 [[ 9.41121244e-01 -3.38037644e-01 -4.62123857e-03 8.17877687e+01] [ 3.38033377e-01 9.41132589e-01 -1.69892129e-03 1.24170542e+01] [ 4.92349757e-03 3.67580392e-05 9.99987879e-01 1.94849379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.960281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:81.81, Y:12.43, Z:0.19 [[ 9.41679008e-01 -3.36480744e-01 -4.62110058e-03 8.18138074e+01] [ 3.36476456e-01 9.41690346e-01 -1.69929653e-03 1.24271751e+01] [ 4.92342636e-03 4.53003301e-05 9.99987879e-01 1.92568426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.990281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:81.84, Y:12.44, Z:0.19 [[ 9.43304186e-01 -3.31897365e-01 -4.62078195e-03 8.18392176e+01] [ 3.31893017e-01 9.43315501e-01 -1.70016251e-03 1.24357156e+01] [ 4.92313470e-03 7.01651453e-05 9.99987879e-01 1.92866788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.020281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:81.86, Y:12.45, Z:0.20 [[ 9.44204501e-01 -3.29327361e-01 -4.62064292e-03 8.18645198e+01] [ 3.29322981e-01 9.44215803e-01 -1.70054029e-03 1.24453917e+01] [ 4.92291851e-03 8.39738945e-05 9.99987879e-01 1.95627170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.050281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:81.89, Y:12.46, Z:0.20 [[ 9.44145003e-01 -3.29497898e-01 -4.62043080e-03 8.18911822e+01] [ 3.29493518e-01 9.44156305e-01 -1.70111642e-03 1.24554245e+01] [ 4.92292316e-03 8.36985668e-05 9.99987879e-01 1.95767417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.080281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:81.92, Y:12.47, Z:0.20 [[ 9.44951471e-01 -3.27177892e-01 -4.62012340e-03 8.19172203e+01] [ 3.27173479e-01 9.44962760e-01 -1.70195091e-03 1.24669500e+01] [ 4.92268527e-03 9.66791669e-05 9.99987879e-01 1.98211528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.110281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:81.94, Y:12.48, Z:0.20 [[ 9.46386203e-01 -3.23004353e-01 -4.61981557e-03 8.19420713e+01] [ 3.22999886e-01 9.46397471e-01 -1.70278606e-03 1.24809443e+01] [ 4.92218909e-03 1.19293329e-04 9.99987879e-01 1.97660109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.140281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:81.97, Y:12.49, Z:0.20 [[ 9.46999774e-01 -3.21201010e-01 -4.61950171e-03 8.19680125e+01] [ 3.21196518e-01 9.47011032e-01 -1.70363712e-03 1.24921640e+01] [ 4.92192904e-03 1.29576106e-04 9.99987879e-01 1.96531214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.170281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:81.99, Y:12.50, Z:0.20 [[ 9.47963128e-01 -3.18346621e-01 -4.61918729e-03 8.19932074e+01] [ 3.18342091e-01 9.47974371e-01 -1.70448921e-03 1.25023817e+01] [ 4.92148954e-03 1.45311188e-04 9.99987879e-01 1.96931442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20028169300001 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:82.02, Y:12.51, Z:0.20 [[ 9.48276916e-01 -3.17410704e-01 -4.61905110e-03 8.20186706e+01] [ 3.17406162e-01 9.48288154e-01 -1.70485818e-03 1.25129876e+01] [ 4.92133168e-03 1.50562373e-04 9.99987879e-01 1.97460360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.230281693 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:82.04, Y:12.52, Z:0.20 [[ 9.48630163e-01 -3.16353411e-01 -4.61874336e-03 8.20443367e+01] [ 3.16348852e-01 9.48641394e-01 -1.70569151e-03 1.25249870e+01] [ 4.92113246e-03 1.56936253e-04 9.99987879e-01 1.97964780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.260281693 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:82.07, Y:12.54, Z:0.20 [[ 9.49954627e-01 -3.12353768e-01 -4.61843683e-03 8.20677684e+01] [ 3.12349157e-01 9.49965837e-01 -1.70652107e-03 1.25398215e+01] [ 4.92039550e-03 1.78552740e-04 9.99987879e-01 1.98462342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.290281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:82.09, Y:12.55, Z:0.20 [[ 9.50707704e-01 -3.10054082e-01 -4.61822776e-03 8.20922686e+01] [ 3.10049441e-01 9.50718902e-01 -1.70708669e-03 1.25526972e+01] [ 4.91992562e-03 1.91061528e-04 9.99987879e-01 1.99497017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.320281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:82.11, Y:12.57, Z:0.20 [[ 9.51959428e-01 -3.06189356e-01 -4.61801990e-03 8.21146045e+01] [ 3.06184668e-01 9.51970605e-01 -1.70764880e-03 1.25695073e+01] [ 4.91908309e-03 2.11645484e-04 9.99987879e-01 2.00736173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.350281693 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:82.14, Y:12.58, Z:0.20 [[ 9.52219387e-01 -3.05379953e-01 -4.61781372e-03 8.21398058e+01] [ 3.05375252e-01 9.52230559e-01 -1.70820617e-03 1.25830709e+01] [ 4.91887526e-03 2.16421006e-04 9.99987879e-01 2.01293034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.380281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:82.16, Y:12.60, Z:0.20 [[ 9.52121875e-01 -3.05683846e-01 -4.61751469e-03 8.21638422e+01] [ 3.05679145e-01 9.52133047e-01 -1.70901409e-03 1.25963086e+01] [ 4.91890634e-03 2.15711761e-04 9.99987879e-01 2.01220494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.410281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:82.19, Y:12.61, Z:0.20 [[ 9.51655925e-01 -3.07131374e-01 -4.61738486e-03 8.21873508e+01] [ 3.07126688e-01 9.51667103e-01 -1.70936479e-03 1.26132523e+01] [ 4.91921284e-03 2.08605011e-04 9.99987879e-01 1.98893490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.440281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:82.21, Y:12.63, Z:0.20 [[ 9.51308921e-01 -3.08204509e-01 -4.61708643e-03 8.22115281e+01] [ 3.08199832e-01 9.51320103e-01 -1.71017050e-03 1.26263901e+01] [ 4.91940940e-03 2.03915186e-04 9.99987879e-01 1.97782791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.470281693 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:82.24, Y:12.64, Z:0.20 [[ 9.50863658e-01 -3.09575497e-01 -4.61695651e-03 8.22354338e+01] [ 3.09570834e-01 9.50874846e-01 -1.71052116e-03 1.26394171e+01] [ 4.91968325e-03 1.97197330e-04 9.99987879e-01 1.97264136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.500281693 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:82.26, Y:12.66, Z:0.20 [[ 9.49744489e-01 -3.12992157e-01 -4.61682792e-03 8.22577112e+01] [ 3.12987533e-01 9.49755693e-01 -1.71086816e-03 1.26567968e+01] [ 4.92034692e-03 1.79878029e-04 9.99987879e-01 1.98582730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.530281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:82.28, Y:12.67, Z:0.20 [[ 9.49041538e-01 -3.15117192e-01 -4.61670025e-03 8.22825003e+01] [ 3.15112591e-01 9.49052752e-01 -1.71121262e-03 1.26701436e+01] [ 4.92072459e-03 1.69231477e-04 9.99987879e-01 1.99025154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56028169300001 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:82.31, Y:12.69, Z:0.20 [[ 9.48011591e-01 -3.18202314e-01 -4.61640855e-03 8.23063855e+01] [ 3.18197746e-01 9.48022818e-01 -1.71199920e-03 1.26861843e+01] [ 4.92122275e-03 1.54064287e-04 9.99987879e-01 1.99892592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59028169300001 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:82.33, Y:12.70, Z:0.20 [[ 9.47566622e-01 -3.19524941e-01 -4.61608915e-03 8.23314683e+01] [ 3.19520385e-01 9.47577854e-01 -1.71285995e-03 1.26998292e+01] [ 4.92140533e-03 1.48114338e-04 9.99987879e-01 2.00293145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.620281693 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:82.36, Y:12.71, Z:0.20 [[ 9.47211049e-01 -3.20577486e-01 -4.61576879e-03 8.23554615e+01] [ 3.20572937e-01 9.47222284e-01 -1.71372281e-03 1.27138712e+01] [ 4.92154001e-03 1.43566624e-04 9.99987879e-01 1.99688348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.650281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:82.38, Y:12.73, Z:0.20 [[ 9.46370753e-01 -3.23049678e-01 -4.61562927e-03 8.23783644e+01] [ 3.23045157e-01 9.46381999e-01 -1.71409851e-03 1.27329316e+01] [ 4.92188743e-03 1.31116010e-04 9.99987879e-01 1.97906282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.680281693 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:82.40, Y:12.75, Z:0.20 [[ 9.45891888e-01 -3.24449125e-01 -4.61533869e-03 8.24030363e+01] [ 3.24444616e-01 9.45903140e-01 -1.71488057e-03 1.27464972e+01] [ 4.92205486e-03 1.24669826e-04 9.99987879e-01 1.97603699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.710281693 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:82.43, Y:12.76, Z:0.20 [[ 9.45266249e-01 -3.26267407e-01 -4.61504817e-03 8.24281291e+01] [ 3.26262917e-01 9.45277507e-01 -1.71566206e-03 1.27601091e+01] [ 4.92226584e-03 1.16038365e-04 9.99987879e-01 1.98236703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.740281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:82.45, Y:12.78, Z:0.20 [[ 9.43861044e-01 -3.30310512e-01 -4.61474021e-03 8.24508468e+01] [ 3.30306066e-01 9.43872320e-01 -1.71649000e-03 1.27769313e+01] [ 4.92270024e-03 9.58513560e-05 9.99987879e-01 1.98669383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.770281693 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:82.48, Y:12.79, Z:0.20 [[ 9.43049893e-01 -3.32619310e-01 -4.61460614e-03 8.24761563e+01] [ 3.32614890e-01 9.43061179e-01 -1.71685034e-03 1.27900824e+01] [ 4.92291349e-03 8.41888114e-05 9.99987879e-01 1.99363487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.800281693 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:82.50, Y:12.81, Z:0.20 [[ 9.41515288e-01 -3.36938674e-01 -4.61428584e-03 8.24994781e+01] [ 3.36934302e-01 9.41526593e-01 -1.71771076e-03 1.28055802e+01] [ 4.92323602e-03 6.25397620e-05 9.99987879e-01 2.00269178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.830281693 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:82.52, Y:12.82, Z:0.20 [[ 9.40740463e-01 -3.39095991e-01 -4.61414699e-03 8.25246660e+01] [ 3.39091642e-01 9.40751777e-01 -1.71808368e-03 1.28187492e+01] [ 4.92336227e-03 5.16521585e-05 9.99987879e-01 2.00236863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.860281693 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:82.55, Y:12.83, Z:0.20 [[ 9.40113504e-01 -3.40830328e-01 -4.61383152e-03 8.25491197e+01] [ 3.40825997e-01 9.40124824e-01 -1.71893045e-03 1.28314160e+01] [ 4.92344117e-03 4.34760004e-05 9.99987879e-01 1.99854833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.890281693 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:82.57, Y:12.85, Z:0.20 [[ 9.39128441e-01 -3.43535274e-01 -4.61369477e-03 8.25722001e+01] [ 3.43530973e-01 9.39139774e-01 -1.71929741e-03 1.28455855e+01] [ 4.92354357e-03 2.96940408e-05 9.99987879e-01 1.97495693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.920281693 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:82.60, Y:12.86, Z:0.20 [[ 9.38840533e-01 -3.44321316e-01 -4.61355940e-03 8.25976904e+01] [ 3.44317022e-01 9.38851868e-01 -1.71966057e-03 1.28577569e+01] [ 4.92356465e-03 2.59600134e-05 9.99987879e-01 1.96774855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.95028169300001 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:82.62, Y:12.87, Z:0.20 [[ 9.38268427e-01 -3.45877255e-01 -4.61327438e-03 8.26222745e+01] [ 3.45872977e-01 9.38279769e-01 -1.72042485e-03 1.28720204e+01] [ 4.92359784e-03 1.86133795e-05 9.99987879e-01 1.99009111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.980281693 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:82.65, Y:12.88, Z:0.20 [[ 9.37829620e-01 -3.47065302e-01 -4.61296467e-03 8.26472377e+01] [ 3.47061034e-01 9.37840965e-01 -1.72125486e-03 1.28831343e+01] [ 4.92361508e-03 1.32635057e-05 9.99987879e-01 2.00053552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.010281693 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:82.67, Y:12.89, Z:0.20 [[ 9.37220917e-01 -3.48705713e-01 -4.61283024e-03 8.26733468e+01] [ 3.48701463e-01 9.37232269e-01 -1.72161507e-03 1.28940846e+01] [ 4.92363036e-03 5.03300371e-06 9.99987879e-01 2.01399107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.040281693 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:82.70, Y:12.90, Z:0.20 [[ 9.35723338e-01 -3.52704634e-01 -4.61251898e-03 8.26981200e+01] [ 3.52700428e-01 9.35734707e-01 -1.72244858e-03 1.29034960e+01] [ 4.92360969e-03 -1.51020853e-05 9.99987879e-01 2.01744626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.070281693 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:82.72, Y:12.91, Z:0.20 [[ 9.34970032e-01 -3.54696724e-01 -4.61230647e-03 8.27244359e+01] [ 3.54692540e-01 9.34981408e-01 -1.72301743e-03 1.29132755e+01] [ 4.92356944e-03 -2.49810413e-05 9.99987879e-01 2.00854770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.100281693 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:82.75, Y:12.92, Z:0.20 [[ 9.34223757e-01 -3.56657681e-01 -4.61199725e-03 8.27502514e+01] [ 3.56653517e-01 9.34235140e-01 -1.72384474e-03 1.29225442e+01] [ 4.92351236e-03 -3.44283308e-05 9.99987879e-01 2.00736614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.130281693 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:82.78, Y:12.93, Z:0.20 [[ 9.34077722e-01 -3.57039970e-01 -4.61186292e-03 8.27765967e+01] [ 3.57035808e-01 9.34089106e-01 -1.72420404e-03 1.29316154e+01] [ 4.92350067e-03 -3.60596174e-05 9.99987879e-01 2.01413931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.160281693 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:82.80, Y:12.94, Z:0.20 [[ 9.34275441e-01 -3.56522276e-01 -4.61156447e-03 8.28033752e+01] [ 3.56518105e-01 9.34286822e-01 -1.72500189e-03 1.29385984e+01] [ 4.92352552e-03 -3.24793206e-05 9.99987879e-01 2.03943737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.190281693 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:82.83, Y:12.95, Z:0.21 [[ 9.34405761e-01 -3.56180586e-01 -4.61124098e-03 8.28289057e+01] [ 3.56176406e-01 9.34417139e-01 -1.72586622e-03 1.29466520e+01] [ 4.92354264e-03 -2.97558996e-05 9.99987879e-01 2.05067333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.220281693 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:82.85, Y:12.96, Z:0.21 [[ 9.34559030e-01 -3.55778240e-01 -4.61110064e-03 8.28545103e+01] [ 3.55774053e-01 9.34570406e-01 -1.72624109e-03 1.29550983e+01] [ 4.92355721e-03 -2.72357696e-05 9.99987879e-01 2.05369861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.250281693 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:82.88, Y:12.96, Z:0.21 [[ 9.35297847e-01 -3.53831427e-01 -4.61080047e-03 8.28821689e+01] [ 3.53827213e-01 9.35309211e-01 -1.72704248e-03 1.29613195e+01] [ 4.92360605e-03 -1.61275670e-05 9.99987879e-01 2.05476535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.280281693 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:82.91, Y:12.97, Z:0.21 [[ 9.35765015e-01 -3.52594072e-01 -4.61049925e-03 8.29083607e+01] [ 3.52589839e-01 9.35776373e-01 -1.72784624e-03 1.29691443e+01] [ 4.92362460e-03 -8.75712229e-06 9.99987879e-01 2.05209792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31028169300001 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:82.94, Y:12.98, Z:0.20 [[ 9.36061865e-01 -3.51805245e-01 -4.61036835e-03 8.29352109e+01] [ 3.51801000e-01 9.36073218e-01 -1.72819545e-03 1.29777898e+01] [ 4.92363056e-03 -4.23434193e-06 9.99987879e-01 2.04776865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34028169300001 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:82.96, Y:12.99, Z:0.20 [[ 9.36807256e-01 -3.49815542e-01 -4.61006854e-03 8.29616187e+01] [ 3.49811269e-01 9.36818599e-01 -1.72899484e-03 1.29852017e+01] [ 4.92362721e-03 7.08098956e-06 9.99987879e-01 2.03621192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.370281693 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:82.99, Y:12.99, Z:0.20 [[ 9.37219651e-01 -3.48709155e-01 -4.60977070e-03 8.29869950e+01] [ 3.48704865e-01 9.37230988e-01 -1.72978857e-03 1.29932220e+01] [ 4.92361305e-03 1.37423690e-05 9.99987879e-01 2.03279941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.400281693 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:83.01, Y:13.00, Z:0.20 [[ 9.38185368e-01 -3.46102538e-01 -4.60964076e-03 8.30147726e+01] [ 3.46098215e-01 9.38196692e-01 -1.73013475e-03 1.30000040e+01] [ 4.92355374e-03 2.77986631e-05 9.99987879e-01 2.04549756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.430281693 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:83.04, Y:13.01, Z:0.21 [[ 9.39003074e-01 -3.43877859e-01 -4.60932602e-03 8.30403488e+01] [ 3.43873505e-01 9.39014386e-01 -1.73097288e-03 1.30077450e+01] [ 4.92346668e-03 4.03637594e-05 9.99987879e-01 2.05587150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.460281693 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:83.07, Y:13.02, Z:0.21 [[ 9.39869071e-01 -3.41503857e-01 -4.60918919e-03 8.30669230e+01] [ 3.41499473e-01 9.39880371e-01 -1.73133714e-03 1.30163146e+01] [ 4.92334476e-03 5.31945544e-05 9.99987879e-01 2.06003508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.490281693 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:83.09, Y:13.02, Z:0.20 [[ 9.41687759e-01 -3.36456422e-01 -4.60887194e-03 8.30926020e+01] [ 3.36451972e-01 9.41699034e-01 -1.73218125e-03 1.30248875e+01] [ 4.92297376e-03 8.05098197e-05 9.99987879e-01 2.04206895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.520281693 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:83.12, Y:13.04, Z:0.20 [[ 9.42413342e-01 -3.34418682e-01 -4.60855637e-03 8.31188824e+01] [ 3.34414204e-01 9.42424605e-01 -1.73302042e-03 1.30353668e+01] [ 4.92277133e-03 9.20548588e-05 9.99987879e-01 2.02698612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.550281693 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:83.14, Y:13.05, Z:0.20 [[ 9.43765907e-01 -3.30582329e-01 -4.60822368e-03 8.31440595e+01] [ 3.30577801e-01 9.43777151e-01 -1.73390462e-03 1.30451387e+01] [ 4.92233445e-03 1.13023611e-04 9.99987879e-01 2.00733474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.580281693 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:83.17, Y:13.05, Z:0.20 [[ 9.44169295e-01 -3.29428456e-01 -4.60807949e-03 8.31699332e+01] [ 3.29423912e-01 9.44180533e-01 -1.73428776e-03 1.30549313e+01] [ 4.92218268e-03 1.19449682e-04 9.99987879e-01 2.02636786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.610281693 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:83.20, Y:13.07, Z:0.21 [[ 9.44590893e-01 -3.28217632e-01 -4.60775588e-03 8.31952103e+01] [ 3.28213070e-01 9.44602122e-01 -1.73514710e-03 1.30659935e+01] [ 4.92200186e-03 1.26678447e-04 9.99987879e-01 2.06511057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.640281693 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:83.22, Y:13.08, Z:0.21 [[ 9.44854406e-01 -3.27458277e-01 -4.60741814e-03 8.32200428e+01] [ 3.27453702e-01 9.44865630e-01 -1.73604346e-03 1.30778109e+01] [ 4.92187285e-03 1.31592186e-04 9.99987879e-01 2.06663966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.670281693 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:83.24, Y:13.09, Z:0.21 [[ 9.45458227e-01 -3.25710783e-01 -4.60718858e-03 8.32442647e+01] [ 3.25706184e-01 9.45469442e-01 -1.73665246e-03 1.30898688e+01] [ 4.92160245e-03 1.41342545e-04 9.99987879e-01 2.05627056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70028169300001 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:83.27, Y:13.11, Z:0.20 [[ 9.46732052e-01 -3.21989435e-01 -4.60704324e-03 8.32673070e+01] [ 3.21984790e-01 9.46743248e-01 -1.73703794e-03 1.31066067e+01] [ 4.92099495e-03 1.61111646e-04 9.99987879e-01 2.04469912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.730281693 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:83.29, Y:13.12, Z:0.21 [[ 9.47234024e-01 -3.20509721e-01 -4.60682451e-03 8.32920964e+01] [ 3.20505056e-01 9.47245211e-01 -1.73761785e-03 1.31207007e+01] [ 4.92071587e-03 1.69420207e-04 9.99987879e-01 2.05369619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.760281693 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:83.32, Y:13.14, Z:0.21 [[ 9.47627891e-01 -3.19343318e-01 -4.60709723e-03 8.33151582e+01] [ 3.19338642e-01 9.47639074e-01 -1.73689498e-03 1.31383441e+01] [ 4.92053116e-03 1.74705955e-04 9.99987879e-01 2.07911952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.790281693 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:83.34, Y:13.15, Z:0.21 [[ 9.47370605e-01 -3.20105791e-01 -4.60640510e-03 8.33401025e+01] [ 3.20101116e-01 9.47381788e-01 -1.73872862e-03 1.31511007e+01] [ 4.92060141e-03 1.72704974e-04 9.99987879e-01 2.07338404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.820281693 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:83.37, Y:13.16, Z:0.21 [[ 9.46633399e-01 -3.22279370e-01 -4.60608472e-03 8.33650871e+01] [ 3.22274716e-01 9.46644591e-01 -1.73957694e-03 1.31635927e+01] [ 4.92095495e-03 1.62316984e-04 9.99987879e-01 2.06169999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.850281693 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:83.39, Y:13.18, Z:0.21 [[ 9.45609055e-01 -3.25272658e-01 -4.60575868e-03 8.33897857e+01] [ 3.25268035e-01 9.45620260e-01 -1.74043975e-03 1.31759218e+01] [ 4.92141618e-03 1.47669513e-04 9.99987879e-01 2.05098815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.880281693 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:83.41, Y:13.19, Z:0.21 [[ 9.43061541e-01 -3.32586407e-01 -4.60561656e-03 8.34143553e+01] [ 3.32581870e-01 9.43072781e-01 -1.74081574e-03 1.31903920e+01] [ 4.92240327e-03 1.09951802e-04 9.99987879e-01 2.07323147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.910281693 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:83.44, Y:13.20, Z:0.21 [[ 9.41768661e-01 -3.36229953e-01 -4.60529127e-03 8.34386875e+01] [ 3.36225454e-01 9.41779916e-01 -1.74167587e-03 1.32009095e+01] [ 4.92277442e-03 9.18396030e-05 9.99987879e-01 2.08843805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.940281693 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:83.47, Y:13.21, Z:0.21 [[ 9.41707198e-01 -3.36402061e-01 -4.60515010e-03 8.34652362e+01] [ 3.36397563e-01 9.41718453e-01 -1.74204905e-03 1.32111660e+01] [ 4.92278372e-03 9.13388634e-05 9.99987879e-01 2.08983985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.970281693 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:83.49, Y:13.22, Z:0.21 [[ 9.39463797e-01 -3.42617234e-01 -4.60483158e-03 8.34915798e+01] [ 3.42612806e-01 9.39475081e-01 -1.74289061e-03 1.32213088e+01] [ 4.92326888e-03 5.97083655e-05 9.99987879e-01 2.10387107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.000281693 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:83.52, Y:13.23, Z:0.21 [[ 9.38394860e-01 -3.45534202e-01 -4.60451368e-03 8.35173987e+01] [ 3.45529806e-01 9.38406156e-01 -1.74373005e-03 1.32308670e+01] [ 4.92342236e-03 4.53106032e-05 9.99987879e-01 2.09995711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.030281693 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:83.54, Y:13.24, Z:0.21 [[ 9.37356543e-01 -3.48341087e-01 -4.60417840e-03 8.35430530e+01] [ 3.48336720e-01 9.37367850e-01 -1.74461488e-03 1.32396156e+01] [ 4.92352985e-03 3.15217667e-05 9.99987879e-01 2.09360396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06028169300001 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:83.57, Y:13.25, Z:0.21 [[ 9.36144821e-01 -3.51584522e-01 -4.60403266e-03 8.35700844e+01] [ 3.51580192e-01 9.36156143e-01 -1.74499940e-03 1.32486197e+01] [ 4.92360824e-03 1.48854664e-05 9.99987879e-01 2.07082201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09028169300001 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:83.60, Y:13.25, Z:0.20 [[ 9.33587845e-01 -3.58319050e-01 -4.60371859e-03 8.35980253e+01] [ 3.58314797e-01 9.33599196e-01 -1.74582762e-03 1.32548910e+01] [ 4.92359126e-03 -1.96970476e-05 9.99987879e-01 2.04712470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.120281693 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:83.63, Y:13.26, Z:0.21 [[ 9.31394094e-01 -3.63983311e-01 -4.60339904e-03 8.36259921e+01] [ 3.63979123e-01 9.31405469e-01 -1.74666979e-03 1.32604562e+01] [ 4.92338969e-03 -4.87032214e-05 9.99987879e-01 2.05915887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.150281693 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:83.65, Y:13.27, Z:0.21 [[ 9.30520317e-01 -3.66211347e-01 -4.60307183e-03 8.36516910e+01] [ 3.66207183e-01 9.30531700e-01 -1.74753167e-03 1.32674446e+01] [ 4.92327019e-03 -5.95642404e-05 9.99987879e-01 2.07203708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.180281693 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:83.68, Y:13.27, Z:0.21 [[ 9.29637110e-01 -3.68447630e-01 -4.60293073e-03 8.36779679e+01] [ 3.68443491e-01 9.29648503e-01 -1.74790326e-03 1.32748309e+01] [ 4.92311847e-03 -7.10041281e-05 9.99987879e-01 2.07818863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.210281693 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:83.70, Y:13.28, Z:0.21 [[ 9.28720650e-01 -3.70751627e-01 -4.60279136e-03 8.37047061e+01] [ 3.70747514e-01 9.28732052e-01 -1.74827019e-03 1.32817981e+01] [ 4.92293388e-03 -8.28188296e-05 9.99987879e-01 2.07801746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.240281693 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:83.73, Y:13.28, Z:0.21 [[ 9.27078074e-01 -3.74840050e-01 -4.60246203e-03 8.37324187e+01] [ 3.74835983e-01 9.27089492e-01 -1.74913675e-03 1.32847846e+01] [ 4.92254069e-03 -1.03582051e-04 9.99987879e-01 2.08119836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.270281693 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:83.76, Y:13.29, Z:0.21 [[ 9.26357304e-01 -3.76617795e-01 -4.60231864e-03 8.37593874e+01] [ 3.76613748e-01 9.26368730e-01 -1.74951393e-03 1.32912879e+01] [ 4.92234216e-03 -1.12621464e-04 9.99987879e-01 2.08553220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.300281693 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:83.79, Y:13.30, Z:0.21 [[ 9.25325696e-01 -3.79145325e-01 -4.60202701e-03 8.37879893e+01] [ 3.79141305e-01 9.25337132e-01 -1.75028073e-03 1.32956104e+01] [ 4.92203723e-03 -1.25238791e-04 9.99987879e-01 2.09340627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.330281693 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:83.82, Y:13.30, Z:0.21 [[ 9.24873455e-01 -3.80247177e-01 -4.60170211e-03 8.38156097e+01] [ 3.80243167e-01 9.24884894e-01 -1.75113452e-03 1.33020280e+01] [ 4.92190872e-03 -1.30187945e-04 9.99987879e-01 2.09548303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.360281693 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:83.84, Y:13.31, Z:0.21 [[ 9.24520122e-01 -3.81105461e-01 -4.60138034e-03 8.38423169e+01] [ 3.81101457e-01 9.24531562e-01 -1.75197961e-03 1.33073388e+01] [ 4.92181035e-03 -1.33852351e-04 9.99987879e-01 2.09692736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.390281693 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:83.87, Y:13.31, Z:0.21 [[ 9.23914433e-01 -3.82571496e-01 -4.60124028e-03 8.38713264e+01] [ 3.82567508e-01 9.23925879e-01 -1.75234737e-03 1.33073533e+01] [ 4.92160313e-03 -1.41266002e-04 9.99987879e-01 2.09662920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.420281693 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:83.90, Y:13.31, Z:0.21 [[ 9.23731930e-01 -3.83011948e-01 -4.60110208e-03 8.38992615e+01] [ 3.83007964e-01 9.23743377e-01 -1.75271016e-03 1.33125532e+01] [ 4.92154651e-03 -1.43224407e-04 9.99987879e-01 2.10045036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.45028169300001 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:83.93, Y:13.31, Z:0.21 [[ 9.23847673e-01 -3.82732687e-01 -4.60079257e-03 8.39287311e+01] [ 3.82728696e-01 9.23859118e-01 -1.75352224e-03 1.33136545e+01] [ 4.92161445e-03 -1.40867898e-04 9.99987879e-01 2.11108903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.480281693 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:83.96, Y:13.32, Z:0.21 [[ 9.24134111e-01 -3.82040548e-01 -4.60047450e-03 8.39565505e+01] [ 3.82036544e-01 9.24145552e-01 -1.75435632e-03 1.33196771e+01] [ 4.92174330e-03 -1.36288859e-04 9.99987879e-01 2.12791911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.510281693 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:83.98, Y:13.32, Z:0.21 [[ 9.25532255e-01 -3.78640838e-01 -4.60015578e-03 8.39849652e+01] [ 3.78636788e-01 9.25543679e-01 -1.75519166e-03 1.33214206e+01] [ 4.92223234e-03 -1.17301715e-04 9.99987879e-01 2.13357796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.540281693 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:84.01, Y:13.33, Z:0.21 [[ 9.26489793e-01 -3.76291779e-01 -4.60001715e-03 8.40123454e+01] [ 3.76287698e-01 9.26501207e-01 -1.75555489e-03 1.33284259e+01] [ 4.92252232e-03 -1.04426180e-04 9.99987879e-01 2.12045824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.570281693 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:84.04, Y:13.34, Z:0.21 [[ 9.27579275e-01 -3.73598088e-01 -4.59970493e-03 8.40391171e+01] [ 3.73593970e-01 9.27590675e-01 -1.75637255e-03 1.33358806e+01] [ 4.92282083e-03 -8.92472531e-05 9.99987879e-01 2.10468655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.600281693 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:84.07, Y:13.34, Z:0.21 [[ 9.30129959e-01 -3.67201721e-01 -4.59941057e-03 8.40660488e+01] [ 3.67197521e-01 9.30141330e-01 -1.75714306e-03 1.33409778e+01] [ 4.92332782e-03 -5.45207529e-05 9.99987879e-01 2.08351593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.630281693 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:84.09, Y:13.35, Z:0.21 [[ 9.31162894e-01 -3.64574424e-01 -4.59927329e-03 8.40933569e+01] [ 3.64570190e-01 9.31174252e-01 -1.75750230e-03 1.33492558e+01] [ 4.92346526e-03 -4.02370063e-05 9.99987879e-01 2.08524555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.660281693 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:84.12, Y:13.36, Z:0.21 [[ 9.32925127e-01 -3.60041048e-01 -4.59896289e-03 8.41191813e+01] [ 3.60036755e-01 9.32936463e-01 -1.75831419e-03 1.33568198e+01] [ 4.92360545e-03 -1.54201833e-05 9.99987879e-01 2.10910012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.690281693 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:84.15, Y:13.37, Z:0.21 [[ 9.33673967e-01 -3.58094647e-01 -4.59865343e-03 8.41450272e+01] [ 3.58090326e-01 9.33685292e-01 -1.75912317e-03 1.33667063e+01] [ 4.92362766e-03 -4.28579441e-06 9.99987879e-01 2.11943064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.720281693 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:84.17, Y:13.38, Z:0.21 [[ 9.34459637e-01 -3.56039383e-01 -4.59834477e-03 8.41708887e+01] [ 3.56035033e-01 9.34470951e-01 -1.75992964e-03 1.33763988e+01] [ 4.92362387e-03 7.41137939e-06 9.99987879e-01 2.12017401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.750281693 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:84.20, Y:13.39, Z:0.21 [[ 9.36483021e-01 -3.50682775e-01 -4.59801836e-03 8.41960138e+01] [ 3.50678357e-01 9.36494309e-01 -1.76078199e-03 1.33853953e+01] [ 4.92349394e-03 3.65169175e-05 9.99987879e-01 2.11305260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.780281693 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:84.22, Y:13.40, Z:0.21 [[ 9.37618366e-01 -3.47635813e-01 -4.59787631e-03 8.42214621e+01] [ 3.47631356e-01 9.37629638e-01 -1.76115285e-03 1.33965730e+01] [ 4.92334491e-03 5.29232743e-05 9.99987879e-01 2.11233483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81028169300001 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:84.24, Y:13.41, Z:0.21 [[ 9.40429681e-01 -3.39957170e-01 -4.59755537e-03 8.42446084e+01] [ 3.39952617e-01 9.40440915e-01 -1.76199029e-03 1.34102564e+01] [ 4.92273041e-03 9.40769871e-05 9.99987879e-01 2.08457386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84028169300001 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:84.27, Y:13.42, Z:0.21 [[ 9.41803722e-01 -3.36131840e-01 -4.59733662e-03 8.42694873e+01] [ 3.36127239e-01 9.41814936e-01 -1.76256084e-03 1.34227439e+01] [ 4.92229312e-03 1.14696297e-04 9.99987879e-01 2.08177062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.870281693 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:84.29, Y:13.44, Z:0.21 [[ 9.43238647e-01 -3.32083910e-01 -4.59700902e-03 8.42931152e+01] [ 3.32079256e-01 9.43249839e-01 -1.76341486e-03 1.34351627e+01] [ 4.92172972e-03 1.36749710e-04 9.99987879e-01 2.07773167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.900281693 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:84.32, Y:13.45, Z:0.21 [[ 9.45690131e-01 -3.25036990e-01 -4.59686681e-03 8.43162362e+01] [ 3.25032251e-01 9.45701288e-01 -1.76378551e-03 1.34520153e+01] [ 4.92055839e-03 1.73864583e-04 9.99987879e-01 2.10600228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.930281693 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:84.34, Y:13.47, Z:0.21 [[ 9.46612893e-01 -3.22339732e-01 -4.59654743e-03 8.43397290e+01] [ 3.22334957e-01 9.46624034e-01 -1.76461743e-03 1.34657050e+01] [ 4.92000858e-03 1.88781694e-04 9.99987879e-01 2.11295703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.960281693 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:84.36, Y:13.48, Z:0.21 [[ 9.47175997e-01 -3.20681311e-01 -4.59640897e-03 8.43623491e+01] [ 3.20676515e-01 9.47187129e-01 -1.76497801e-03 1.34840357e+01] [ 4.91965488e-03 1.97784399e-04 9.99987879e-01 2.11652169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.990281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:84.39, Y:13.50, Z:0.21 [[ 9.46968193e-01 -3.21294440e-01 -4.59609396e-03 8.43863473e+01] [ 3.21289648e-01 9.46979326e-01 -1.76579794e-03 1.34975425e+01] [ 4.91974702e-03 1.95477077e-04 9.99987879e-01 2.11349409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.020281693 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:84.41, Y:13.51, Z:0.21 [[ 9.46624621e-01 -3.22305297e-01 -4.59595675e-03 8.44100808e+01] [ 3.22300514e-01 9.46635758e-01 -1.76615500e-03 1.35106461e+01] [ 4.91993811e-03 1.90606586e-04 9.99987879e-01 2.10965938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.050281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:84.43, Y:13.53, Z:0.21 [[ 9.45462820e-01 -3.25697613e-01 -4.59582016e-03 8.44336072e+01] [ 3.25692869e-01 9.45473974e-01 -1.76651034e-03 1.35264047e+01] [ 4.92057655e-03 1.73343991e-04 9.99987879e-01 2.10000731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.080281693 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:84.46, Y:13.54, Z:0.21 [[ 9.44617734e-01 -3.28140547e-01 -4.59550701e-03 8.44586053e+01] [ 3.28135827e-01 9.44628898e-01 -1.76732461e-03 1.35390858e+01] [ 4.92097959e-03 1.61495678e-04 9.99987879e-01 2.10179547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.110281693 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:84.48, Y:13.55, Z:0.21 [[ 9.43137813e-01 -3.32370201e-01 -4.59518682e-03 8.44828485e+01] [ 3.32365528e-01 9.43148997e-01 -1.76815675e-03 1.35542158e+01] [ 4.92162845e-03 1.40333799e-04 9.99987879e-01 2.09521686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.140281693 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:84.51, Y:13.57, Z:0.21 [[ 9.42659728e-01 -3.33723725e-01 -4.59488673e-03 8.45073572e+01] [ 3.33719064e-01 9.42670917e-01 -1.76893625e-03 1.35663350e+01] [ 4.92180208e-03 1.34103668e-04 9.99987879e-01 2.09224269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.170281693 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:84.53, Y:13.58, Z:0.21 [[ 9.42389284e-01 -3.34486660e-01 -4.59474682e-03 8.45326308e+01] [ 3.34482006e-01 9.42400476e-01 -1.76929959e-03 1.35784088e+01] [ 4.92189870e-03 1.30508844e-04 9.99987879e-01 2.09862021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20028169300001 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:84.56, Y:13.59, Z:0.21 [[ 9.42375705e-01 -3.34524920e-01 -4.59442819e-03 8.45562751e+01] [ 3.34520263e-01 9.42386895e-01 -1.77012659e-03 1.35925718e+01] [ 4.92188038e-03 1.31194964e-04 9.99987879e-01 2.13629972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.230281693 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:84.58, Y:13.60, Z:0.21 [[ 9.42407258e-01 -3.34436022e-01 -4.59428970e-03 8.45803912e+01] [ 3.34431362e-01 9.42418447e-01 -1.77048596e-03 1.36049917e+01] [ 4.92185765e-03 1.32044254e-04 9.99987879e-01 2.14532795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.260281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:84.60, Y:13.62, Z:0.21 [[ 9.41888936e-01 -3.35893027e-01 -4.59415236e-03 8.46048901e+01] [ 3.35888382e-01 9.41900132e-01 -1.77084227e-03 1.36195501e+01] [ 4.92204629e-03 1.24814341e-04 9.99987879e-01 2.11349914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.290281693 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:84.63, Y:13.63, Z:0.21 [[ 9.41355782e-01 -3.37384332e-01 -4.59383221e-03 8.46309635e+01] [ 3.37379701e-01 9.41366984e-01 -1.77167241e-03 1.36306401e+01] [ 4.92221648e-03 1.17908329e-04 9.99987879e-01 2.11425300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.320281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:84.66, Y:13.64, Z:0.21 [[ 9.40648841e-01 -3.39350347e-01 -4.59350922e-03 8.46561752e+01] [ 3.39345735e-01 9.40660050e-01 -1.77250944e-03 1.36406057e+01] [ 4.92243231e-03 1.08521186e-04 9.99987879e-01 2.13172864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.350281693 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:84.68, Y:13.65, Z:0.21 [[ 9.39042772e-01 -3.43769652e-01 -4.59328917e-03 8.46816189e+01] [ 3.43765090e-01 9.39054002e-01 -1.77307949e-03 1.36505758e+01] [ 4.92287750e-03 8.59850176e-05 9.99987879e-01 2.14593103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.380281693 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:84.71, Y:13.66, Z:0.21 [[ 9.38121687e-01 -3.46275330e-01 -4.59315455e-03 8.47074702e+01] [ 3.46270796e-01 9.38132928e-01 -1.77342817e-03 1.36605334e+01] [ 4.92308395e-03 7.32161464e-05 9.99987879e-01 2.12209445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.410281693 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:84.73, Y:13.67, Z:0.21 [[ 9.36660245e-01 -3.50209212e-01 -4.59284668e-03 8.47343076e+01] [ 3.50204722e-01 9.36671503e-01 -1.77422512e-03 1.36684964e+01] [ 4.92333859e-03 5.34095405e-05 9.99987879e-01 2.08129686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.440281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:84.76, Y:13.68, Z:0.21 [[ 9.36304765e-01 -3.51158504e-01 -4.59253151e-03 8.47601281e+01] [ 3.51154022e-01 9.36316027e-01 -1.77504056e-03 1.36774931e+01] [ 4.92338145e-03 4.92930238e-05 9.99987879e-01 2.07479208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.470281693 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:84.79, Y:13.69, Z:0.21 [[ 9.36300524e-01 -3.51169816e-01 -4.59239451e-03 8.47867348e+01] [ 3.51165331e-01 9.36311785e-01 -1.77539494e-03 1.36871216e+01] [ 4.92337821e-03 4.96134712e-05 9.99987879e-01 2.09049027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.500281693 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:84.81, Y:13.70, Z:0.21 [[ 9.37178068e-01 -3.48821132e-01 -4.59208964e-03 8.48128657e+01] [ 3.48816616e-01 9.37189316e-01 -1.77618315e-03 1.36981402e+01] [ 4.92322756e-03 6.28027227e-05 9.99987879e-01 2.12703470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.530281693 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:84.84, Y:13.71, Z:0.21 [[ 9.37668720e-01 -3.47500053e-01 -4.59177799e-03 8.48384475e+01] [ 3.47495517e-01 9.37679960e-01 -1.77698846e-03 1.37082722e+01] [ 4.92312178e-03 7.06042293e-05 9.99987879e-01 2.14094530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56028169300001 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:84.86, Y:13.72, Z:0.22 [[ 9.38580060e-01 -3.45030998e-01 -4.59144071e-03 8.48633941e+01] [ 3.45026428e-01 9.38591287e-01 -1.77785950e-03 1.37176776e+01] [ 4.92290288e-03 8.44950884e-05 9.99987879e-01 2.16362116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59028169300001 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:84.89, Y:13.73, Z:0.22 [[ 9.38964645e-01 -3.43983015e-01 -4.59129367e-03 8.48880447e+01] [ 3.43978431e-01 9.38975866e-01 -1.77823915e-03 1.37274741e+01] [ 4.92279801e-03 9.03977045e-05 9.99987879e-01 2.18449275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.620281693 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:84.91, Y:13.74, Z:0.22 [[ 9.39327660e-01 -3.42990480e-01 -4.59106993e-03 8.49137724e+01] [ 3.42985881e-01 9.39338875e-01 -1.77881662e-03 1.37384072e+01] [ 4.92268762e-03 9.62194960e-05 9.99987879e-01 2.20228415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.650281693 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:84.94, Y:13.75, Z:0.22 [[ 9.40140575e-01 -3.40755960e-01 -4.59076087e-03 8.49383688e+01] [ 3.40751330e-01 9.40151777e-01 -1.77961387e-03 1.37510675e+01] [ 4.92242602e-03 1.08779333e-04 9.99987879e-01 2.16884690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.680281693 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:84.96, Y:13.76, Z:0.21 [[ 9.40243363e-01 -3.40472237e-01 -4.59066463e-03 8.49638545e+01] [ 3.40467603e-01 9.40254563e-01 -1.77986209e-03 1.37628316e+01] [ 4.92238700e-03 1.10530936e-04 9.99987879e-01 2.14796274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.710281693 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:84.99, Y:13.78, Z:0.22 [[ 9.40318967e-01 -3.40263382e-01 -4.59035904e-03 8.49876462e+01] [ 3.40258741e-01 9.40330165e-01 -1.78064988e-03 1.37770122e+01] [ 4.92234302e-03 1.12469068e-04 9.99987879e-01 2.15111052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.740281693 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:85.01, Y:13.79, Z:0.21 [[ 9.40474341e-01 -3.39833699e-01 -4.59022605e-03 8.50122557e+01] [ 3.39829051e-01 9.40485536e-01 -1.78099264e-03 1.37902687e+01] [ 4.92228253e-03 1.15085712e-04 9.99987879e-01 2.14972028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.770281693 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:85.04, Y:13.80, Z:0.21 [[ 9.40723839e-01 -3.39142435e-01 -4.58992422e-03 8.50370750e+01] [ 3.39137775e-01 9.40735029e-01 -1.78177016e-03 1.38038087e+01] [ 4.92217637e-03 1.19536976e-04 9.99987879e-01 2.13379381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.800281693 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:85.06, Y:13.82, Z:0.21 [[ 9.41510867e-01 -3.36951366e-01 -4.58962315e-03 8.50603006e+01] [ 3.36946677e-01 9.41522044e-01 -1.78254535e-03 1.38202928e+01] [ 4.92186246e-03 1.31827551e-04 9.99987879e-01 2.12280295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.830281693 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:85.08, Y:13.83, Z:0.21 [[ 9.41917609e-01 -3.35812679e-01 -4.58930657e-03 8.50845797e+01] [ 3.35807972e-01 9.41928779e-01 -1.78336004e-03 1.38330288e+01] [ 4.92167485e-03 1.38652487e-04 9.99987879e-01 2.14996478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.860281693 meters Centerline goodness : 0.998540 Centerline is valid? [True, True] Translation: X:85.11, Y:13.85, Z:0.22 [[ 9.41667300e-01 -3.36514004e-01 -4.58496934e-03 8.51096434e+01] [ 3.36509252e-01 9.41678450e-01 -1.79451596e-03 1.38468445e+01] [ 4.92144657e-03 1.46952401e-04 9.99987879e-01 2.17047457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.890281693 meters Centerline goodness : 0.998540 Centerline is valid? [True, True] Translation: X:85.14, Y:13.86, Z:0.22 [[ 9.41611046e-01 -3.36671322e-01 -4.58905151e-03 8.51360924e+01] [ 3.36666622e-01 9.41622219e-01 -1.78401534e-03 1.38573639e+01] [ 4.92177967e-03 1.34868086e-04 9.99987879e-01 2.17186290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.920281693 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:85.16, Y:13.87, Z:0.22 [[ 9.40855681e-01 -3.38776519e-01 -4.58875323e-03 8.51602765e+01] [ 3.38771841e-01 9.40866863e-01 -1.78478224e-03 1.38723334e+01] [ 4.92204817e-03 1.24682129e-04 9.99987879e-01 2.21896620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95028169300001 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:85.19, Y:13.88, Z:0.22 [[ 9.40198278e-01 -3.40596748e-01 -4.58842808e-03 8.51861431e+01] [ 3.40592088e-01 9.40209467e-01 -1.78561775e-03 1.38843254e+01] [ 4.92225912e-03 1.16052434e-04 9.99987879e-01 2.21302760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.980281693 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:85.21, Y:13.90, Z:0.22 [[ 9.38736083e-01 -3.44606319e-01 -4.58809750e-03 8.52096177e+01] [ 3.44601702e-01 9.38747290e-01 -1.78646676e-03 1.38972034e+01] [ 4.92269183e-03 9.59546005e-05 9.99987879e-01 2.17348564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.010281693 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:85.24, Y:13.91, Z:0.22 [[ 9.37925640e-01 -3.46806061e-01 -4.58795359e-03 8.52350090e+01] [ 3.46801469e-01 9.37936857e-01 -1.78683626e-03 1.39089020e+01] [ 4.92289642e-03 8.48105011e-05 9.99987879e-01 2.16562058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.040281693 meters Centerline goodness : 0.998407 Centerline is valid? [True, True] Translation: X:85.26, Y:13.92, Z:0.22 [[ 9.36077162e-01 -3.51764836e-01 -4.58762676e-03 8.52595776e+01] [ 3.51760299e-01 9.36088402e-01 -1.78767501e-03 1.39194101e+01] [ 4.92326541e-03 5.96567903e-05 9.99987879e-01 2.17623838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.070281693 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:85.29, Y:13.93, Z:0.22 [[ 9.34867886e-01 -3.54966183e-01 -4.58748434e-03 8.52859210e+01] [ 3.54961682e-01 9.34879140e-01 -1.78804040e-03 1.39296000e+01] [ 4.92343729e-03 4.32003867e-05 9.99987879e-01 2.19124401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.100281693 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:85.31, Y:13.94, Z:0.22 [[ 9.33486090e-01 -3.58584268e-01 -4.58716174e-03 8.53119212e+01] [ 3.58579806e-01 9.33497361e-01 -1.78886763e-03 1.39395157e+01] [ 4.92356317e-03 2.50194847e-05 9.99987879e-01 2.19245403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.130281693 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:85.34, Y:13.95, Z:0.22 [[ 9.30968205e-01 -3.65071447e-01 -4.58683557e-03 8.53381216e+01] [ 3.65067060e-01 9.30979505e-01 -1.78970358e-03 1.39476456e+01] [ 4.92361958e-03 -8.34544247e-06 9.99987879e-01 2.17201002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.160281693 meters Centerline goodness : 0.998445 Centerline is valid? [True, True] Translation: X:85.36, Y:13.96, Z:0.22 [[ 9.30059317e-01 -3.67380769e-01 -4.58669394e-03 8.53639914e+01] [ 3.67376409e-01 9.30070626e-01 -1.79006648e-03 1.39563495e+01] [ 4.92358531e-03 -2.01751378e-05 9.99987879e-01 2.15606161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.190281693 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:85.39, Y:13.96, Z:0.22 [[ 9.29238257e-01 -3.69452603e-01 -4.58647429e-03 8.53912412e+01] [ 3.69448265e-01 9.29249575e-01 -1.79062908e-03 1.39635649e+01] [ 4.92353186e-03 -3.05439266e-05 9.99987879e-01 2.16283978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.220281693 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:85.42, Y:13.97, Z:0.22 [[ 9.29357802e-01 -3.69151789e-01 -4.58615095e-03 8.54172120e+01] [ 3.69147443e-01 9.29369117e-01 -1.79145685e-03 1.39719749e+01] [ 4.92354656e-03 -2.80614980e-05 9.99987879e-01 2.18363893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.250281693 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:85.44, Y:13.98, Z:0.22 [[ 9.29825156e-01 -3.67973025e-01 -4.58601098e-03 8.54426608e+01] [ 3.67968663e-01 9.29836466e-01 -1.79181507e-03 1.39806033e+01] [ 4.92357986e-03 -2.14335974e-05 9.99987879e-01 2.21315226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.280281693 meters Centerline goodness : 0.998545 Centerline is valid? [True, True] Translation: X:85.47, Y:13.99, Z:0.22 [[ 9.31358469e-01 -3.64074679e-01 -4.58587315e-03 8.54694275e+01] [ 3.64070268e-01 9.31369759e-01 -1.79216776e-03 1.39889304e+01] [ 4.92362647e-03 -4.29443211e-07 9.99987879e-01 2.20576545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.31028169300001 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:85.50, Y:14.00, Z:0.22 [[ 9.32323497e-01 -3.61596280e-01 -4.58557330e-03 8.54957442e+01] [ 3.61591836e-01 9.32334773e-01 -1.79293465e-03 1.39993077e+01] [ 4.92360795e-03 1.34892355e-05 9.99987879e-01 2.19147174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34028169300001 meters Centerline goodness : 0.998603 Centerline is valid? [True, True] Translation: X:85.52, Y:14.01, Z:0.22 [[ 9.33292593e-01 -3.59087609e-01 -4.58525253e-03 8.55211015e+01] [ 3.59083130e-01 9.33303856e-01 -1.79375461e-03 1.40099129e+01] [ 4.92354893e-03 2.76110666e-05 9.99987879e-01 2.19450533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.370281693 meters Centerline goodness : 0.998646 Centerline is valid? [True, True] Translation: X:85.55, Y:14.02, Z:0.22 [[ 9.35059301e-01 -3.54461677e-01 -4.58511239e-03 8.55460166e+01] [ 3.54457140e-01 9.35070541e-01 -1.79411277e-03 1.40238782e+01] [ 4.92334774e-03 5.23760086e-05 9.99987879e-01 2.20603569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.400281693 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:85.57, Y:14.04, Z:0.22 [[ 9.35925799e-01 -3.52167400e-01 -4.58480108e-03 8.55701518e+01] [ 3.52162832e-01 9.35937027e-01 -1.79490796e-03 1.40361992e+01] [ 4.92319316e-03 6.53041345e-05 9.99987879e-01 2.20037530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.430281693 meters Centerline goodness : 0.998594 Centerline is valid? [True, True] Translation: X:85.59, Y:14.05, Z:0.22 [[ 9.37648128e-01 -3.47555707e-01 -4.58466548e-03 8.55940910e+01] [ 3.47551082e-01 9.37659332e-01 -1.79525425e-03 1.40519303e+01] [ 4.92280523e-03 8.99113384e-05 9.99987879e-01 2.16963974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.460281693 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:85.62, Y:14.07, Z:0.22 [[ 9.38342340e-01 -3.45677070e-01 -4.58435012e-03 8.56180028e+01] [ 3.45672419e-01 9.38353533e-01 -1.79605919e-03 1.40653447e+01] [ 4.92259761e-03 1.00634985e-04 9.99987879e-01 2.15873885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.490281693 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:85.64, Y:14.08, Z:0.22 [[ 9.38690075e-01 -3.44731676e-01 -4.58421238e-03 8.56423998e+01] [ 3.44727012e-01 9.38701263e-01 -1.79641068e-03 1.40798017e+01] [ 4.92248561e-03 1.05971041e-04 9.99987879e-01 2.15608241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.520281693 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:85.67, Y:14.10, Z:0.22 [[ 9.38541538e-01 -3.45135872e-01 -4.58389697e-03 8.56656688e+01] [ 3.45131208e-01 9.38552726e-01 -1.79721516e-03 1.40971165e+01] [ 4.92251241e-03 1.04715182e-04 9.99987879e-01 2.20570303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.550281693 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:85.69, Y:14.11, Z:0.22 [[ 9.37888065e-01 -3.46907723e-01 -4.58356576e-03 8.56893454e+01] [ 3.46903077e-01 9.37899260e-01 -1.79805947e-03 1.41100126e+01] [ 4.92268365e-03 9.63254512e-05 9.99987879e-01 2.23872300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.580281693 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:85.71, Y:14.13, Z:0.22 [[ 9.35910588e-01 -3.52207841e-01 -4.58334042e-03 8.57133822e+01] [ 3.52203255e-01 9.35921809e-01 -1.79863368e-03 1.41264974e+01] [ 4.92314114e-03 6.90928937e-05 9.99987879e-01 2.23338964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.610281693 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:85.74, Y:14.14, Z:0.22 [[ 9.34931697e-01 -3.54798138e-01 -4.58303089e-03 8.57382416e+01] [ 3.54793579e-01 9.34942928e-01 -1.79942204e-03 1.41392187e+01] [ 4.92330391e-03 5.63067661e-05 9.99987879e-01 2.20691366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.640281693 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:85.76, Y:14.15, Z:0.22 [[ 9.34029666e-01 -3.57166043e-01 -4.58270422e-03 8.57624406e+01] [ 3.57161509e-01 9.34040907e-01 -1.80025362e-03 1.41511330e+01] [ 4.92342266e-03 4.47247288e-05 9.99987879e-01 2.18425931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.670281693 meters Centerline goodness : 0.998504 Centerline is valid? [True, True] Translation: X:85.79, Y:14.16, Z:0.22 [[ 9.32657700e-01 -3.60733441e-01 -4.58256228e-03 8.57867988e+01] [ 3.60728948e-01 9.32668957e-01 -1.80061484e-03 1.41643160e+01] [ 4.92355557e-03 2.62944277e-05 9.99987879e-01 2.18064354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70028169300001 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:85.81, Y:14.18, Z:0.22 [[ 9.32166664e-01 -3.62000433e-01 -4.58222384e-03 8.58113510e+01] [ 3.61995951e-01 9.32177926e-01 -1.80147570e-03 1.41763068e+01] [ 4.92358290e-03 2.05291181e-05 9.99987879e-01 2.19633948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.730281693 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:85.84, Y:14.19, Z:0.22 [[ 9.31246143e-01 -3.64361944e-01 -4.58207643e-03 8.58358217e+01] [ 3.64357489e-01 9.31257415e-01 -1.80185056e-03 1.41906166e+01] [ 4.92361843e-03 8.45251629e-06 9.99987879e-01 2.22759997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.760281693 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:85.86, Y:14.20, Z:0.22 [[ 9.30815152e-01 -3.65461572e-01 -4.58176416e-03 8.58609957e+01] [ 3.65457126e-01 9.30826428e-01 -1.80264427e-03 1.42022632e+01] [ 4.92362437e-03 3.49023566e-06 9.99987879e-01 2.22770128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.790281693 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:85.89, Y:14.21, Z:0.22 [[ 9.30233550e-01 -3.66939439e-01 -4.58144892e-03 8.58868645e+01] [ 3.66935007e-01 9.30244832e-01 -1.80344509e-03 1.42135391e+01] [ 4.92362431e-03 -3.46886688e-06 9.99987879e-01 2.21489489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.820281693 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:85.91, Y:14.22, Z:0.22 [[ 9.28436758e-01 -3.71462245e-01 -4.58113433e-03 8.59120122e+01] [ 3.71457864e-01 9.28448060e-01 -1.80424385e-03 1.42226433e+01] [ 4.92355375e-03 -2.65720621e-05 9.99987879e-01 2.22101100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.850281693 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:85.94, Y:14.23, Z:0.22 [[ 9.27097379e-01 -3.74792562e-01 -4.58099780e-03 8.59380154e+01] [ 3.74788220e-01 9.27108696e-01 -1.80459044e-03 1.42318308e+01] [ 4.92342997e-03 -4.38729496e-05 9.99987879e-01 2.23524454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.880281693 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:85.97, Y:14.24, Z:0.23 [[ 9.24559514e-01 -3.81010135e-01 -4.58068716e-03 8.59656612e+01] [ 3.81005865e-01 9.24570858e-01 -1.80537863e-03 1.42386196e+01] [ 4.92303741e-03 -7.60886888e-05 9.99987879e-01 2.25082849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.910281693 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:85.99, Y:14.25, Z:0.22 [[ 9.23733546e-01 -3.83008297e-01 -4.58037684e-03 8.59919342e+01] [ 3.83004048e-01 9.23744898e-01 -1.80616559e-03 1.42466092e+01] [ 4.92287614e-03 -8.58871259e-05 9.99987879e-01 2.23733457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.940281693 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:86.02, Y:14.25, Z:0.22 [[ 9.23409329e-01 -3.83789307e-01 -4.58016522e-03 8.60184605e+01] [ 3.83785065e-01 9.23420684e-01 -1.80670206e-03 1.42545387e+01] [ 4.92281223e-03 -8.94734675e-05 9.99987879e-01 2.22112770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.970281693 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:86.05, Y:14.26, Z:0.22 [[ 9.24407883e-01 -3.81377884e-01 -4.57986018e-03 8.60460330e+01] [ 3.81373608e-01 9.24419225e-01 -1.80747498e-03 1.42612486e+01] [ 4.92304178e-03 -7.57936799e-05 9.99987879e-01 2.19760512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.000281693 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:86.07, Y:14.27, Z:0.22 [[ 9.25421180e-01 -3.78912479e-01 -4.57953774e-03 8.60721170e+01] [ 3.78908170e-01 9.25432509e-01 -1.80829157e-03 1.42703229e+01] [ 4.92323734e-03 -6.17929371e-05 9.99987879e-01 2.19774273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.030281693 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:86.10, Y:14.28, Z:0.22 [[ 9.27497234e-01 -3.73801969e-01 -4.57921432e-03 8.60981714e+01] [ 3.73797593e-01 9.27508537e-01 -1.80911020e-03 1.42774957e+01] [ 4.92350933e-03 -3.37545816e-05 9.99987879e-01 2.20438512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06028169300001 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:86.12, Y:14.29, Z:0.22 [[ 9.28159412e-01 -3.72154723e-01 -4.57907318e-03 8.61244261e+01] [ 3.72150324e-01 9.28170707e-01 -1.80946737e-03 1.42861398e+01] [ 4.92356342e-03 -2.46293972e-05 9.99987879e-01 2.22488383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09028169300001 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:86.15, Y:14.29, Z:0.22 [[ 9.28424083e-01 -3.71493953e-01 -4.57874515e-03 8.61504667e+01] [ 3.71489543e-01 9.28435373e-01 -1.81029706e-03 1.42945352e+01] [ 4.92358337e-03 -2.02325556e-05 9.99987879e-01 2.23875506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.120281693 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:86.18, Y:14.30, Z:0.23 [[ 9.28111063e-01 -3.72275290e-01 -4.57860275e-03 8.61785173e+01] [ 3.72270888e-01 9.28122356e-01 -1.81065714e-03 1.42988348e+01] [ 4.92356648e-03 -2.39895867e-05 9.99987879e-01 2.25942913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.150281693 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:86.21, Y:14.31, Z:0.23 [[ 9.27762870e-01 -3.73142194e-01 -4.57827208e-03 8.62051727e+01] [ 3.73137798e-01 9.27774166e-01 -1.81149285e-03 1.43054607e+01] [ 4.92354698e-03 -2.76905573e-05 9.99987879e-01 2.26282297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.180281693 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:86.23, Y:14.31, Z:0.22 [[ 9.26734786e-01 -3.75688271e-01 -4.57812781e-03 8.62323802e+01] [ 3.75683904e-01 9.26746093e-01 -1.81185740e-03 1.43100303e+01] [ 4.92345563e-03 -4.08176540e-05 9.99987879e-01 2.21376835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.210281693 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:86.26, Y:14.32, Z:0.22 [[ 9.26057786e-01 -3.77353972e-01 -4.57791120e-03 8.62590130e+01] [ 3.77349623e-01 9.26069100e-01 -1.81240453e-03 1.43178164e+01] [ 4.92338015e-03 -4.90817387e-05 9.99987879e-01 2.19066622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.240281693 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:86.29, Y:14.33, Z:0.22 [[ 9.25507160e-01 -3.78702447e-01 -4.57758415e-03 8.62854054e+01] [ 3.78698110e-01 9.25518478e-01 -1.81323017e-03 1.43251432e+01] [ 4.92331342e-03 -5.53649582e-05 9.99987879e-01 2.18237825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.270281693 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:86.31, Y:14.33, Z:0.22 [[ 9.25320332e-01 -3.79158713e-01 -4.57744209e-03 8.63138674e+01] [ 3.79154380e-01 9.25331653e-01 -1.81358874e-03 1.43289794e+01] [ 4.92329002e-03 -5.74066782e-05 9.99987879e-01 2.22155859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.300281693 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:86.34, Y:14.33, Z:0.22 [[ 9.25306761e-01 -3.79191833e-01 -4.57734484e-03 8.63418474e+01] [ 3.79187499e-01 9.25318081e-01 -1.81383415e-03 1.43338651e+01] [ 4.92329104e-03 -5.73189377e-05 9.99987879e-01 2.24445101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.330281693 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:86.37, Y:14.34, Z:0.22 [[ 9.25315545e-01 -3.79170400e-01 -4.57702303e-03 8.63681488e+01] [ 3.79166062e-01 9.25326864e-01 -1.81464584e-03 1.43423473e+01] [ 4.92330235e-03 -5.63317951e-05 9.99987879e-01 2.24724368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.360281693 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:86.39, Y:14.35, Z:0.22 [[ 9.25481793e-01 -3.78764445e-01 -4.57669445e-03 8.63942529e+01] [ 3.78760097e-01 9.25493108e-01 -1.81547417e-03 1.43509498e+01] [ 4.92333624e-03 -5.32809414e-05 9.99987879e-01 2.24758481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.390281693 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:86.42, Y:14.36, Z:0.22 [[ 9.25875970e-01 -3.77799874e-01 -4.57647030e-03 8.64212378e+01] [ 3.77795512e-01 9.25887279e-01 -1.81603904e-03 1.43601289e+01] [ 4.92339495e-03 -4.75430308e-05 9.99987879e-01 2.23954184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.420281693 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:86.45, Y:14.37, Z:0.22 [[ 9.27216076e-01 -3.74498874e-01 -4.57614231e-03 8.64476168e+01] [ 3.74494468e-01 9.27227368e-01 -1.81686514e-03 1.43702279e+01] [ 4.92353834e-03 -2.91134202e-05 9.99987879e-01 2.23633943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45028169300001 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:86.47, Y:14.38, Z:0.23 [[ 9.28106681e-01 -3.72286249e-01 -4.57581549e-03 8.64717174e+01] [ 3.72281812e-01 9.28117961e-01 -1.81768788e-03 1.43819450e+01] [ 4.92359674e-03 -1.64846112e-05 9.99987879e-01 2.25024889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.480281693 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:86.50, Y:14.40, Z:0.23 [[ 9.30052206e-01 -3.67398909e-01 -4.57567275e-03 8.64964961e+01] [ 3.67394411e-01 9.30063461e-01 -1.81804712e-03 1.43965293e+01] [ 4.92361456e-03 9.80213790e-06 9.99987879e-01 2.27306291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.510281693 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:86.52, Y:14.41, Z:0.23 [[ 9.30794415e-01 -3.65514464e-01 -4.57534726e-03 8.65212919e+01] [ 3.65509939e-01 9.30805660e-01 -1.81886588e-03 1.44087710e+01] [ 4.92358092e-03 2.06553061e-05 9.99987879e-01 2.26388910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.540281693 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:86.54, Y:14.42, Z:0.22 [[ 9.31521029e-01 -3.63658688e-01 -4.57502269e-03 8.65441590e+01] [ 3.63654137e-01 9.31532263e-01 -1.81968192e-03 1.44236034e+01] [ 4.92352438e-03 3.13460515e-05 9.99987879e-01 2.23329656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.570281693 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:86.57, Y:14.44, Z:0.22 [[ 9.31464667e-01 -3.63803030e-01 -4.57488192e-03 8.65686635e+01] [ 3.63798479e-01 9.31475901e-01 -1.82003576e-03 1.44363559e+01] [ 4.92352678e-03 3.09639150e-05 9.99987879e-01 2.22947241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.600281693 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:86.59, Y:14.45, Z:0.22 [[ 9.31290394e-01 -3.64248919e-01 -4.57455983e-03 8.65937480e+01] [ 3.64244369e-01 9.31301629e-01 -1.82084495e-03 1.44487597e+01] [ 4.92353583e-03 2.94777518e-05 9.99987879e-01 2.23748260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.630281693 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:86.62, Y:14.46, Z:0.23 [[ 9.30797298e-01 -3.65507135e-01 -4.57423748e-03 8.66176573e+01] [ 3.65502596e-01 9.30808538e-01 -1.82165440e-03 1.44616118e+01] [ 4.92356698e-03 2.36953171e-05 9.99987879e-01 2.27310280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.660281693 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:86.64, Y:14.47, Z:0.23 [[ 9.30483558e-01 -3.66305100e-01 -4.57409719e-03 8.66428988e+01] [ 3.66300569e-01 9.30494800e-01 -1.82200659e-03 1.44739131e+01] [ 4.92358396e-03 1.98527714e-05 9.99987879e-01 2.28608683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.690281693 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:86.67, Y:14.49, Z:0.23 [[ 9.30254771e-01 -3.66885734e-01 -4.57377893e-03 8.66680682e+01] [ 3.66881207e-01 9.30266014e-01 -1.82280516e-03 1.44863815e+01] [ 4.92359231e-03 1.76396603e-05 9.99987879e-01 2.28994251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.720281693 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:86.69, Y:14.50, Z:0.23 [[ 9.30036534e-01 -3.67438605e-01 -4.57345991e-03 8.66923069e+01] [ 3.67434080e-01 9.30047779e-01 -1.82360525e-03 1.44997402e+01] [ 4.92359920e-03 1.55744701e-05 9.99987879e-01 2.26775502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.750281693 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:86.72, Y:14.51, Z:0.23 [[ 9.29776140e-01 -3.68097017e-01 -4.57332122e-03 8.67165250e+01] [ 3.68092499e-01 9.29787387e-01 -1.82395298e-03 1.45106547e+01] [ 4.92360804e-03 1.24627219e-05 9.99987879e-01 2.26430549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.780281693 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:86.74, Y:14.52, Z:0.23 [[ 9.29713184e-01 -3.68256000e-01 -4.57310512e-03 8.67428822e+01] [ 3.68251480e-01 9.29724431e-01 -1.82449463e-03 1.45213931e+01] [ 4.92360866e-03 1.22039824e-05 9.99987879e-01 2.26570755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.81028169300001 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:86.77, Y:14.53, Z:0.23 [[ 9.29397028e-01 -3.69053185e-01 -4.57279301e-03 8.67680779e+01] [ 3.69048672e-01 9.29408278e-01 -1.82527656e-03 1.45324310e+01] [ 4.92361580e-03 8.82342271e-06 9.99987879e-01 2.26201603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84028169300001 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:86.79, Y:14.54, Z:0.23 [[ 9.29031403e-01 -3.69972627e-01 -4.57247967e-03 8.67931125e+01] [ 3.69968121e-01 9.29042655e-01 -1.82606116e-03 1.45442063e+01] [ 4.92362130e-03 4.79645433e-06 9.99987879e-01 2.26669853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.870281693 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:86.82, Y:14.56, Z:0.23 [[ 9.28966407e-01 -3.70135797e-01 -4.57227080e-03 8.68192719e+01] [ 3.70131290e-01 9.28977659e-01 -1.82658401e-03 1.45553744e+01] [ 4.92362155e-03 4.49469213e-06 9.99987879e-01 2.26757071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.900281693 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:86.84, Y:14.57, Z:0.23 [[ 9.29165909e-01 -3.69634699e-01 -4.57193375e-03 8.68434111e+01] [ 3.69630181e-01 9.29177157e-01 -1.82742724e-03 1.45668890e+01] [ 4.92361693e-03 8.05839522e-06 9.99987879e-01 2.25039236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.930281693 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:86.87, Y:14.58, Z:0.23 [[ 9.29170937e-01 -3.69622061e-01 -4.57178762e-03 8.68688796e+01] [ 3.69617542e-01 9.29182185e-01 -1.82779275e-03 1.45790632e+01] [ 4.92361614e-03 8.51900075e-06 9.99987879e-01 2.25029685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.960281693 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:86.89, Y:14.59, Z:0.23 [[ 9.29078574e-01 -3.69854167e-01 -4.57145330e-03 8.68945664e+01] [ 3.69849646e-01 9.29089821e-01 -1.82862854e-03 1.45909847e+01] [ 4.92361661e-03 8.18921028e-06 9.99987879e-01 2.25910826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.990281693 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:86.92, Y:14.60, Z:0.23 [[ 9.28625603e-01 -3.70990020e-01 -4.57112093e-03 8.69195554e+01] [ 3.70985509e-01 9.28636853e-01 -1.82945900e-03 1.46018752e+01] [ 4.92362239e-03 3.06284174e-06 9.99987879e-01 2.27787276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.020281693 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:86.95, Y:14.61, Z:0.23 [[ 9.28253591e-01 -3.71919854e-01 -4.57097640e-03 8.69456926e+01] [ 3.71915353e-01 9.28264845e-01 -1.82982005e-03 1.46114912e+01] [ 4.92362310e-03 -1.47926239e-06 9.99987879e-01 2.27830112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.050281693 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:86.97, Y:14.62, Z:0.22 [[ 9.27179176e-01 -3.74590288e-01 -4.57064791e-03 8.69714886e+01] [ 3.74585815e-01 9.27190442e-01 -1.83064021e-03 1.46185615e+01] [ 4.92360110e-03 -1.47683929e-05 9.99987879e-01 2.24428710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.080281693 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:87.00, Y:14.63, Z:0.22 [[ 9.26386836e-01 -3.76545536e-01 -4.57050525e-03 8.69979478e+01] [ 3.76541085e-01 9.26398110e-01 -1.83099631e-03 1.46274491e+01] [ 4.92356091e-03 -2.47721261e-05 9.99987879e-01 2.22730303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.110281693 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:87.02, Y:14.63, Z:0.22 [[ 9.24974193e-01 -3.80002443e-01 -4.57018367e-03 8.70241927e+01] [ 3.79998030e-01 9.24985482e-01 -1.83179863e-03 1.46338873e+01] [ 4.92344150e-03 -4.22943271e-05 9.99987879e-01 2.20765737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.140281693 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:87.05, Y:14.64, Z:0.22 [[ 9.24502448e-01 -3.81148710e-01 -4.57004347e-03 8.70512254e+01] [ 3.81144310e-01 9.24513742e-01 -1.83214835e-03 1.46422796e+01] [ 4.92338896e-03 -4.80204323e-05 9.99987879e-01 2.21476751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.170281693 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:87.08, Y:14.65, Z:0.22 [[ 9.24315363e-01 -3.81602184e-01 -4.56972038e-03 8.70780673e+01] [ 3.81597785e-01 9.24326658e-01 -1.83295384e-03 1.46515112e+01] [ 4.92337355e-03 -4.95677786e-05 9.99987879e-01 2.23076253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20028169300001 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:87.10, Y:14.66, Z:0.22 [[ 9.24901635e-01 -3.80179019e-01 -4.56937454e-03 8.71036914e+01] [ 3.80174598e-01 9.24912921e-01 -1.83381558e-03 1.46598810e+01] [ 4.92345176e-03 -4.10611028e-05 9.99987879e-01 2.23523501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.230281693 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:87.13, Y:14.67, Z:0.22 [[ 9.25391836e-01 -3.78984263e-01 -4.56922435e-03 8.71286335e+01] [ 3.78979826e-01 9.25403116e-01 -1.83418972e-03 1.46694539e+01] [ 4.92350349e-03 -3.42996587e-05 9.99987879e-01 2.23068165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.260281693 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:87.16, Y:14.68, Z:0.22 [[ 9.26644537e-01 -3.75910928e-01 -4.56907793e-03 8.71552976e+01] [ 3.75906452e-01 9.26655801e-01 -1.83455437e-03 1.46789142e+01] [ 4.92359161e-03 -1.75660891e-05 9.99987879e-01 2.24773615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.290281693 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:87.18, Y:14.69, Z:0.23 [[ 9.27301741e-01 -3.74286799e-01 -4.56873895e-03 8.71811590e+01] [ 3.74282299e-01 9.27312996e-01 -1.83539817e-03 1.46889588e+01] [ 4.92361631e-03 -8.03019919e-06 9.99987879e-01 2.25089656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.320281693 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:87.21, Y:14.70, Z:0.23 [[ 9.27921630e-01 -3.72747338e-01 -4.56839766e-03 8.72067127e+01] [ 3.72742816e-01 9.27932876e-01 -1.83624729e-03 1.46990411e+01] [ 4.92362266e-03 1.05617370e-06 9.99987879e-01 2.25320016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.350281693 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:87.23, Y:14.71, Z:0.23 [[ 9.28966802e-01 -3.70134857e-01 -4.56824909e-03 8.72313640e+01] [ 3.70130301e-01 9.28978034e-01 -1.83661683e-03 1.47099591e+01] [ 4.92359896e-03 1.53086543e-05 9.99987879e-01 2.27351928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.380281693 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:87.26, Y:14.72, Z:0.23 [[ 9.29274625e-01 -3.69361348e-01 -4.56802477e-03 8.72564173e+01] [ 3.69356779e-01 9.29285852e-01 -1.83717457e-03 1.47200591e+01] [ 4.92358207e-03 2.00087881e-05 9.99987879e-01 2.28877200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.410281693 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:87.28, Y:14.73, Z:0.23 [[ 9.29495833e-01 -3.68804325e-01 -4.56788932e-03 8.72824329e+01] [ 3.68799748e-01 9.29507057e-01 -1.83751129e-03 1.47298508e+01] [ 4.92356747e-03 2.33226522e-05 9.99987879e-01 2.29925842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.440281693 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:87.31, Y:14.74, Z:0.23 [[ 9.29333819e-01 -3.69212392e-01 -4.56758058e-03 8.73083609e+01] [ 3.69207816e-01 9.29345043e-01 -1.83827842e-03 1.47407176e+01] [ 4.92357354e-03 2.19878594e-05 9.99987879e-01 2.30113962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.470281693 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:87.33, Y:14.75, Z:0.23 [[ 9.29088668e-01 -3.69828863e-01 -4.56724116e-03 8.73330046e+01] [ 3.69824290e-01 9.29099893e-01 -1.83912134e-03 1.47508007e+01] [ 4.92358343e-03 1.96300790e-05 9.99987879e-01 2.31108490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.500281693 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:87.36, Y:14.76, Z:0.23 [[ 9.28353201e-01 -3.71671192e-01 -4.56709344e-03 8.73590046e+01] [ 3.71666640e-01 9.28364435e-01 -1.83948810e-03 1.47592877e+01] [ 4.92361185e-03 1.02583910e-05 9.99987879e-01 2.30696779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.530281693 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:87.39, Y:14.77, Z:0.23 [[ 9.28141056e-01 -3.72200648e-01 -4.56696008e-03 8.73853781e+01] [ 3.72196101e-01 9.28152292e-01 -1.83981913e-03 1.47685462e+01] [ 4.92361634e-03 7.80693854e-06 9.99987879e-01 2.29733781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56028169300001 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:87.41, Y:14.78, Z:0.23 [[ 9.28649461e-01 -3.70930349e-01 -4.56665548e-03 8.74116056e+01] [ 3.70925783e-01 9.28660689e-01 -1.84057487e-03 1.47790950e+01] [ 4.92359851e-03 1.53586066e-05 9.99987879e-01 2.28167255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.590281693 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:87.44, Y:14.79, Z:0.23 [[ 9.29154068e-01 -3.69664532e-01 -4.56632652e-03 8.74371482e+01] [ 3.69659946e-01 9.29165288e-01 -1.84139063e-03 1.47907914e+01] [ 4.92356891e-03 2.29475766e-05 9.99987879e-01 2.28003877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.620281693 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:87.46, Y:14.80, Z:0.23 [[ 9.29682371e-01 -3.68333871e-01 -4.56599585e-03 8.74617961e+01] [ 3.68329265e-01 9.29693583e-01 -1.84221020e-03 1.48019482e+01] [ 4.92352546e-03 3.08804543e-05 9.99987879e-01 2.27820798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.650281693 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:87.49, Y:14.81, Z:0.23 [[ 9.30878592e-01 -3.65300151e-01 -4.56585177e-03 8.74871002e+01] [ 3.65295507e-01 9.30889788e-01 -1.84256726e-03 1.48144361e+01] [ 4.92339488e-03 4.73212758e-05 9.99987879e-01 2.29365507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.680281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:87.51, Y:14.83, Z:0.23 [[ 9.31297257e-01 -3.64231485e-01 -4.56551256e-03 8.75116556e+01] [ 3.64226824e-01 9.31308446e-01 -1.84340736e-03 1.48253315e+01] [ 4.92332741e-03 5.38780790e-05 9.99987879e-01 2.29914492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.710281693 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:87.54, Y:14.84, Z:0.23 [[ 9.31681895e-01 -3.63246479e-01 -4.56536510e-03 8.75370749e+01] [ 3.63241804e-01 9.31693078e-01 -1.84377248e-03 1.48377035e+01] [ 4.92326292e-03 5.94779782e-05 9.99987879e-01 2.28462950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.740281693 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:87.56, Y:14.85, Z:0.23 [[ 9.31615400e-01 -3.63416987e-01 -4.56503682e-03 8.75621396e+01] [ 3.63412310e-01 9.31626583e-01 -1.84458492e-03 1.48490356e+01] [ 4.92326315e-03 5.94531389e-05 9.99987879e-01 2.27590937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.770281693 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:87.59, Y:14.86, Z:0.23 [[ 9.31403676e-01 -3.63959277e-01 -4.56471016e-03 8.75874983e+01] [ 3.63954603e-01 9.31414860e-01 -1.84539293e-03 1.48604770e+01] [ 4.92328675e-03 5.74584801e-05 9.99987879e-01 2.26443565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.800281693 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:87.61, Y:14.87, Z:0.23 [[ 9.31229650e-01 -3.64404316e-01 -4.56438479e-03 8.76121089e+01] [ 3.64399644e-01 9.31240834e-01 -1.84619736e-03 1.48735692e+01] [ 4.92330378e-03 5.59735247e-05 9.99987879e-01 2.26011858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.830281693 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:87.64, Y:14.89, Z:0.23 [[ 9.31330819e-01 -3.64145679e-01 -4.56404910e-03 8.76362812e+01] [ 3.64141000e-01 9.31342000e-01 -1.84702685e-03 1.48855171e+01] [ 4.92327746e-03 5.82356300e-05 9.99987879e-01 2.26245173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.860281693 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:87.66, Y:14.90, Z:0.23 [[ 9.32049919e-01 -3.62301147e-01 -4.56382070e-03 8.76609881e+01] [ 3.62296442e-01 9.32061089e-01 -1.84759104e-03 1.48991740e+01] [ 4.92314404e-03 6.85910767e-05 9.99987879e-01 2.28521675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.890281693 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:87.69, Y:14.91, Z:0.23 [[ 9.32468382e-01 -3.61222772e-01 -4.56348563e-03 8.76857511e+01] [ 3.61218051e-01 9.32479546e-01 -1.84841828e-03 1.49110080e+01] [ 4.92304778e-03 7.51782231e-05 9.99987879e-01 2.27270031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.920281693 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:87.71, Y:14.92, Z:0.23 [[ 9.32596733e-01 -3.60891270e-01 -4.56333985e-03 8.77111190e+01] [ 3.60886543e-01 9.32607895e-01 -1.84877809e-03 1.49231739e+01] [ 4.92301465e-03 7.73164629e-05 9.99987879e-01 2.25793686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.95028169300001 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:87.74, Y:14.94, Z:0.23 [[ 9.31777766e-01 -3.63000514e-01 -4.56302476e-03 8.77360743e+01] [ 3.62995808e-01 9.31788937e-01 -1.84955546e-03 1.49373427e+01] [ 4.92316557e-03 6.70157942e-05 9.99987879e-01 2.26043907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.980281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:87.76, Y:14.95, Z:0.23 [[ 9.30936576e-01 -3.65152397e-01 -4.56269672e-03 8.77616544e+01] [ 3.65147713e-01 9.30947756e-01 -1.85036435e-03 1.49490699e+01] [ 4.92329725e-03 5.65135837e-05 9.99987879e-01 2.28043918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.010281693 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:87.79, Y:14.96, Z:0.23 [[ 9.29931410e-01 -3.67704714e-01 -4.56235732e-03 8.77876081e+01] [ 3.67700057e-01 9.29942601e-01 -1.85120080e-03 1.49600432e+01] [ 4.92342570e-03 4.39107270e-05 9.99987879e-01 2.30222104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.040281693 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:87.81, Y:14.97, Z:0.23 [[ 9.28187062e-01 -3.72085967e-01 -4.56201944e-03 8.78139414e+01] [ 3.72081358e-01 9.28198272e-01 -1.85203309e-03 1.49706020e+01] [ 4.92357409e-03 2.15907596e-05 9.99987879e-01 2.32814050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.070281693 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:87.84, Y:14.98, Z:0.23 [[ 9.27498660e-01 -3.73798645e-01 -4.56168195e-03 8.78398088e+01] [ 3.73794053e-01 9.27509878e-01 -1.85286400e-03 1.49815584e+01] [ 4.92360311e-03 1.33992920e-05 9.99987879e-01 2.32809994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.100281693 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:87.86, Y:14.99, Z:0.23 [[ 9.26634877e-01 -3.75934834e-01 -4.56134510e-03 8.78647163e+01] [ 3.75930263e-01 9.26646103e-01 -1.85369287e-03 1.49943736e+01] [ 4.92362038e-03 2.94880232e-06 9.99987879e-01 2.32202784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.130281693 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:87.89, Y:15.01, Z:0.23 [[ 9.26543350e-01 -3.76160361e-01 -4.56100881e-03 8.78892247e+01] [ 3.76155789e-01 9.26554576e-01 -1.85451993e-03 1.50061266e+01] [ 4.92362048e-03 2.64323837e-06 9.99987879e-01 2.33270316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.160281693 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:87.91, Y:15.02, Z:0.24 [[ 9.26766787e-01 -3.75609533e-01 -4.56086314e-03 8.79139883e+01] [ 3.75604954e-01 9.26778009e-01 -1.85487812e-03 1.50178610e+01] [ 4.92361757e-03 5.95664524e-06 9.99987879e-01 2.35865469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.190281693 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:87.94, Y:15.03, Z:0.24 [[ 9.27200520e-01 -3.74537578e-01 -4.56063868e-03 8.79393086e+01] [ 3.74532982e-01 9.27211736e-01 -1.85542985e-03 1.50298289e+01] [ 4.92360590e-03 1.22459184e-05 9.99987879e-01 2.38673718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.220281693 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:87.96, Y:15.04, Z:0.24 [[ 9.28055657e-01 -3.72413616e-01 -4.56031158e-03 8.79623287e+01] [ 3.72408990e-01 9.28066861e-01 -1.85623344e-03 1.50440535e+01] [ 4.92356066e-03 2.43869100e-05 9.99987879e-01 2.40672868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.250281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:87.99, Y:15.06, Z:0.24 [[ 9.28224499e-01 -3.71992588e-01 -4.56008866e-03 8.79868433e+01] [ 3.71987954e-01 9.28235700e-01 -1.85678092e-03 1.50569293e+01] [ 4.92354583e-03 2.72114896e-05 9.99987879e-01 2.38458117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.280281693 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:88.01, Y:15.07, Z:0.23 [[ 9.28226228e-01 -3.71988278e-01 -4.55976391e-03 8.80111099e+01] [ 3.71983641e-01 9.28237427e-01 -1.85757807e-03 1.50705211e+01] [ 4.92354079e-03 2.80951065e-05 9.99987879e-01 2.33269442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.31028169300001 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:88.04, Y:15.08, Z:0.23 [[ 9.28021625e-01 -3.72498423e-01 -4.55944042e-03 8.80357656e+01] [ 3.72493788e-01 9.28032825e-01 -1.85837174e-03 1.50822382e+01] [ 4.92355092e-03 2.62459246e-05 9.99987879e-01 2.32444989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.340281693 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:88.06, Y:15.09, Z:0.23 [[ 9.27605518e-01 -3.73533420e-01 -4.55930002e-03 8.80613251e+01] [ 3.73528796e-01 9.27616722e-01 -1.85871613e-03 1.50944041e+01] [ 4.92357554e-03 2.11254912e-05 9.99987879e-01 2.31618603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.370281693 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:88.09, Y:15.11, Z:0.23 [[ 9.26578699e-01 -3.76073306e-01 -4.55894972e-03 8.80857915e+01] [ 3.76068708e-01 9.26589914e-01 -1.85957493e-03 1.51066060e+01] [ 4.92361332e-03 8.56418076e-06 9.99987879e-01 2.30628638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.400281693 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:88.11, Y:15.12, Z:0.23 [[ 9.26092682e-01 -3.77268553e-01 -4.55879752e-03 8.81111309e+01] [ 3.77263968e-01 9.26103903e-01 -1.85994798e-03 1.51178625e+01] [ 4.92362006e-03 2.61417346e-06 9.99987879e-01 2.30553305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.430281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:88.14, Y:15.13, Z:0.23 [[ 9.25732701e-01 -3.78151010e-01 -4.55846050e-03 8.81359532e+01] [ 3.78146432e-01 9.25743924e-01 -1.86077360e-03 1.51291636e+01] [ 4.92362053e-03 -1.18660533e-06 9.99987879e-01 2.31675547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.460281693 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:88.16, Y:15.14, Z:0.24 [[ 9.25483629e-01 -3.78760180e-01 -4.55831392e-03 8.81611484e+01] [ 3.78755607e-01 9.25494855e-01 -1.86113261e-03 1.51416435e+01] [ 4.92361900e-03 -4.03919602e-06 9.99987879e-01 2.36234357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.490281693 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:88.19, Y:15.15, Z:0.24 [[ 9.25576667e-01 -3.78532770e-01 -4.55795893e-03 8.81853205e+01] [ 3.78528191e-01 9.25587890e-01 -1.86200158e-03 1.51532780e+01] [ 4.92362021e-03 -1.89072836e-06 9.99987879e-01 2.37099341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.520281693 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:88.21, Y:15.17, Z:0.24 [[ 9.25850857e-01 -3.77861636e-01 -4.55780460e-03 8.82090503e+01] [ 3.77857047e-01 9.25862076e-01 -1.86237928e-03 1.51665413e+01] [ 4.92362011e-03 2.08686920e-06 9.99987879e-01 2.35825851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.550281693 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:88.23, Y:15.18, Z:0.24 [[ 9.25590450e-01 -3.78499073e-01 -4.55756726e-03 8.82346820e+01] [ 3.78494488e-01 9.25601670e-01 -1.86295991e-03 1.51787268e+01] [ 4.92362047e-03 -6.76179053e-07 9.99987879e-01 2.35118769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.580281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:88.26, Y:15.19, Z:0.24 [[ 9.25145482e-01 -3.79585392e-01 -4.55722070e-03 8.82588944e+01] [ 3.79580816e-01 9.25156706e-01 -1.86380729e-03 1.51896399e+01] [ 4.92361731e-03 -5.54065697e-06 9.99987879e-01 2.35589998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.610281693 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:88.28, Y:15.20, Z:0.24 [[ 9.24277869e-01 -3.81693141e-01 -4.55706990e-03 8.82848140e+01] [ 3.81688589e-01 9.24289103e-01 -1.86417593e-03 1.52012736e+01] [ 4.92359321e-03 -1.63650238e-05 9.99987879e-01 2.36308171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.640281693 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:88.31, Y:15.21, Z:0.24 [[ 9.23924753e-01 -3.82547106e-01 -4.55671932e-03 8.83095878e+01] [ 3.82542560e-01 9.23935989e-01 -1.86503248e-03 1.52123789e+01] [ 4.92357975e-03 -1.99894024e-05 9.99987879e-01 2.37259033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.670281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:88.34, Y:15.22, Z:0.24 [[ 9.23556781e-01 -3.83434623e-01 -4.55656690e-03 8.83351116e+01] [ 3.83430086e-01 9.23568021e-01 -1.86540479e-03 1.52246254e+01] [ 4.92356025e-03 -2.43175952e-05 9.99987879e-01 2.36764721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70028169300001 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:88.36, Y:15.24, Z:0.24 [[ 9.23485813e-01 -3.83605519e-01 -4.55622100e-03 8.83613701e+01] [ 3.83600980e-01 9.23497052e-01 -1.86624926e-03 1.52355766e+01] [ 4.92356018e-03 -2.43161301e-05 9.99987879e-01 2.36904963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.730281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:88.39, Y:15.25, Z:0.23 [[ 9.23068829e-01 -3.84607827e-01 -4.55587550e-03 8.83851064e+01] [ 3.84603297e-01 9.23080071e-01 -1.86709230e-03 1.52483011e+01] [ 4.92353620e-03 -2.87500293e-05 9.99987879e-01 2.34125623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.760281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:88.41, Y:15.26, Z:0.23 [[ 9.22604106e-01 -3.85721284e-01 -4.55572528e-03 8.84107141e+01] [ 3.85716765e-01 9.22615353e-01 -1.86745877e-03 1.52608055e+01] [ 4.92350068e-03 -3.42944944e-05 9.99987879e-01 2.33272189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.790281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:88.44, Y:15.27, Z:0.23 [[ 9.22234435e-01 -3.86604315e-01 -4.55538371e-03 8.84355913e+01] [ 3.86599802e-01 9.22245684e-01 -1.86829162e-03 1.52721903e+01] [ 4.92347257e-03 -3.81075783e-05 9.99987879e-01 2.34891463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.820281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:88.46, Y:15.28, Z:0.24 [[ 9.21715460e-01 -3.87839992e-01 -4.55523513e-03 8.84599578e+01] [ 3.87835493e-01 9.21726716e-01 -1.86865381e-03 1.52833912e+01] [ 4.92342059e-03 -4.43147604e-05 9.99987879e-01 2.36873450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.850281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:88.49, Y:15.29, Z:0.24 [[ 9.20962312e-01 -3.89625040e-01 -4.55509074e-03 8.84860837e+01] [ 3.89620561e-01 9.20973575e-01 -1.86900572e-03 1.52943753e+01] [ 4.92332963e-03 -5.34731820e-05 9.99987879e-01 2.38559644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.880281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:88.51, Y:15.30, Z:0.24 [[ 9.19384740e-01 -3.93333134e-01 -4.55475981e-03 8.85118472e+01] [ 3.93328696e-01 9.19396019e-01 -1.86981184e-03 1.53023022e+01] [ 4.92308699e-03 -7.24412642e-05 9.99987879e-01 2.37920230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.910281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:88.54, Y:15.31, Z:0.24 [[ 9.18279420e-01 -3.95906759e-01 -4.55461582e-03 8.85384047e+01] [ 3.95902351e-01 9.18290712e-01 -1.87016251e-03 1.53103941e+01] [ 4.92287138e-03 -8.58513624e-05 9.99987879e-01 2.36488286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.940281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:88.56, Y:15.32, Z:0.24 [[ 9.18076456e-01 -3.96377194e-01 -4.55428418e-03 8.85643231e+01] [ 3.96372788e-01 9.18087748e-01 -1.87096979e-03 1.53199663e+01] [ 4.92284226e-03 -8.75009996e-05 9.99987879e-01 2.36209269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.970281693 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:88.59, Y:15.33, Z:0.24 [[ 9.18051744e-01 -3.96434430e-01 -4.55394564e-03 8.85895457e+01] [ 3.96430020e-01 9.18063035e-01 -1.87179343e-03 1.53290708e+01] [ 4.92285251e-03 -8.69175418e-05 9.99987879e-01 2.35781732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.000281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:88.62, Y:15.34, Z:0.24 [[ 9.18194255e-01 -3.96104246e-01 -4.55379915e-03 8.86152587e+01] [ 3.96099831e-01 9.18205543e-01 -1.87214975e-03 1.53372641e+01] [ 4.92289009e-03 -8.47619338e-05 9.99987879e-01 2.35029677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.030281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:88.64, Y:15.34, Z:0.23 [[ 9.18958087e-01 -3.94328921e-01 -4.55365375e-03 8.86412396e+01] [ 3.94324483e-01 9.18969366e-01 -1.87250334e-03 1.53439879e+01] [ 4.92305052e-03 -7.48650756e-05 9.99987879e-01 2.33580877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06028169300001 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:88.67, Y:15.35, Z:0.24 [[ 9.19593177e-01 -3.92845585e-01 -4.55350894e-03 8.86672772e+01] [ 3.92841127e-01 9.19604448e-01 -1.87285542e-03 1.53544825e+01] [ 4.92317006e-03 -6.65405132e-05 9.99987879e-01 2.35031676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.090281693 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:88.69, Y:15.37, Z:0.24 [[ 9.21790460e-01 -3.87661729e-01 -4.55318269e-03 8.86932375e+01] [ 3.87657203e-01 9.21801704e-01 -1.87364824e-03 1.53651709e+01] [ 4.92347328e-03 -3.79629998e-05 9.99987879e-01 2.37952034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.120281693 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:88.72, Y:15.38, Z:0.24 [[ 9.23241283e-01 -3.84193708e-01 -4.55283460e-03 8.87178465e+01] [ 3.84189135e-01 9.23252509e-01 -1.87449371e-03 1.53751110e+01] [ 4.92358465e-03 -1.85396084e-05 9.99987879e-01 2.38278972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.150281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:88.74, Y:15.39, Z:0.24 [[ 9.24399371e-01 -3.81398841e-01 -4.55268249e-03 8.87437794e+01] [ 3.81394233e-01 9.24410582e-01 -1.87486307e-03 1.53864430e+01] [ 4.92361847e-03 -3.24460440e-06 9.99987879e-01 2.38991592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.180281693 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:88.77, Y:15.40, Z:0.24 [[ 9.25891061e-01 -3.77763178e-01 -4.55234952e-03 8.87687555e+01] [ 3.77758522e-01 9.25902252e-01 -1.87567119e-03 1.53996951e+01] [ 4.92359019e-03 1.69783616e-05 9.99987879e-01 2.39447400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.210281693 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:88.79, Y:15.41, Z:0.24 [[ 9.26138409e-01 -3.77156370e-01 -4.55201742e-03 8.87933203e+01] [ 3.77151702e-01 9.26149595e-01 -1.87647683e-03 1.54102994e+01] [ 4.92357428e-03 2.10761484e-05 9.99987879e-01 2.38515788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.240281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:88.82, Y:15.42, Z:0.23 [[ 9.25749742e-01 -3.78109371e-01 -4.55187242e-03 8.88196102e+01] [ 3.78104713e-01 9.25760932e-01 -1.87682849e-03 1.54206853e+01] [ 4.92359209e-03 1.63890782e-05 9.99987879e-01 2.34565899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.270281693 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:88.84, Y:15.43, Z:0.23 [[ 9.25434131e-01 -3.78881186e-01 -4.55153081e-03 8.88444649e+01] [ 3.78876534e-01 9.25445323e-01 -1.87765657e-03 1.54316493e+01] [ 4.92360165e-03 1.31792555e-05 9.99987879e-01 2.33895268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.300281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:88.87, Y:15.45, Z:0.24 [[ 9.25253110e-01 -3.79323037e-01 -4.55138213e-03 8.88679167e+01] [ 3.79318388e-01 9.25264305e-01 -1.87801689e-03 1.54456357e+01] [ 4.92360649e-03 1.12180303e-05 9.99987879e-01 2.36277599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.330281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:88.89, Y:15.46, Z:0.24 [[ 9.25307621e-01 -3.79190049e-01 -4.55123666e-03 8.88922508e+01] [ 3.79185397e-01 9.25318814e-01 -1.87836937e-03 1.54574304e+01] [ 4.92360388e-03 1.23070162e-05 9.99987879e-01 2.37625484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.360281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:88.92, Y:15.47, Z:0.24 [[ 9.25164716e-01 -3.79538582e-01 -4.55109225e-03 8.89173019e+01] [ 3.79533933e-01 9.25175910e-01 -1.87871918e-03 1.54690586e+01] [ 4.92360733e-03 1.08307592e-05 9.99987879e-01 2.39426765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.390281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:88.94, Y:15.48, Z:0.24 [[ 9.25240023e-01 -3.79354967e-01 -4.55075178e-03 8.89422246e+01] [ 3.79350311e-01 9.25251214e-01 -1.87954353e-03 1.54801368e+01] [ 4.92360278e-03 1.26997970e-05 9.99987879e-01 2.40334411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.420281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:88.97, Y:15.49, Z:0.24 [[ 9.25312612e-01 -3.79177877e-01 -4.55060385e-03 8.89668953e+01] [ 3.79173218e-01 9.25323801e-01 -1.87990163e-03 1.54937131e+01] [ 4.92359916e-03 1.40295808e-05 9.99987879e-01 2.41787380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.45028169300001 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:88.99, Y:15.51, Z:0.24 [[ 9.25218849e-01 -3.79406610e-01 -4.55027927e-03 8.89923659e+01] [ 3.79401949e-01 9.25230039e-01 -1.88068693e-03 1.55054962e+01] [ 4.92360012e-03 1.36621695e-05 9.99987879e-01 2.41317924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.480281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:89.02, Y:15.52, Z:0.24 [[ 9.24806557e-01 -3.80410477e-01 -4.54994740e-03 8.90171602e+01] [ 3.80405824e-01 9.24817749e-01 -1.88148949e-03 1.55171704e+01] [ 4.92361043e-03 9.18732272e-06 9.99987879e-01 2.40509272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.510281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:89.04, Y:15.53, Z:0.24 [[ 9.24457732e-01 -3.81257396e-01 -4.54980311e-03 8.90424902e+01] [ 3.81252752e-01 9.24468928e-01 -1.88183834e-03 1.55278632e+01] [ 4.92361639e-03 5.05504911e-06 9.99987879e-01 2.39928322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.540281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:89.07, Y:15.54, Z:0.24 [[ 9.23915023e-01 -3.82570689e-01 -4.54947413e-03 8.90685846e+01] [ 3.82566057e-01 9.23926224e-01 -1.88263333e-03 1.55386077e+01] [ 4.92361879e-03 -1.08116455e-06 9.99987879e-01 2.38816966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.570281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:89.09, Y:15.55, Z:0.23 [[ 9.22670159e-01 -3.85563332e-01 -4.54914619e-03 8.90946892e+01] [ 3.85558732e-01 9.22681374e-01 -1.88342544e-03 1.55473227e+01] [ 4.92359224e-03 -1.61825842e-05 9.99987879e-01 2.34894275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.600281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:89.12, Y:15.56, Z:0.23 [[ 9.21863618e-01 -3.87487776e-01 -4.54900397e-03 8.91212212e+01] [ 3.87483198e-01 9.21874841e-01 -1.88376886e-03 1.55562965e+01] [ 4.92354972e-03 -2.60846289e-05 9.99987879e-01 2.33769103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.630281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:89.15, Y:15.57, Z:0.23 [[ 9.21168563e-01 -3.89137237e-01 -4.54867975e-03 8.91478626e+01] [ 3.89132675e-01 9.21179792e-01 -1.88455143e-03 1.55654507e+01] [ 4.92350100e-03 -3.40503904e-05 9.99987879e-01 2.34648924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.660281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:89.17, Y:15.57, Z:0.24 [[ 9.20167826e-01 -3.91497744e-01 -4.54835530e-03 8.91743894e+01] [ 3.91493207e-01 9.20179066e-01 -1.88533417e-03 1.55718316e+01] [ 4.92340541e-03 -4.58263609e-05 9.99987879e-01 2.37365911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.690281693 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:89.20, Y:15.58, Z:0.24 [[ 9.19777728e-01 -3.92413359e-01 -4.54821438e-03 8.92014035e+01] [ 3.92408831e-01 9.19788972e-01 -1.88567406e-03 1.55804735e+01] [ 4.92336112e-03 -5.03584827e-05 9.99987879e-01 2.37888980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.720281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:89.23, Y:15.59, Z:0.24 [[ 9.19893479e-01 -3.92141943e-01 -4.54787534e-03 8.92282091e+01] [ 3.92137408e-01 9.19904720e-01 -1.88649140e-03 1.55864530e+01] [ 4.92338440e-03 -4.80209083e-05 9.99987879e-01 2.37119944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.750281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:89.25, Y:15.60, Z:0.24 [[ 9.20299212e-01 -3.91188802e-01 -4.54772854e-03 8.92548266e+01] [ 3.91184254e-01 9.20310447e-01 -1.88684522e-03 1.55953299e+01] [ 4.92343481e-03 -4.25376225e-05 9.99987879e-01 2.37375729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.780281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:89.28, Y:15.60, Z:0.24 [[ 9.20964492e-01 -3.89619977e-01 -4.54739322e-03 8.92803082e+01] [ 3.89615406e-01 9.20975718e-01 -1.88765303e-03 1.56041203e+01] [ 4.92350606e-03 -3.32730444e-05 9.99987879e-01 2.38483047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.81028169300001 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:89.31, Y:15.61, Z:0.24 [[ 9.22452164e-01 -3.86084612e-01 -4.54724682e-03 8.93064217e+01] [ 3.86079996e-01 9.22463372e-01 -1.88800561e-03 1.56120775e+01] [ 4.92359855e-03 -1.40061708e-05 9.99987879e-01 2.41222849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.840281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:89.33, Y:15.62, Z:0.24 [[ 9.23308240e-01 -3.84032834e-01 -4.54710260e-03 8.93316797e+01] [ 3.84028191e-01 9.23319437e-01 -1.88835290e-03 1.56218489e+01] [ 4.92361773e-03 -2.68379778e-06 9.99987879e-01 2.42272855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.870281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:89.36, Y:15.63, Z:0.24 [[ 9.25426870e-01 -3.78898978e-01 -4.54677398e-03 8.93574077e+01] [ 3.78894270e-01 9.25438039e-01 -1.88914382e-03 1.56330600e+01] [ 4.92355226e-03 2.55178429e-05 9.99987879e-01 2.41439336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.900281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:89.38, Y:15.64, Z:0.24 [[ 9.26536465e-01 -3.76177498e-01 -4.54642286e-03 8.93825637e+01] [ 3.76172752e-01 9.26547618e-01 -1.88998844e-03 1.56441380e+01] [ 4.92344840e-03 4.09028039e-05 9.99987879e-01 2.41243375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.930281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:89.41, Y:15.65, Z:0.24 [[ 9.27434028e-01 -3.73959165e-01 -4.54606922e-03 8.94071877e+01] [ 3.73954389e-01 9.27445168e-01 -1.89083869e-03 1.56547758e+01] [ 4.92332639e-03 5.36056024e-05 9.99987879e-01 2.41835383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.960281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:89.43, Y:15.67, Z:0.24 [[ 9.28393425e-01 -3.71570966e-01 -4.54582787e-03 8.94325330e+01] [ 3.71566158e-01 9.28404552e-01 -1.89141876e-03 1.56669234e+01] [ 4.92316358e-03 6.69049416e-05 9.99987879e-01 2.43403363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.990281693 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:89.46, Y:15.68, Z:0.24 [[ 9.28492408e-01 -3.71323561e-01 -4.54547502e-03 8.94581941e+01] [ 3.71318746e-01 9.28503532e-01 -1.89226635e-03 1.56790857e+01] [ 4.92313269e-03 6.91348520e-05 9.99987879e-01 2.42937866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.020281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:89.48, Y:15.69, Z:0.24 [[ 9.28285940e-01 -3.71839422e-01 -4.54511904e-03 8.94839820e+01] [ 3.71834609e-01 9.28297064e-01 -1.89312100e-03 1.56902902e+01] [ 4.92315768e-03 6.73250433e-05 9.99987879e-01 2.42551459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.050281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:89.51, Y:15.70, Z:0.24 [[ 9.28122941e-01 -3.72246091e-01 -4.54476186e-03 8.95091844e+01] [ 3.72241278e-01 9.28134066e-01 -1.89397809e-03 1.57012104e+01] [ 4.92317424e-03 6.60965566e-05 9.99987879e-01 2.41861108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.080281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:89.53, Y:15.71, Z:0.24 [[ 9.28376300e-01 -3.71613770e-01 -4.54440477e-03 8.95325654e+01] [ 3.71608945e-01 9.28387420e-01 -1.89483449e-03 1.57139993e+01] [ 4.92311481e-03 7.03779730e-05 9.99987879e-01 2.40339237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.110281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:89.56, Y:15.73, Z:0.24 [[ 9.28653826e-01 -3.70919698e-01 -4.54425015e-03 8.95574962e+01] [ 3.70914863e-01 9.28664941e-01 -1.89520524e-03 1.57267963e+01] [ 4.92305475e-03 7.44596733e-05 9.99987879e-01 2.39208689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.140281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:89.58, Y:15.74, Z:0.24 [[ 9.29732485e-01 -3.68207631e-01 -4.54389634e-03 8.95818720e+01] [ 3.68202760e-01 9.29743584e-01 -1.89605315e-03 1.57405144e+01] [ 4.92279971e-03 8.97470353e-05 9.99987879e-01 2.36030938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.170281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:89.61, Y:15.75, Z:0.24 [[ 9.30085742e-01 -3.67314401e-01 -4.54354225e-03 8.96064137e+01] [ 3.67309515e-01 9.30096835e-01 -1.89690127e-03 1.57529178e+01] [ 4.92269342e-03 9.53945264e-05 9.99987879e-01 2.35480172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20028169300001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:89.63, Y:15.77, Z:0.24 [[ 9.30443760e-01 -3.66406559e-01 -4.54338800e-03 8.96306822e+01] [ 3.66401661e-01 9.30454848e-01 -1.89727066e-03 1.57650693e+01] [ 4.92258980e-03 1.00598737e-04 9.99987879e-01 2.36815567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.230281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:89.66, Y:15.78, Z:0.24 [[ 9.30765345e-01 -3.65588883e-01 -4.54323486e-03 8.96551565e+01] [ 3.65583973e-01 9.30776427e-01 -1.89763730e-03 1.57794951e+01] [ 4.92249101e-03 1.05321189e-04 9.99987879e-01 2.37997806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.260281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:89.68, Y:15.79, Z:0.24 [[ 9.30592800e-01 -3.66027872e-01 -4.54288966e-03 8.96807569e+01] [ 3.66022964e-01 9.30603882e-01 -1.89846335e-03 1.57920046e+01] [ 4.92252125e-03 1.03894390e-04 9.99987879e-01 2.38786191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.290281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:89.70, Y:15.81, Z:0.24 [[ 9.29999543e-01 -3.67532606e-01 -4.54253638e-03 8.97047558e+01] [ 3.67527711e-01 9.30010631e-01 -1.89930827e-03 1.58056151e+01] [ 4.92266485e-03 9.68478289e-05 9.99987879e-01 2.41745919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.320281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:89.73, Y:15.82, Z:0.24 [[ 9.29678825e-01 -3.68343114e-01 -4.54238257e-03 8.97299597e+01] [ 3.68338227e-01 9.29689917e-01 -1.89967604e-03 1.58178067e+01] [ 4.92273987e-03 9.29554488e-05 9.99987879e-01 2.44256024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.350281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:89.75, Y:15.83, Z:0.25 [[ 9.29382693e-01 -3.69089665e-01 -4.54202622e-03 8.97541518e+01] [ 3.69084783e-01 9.29393787e-01 -1.90052768e-03 1.58298873e+01] [ 4.92279608e-03 8.99247710e-05 9.99987879e-01 2.46303239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.380281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:89.78, Y:15.84, Z:0.25 [[ 9.29113173e-01 -3.69767607e-01 -4.54178324e-03 8.97777140e+01] [ 3.69762730e-01 9.29124270e-01 -1.90110817e-03 1.58441886e+01] [ 4.92284926e-03 8.69624765e-05 9.99987879e-01 2.45836866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.410281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:89.80, Y:15.86, Z:0.24 [[ 9.28881787e-01 -3.70348483e-01 -4.54163365e-03 8.98028693e+01] [ 3.70343611e-01 9.28892886e-01 -1.90146546e-03 1.58575863e+01] [ 4.92289604e-03 8.42716313e-05 9.99987879e-01 2.43937860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.440281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:89.83, Y:15.87, Z:0.24 [[ 9.28395119e-01 -3.71566791e-01 -4.54131955e-03 8.98278704e+01] [ 3.71561930e-01 9.28406222e-01 -1.90221534e-03 1.58706505e+01] [ 4.92298938e-03 7.86259809e-05 9.99987879e-01 2.41741894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.470281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:89.85, Y:15.88, Z:0.24 [[ 9.26678254e-01 -3.75828144e-01 -4.54096794e-03 8.98521288e+01] [ 3.75823330e-01 9.26689378e-01 -1.90305435e-03 1.58835353e+01] [ 4.92328813e-03 5.69173894e-05 9.99987879e-01 2.40318709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.500281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:89.88, Y:15.90, Z:0.24 [[ 9.25575961e-01 -3.78534704e-01 -4.54072925e-03 8.98775408e+01] [ 3.78529920e-01 9.25587098e-01 -1.90362368e-03 1.58951110e+01] [ 4.92342804e-03 4.31464333e-05 9.99987879e-01 2.42175139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.530281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:89.90, Y:15.91, Z:0.24 [[ 9.23333373e-01 -3.83972483e-01 -4.54041459e-03 8.99024954e+01] [ 3.83967760e-01 9.23344536e-01 -1.90437389e-03 1.59087192e+01] [ 4.92359418e-03 1.49991439e-05 9.99987879e-01 2.44721456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56028169300001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:89.93, Y:15.92, Z:0.24 [[ 9.22215758e-01 -3.86649045e-01 -4.54007002e-03 8.99264620e+01] [ 3.86644351e-01 9.22226933e-01 -1.90519502e-03 1.59209700e+01] [ 4.92361668e-03 1.60844028e-06 9.99987879e-01 2.44282547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.590281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:89.95, Y:15.93, Z:0.24 [[ 9.22152292e-01 -3.86800387e-01 -4.53992066e-03 8.99526127e+01] [ 3.86795693e-01 9.22163468e-01 -1.90555086e-03 1.59321758e+01] [ 4.92361679e-03 1.18633445e-06 9.99987879e-01 2.44422702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.620281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:89.98, Y:15.94, Z:0.24 [[ 9.21116028e-01 -3.89261678e-01 -4.53960781e-03 8.99774393e+01] [ 3.89257011e-01 9.21127215e-01 -1.90629586e-03 1.59440939e+01] [ 4.92360423e-03 -1.11544936e-05 9.99987879e-01 2.43127402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.650281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:90.00, Y:15.96, Z:0.24 [[ 9.20009456e-01 -3.91869871e-01 -4.53927853e-03 9.00025329e+01] [ 3.91865231e-01 9.20020654e-01 -1.90707962e-03 1.59553641e+01] [ 4.92355705e-03 -2.42541475e-05 9.99987879e-01 2.43178461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.680281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:90.03, Y:15.97, Z:0.24 [[ 9.17998496e-01 -3.96557890e-01 -4.53892308e-03 9.00276331e+01] [ 3.96553303e-01 9.18009715e-01 -1.90792523e-03 1.59659786e+01] [ 4.92337829e-03 -4.84524466e-05 9.99987879e-01 2.43322775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.710281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:90.05, Y:15.98, Z:0.24 [[ 9.17034387e-01 -3.98782312e-01 -4.53876877e-03 9.00534270e+01] [ 3.98777751e-01 9.17045617e-01 -1.90829226e-03 1.59766618e+01] [ 4.92325121e-03 -5.99903744e-05 9.99987879e-01 2.42670877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.740281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:90.08, Y:15.99, Z:0.24 [[ 9.15335924e-01 -4.02665555e-01 -4.53841931e-03 9.00788982e+01] [ 4.02661037e-01 9.15347172e-01 -1.90912300e-03 1.59869166e+01] [ 4.92296735e-03 -7.99557565e-05 9.99987879e-01 2.39286838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.770281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:90.10, Y:16.00, Z:0.24 [[ 9.14459907e-01 -4.04651062e-01 -4.53826735e-03 9.01045070e+01] [ 4.04646567e-01 9.14471164e-01 -1.90948416e-03 1.59975611e+01] [ 4.92278942e-03 -9.02475954e-05 9.99987879e-01 2.38671962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.800281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:90.13, Y:16.01, Z:0.24 [[ 9.13463878e-01 -4.06894520e-01 -4.53792363e-03 9.01300735e+01] [ 4.06890049e-01 9.13475144e-01 -1.91030067e-03 1.60078418e+01] [ 4.92257132e-03 -1.01445313e-04 9.99987879e-01 2.39041205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.830281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.16, Y:16.02, Z:0.24 [[ 9.11465631e-01 -4.11351206e-01 -4.53757828e-03 9.01570814e+01] [ 4.11346785e-01 9.11476917e-01 -1.91112063e-03 1.60160782e+01] [ 4.92203964e-03 -1.24597463e-04 9.99987879e-01 2.44716019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.860281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:90.18, Y:16.02, Z:0.25 [[ 9.10459196e-01 -4.13574015e-01 -4.53723432e-03 9.01839363e+01] [ 4.13569618e-01 9.10470491e-01 -1.91193689e-03 1.60246071e+01] [ 4.92174538e-03 -1.35721743e-04 9.99987879e-01 2.51579250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.890281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:90.21, Y:16.03, Z:0.25 [[ 9.09275716e-01 -4.16169543e-01 -4.53687456e-03 9.02121356e+01] [ 4.16165174e-01 9.09287022e-01 -1.91279019e-03 1.60281756e+01] [ 4.92136618e-03 -1.48835518e-04 9.99987879e-01 2.49598379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.920281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:90.24, Y:16.04, Z:0.25 [[ 9.09201095e-01 -4.16332545e-01 -4.53662942e-03 9.02392304e+01] [ 4.16328175e-01 9.09212401e-01 -1.91337143e-03 1.60361915e+01] [ 4.92135852e-03 -1.49087244e-04 9.99987879e-01 2.48598414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.95028169300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.27, Y:16.04, Z:0.24 [[ 9.10579314e-01 -4.13309490e-01 -4.53629360e-03 9.02665377e+01] [ 4.13305079e-01 9.10590604e-01 -1.91416726e-03 1.60421690e+01] [ 4.92184983e-03 -1.31872073e-04 9.99987879e-01 2.44900231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.980281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:90.29, Y:16.05, Z:0.24 [[ 9.11769928e-01 -4.10676298e-01 -4.53614726e-03 9.02928466e+01] [ 4.10671852e-01 9.11781204e-01 -1.91451400e-03 1.60514925e+01] [ 4.92221933e-03 -1.17271707e-04 9.99987879e-01 2.44187920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.010281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:90.32, Y:16.06, Z:0.24 [[ 9.13216583e-01 -4.07449259e-01 -4.53581196e-03 9.03183204e+01] [ 4.07444769e-01 9.13227842e-01 -1.91530805e-03 1.60608724e+01] [ 4.92262061e-03 -9.90017881e-05 9.99987879e-01 2.44682640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.040281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:90.34, Y:16.07, Z:0.24 [[ 9.15795270e-01 -4.01619785e-01 -4.53566570e-03 9.03442769e+01] [ 4.01615222e-01 9.15806499e-01 -1.91565435e-03 1.60693787e+01] [ 4.92315681e-03 -6.72451981e-05 9.99987879e-01 2.44885332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.070281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:90.37, Y:16.08, Z:0.25 [[ 9.16683447e-01 -3.99588398e-01 -4.53552021e-03 9.03708097e+01] [ 3.99583808e-01 9.16694665e-01 -1.91599874e-03 1.60795204e+01] [ 4.92329805e-03 -5.59561106e-05 9.99987879e-01 2.45382412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.100281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:90.40, Y:16.09, Z:0.24 [[ 9.17378555e-01 -3.97989974e-01 -4.53515898e-03 9.03971039e+01] [ 3.97985360e-01 9.17389764e-01 -1.91685340e-03 1.60878656e+01] [ 4.92339686e-03 -4.64466816e-05 9.99987879e-01 2.43803326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.130281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:90.42, Y:16.10, Z:0.24 [[ 9.17176910e-01 -3.98454452e-01 -4.53491212e-03 9.04221395e+01] [ 3.98449841e-01 9.17188120e-01 -1.91743725e-03 1.60973852e+01] [ 4.92337893e-03 -4.83058386e-05 9.99987879e-01 2.43190020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.160281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:90.45, Y:16.11, Z:0.24 [[ 9.16288489e-01 -4.00493248e-01 -4.53476891e-03 9.04481579e+01] [ 4.00488660e-01 9.16299708e-01 -1.91777589e-03 1.61068530e+01] [ 4.92326372e-03 -5.88875556e-05 9.99987879e-01 2.43014720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.190281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:90.47, Y:16.12, Z:0.24 [[ 9.15967889e-01 -4.01225953e-01 -4.53441710e-03 9.04732387e+01] [ 4.01221370e-01 9.15979110e-01 -1.91860735e-03 1.61172334e+01] [ 4.92322640e-03 -6.19223198e-05 9.99987879e-01 2.43570821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.220281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:90.50, Y:16.13, Z:0.25 [[ 9.16070169e-01 -4.00992376e-01 -4.53426341e-03 9.04991072e+01] [ 4.00987789e-01 9.16081389e-01 -1.91897049e-03 1.61282165e+01] [ 4.92324686e-03 -6.02726412e-05 9.99987879e-01 2.46676821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.250281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:90.52, Y:16.14, Z:0.25 [[ 9.17097457e-01 -3.98637297e-01 -4.53416204e-03 9.05244241e+01] [ 3.98632680e-01 9.17108665e-01 -1.91920998e-03 1.61391694e+01] [ 4.92338797e-03 -4.73625779e-05 9.99987879e-01 2.50458721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.280281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:90.55, Y:16.15, Z:0.25 [[ 9.17853584e-01 -3.96893239e-01 -4.53381322e-03 9.05495074e+01] [ 3.96888596e-01 9.17864781e-01 -1.92003366e-03 1.61494879e+01] [ 4.92347585e-03 -3.71089892e-05 9.99987879e-01 2.49752150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.31028169300001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:90.58, Y:16.16, Z:0.25 [[ 9.19320012e-01 -3.93484639e-01 -4.53366105e-03 9.05756372e+01] [ 3.93479953e-01 9.19331191e-01 -1.92039289e-03 1.61606917e+01] [ 4.92358112e-03 -1.84491295e-05 9.99987879e-01 2.48036209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.340281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:90.60, Y:16.17, Z:0.25 [[ 9.20117820e-01 -3.91615433e-01 -4.53330082e-03 9.06014426e+01] [ 3.91610720e-01 9.20128987e-01 -1.92124288e-03 1.61724051e+01] [ 4.92360985e-03 -7.51938493e-06 9.99987879e-01 2.47875603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.370281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:90.63, Y:16.18, Z:0.25 [[ 9.20898564e-01 -3.89775946e-01 -4.53294171e-03 9.06257894e+01] [ 3.89771207e-01 9.20909720e-01 -1.92208978e-03 1.61839674e+01] [ 4.92361444e-03 3.23956033e-06 9.99987879e-01 2.48778457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.400281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:90.65, Y:16.20, Z:0.25 [[ 9.22522417e-01 -3.85916889e-01 -4.53269716e-03 9.06498464e+01] [ 3.85912101e-01 9.22533552e-01 -1.92266632e-03 1.61989931e+01] [ 4.92355461e-03 2.44801005e-05 9.99987879e-01 2.50572701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.430281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:90.67, Y:16.21, Z:0.25 [[ 9.23316811e-01 -3.84012402e-01 -4.53235088e-03 9.06741747e+01] [ 3.84007587e-01 9.23327934e-01 -1.92348227e-03 1.62119719e+01] [ 4.92348722e-03 3.55263940e-05 9.99987879e-01 2.50305772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.460281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:90.70, Y:16.23, Z:0.25 [[ 9.24315134e-01 -3.81603190e-01 -4.53199533e-03 9.06969306e+01] [ 3.81598341e-01 9.24326243e-01 -1.92431962e-03 1.62270294e+01] [ 4.92336872e-03 4.92758439e-05 9.99987879e-01 2.45721967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.490281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:90.72, Y:16.24, Z:0.25 [[ 9.24492339e-01 -3.81173687e-01 -4.53164097e-03 9.07211357e+01] [ 3.81168829e-01 9.24503444e-01 -1.92515376e-03 1.62406990e+01] [ 4.92333564e-03 5.24696203e-05 9.99987879e-01 2.45163485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.520281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:90.74, Y:16.25, Z:0.25 [[ 9.24287626e-01 -3.81669821e-01 -4.53128750e-03 9.07440893e+01] [ 3.81664965e-01 9.24298731e-01 -1.92598538e-03 1.62546049e+01] [ 4.92335378e-03 5.07307634e-05 9.99987879e-01 2.45031466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.550281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:90.77, Y:16.27, Z:0.25 [[ 9.23817909e-01 -3.82805355e-01 -4.53104727e-03 9.07672302e+01] [ 3.82800510e-01 9.23829020e-01 -1.92655036e-03 1.62718841e+01] [ 4.92340676e-03 4.52945187e-05 9.99987879e-01 2.46449765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.580281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:90.79, Y:16.29, Z:0.25 [[ 9.23494245e-01 -3.83585521e-01 -4.53069783e-03 9.07921569e+01] [ 3.83580681e-01 9.23505358e-01 -1.92737179e-03 1.62858759e+01] [ 4.92343564e-03 4.20285973e-05 9.99987879e-01 2.48645474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.610281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:90.82, Y:16.30, Z:0.25 [[ 9.23294946e-01 -3.84064992e-01 -4.53034986e-03 9.08153391e+01] [ 3.84060154e-01 9.23306060e-01 -1.92818936e-03 1.63020906e+01] [ 4.92344951e-03 4.03606237e-05 9.99987879e-01 2.53854884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.640281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:90.84, Y:16.32, Z:0.26 [[ 9.23208969e-01 -3.84271619e-01 -4.53024190e-03 9.08396916e+01] [ 3.84266782e-01 9.23220083e-01 -1.92844298e-03 1.63162161e+01] [ 4.92345621e-03 3.95343783e-05 9.99987879e-01 2.56330541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.670281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:90.86, Y:16.33, Z:0.26 [[ 9.23078101e-01 -3.84585880e-01 -4.52989826e-03 9.08639720e+01] [ 3.84581043e-01 9.23089215e-01 -1.92924985e-03 1.63299927e+01] [ 4.92346248e-03 3.87352938e-05 9.99987879e-01 2.56282211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70028169300001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:90.89, Y:16.34, Z:0.25 [[ 9.22209712e-01 -3.86663587e-01 -4.52955540e-03 9.08875665e+01] [ 3.86658771e-01 9.22220836e-01 -1.93005449e-03 1.63447230e+01] [ 4.92353216e-03 2.85226664e-05 9.99987879e-01 2.51821604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.730281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.91, Y:16.36, Z:0.25 [[ 9.21575742e-01 -3.88172177e-01 -4.52919885e-03 9.09117062e+01] [ 3.88167375e-01 9.21586871e-01 -1.93089085e-03 1.63560348e+01] [ 4.92356830e-03 2.13749405e-05 9.99987879e-01 2.49161219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.760281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:90.94, Y:16.37, Z:0.25 [[ 9.20862273e-01 -3.89861723e-01 -4.52904404e-03 9.09358377e+01] [ 3.89856939e-01 9.20873410e-01 -1.93125389e-03 1.63670388e+01] [ 4.92359820e-03 1.27395975e-05 9.99987879e-01 2.47760774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.790281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:90.96, Y:16.38, Z:0.25 [[ 9.19242875e-01 -3.93664865e-01 -4.52889709e-03 9.09614154e+01] [ 3.93660127e-01 9.19254031e-01 -1.93159844e-03 1.63791159e+01] [ 4.92360934e-03 -7.23810019e-06 9.99987879e-01 2.48672502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.820281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:90.99, Y:16.39, Z:0.25 [[ 9.18445463e-01 -3.95521710e-01 -4.52856123e-03 9.09860921e+01] [ 3.95516990e-01 9.18456628e-01 -1.93238553e-03 1.63904198e+01] [ 4.92358750e-03 -1.63321762e-05 9.99987879e-01 2.48848961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.850281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:91.01, Y:16.40, Z:0.25 [[ 9.17392422e-01 -3.97958085e-01 -4.52841580e-03 9.10114986e+01] [ 3.97953393e-01 9.17403598e-01 -1.93272628e-03 1.64029242e+01] [ 4.92352899e-03 -2.90299884e-05 9.99987879e-01 2.49437568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.880281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:91.04, Y:16.41, Z:0.25 [[ 9.17379954e-01 -3.97986830e-01 -4.52808365e-03 9.10367461e+01] [ 3.97982134e-01 9.17391128e-01 -1.93350414e-03 1.64138049e+01] [ 4.92353295e-03 -2.83384573e-05 9.99987879e-01 2.49437178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.910281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:91.06, Y:16.43, Z:0.25 [[ 9.17918060e-01 -3.96744168e-01 -4.52775390e-03 9.10609902e+01] [ 3.96739453e-01 9.17929226e-01 -1.93427601e-03 1.64251429e+01] [ 4.92357036e-03 -2.08317261e-05 9.99987879e-01 2.50230476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.940281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:91.09, Y:16.44, Z:0.25 [[ 9.18251362e-01 -3.95972142e-01 -4.52761030e-03 9.10861477e+01] [ 3.95967417e-01 9.18262524e-01 -1.93461209e-03 1.64370688e+01] [ 4.92358735e-03 -1.63259681e-05 9.99987879e-01 2.50551454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.970281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:91.11, Y:16.45, Z:0.25 [[ 9.18601454e-01 -3.95159299e-01 -4.52726384e-03 9.11117277e+01] [ 3.95154560e-01 9.18612610e-01 -1.93542250e-03 1.64487848e+01] [ 4.92360186e-03 -1.10870279e-05 9.99987879e-01 2.49595652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.000281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:91.14, Y:16.46, Z:0.25 [[ 9.19308527e-01 -3.93511549e-01 -4.52691510e-03 9.11382405e+01] [ 3.93506785e-01 9.19319673e-01 -1.93623786e-03 1.64592072e+01] [ 4.92361407e-03 -1.37183607e-06 9.99987879e-01 2.47384486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.030281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:91.16, Y:16.47, Z:0.25 [[ 9.19593596e-01 -3.92844916e-01 -4.52659753e-03 9.11624838e+01] [ 3.92840140e-01 9.19604737e-01 -1.93698000e-03 1.64702355e+01] [ 4.92361328e-03 3.00519067e-06 9.99987879e-01 2.46226269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06028169300001 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:91.19, Y:16.48, Z:0.25 [[ 9.19977680e-01 -3.91944613e-01 -4.52643919e-03 9.11867145e+01] [ 3.91939825e-01 9.19988815e-01 -1.93734995e-03 1.64836140e+01] [ 4.92360730e-03 8.22692754e-06 9.99987879e-01 2.49834701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.090281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:91.21, Y:16.50, Z:0.25 [[ 9.19850013e-01 -3.92244141e-01 -4.52627387e-03 9.12124517e+01] [ 3.92239355e-01 9.19861149e-01 -1.93773612e-03 1.64952049e+01] [ 4.92360912e-03 7.04385112e-06 9.99987879e-01 2.53376364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.120281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:91.24, Y:16.51, Z:0.26 [[ 9.19611060e-01 -3.92804041e-01 -4.52592493e-03 9.12382455e+01] [ 3.92799258e-01 9.19622197e-01 -1.93855078e-03 1.65061895e+01] [ 4.92361161e-03 4.93278415e-06 9.99987879e-01 2.55586417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.150281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:91.26, Y:16.52, Z:0.26 [[ 9.19363249e-01 -3.93383699e-01 -4.52557332e-03 9.12641269e+01] [ 3.93378919e-01 9.19374388e-01 -1.93937128e-03 1.65175614e+01] [ 4.92361325e-03 2.72154474e-06 9.99987879e-01 2.56526838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.180281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:91.29, Y:16.53, Z:0.26 [[ 9.18862044e-01 -3.94552996e-01 -4.52522197e-03 9.12892559e+01] [ 3.94548225e-01 9.18873187e-01 -1.94019075e-03 1.65305419e+01] [ 4.92361320e-03 -2.65066167e-06 9.99987879e-01 2.55469009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.210281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:91.32, Y:16.54, Z:0.26 [[ 9.16717936e-01 -3.99509388e-01 -4.52486995e-03 9.13161238e+01] [ 3.99504674e-01 9.16729103e-01 -1.94101138e-03 1.65416806e+01] [ 4.92353224e-03 -2.83467451e-05 9.99987879e-01 2.56313805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.240281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:91.34, Y:16.55, Z:0.26 [[ 9.15302548e-01 -4.02741512e-01 -4.52982948e-03 9.13416696e+01] [ 4.02736895e-01 9.15313755e-01 -1.92945738e-03 1.65505595e+01] [ 4.92328782e-03 -5.82921986e-05 9.99987879e-01 2.57549822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.270281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:91.37, Y:16.56, Z:0.26 [[ 9.13111940e-01 -4.07683845e-01 -4.52401613e-03 9.13677348e+01] [ 4.07679221e-01 9.13123145e-01 -1.94299304e-03 1.65596374e+01] [ 4.92311071e-03 -7.01772328e-05 9.99987879e-01 2.58422569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.300281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:91.39, Y:16.57, Z:0.26 [[ 9.10766157e-01 -4.12897741e-01 -4.52364359e-03 9.13940293e+01] [ 4.12893177e-01 9.10777385e-01 -1.94385999e-03 1.65678752e+01] [ 4.92264768e-03 -9.73796766e-05 9.99987879e-01 2.58125512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.330281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:91.42, Y:16.57, Z:0.26 [[ 9.06466310e-01 -4.22253915e-01 -4.52338974e-03 9.14221629e+01] [ 4.22249463e-01 9.06477584e-01 -1.94445053e-03 1.65700842e+01] [ 4.92140325e-03 -1.47419999e-04 9.99987879e-01 2.55917724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.360281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:91.45, Y:16.57, Z:0.26 [[ 9.03666054e-01 -4.28213968e-01 -4.52323031e-03 9.14518261e+01] [ 4.28209589e-01 9.03677357e-01 -1.94482133e-03 1.65725092e+01] [ 4.92034047e-03 -1.79421571e-04 9.99987879e-01 2.55693747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.390281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:91.48, Y:16.58, Z:0.26 [[ 9.02930404e-01 -4.29762992e-01 -4.52286847e-03 9.14793189e+01] [ 4.29758628e-01 9.02941712e-01 -1.94566246e-03 1.65800922e+01] [ 4.92006032e-03 -1.86943957e-04 9.99987879e-01 2.55868517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.420281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:91.51, Y:16.59, Z:0.26 [[ 9.02678656e-01 -4.30291518e-01 -4.52250781e-03 9.15066587e+01] [ 4.30287157e-01 9.02689965e-01 -1.94650041e-03 1.65872253e+01] [ 4.91998504e-03 -1.88912658e-04 9.99987879e-01 2.55818863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.45028169300001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:91.53, Y:16.59, Z:0.26 [[ 9.02808339e-01 -4.30019363e-01 -4.52214859e-03 9.15338856e+01] [ 4.30014995e-01 9.02819646e-01 -1.94733460e-03 1.65934054e+01] [ 4.92007617e-03 -1.86521788e-04 9.99987879e-01 2.55839488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.480281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:91.56, Y:16.60, Z:0.26 [[ 9.02730740e-01 -4.30182244e-01 -4.52199224e-03 9.15599470e+01] [ 4.30177875e-01 9.02742046e-01 -1.94769761e-03 1.66048178e+01] [ 4.92005746e-03 -1.87014509e-04 9.99987879e-01 2.55979638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.510281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:91.59, Y:16.61, Z:0.26 [[ 9.03632174e-01 -4.28285475e-01 -4.52164068e-03 9.15904288e+01] [ 4.28281079e-01 9.03643470e-01 -1.94851342e-03 1.66055234e+01] [ 4.92047107e-03 -1.75793731e-04 9.99987879e-01 2.57336204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.540281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:91.62, Y:16.61, Z:0.26 [[ 9.04303741e-01 -4.26865671e-01 -4.52129054e-03 9.16177785e+01] [ 4.26861253e-01 9.04315028e-01 -1.94932554e-03 1.66112429e+01] [ 4.92077114e-03 -1.67181368e-04 9.99987879e-01 2.58361315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.570281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:91.65, Y:16.61, Z:0.26 [[ 9.05870126e-01 -4.23531433e-01 -4.52113839e-03 9.16475921e+01] [ 4.23526971e-01 9.05881396e-01 -1.94967838e-03 1.66138485e+01] [ 4.92136523e-03 -1.48668651e-04 9.99987879e-01 2.59645581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.600281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:91.68, Y:16.62, Z:0.26 [[ 9.06572315e-01 -4.22026303e-01 -4.52078804e-03 9.16750888e+01] [ 4.22021818e-01 9.06583576e-01 -1.95049041e-03 1.66210799e+01] [ 4.92163044e-03 -1.39610585e-04 9.99987879e-01 2.58474561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.630281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:91.70, Y:16.63, Z:0.26 [[ 9.07225536e-01 -4.20620248e-01 -4.52043401e-03 9.17027161e+01] [ 4.20615742e-01 9.07236788e-01 -1.95131055e-03 1.66288422e+01] [ 4.92186476e-03 -1.31086943e-04 9.99987879e-01 2.56823590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.660281693 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:91.73, Y:16.63, Z:0.25 [[ 9.08569476e-01 -4.17709321e-01 -4.52007792e-03 9.17309705e+01] [ 4.17704775e-01 9.08580712e-01 -1.95213505e-03 1.66347507e+01] [ 4.92228062e-03 -1.14407807e-04 9.99987879e-01 2.53510680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.690281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:91.76, Y:16.64, Z:0.25 [[ 9.09990146e-01 -4.14605240e-01 -4.51996711e-03 9.17580211e+01] [ 4.14600654e-01 9.10001366e-01 -1.95239160e-03 1.66407953e+01] [ 4.92264803e-03 -9.73242039e-05 9.99987879e-01 2.52394604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.720281693 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:91.78, Y:16.65, Z:0.25 [[ 9.10595144e-01 -4.13274793e-01 -4.51981362e-03 9.17846216e+01] [ 4.13270189e-01 9.10606357e-01 -1.95274687e-03 1.66485497e+01] [ 4.92279207e-03 -8.97424109e-05 9.99987879e-01 2.53917500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.750281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:91.81, Y:16.66, Z:0.25 [[ 9.11178260e-01 -4.11987563e-01 -4.51944091e-03 9.18102492e+01] [ 4.11982940e-01 9.11189465e-01 -1.95360908e-03 1.66560280e+01] [ 4.92292959e-03 -8.18464305e-05 9.99987879e-01 2.53480994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.780281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:91.84, Y:16.66, Z:0.25 [[ 9.11906209e-01 -4.10373783e-01 -4.51927830e-03 9.18373669e+01] [ 4.10369138e-01 9.11917405e-01 -1.95398518e-03 1.66644006e+01] [ 4.92307283e-03 -7.27211221e-05 9.99987879e-01 2.54540164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.81028169300001 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:91.87, Y:16.67, Z:0.26 [[ 9.13393130e-01 -4.07053521e-01 -4.51892884e-03 9.18652081e+01] [ 4.07048831e-01 9.13404307e-01 -1.95479303e-03 1.66705121e+01] [ 4.92331445e-03 -5.39301784e-05 9.99987879e-01 2.55729017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.840281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:91.89, Y:16.68, Z:0.26 [[ 9.15071599e-01 -4.03266105e-01 -4.51856967e-03 9.18925743e+01] [ 4.03261364e-01 9.15082755e-01 -1.95562290e-03 1.66756753e+01] [ 4.92350161e-03 -3.26295913e-05 9.99987879e-01 2.55062584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.870281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:91.92, Y:16.68, Z:0.26 [[ 9.16105849e-01 -4.00911035e-01 -4.51821092e-03 9.19188460e+01] [ 4.00906262e-01 9.16116991e-01 -1.95645139e-03 1.66843553e+01] [ 4.92357275e-03 -1.90624874e-05 9.99987879e-01 2.55069379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.900281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:91.95, Y:16.69, Z:0.26 [[ 9.17234486e-01 -3.98322089e-01 -4.51784730e-03 9.19453654e+01] [ 3.98317280e-01 9.17245612e-01 -1.95729070e-03 1.66937071e+01] [ 4.92360774e-03 -4.24211514e-06 9.99987879e-01 2.55543539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.930281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:91.97, Y:16.70, Z:0.26 [[ 9.18528617e-01 -3.95328688e-01 -4.51748592e-03 9.19709146e+01] [ 3.95323839e-01 9.18539726e-01 -1.95812444e-03 1.67028956e+01] [ 4.92359304e-03 1.27234572e-05 9.99987879e-01 2.56007295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.960281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:92.00, Y:16.71, Z:0.26 [[ 9.20900536e-01 -3.89771466e-01 -4.51732800e-03 9.19980451e+01] [ 3.89766548e-01 9.20911615e-01 -1.95848867e-03 1.67108492e+01] [ 4.92342283e-03 4.28699248e-05 9.99987879e-01 2.57039689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.990281693 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:92.02, Y:16.72, Z:0.26 [[ 9.22154832e-01 -3.86794600e-01 -4.51699002e-03 9.20237810e+01] [ 3.86789642e-01 9.22165893e-01 -1.95926787e-03 1.67212970e+01] [ 4.92324837e-03 5.96233751e-05 9.99987879e-01 2.58022186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.020281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:92.05, Y:16.73, Z:0.26 [[ 9.22224794e-01 -3.86627767e-01 -4.51662085e-03 9.20486811e+01] [ 3.86622803e-01 9.22235852e-01 -1.96011855e-03 1.67326404e+01] [ 4.92322593e-03 6.14413096e-05 9.99987879e-01 2.57514765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.050281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:92.07, Y:16.74, Z:0.26 [[ 9.21729129e-01 -3.87807961e-01 -4.51646008e-03 9.20744753e+01] [ 3.87803009e-01 9.21740193e-01 -1.96048890e-03 1.67444078e+01] [ 4.92329599e-03 5.55429174e-05 9.99987879e-01 2.59485352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.080281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:92.10, Y:16.76, Z:0.26 [[ 9.19544717e-01 -3.92959437e-01 -4.51609364e-03 9.21002509e+01] [ 3.92954543e-01 9.19555806e-01 -1.96133265e-03 1.67551773e+01] [ 4.92352431e-03 2.89135623e-05 9.99987879e-01 2.63591134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.110281693 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:92.13, Y:16.77, Z:0.26 [[ 9.18013190e-01 -3.96524138e-01 -4.51572737e-03 9.21252724e+01] [ 3.96519283e-01 9.18024296e-01 -1.96217558e-03 1.67657068e+01] [ 4.92359743e-03 1.07300847e-05 9.99987879e-01 2.64544762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.140281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:92.15, Y:16.78, Z:0.26 [[ 9.16297958e-01 -4.00471798e-01 -4.51556838e-03 9.21505186e+01] [ 4.00466990e-01 9.16309085e-01 -1.96254141e-03 1.67771683e+01] [ 4.92359882e-03 -1.00633916e-05 9.99987879e-01 2.63687898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.170281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:92.18, Y:16.79, Z:0.26 [[ 9.13583339e-01 -4.06626483e-01 -4.51519685e-03 9.21754875e+01] [ 4.06621745e-01 9.13594495e-01 -1.96339580e-03 1.67875260e+01] [ 4.92342772e-03 -4.22515325e-05 9.99987879e-01 2.60854478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20028169300001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:92.20, Y:16.80, Z:0.26 [[ 9.12745392e-01 -4.08503933e-01 -4.51503592e-03 9.22002074e+01] [ 4.08499216e-01 9.12756558e-01 -1.96376581e-03 1.67973046e+01] [ 4.92333471e-03 -5.19704406e-05 9.99987879e-01 2.60999152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.230281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:92.23, Y:16.81, Z:0.26 [[ 9.12031545e-01 -4.10095205e-01 -4.51487912e-03 9.22264287e+01] [ 4.10090506e-01 9.12042718e-01 -1.96412626e-03 1.68065401e+01] [ 4.92324138e-03 -6.01639556e-05 9.99987879e-01 2.62215160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.260281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:92.25, Y:16.82, Z:0.26 [[ 9.12053488e-01 -4.10046405e-01 -4.51450963e-03 9.22508603e+01] [ 4.10041701e-01 9.12064659e-01 -1.96497516e-03 1.68170907e+01] [ 4.92325568e-03 -5.89747617e-05 9.99987879e-01 2.61262276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.290281693 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:92.28, Y:16.83, Z:0.26 [[ 9.12337402e-01 -4.09414320e-01 -4.51434927e-03 9.22755036e+01] [ 4.09409606e-01 9.12348569e-01 -1.96534349e-03 1.68282154e+01] [ 4.92329987e-03 -5.51615879e-05 9.99987879e-01 2.59552524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.320281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:92.30, Y:16.84, Z:0.26 [[ 9.12628483e-01 -4.08765060e-01 -4.51418998e-03 9.23009345e+01] [ 4.08760337e-01 9.12639646e-01 -1.96570930e-03 1.68399087e+01] [ 4.92334202e-03 -5.12595237e-05 9.99987879e-01 2.59068915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.350281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:92.33, Y:16.85, Z:0.26 [[ 9.12847742e-01 -4.08275183e-01 -4.51382242e-03 9.23260191e+01] [ 4.08270450e-01 9.12858901e-01 -1.96655296e-03 1.68510634e+01] [ 4.92337774e-03 -4.76968762e-05 9.99987879e-01 2.60424015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.380281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:92.35, Y:16.86, Z:0.26 [[ 9.12436608e-01 -4.09193184e-01 -4.51370854e-03 9.23518385e+01] [ 4.09188461e-01 9.12447771e-01 -1.96681429e-03 1.68628546e+01] [ 4.92333031e-03 -5.23640880e-05 9.99987879e-01 2.64127414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.410281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:92.38, Y:16.87, Z:0.26 [[ 9.11974362e-01 -4.10222369e-01 -4.51334250e-03 9.23777458e+01] [ 4.10217654e-01 9.11985529e-01 -1.96765392e-03 1.68740607e+01] [ 4.92327870e-03 -5.70028381e-05 9.99987879e-01 2.63764453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.440281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:92.40, Y:16.88, Z:0.26 [[ 9.11481915e-01 -4.11315393e-01 -4.51296425e-03 9.24025255e+01] [ 4.11310687e-01 9.11493085e-01 -1.96852107e-03 1.68841306e+01] [ 4.92321873e-03 -6.19590729e-05 9.99987879e-01 2.61893496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.470281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:92.43, Y:16.89, Z:0.26 [[ 9.10912942e-01 -4.12573930e-01 -4.51280005e-03 9.24282317e+01] [ 4.12569237e-01 9.10924118e-01 -1.96889742e-03 1.68946166e+01] [ 4.92313415e-03 -6.83483348e-05 9.99987879e-01 2.60558403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.500281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:92.45, Y:16.90, Z:0.26 [[ 9.10247942e-01 -4.14039035e-01 -4.51243459e-03 9.24545887e+01] [ 4.14034356e-01 9.10259124e-01 -1.96973465e-03 1.69042277e+01] [ 4.92303179e-03 -7.53560395e-05 9.99987879e-01 2.57819647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.530281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:92.48, Y:16.91, Z:0.26 [[ 9.10244301e-01 -4.14047039e-01 -4.51232101e-03 9.24807879e+01] [ 4.14042359e-01 9.10255483e-01 -1.96999482e-03 1.69146687e+01] [ 4.92303546e-03 -7.51154756e-05 9.99987879e-01 2.58691789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56028169300001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:92.51, Y:16.92, Z:0.26 [[ 9.11048861e-01 -4.12273713e-01 -4.51195919e-03 9.25070531e+01] [ 4.12269008e-01 9.11060032e-01 -1.97082316e-03 1.69238377e+01] [ 4.92318426e-03 -6.46247462e-05 9.99987879e-01 2.62356672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.590281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:92.53, Y:16.93, Z:0.26 [[ 9.11399924e-01 -4.11497049e-01 -4.51178954e-03 9.25333096e+01] [ 4.11492332e-01 9.11411090e-01 -1.97121145e-03 1.69344101e+01] [ 4.92324272e-03 -6.00048348e-05 9.99987879e-01 2.63361586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.620281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:92.56, Y:16.95, Z:0.26 [[ 9.11623955e-01 -4.11000500e-01 -4.51143026e-03 9.25594470e+01] [ 4.10995773e-01 9.11635117e-01 -1.97203339e-03 1.69450108e+01] [ 4.92328496e-03 -5.64258797e-05 9.99987879e-01 2.62881557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.650281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:92.59, Y:16.95, Z:0.26 [[ 9.11578681e-01 -4.11100910e-01 -4.51107139e-03 9.25866410e+01] [ 4.11096180e-01 9.11589841e-01 -1.97285398e-03 1.69534626e+01] [ 4.92328891e-03 -5.60725877e-05 9.99987879e-01 2.61222756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.680281693 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:92.61, Y:16.96, Z:0.26 [[ 9.11568601e-01 -4.11123265e-01 -4.51070433e-03 9.26123165e+01] [ 4.11118531e-01 9.11579760e-01 -1.97369284e-03 1.69621799e+01] [ 4.92329782e-03 -5.52777153e-05 9.99987879e-01 2.59338845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.710281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:92.64, Y:16.97, Z:0.26 [[ 9.11411137e-01 -4.11472229e-01 -4.51054483e-03 9.26398665e+01] [ 4.11467497e-01 9.11422296e-01 -1.97405729e-03 1.69690378e+01] [ 4.92328088e-03 -5.67647931e-05 9.99987879e-01 2.59509500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.740281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:92.67, Y:16.98, Z:0.26 [[ 9.11499440e-01 -4.11276585e-01 -4.51019383e-03 9.26662918e+01] [ 4.11271848e-01 9.11510596e-01 -1.97485892e-03 1.69786543e+01] [ 4.92330270e-03 -5.48329535e-05 9.99987879e-01 2.61236580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.770281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:92.69, Y:16.99, Z:0.27 [[ 9.11987009e-01 -4.10194291e-01 -4.50983470e-03 9.26932273e+01] [ 4.10189536e-01 9.11998159e-01 -1.97567869e-03 1.69869637e+01] [ 4.92337306e-03 -4.80937008e-05 9.99987879e-01 2.65665155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.800281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:92.72, Y:17.00, Z:0.27 [[ 9.12245762e-01 -4.09618524e-01 -4.50946951e-03 9.27190331e+01] [ 4.09613758e-01 9.12256906e-01 -1.97651188e-03 1.69961535e+01] [ 4.92341058e-03 -4.40761702e-05 9.99987879e-01 2.67463657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.830281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:92.75, Y:17.00, Z:0.27 [[ 9.12959783e-01 -4.08024633e-01 -4.50931105e-03 9.27460296e+01] [ 4.08019846e-01 9.12970918e-01 -1.97687334e-03 1.70047581e+01] [ 4.92348287e-03 -3.50825494e-05 9.99987879e-01 2.69396311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.860281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:92.77, Y:17.01, Z:0.27 [[ 9.13426771e-01 -4.06978135e-01 -4.50893530e-03 9.27711696e+01] [ 4.06973331e-01 9.13437900e-01 -1.97772999e-03 1.70146736e+01] [ 4.92352525e-03 -2.85048991e-05 9.99987879e-01 2.70014141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.890281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:92.80, Y:17.02, Z:0.27 [[ 9.13975964e-01 -4.05743279e-01 -4.50867935e-03 9.27969662e+01] [ 4.05738456e-01 9.13987085e-01 -1.97831331e-03 1.70245637e+01] [ 4.92356203e-03 -2.12137840e-05 9.99987879e-01 2.70430522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.920281693 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:92.82, Y:17.03, Z:0.27 [[ 9.15214070e-01 -4.02942777e-01 -4.50831220e-03 9.28222869e+01] [ 4.02937917e-01 9.15225174e-01 -1.97914964e-03 1.70333789e+01] [ 4.92360487e-03 -5.22433133e-06 9.99987879e-01 2.70148110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.95028169300001 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:92.85, Y:17.04, Z:0.27 [[ 9.15814781e-01 -4.01575604e-01 -4.50794684e-03 9.28479934e+01] [ 4.01570723e-01 9.15825875e-01 -1.97998148e-03 1.70445872e+01] [ 4.92360662e-03 3.03683056e-06 9.99987879e-01 2.69286006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.980281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:92.87, Y:17.06, Z:0.27 [[ 9.17095311e-01 -3.98642538e-01 -4.50758101e-03 9.28735819e+01] [ 3.98637617e-01 9.17106388e-01 -1.98081398e-03 1.70559346e+01] [ 4.92356805e-03 1.97038669e-05 9.99987879e-01 2.66023510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.010281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:92.90, Y:17.07, Z:0.26 [[ 9.17825378e-01 -3.96958764e-01 -4.50720962e-03 9.28988153e+01] [ 3.96953818e-01 9.17836445e-01 -1.98165867e-03 1.70665480e+01] [ 4.92351803e-03 2.96625523e-05 9.99987879e-01 2.64952418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.040281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:92.92, Y:17.08, Z:0.27 [[ 9.18481596e-01 -3.95438041e-01 -4.50704768e-03 9.29240400e+01] [ 3.95433076e-01 9.18492653e-01 -1.98202694e-03 1.70776334e+01] [ 4.92345903e-03 3.82195406e-05 9.99987879e-01 2.65378241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.070281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:92.95, Y:17.09, Z:0.27 [[ 9.19693189e-01 -3.92611931e-01 -4.50667787e-03 9.29487818e+01] [ 3.92606928e-01 9.19704229e-01 -1.98286743e-03 1.70912514e+01] [ 4.92330811e-03 5.42767184e-05 9.99987879e-01 2.67458729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.100281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.97, Y:17.10, Z:0.27 [[ 9.20092390e-01 -3.91675488e-01 -4.50630710e-03 9.29740848e+01] [ 3.91670469e-01 9.20103423e-01 -1.98370969e-03 1.71035854e+01] [ 4.92323905e-03 6.02087756e-05 9.99987879e-01 2.68779723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.130281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:93.00, Y:17.12, Z:0.27 [[ 9.20987093e-01 -3.89567031e-01 -4.50592266e-03 9.29979555e+01] [ 3.89561982e-01 9.20998113e-01 -1.98458255e-03 1.71151597e+01] [ 4.92307420e-03 7.24387451e-05 9.99987879e-01 2.68223678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.160281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:93.02, Y:17.13, Z:0.27 [[ 9.21293541e-01 -3.88841755e-01 -4.50566091e-03 9.30229698e+01] [ 3.88836695e-01 9.21304555e-01 -1.98517664e-03 1.71280794e+01] [ 4.92300549e-03 7.69641167e-05 9.99987879e-01 2.66792525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.190281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:93.05, Y:17.14, Z:0.26 [[ 9.22087879e-01 -3.86954320e-01 -4.50530127e-03 9.30455449e+01] [ 3.86949234e-01 9.22098881e-01 -1.98599250e-03 1.71441537e+01] [ 4.92282164e-03 8.79367371e-05 9.99987879e-01 2.62423004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.220281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:93.07, Y:17.16, Z:0.26 [[ 9.22320599e-01 -3.86399299e-01 -4.50494261e-03 9.30701666e+01] [ 3.86394202e-01 9.22331596e-01 -1.98680574e-03 1.71580315e+01] [ 4.92275125e-03 9.17881574e-05 9.99987879e-01 2.62847101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.250281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:93.09, Y:17.17, Z:0.26 [[ 9.22377881e-01 -3.86262544e-01 -4.50457985e-03 9.30945642e+01] [ 3.86257441e-01 9.22388876e-01 -1.98762787e-03 1.71711583e+01] [ 4.92272054e-03 9.34164951e-05 9.99987879e-01 2.64011169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.280281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:93.12, Y:17.18, Z:0.27 [[ 9.22293127e-01 -3.86464876e-01 -4.50421808e-03 9.31193941e+01] [ 3.86459772e-01 9.22304120e-01 -1.98844733e-03 1.71841613e+01] [ 4.92272395e-03 9.32322149e-05 9.99987879e-01 2.66803666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.31028169300001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:93.14, Y:17.20, Z:0.27 [[ 9.22062281e-01 -3.87015329e-01 -4.50384240e-03 9.31433831e+01] [ 3.87010227e-01 9.22073276e-01 -1.98929790e-03 1.71989027e+01] [ 4.92276150e-03 9.12234917e-05 9.99987879e-01 2.69711627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.340281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:93.17, Y:17.21, Z:0.27 [[ 9.21526186e-01 -3.88290104e-01 -4.50372624e-03 9.31678607e+01] [ 3.88285016e-01 9.21537188e-01 -1.98956084e-03 1.72116622e+01] [ 4.92287800e-03 8.47029953e-05 9.99987879e-01 2.69858026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.370281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:93.19, Y:17.22, Z:0.27 [[ 9.21450966e-01 -3.88468580e-01 -4.50334009e-03 9.31938214e+01] [ 3.88463490e-01 9.21461966e-01 -1.99043451e-03 1.72233421e+01] [ 4.92287788e-03 8.47045981e-05 9.99987879e-01 2.69998266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.400281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:93.22, Y:17.24, Z:0.27 [[ 9.20505082e-01 -3.90704643e-01 -4.50295441e-03 9.32174511e+01] [ 3.90699575e-01 9.20516093e-01 -1.99130664e-03 1.72364047e+01] [ 4.92305475e-03 7.37055099e-05 9.99987879e-01 2.67827642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.430281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:93.24, Y:17.25, Z:0.27 [[ 9.19930419e-01 -3.92055798e-01 -4.50278683e-03 9.32412336e+01] [ 3.92050744e-01 9.19941437e-01 -1.99168550e-03 1.72482375e+01] [ 4.92315204e-03 6.68911498e-05 9.99987879e-01 2.66137160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.460281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:93.27, Y:17.26, Z:0.27 [[ 9.19203626e-01 -3.93756804e-01 -4.50262348e-03 9.32665240e+01] [ 3.93751769e-01 9.19214652e-01 -1.99205472e-03 1.72608395e+01] [ 4.92326258e-03 5.81879615e-05 9.99987879e-01 2.66434891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.490281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:93.29, Y:17.27, Z:0.27 [[ 9.18040210e-01 -3.96461729e-01 -4.50225108e-03 9.32915122e+01] [ 3.96456723e-01 9.18051249e-01 -1.99289602e-03 1.72744096e+01] [ 4.92340423e-03 4.46109746e-05 9.99987879e-01 2.67804268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.520281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:93.32, Y:17.29, Z:0.27 [[ 9.17655346e-01 -3.97351732e-01 -4.50187610e-03 9.33157141e+01] [ 3.97346732e-01 9.17666388e-01 -1.99374275e-03 1.72867124e+01] [ 4.92343751e-03 4.07629370e-05 9.99987879e-01 2.68087139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.550281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:93.34, Y:17.30, Z:0.27 [[ 9.17153576e-01 -3.98508534e-01 -4.50171306e-03 9.33404655e+01] [ 3.98503546e-01 9.17164624e-01 -1.99411080e-03 1.72992836e+01] [ 4.92348214e-03 3.49572352e-05 9.99987879e-01 2.68080802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.580281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:93.37, Y:17.31, Z:0.27 [[ 9.16156938e-01 -4.00794465e-01 -4.50134073e-03 9.33653272e+01] [ 4.00789501e-01 9.16167995e-01 -1.99495091e-03 1.73126793e+01] [ 4.92354960e-03 2.35980103e-05 9.99987879e-01 2.66941813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.610281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:93.39, Y:17.32, Z:0.27 [[ 9.15615695e-01 -4.02029402e-01 -4.50096585e-03 9.33890721e+01] [ 4.02024449e-01 9.15626758e-01 -1.99579636e-03 1.73245295e+01] [ 4.92357358e-03 1.78841592e-05 9.99987879e-01 2.66903574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.640281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:93.41, Y:17.34, Z:0.27 [[ 9.14077113e-01 -4.05515442e-01 -4.50080347e-03 9.34144422e+01] [ 4.05510529e-01 9.14088194e-01 -1.99616248e-03 1.73374167e+01] [ 4.92360602e-03 -4.76753502e-07 9.99987879e-01 2.67469941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.670281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:93.44, Y:17.35, Z:0.27 [[ 9.13076014e-01 -4.07764564e-01 -4.50043130e-03 9.34399955e+01] [ 4.07759674e-01 9.13087105e-01 -1.99700120e-03 1.73487589e+01] [ 4.92359211e-03 -1.16805024e-05 9.99987879e-01 2.67847284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70028169300001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:93.47, Y:17.36, Z:0.27 [[ 9.12097802e-01 -4.09947984e-01 -4.50006015e-03 9.34653973e+01] [ 4.09943116e-01 9.12108903e-01 -1.99783721e-03 1.73596330e+01] [ 4.92355426e-03 -2.25457547e-05 9.99987879e-01 2.68862680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.730281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:93.49, Y:17.37, Z:0.27 [[ 9.10732152e-01 -4.12973002e-01 -4.49968818e-03 9.34903466e+01] [ 4.12968167e-01 9.10743267e-01 -1.99867463e-03 1.73694287e+01] [ 4.92345937e-03 -3.79707305e-05 9.99987879e-01 2.71846907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.760281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:93.52, Y:17.38, Z:0.27 [[ 9.10301906e-01 -4.13920516e-01 -4.49952628e-03 9.35165075e+01] [ 4.13915691e-01 9.10313026e-01 -1.99903903e-03 1.73803730e+01] [ 4.92342065e-03 -4.26954892e-05 9.99987879e-01 2.73681230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.790281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:93.54, Y:17.39, Z:0.27 [[ 9.10513323e-01 -4.13455252e-01 -4.49916407e-03 9.35418030e+01] [ 4.13450418e-01 9.10524438e-01 -1.99985391e-03 1.73904751e+01] [ 4.92344894e-03 -3.92876365e-05 9.99987879e-01 2.73524624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.820281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:93.57, Y:17.40, Z:0.27 [[ 9.11025212e-01 -4.12326111e-01 -4.49891774e-03 9.35677688e+01] [ 4.12321260e-01 9.11036320e-01 -2.00040791e-03 1.74014287e+01] [ 4.92349788e-03 -3.25773927e-05 9.99987879e-01 2.71924756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.850281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:93.59, Y:17.41, Z:0.27 [[ 9.11674932e-01 -4.10887554e-01 -4.49855783e-03 9.35925102e+01] [ 4.10882681e-01 9.11686030e-01 -2.00121695e-03 1.74119051e+01] [ 4.92354747e-03 -2.39201759e-05 9.99987879e-01 2.70889432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.880281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:93.62, Y:17.42, Z:0.27 [[ 9.13451299e-01 -4.06923198e-01 -4.49840149e-03 9.36172107e+01] [ 4.06918275e-01 9.13462375e-01 -2.00156833e-03 1.74227990e+01] [ 4.92360509e-03 -2.14657958e-06 9.99987879e-01 2.70622606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.910281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:93.64, Y:17.43, Z:0.27 [[ 9.14501623e-01 -4.04557223e-01 -4.49824600e-03 9.36422342e+01] [ 4.04552270e-01 9.14512686e-01 -2.00191771e-03 1.74349337e+01] [ 4.92359330e-03 1.09813689e-05 9.99987879e-01 2.69899356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.940281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:93.67, Y:17.45, Z:0.27 [[ 9.16814998e-01 -3.99286900e-01 -4.49789059e-03 9.36660333e+01] [ 3.99281879e-01 9.16826030e-01 -2.00271592e-03 1.74475018e+01] [ 4.92344141e-03 4.01937837e-05 9.99987879e-01 2.69221386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.970281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:93.69, Y:17.46, Z:0.27 [[ 9.17875324e-01 -3.96843369e-01 -4.49773641e-03 9.36913781e+01] [ 3.96838317e-01 9.17886343e-01 -2.00306212e-03 1.74603160e+01] [ 4.92331274e-03 5.36871468e-05 9.99987879e-01 2.70411984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.000281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:93.72, Y:17.47, Z:0.27 [[ 9.18558991e-01 -3.95258337e-01 -4.49738390e-03 9.37152598e+01] [ 3.95253263e-01 9.18569999e-01 -2.00385329e-03 1.74723888e+01] [ 4.92320164e-03 6.30517935e-05 9.99987879e-01 2.72687601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.030281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:93.74, Y:17.48, Z:0.28 [[ 9.18503462e-01 -3.95387362e-01 -4.49714325e-03 9.37406078e+01] [ 3.95382287e-01 9.18514469e-01 -2.00439321e-03 1.74848103e+01] [ 4.92320289e-03 6.29513247e-05 9.99987879e-01 2.75800401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06028169300001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:93.77, Y:17.49, Z:0.27 [[ 9.17834261e-01 -3.96938344e-01 -4.49676393e-03 9.37664043e+01] [ 3.96933283e-01 9.17845274e-01 -2.00524384e-03 1.74931916e+01] [ 4.92329169e-03 5.55662265e-05 9.99987879e-01 2.73484554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.090281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:93.79, Y:17.50, Z:0.27 [[ 9.17620563e-01 -3.97432112e-01 -4.49650506e-03 9.37929897e+01] [ 3.97427054e-01 9.17631578e-01 -2.00582416e-03 1.75031648e+01] [ 4.92331397e-03 5.35527387e-05 9.99987879e-01 2.71442674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.120281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:93.82, Y:17.51, Z:0.27 [[ 9.17495728e-01 -3.97720220e-01 -4.49615732e-03 9.38191549e+01] [ 3.97715161e-01 9.17506743e-01 -2.00660333e-03 1.75142794e+01] [ 4.92332138e-03 5.28600545e-05 9.99987879e-01 2.70859481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.150281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:93.84, Y:17.53, Z:0.27 [[ 9.17699103e-01 -3.97250733e-01 -4.49581054e-03 9.38444499e+01] [ 3.97245665e-01 9.17710113e-01 -2.00737999e-03 1.75262632e+01] [ 4.92328397e-03 5.62295689e-05 9.99987879e-01 2.71000946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.180281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:93.87, Y:17.54, Z:0.27 [[ 9.19029356e-01 -3.94163462e-01 -4.49544745e-03 9.38692985e+01] [ 3.94158353e-01 9.19040347e-01 -2.00819279e-03 1.75400974e+01] [ 4.92305381e-03 7.36699618e-05 9.99987879e-01 2.71540230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.210281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:93.89, Y:17.55, Z:0.27 [[ 9.20822896e-01 -3.89955110e-01 -4.49507560e-03 9.38930489e+01] [ 3.89949947e-01 9.20833863e-01 -2.00902478e-03 1.75542894e+01] [ 4.92264731e-03 9.71015257e-05 9.99987879e-01 2.72763703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.240281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:93.92, Y:17.57, Z:0.27 [[ 9.21569338e-01 -3.88187782e-01 -4.49470360e-03 9.39175203e+01] [ 3.88182593e-01 9.21580292e-01 -2.00985671e-03 1.75678973e+01] [ 4.92243207e-03 1.07456615e-04 9.99987879e-01 2.72677033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.270281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:93.94, Y:17.58, Z:0.27 [[ 9.22053508e-01 -3.87036341e-01 -4.49432625e-03 9.39411105e+01] [ 3.87031135e-01 9.22064454e-01 -2.01070015e-03 1.75818865e+01] [ 4.92227251e-03 1.14528941e-04 9.99987879e-01 2.72724923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.300281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:93.96, Y:17.60, Z:0.27 [[ 9.22184678e-01 -3.86723702e-01 -4.49416285e-03 9.39642380e+01] [ 3.86718490e-01 9.22195622e-01 -2.01106531e-03 1.75983410e+01] [ 4.92222392e-03 1.16597745e-04 9.99987879e-01 2.72834758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.330281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:93.99, Y:17.61, Z:0.27 [[ 9.21852905e-01 -3.87513905e-01 -4.49378830e-03 9.39882996e+01] [ 3.87508699e-01 9.21863851e-01 -2.01190191e-03 1.76122771e+01] [ 4.92230095e-03 1.13295565e-04 9.99987879e-01 2.73055055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.360281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:94.01, Y:17.63, Z:0.27 [[ 9.21359379e-01 -3.88685869e-01 -4.49341292e-03 9.40114512e+01] [ 3.88680673e-01 9.21370329e-01 -2.01273993e-03 1.76260120e+01] [ 4.92242091e-03 1.07954052e-04 9.99987879e-01 2.74036197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.390281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:94.03, Y:17.64, Z:0.28 [[ 9.20301329e-01 -3.91184454e-01 -4.49304065e-03 9.40332662e+01] [ 3.91179283e-01 9.20312291e-01 -2.01357061e-03 1.76422862e+01] [ 4.92267805e-03 9.55072922e-05 9.99987879e-01 2.76879575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.420281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:94.06, Y:17.66, Z:0.28 [[ 9.19764139e-01 -3.92445847e-01 -4.49287949e-03 9.40576159e+01] [ 3.92440689e-01 9.19775108e-01 -2.01393015e-03 1.76559576e+01] [ 4.92279724e-03 8.91520090e-05 9.99987879e-01 2.76165642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45028169300001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:94.08, Y:17.67, Z:0.27 [[ 9.18447143e-01 -3.95518220e-01 -4.49252109e-03 9.40812556e+01] [ 3.95513096e-01 9.18458127e-01 -2.01472931e-03 1.76713905e+01] [ 4.92305466e-03 7.35714544e-05 9.99987879e-01 2.71346587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.480281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:94.11, Y:17.68, Z:0.27 [[ 9.17756369e-01 -3.97118457e-01 -4.49216366e-03 9.41061863e+01] [ 3.97113347e-01 9.17767360e-01 -2.01552595e-03 1.76844900e+01] [ 4.92316374e-03 6.58636293e-05 9.99987879e-01 2.69498334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.510281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:94.13, Y:17.70, Z:0.27 [[ 9.17068525e-01 -3.98704331e-01 -4.49180884e-03 9.41310319e+01] [ 3.98699237e-01 9.17079524e-01 -2.01631638e-03 1.76974303e+01] [ 4.92325999e-03 5.82195299e-05 9.99987879e-01 2.70012267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.540281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:94.16, Y:17.71, Z:0.27 [[ 9.15684058e-01 -4.01873777e-01 -4.49143624e-03 9.41553093e+01] [ 4.01868717e-01 9.15695072e-01 -2.01714604e-03 1.77112983e+01] [ 4.92342413e-03 4.21007513e-05 9.99987879e-01 2.73250294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.570281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:94.18, Y:17.72, Z:0.27 [[ 9.15025165e-01 -4.03371762e-01 -4.49104920e-03 9.41794823e+01] [ 4.03366715e-01 9.15036185e-01 -2.01800739e-03 1.77236888e+01] [ 4.92347972e-03 3.49877846e-05 9.99987879e-01 2.74823215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.600281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:94.20, Y:17.74, Z:0.28 [[ 9.13745209e-01 -4.06262877e-01 -4.49078718e-03 9.42039555e+01] [ 4.06257863e-01 9.13756244e-01 -2.01859031e-03 1.77382281e+01] [ 4.92356313e-03 2.00596180e-05 9.99987879e-01 2.75867265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.630281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:94.23, Y:17.75, Z:0.28 [[ 9.13296261e-01 -4.07271133e-01 -4.49041650e-03 9.42276707e+01] [ 4.07266127e-01 9.13307300e-01 -2.01941455e-03 1.77509392e+01] [ 4.92357942e-03 1.55292232e-05 9.99987879e-01 2.75514987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.660281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:94.25, Y:17.76, Z:0.28 [[ 9.12924985e-01 -4.08102694e-01 -4.49025613e-03 9.42526099e+01] [ 4.08097696e-01 9.12936028e-01 -2.01977108e-03 1.77642206e+01] [ 4.92359062e-03 1.14362975e-05 9.99987879e-01 2.75304813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.690281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:94.28, Y:17.78, Z:0.27 [[ 9.12380563e-01 -4.09318395e-01 -4.48988692e-03 9.42765542e+01] [ 4.09313408e-01 9.12391611e-01 -2.02059150e-03 1.77787970e+01] [ 4.92360043e-03 5.77749444e-06 9.99987879e-01 2.74869910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.720281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:94.30, Y:17.79, Z:0.27 [[ 9.11767898e-01 -4.10681317e-01 -4.48951948e-03 9.43013057e+01] [ 4.10676342e-01 9.11778951e-01 -2.02140758e-03 1.77916021e+01] [ 4.92360369e-03 -6.84892495e-07 9.99987879e-01 2.74055405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.750281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:94.33, Y:17.80, Z:0.27 [[ 9.10142850e-01 -4.14270251e-01 -4.48915252e-03 9.43251911e+01] [ 4.14265316e-01 9.10153920e-01 -2.02222218e-03 1.78034387e+01] [ 4.92356626e-03 -1.91891259e-05 9.99987879e-01 2.72836506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.780281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:94.35, Y:17.81, Z:0.27 [[ 9.09249341e-01 -4.16227685e-01 -4.48899317e-03 9.43509186e+01] [ 4.16222772e-01 9.09260421e-01 -2.02257585e-03 1.78146950e+01] [ 4.92351589e-03 -2.93954249e-05 9.99987879e-01 2.72736186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.81028169300001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:94.38, Y:17.83, Z:0.27 [[ 9.08510233e-01 -4.17838497e-01 -4.48861098e-03 9.43768066e+01] [ 4.17833599e-01 9.08521320e-01 -2.02342368e-03 1.78261494e+01] [ 4.92346308e-03 -3.71913642e-05 9.99987879e-01 2.73547086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.840281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:94.40, Y:17.84, Z:0.28 [[ 9.07604085e-01 -4.19803145e-01 -4.48823068e-03 9.44010274e+01] [ 4.19798267e-01 9.07615181e-01 -2.02426688e-03 1.78370315e+01] [ 4.92337991e-03 -4.69185780e-05 9.99987879e-01 2.77760956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.870281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:94.43, Y:17.85, Z:0.28 [[ 9.07485412e-01 -4.20059619e-01 -4.48806550e-03 9.44254866e+01] [ 4.20054743e-01 9.07496509e-01 -2.02463304e-03 1.78473734e+01] [ 4.92337036e-03 -4.79082538e-05 9.99987879e-01 2.78415001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.900281693 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:94.45, Y:17.86, Z:0.28 [[ 9.07468418e-01 -4.20096333e-01 -4.48790611e-03 9.44512307e+01] [ 4.20091455e-01 9.07479514e-01 -2.02498629e-03 1.78562595e+01] [ 4.92337217e-03 -4.77199015e-05 9.99987879e-01 2.77164085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.930281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:94.48, Y:17.87, Z:0.28 [[ 9.07482084e-01 -4.20066813e-01 -4.48774885e-03 9.44766783e+01] [ 4.20061933e-01 9.07493179e-01 -2.02533476e-03 1.78668571e+01] [ 4.92337739e-03 -4.71774446e-05 9.99987879e-01 2.77721616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.960281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:94.50, Y:17.88, Z:0.28 [[ 9.07562940e-01 -4.19892097e-01 -4.48737984e-03 9.45028493e+01] [ 4.19887211e-01 9.07574033e-01 -2.02615201e-03 1.78776545e+01] [ 4.92339463e-03 -4.53329344e-05 9.99987879e-01 2.77875287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.990281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:94.53, Y:17.89, Z:0.28 [[ 9.07577763e-01 -4.19860062e-01 -4.48701165e-03 9.45275863e+01] [ 4.19855172e-01 9.07588853e-01 -2.02696706e-03 1.78874447e+01] [ 4.92340427e-03 -4.42648208e-05 9.99987879e-01 2.76912158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.020281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:94.56, Y:17.90, Z:0.27 [[ 9.07355598e-01 -4.20339967e-01 -4.48685175e-03 9.45559877e+01] [ 4.20335081e-01 9.07366690e-01 -2.02732095e-03 1.78954463e+01] [ 4.92338384e-03 -4.64801796e-05 9.99987879e-01 2.73131811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.050281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:94.58, Y:17.90, Z:0.27 [[ 9.07108186e-01 -4.20873614e-01 -4.48770675e-03 9.45813574e+01] [ 4.20868743e-01 9.07119286e-01 -2.02542914e-03 1.79040549e+01] [ 4.92333502e-03 -5.14521407e-05 9.99987879e-01 2.70313560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.080281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:94.61, Y:17.91, Z:0.27 [[ 9.06402708e-01 -4.22390819e-01 -4.48636216e-03 9.46089814e+01] [ 4.22385952e-01 9.06413809e-01 -2.02840307e-03 1.79093460e+01] [ 4.92327944e-03 -5.64263184e-05 9.99987879e-01 2.71595195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.110281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:94.64, Y:17.92, Z:0.27 [[ 9.06195908e-01 -4.22834306e-01 -4.48620233e-03 9.46355075e+01] [ 4.22829443e-01 9.06207011e-01 -2.02875649e-03 1.79182825e+01] [ 4.92325585e-03 -5.84476000e-05 9.99987879e-01 2.73751423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.140281693 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:94.66, Y:17.93, Z:0.28 [[ 9.06295147e-01 -4.22621561e-01 -4.48582246e-03 9.46614979e+01] [ 4.22616691e-01 9.06306247e-01 -2.02959608e-03 1.79275251e+01] [ 4.92327998e-03 -5.63703638e-05 9.99987879e-01 2.75076252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.170281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:94.69, Y:17.93, Z:0.27 [[ 9.07482192e-01 -4.20066604e-01 -4.48543657e-03 9.46880762e+01] [ 4.20061699e-01 9.07493276e-01 -2.03044856e-03 1.79344654e+01] [ 4.92342715e-03 -4.15641983e-05 9.99987879e-01 2.74865650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20028169300001 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:94.71, Y:17.94, Z:0.27 [[ 9.08088722e-01 -4.18753814e-01 -4.48517315e-03 9.47134883e+01] [ 4.18748889e-01 9.08099798e-01 -2.03103026e-03 1.79428853e+01] [ 4.92348650e-03 -3.38056012e-05 9.99987879e-01 2.73733235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.230281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:94.74, Y:17.95, Z:0.27 [[ 9.09047324e-01 -4.16668750e-01 -4.48500795e-03 9.47410323e+01] [ 4.16663799e-01 9.09058388e-01 -2.03139500e-03 1.79495916e+01] [ 4.92355291e-03 -2.21062623e-05 9.99987879e-01 2.74661423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.260281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:94.77, Y:17.96, Z:0.28 [[ 9.09429460e-01 -4.15834036e-01 -4.48463135e-03 9.47664366e+01] [ 4.15829070e-01 9.09440517e-01 -2.03222606e-03 1.79591897e+01] [ 4.92357422e-03 -1.66738329e-05 9.99987879e-01 2.77392011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.290281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:94.79, Y:17.97, Z:0.28 [[ 9.09353726e-01 -4.15999628e-01 -4.48446698e-03 9.47922816e+01] [ 4.15994663e-01 9.09364783e-01 -2.03258870e-03 1.79711181e+01] [ 4.92357249e-03 -1.71722190e-05 9.99987879e-01 2.77532200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.320281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:94.82, Y:17.98, Z:0.28 [[ 9.09633213e-01 -4.15388144e-01 -4.48409672e-03 9.48173583e+01] [ 4.15383167e-01 9.09644265e-01 -2.03340522e-03 1.79804895e+01] [ 4.92358528e-03 -1.29653754e-05 9.99987879e-01 2.79596976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.350281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:94.84, Y:17.99, Z:0.28 [[ 9.09899275e-01 -4.14805018e-01 -4.48393575e-03 9.48444301e+01] [ 4.14800033e-01 9.09910323e-01 -2.03376010e-03 1.79890620e+01] [ 4.92359333e-03 -9.41985394e-06 9.99987879e-01 2.75749143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.380281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:94.87, Y:18.00, Z:0.27 [[ 9.09828532e-01 -4.14960166e-01 -4.48356223e-03 9.48698109e+01] [ 4.14955179e-01 9.09839579e-01 -2.03458323e-03 1.79996889e+01] [ 4.92359337e-03 -9.35549719e-06 9.99987879e-01 2.72455401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.410281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:94.90, Y:18.01, Z:0.27 [[ 9.09805242e-01 -4.15011233e-01 -4.48317824e-03 9.48963061e+01] [ 4.15006241e-01 9.09816287e-01 -2.03542899e-03 1.80094696e+01] [ 4.92359448e-03 -8.70299067e-06 9.99987879e-01 2.69005152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.440281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:94.92, Y:18.02, Z:0.27 [[ 9.09814050e-01 -4.14991924e-01 -4.48305866e-03 9.49225072e+01] [ 4.14986932e-01 9.09825095e-01 -2.03569234e-03 1.80195303e+01] [ 4.92359515e-03 -8.30926080e-06 9.99987879e-01 2.70793870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.470281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:94.95, Y:18.03, Z:0.27 [[ 9.09903593e-01 -4.14795560e-01 -4.48267755e-03 9.49484510e+01] [ 4.14790560e-01 9.09914635e-01 -2.03653121e-03 1.80291771e+01] [ 4.92359801e-03 -6.32526461e-06 9.99987879e-01 2.73391591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.500281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:94.98, Y:18.04, Z:0.28 [[ 9.09911919e-01 -4.14777298e-01 -4.48255879e-03 9.49751369e+01] [ 4.14772297e-01 9.09922960e-01 -2.03679259e-03 1.80376021e+01] [ 4.92359848e-03 -5.93935037e-06 9.99987879e-01 2.75637264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.530281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:95.00, Y:18.05, Z:0.27 [[ 9.09630795e-01 -4.15393461e-01 -4.48217719e-03 9.50016913e+01] [ 4.15388463e-01 9.09641837e-01 -2.03763197e-03 1.80476772e+01] [ 4.92359490e-03 -8.35190467e-06 9.99987879e-01 2.74411567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56028169300001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:95.03, Y:18.05, Z:0.27 [[ 9.08521572e-01 -4.17813913e-01 -4.48179748e-03 9.50289637e+01] [ 4.17808941e-01 9.08532627e-01 -2.03846681e-03 1.80548572e+01] [ 4.92355903e-03 -2.05439871e-05 9.99987879e-01 2.71869560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.590281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:95.05, Y:18.06, Z:0.27 [[ 9.07856437e-01 -4.19257209e-01 -4.48140975e-03 9.50543808e+01] [ 4.19252251e-01 9.07867497e-01 -2.03931887e-03 1.80632105e+01] [ 4.92352538e-03 -2.74323633e-05 9.99987879e-01 2.70719336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.620281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:95.08, Y:18.07, Z:0.27 [[ 9.06737787e-01 -4.21671086e-01 -4.48114518e-03 9.50814308e+01] [ 4.21666153e-01 9.06748859e-01 -2.03990005e-03 1.80681755e+01] [ 4.92344015e-03 -3.98927952e-05 9.99987879e-01 2.71482885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.650281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:95.11, Y:18.08, Z:0.27 [[ 9.06357374e-01 -4.22488145e-01 -4.48098009e-03 9.51081381e+01] [ 4.22483220e-01 9.06368449e-01 -2.04026263e-03 1.80766893e+01] [ 4.92340575e-03 -4.39318245e-05 9.99987879e-01 2.74040508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.680281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:95.13, Y:18.09, Z:0.28 [[ 9.06074777e-01 -4.23093870e-01 -4.48061264e-03 9.51347336e+01] [ 4.23088949e-01 9.06085854e-01 -2.04106926e-03 1.80852606e+01] [ 4.92338363e-03 -4.63363201e-05 9.99987879e-01 2.75789073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.710281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:95.16, Y:18.09, Z:0.27 [[ 9.05306893e-01 -4.24734454e-01 -4.48024160e-03 9.51620656e+01] [ 4.24729549e-01 9.05317978e-01 -2.04188340e-03 1.80903510e+01] [ 4.92330149e-03 -5.43598781e-05 9.99987879e-01 2.73430709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.740281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:95.19, Y:18.10, Z:0.27 [[ 9.04700939e-01 -4.26023638e-01 -4.48008043e-03 9.51884593e+01] [ 4.26018747e-01 9.04712030e-01 -2.04223695e-03 1.80980556e+01] [ 4.92322388e-03 -6.09845696e-05 9.99987879e-01 2.72959261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.770281693 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:95.22, Y:18.11, Z:0.27 [[ 9.03836614e-01 -4.27854305e-01 -4.47992098e-03 9.52155693e+01] [ 4.27849435e-01 9.03847713e-01 -2.04258668e-03 1.81058259e+01] [ 4.92309583e-03 -7.05670297e-05 9.99987879e-01 2.74377141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.800281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:95.24, Y:18.11, Z:0.28 [[ 9.03015984e-01 -4.29583596e-01 -4.47954285e-03 9.52421736e+01] [ 4.29578744e-01 9.03027091e-01 -2.04341560e-03 1.81128598e+01] [ 4.92296637e-03 -7.90794359e-05 9.99987879e-01 2.75365031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.830281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:95.27, Y:18.12, Z:0.28 [[ 9.01626827e-01 -4.32491619e-01 -4.47928596e-03 9.52708942e+01] [ 4.32486800e-01 9.01637949e-01 -2.04397857e-03 1.81164209e+01] [ 4.92269780e-03 -9.43261380e-05 9.99987879e-01 2.75821865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.860281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:95.30, Y:18.12, Z:0.27 [[ 9.01416889e-01 -4.32929014e-01 -4.47891270e-03 9.52970022e+01] [ 4.32924196e-01 9.01428011e-01 -2.04479614e-03 1.81235387e+01] [ 4.92266895e-03 -9.58159041e-05 9.99987879e-01 2.74384462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.890281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:95.32, Y:18.13, Z:0.28 [[ 9.01667130e-01 -4.32407594e-01 -4.47874990e-03 9.53245581e+01] [ 4.32402768e-01 9.01678248e-01 -2.04515268e-03 1.81279121e+01] [ 4.92273091e-03 -9.25769074e-05 9.99987879e-01 2.75607081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.920281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:95.35, Y:18.14, Z:0.28 [[ 9.02066450e-01 -4.31573937e-01 -4.47858875e-03 9.53510281e+01] [ 4.31569098e-01 9.02077563e-01 -2.04550550e-03 1.81363921e+01] [ 4.92282129e-03 -8.76386250e-05 9.99987879e-01 2.77563453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.95028169300001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:95.38, Y:18.15, Z:0.28 [[ 9.02538486e-01 -4.30585912e-01 -4.47822125e-03 9.53775242e+01] [ 4.30581057e-01 9.02549592e-01 -2.04630976e-03 1.81450092e+01] [ 4.92292891e-03 -8.13639328e-05 9.99987879e-01 2.79230443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.980281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:95.41, Y:18.15, Z:0.28 [[ 9.03763487e-01 -4.28008772e-01 -4.47785486e-03 9.54056144e+01] [ 4.28003882e-01 9.03774577e-01 -2.04711120e-03 1.81492245e+01] [ 4.92315293e-03 -6.64349078e-05 9.99987879e-01 2.79711468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.010281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:95.43, Y:18.16, Z:0.28 [[ 9.04299261e-01 -4.26875623e-01 -4.47769547e-03 9.54325765e+01] [ 4.26870717e-01 9.04310344e-01 -2.04745978e-03 1.81573505e+01] [ 4.92323700e-03 -5.98807134e-05 9.99987879e-01 2.79348914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.040281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:95.46, Y:18.16, Z:0.28 [[ 9.04908685e-01 -4.25582219e-01 -4.47732976e-03 9.54583966e+01] [ 4.25577294e-01 9.04919760e-01 -2.04825920e-03 1.81646994e+01] [ 4.92332686e-03 -5.19623414e-05 9.99987879e-01 2.79097624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.070281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:95.49, Y:18.17, Z:0.28 [[ 9.05776487e-01 -4.23732121e-01 -4.47717109e-03 9.54865054e+01] [ 4.23727170e-01 9.05787551e-01 -2.04860597e-03 1.81693923e+01] [ 4.92342599e-03 -4.15199174e-05 9.99987879e-01 2.80214281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.100281693 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:95.51, Y:18.18, Z:0.28 [[ 9.06076245e-01 -4.23090766e-01 -4.47679376e-03 9.55120784e+01] [ 4.23085804e-01 9.06087304e-01 -2.04943021e-03 1.81772009e+01] [ 4.92346098e-03 -3.71278577e-05 9.99987879e-01 2.81901197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.130281693 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:95.54, Y:18.19, Z:0.28 [[ 9.06220895e-01 -4.22780852e-01 -4.47662987e-03 9.55388079e+01] [ 4.22775884e-01 9.06231952e-01 -2.04978813e-03 1.81864123e+01] [ 4.92347620e-03 -3.50503158e-05 9.99987879e-01 2.83210527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.160281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:95.57, Y:18.19, Z:0.28 [[ 9.07100404e-01 -4.20890508e-01 -4.47626085e-03 9.55653820e+01] [ 4.20885514e-01 9.07111448e-01 -2.05059367e-03 1.81925289e+01] [ 4.92354287e-03 -2.38990003e-05 9.99987879e-01 2.84383817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.190281693 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:95.59, Y:18.20, Z:0.28 [[ 9.07518655e-01 -4.19987924e-01 -4.47610024e-03 9.55917681e+01] [ 4.19982917e-01 9.07529693e-01 -2.05094419e-03 1.82020715e+01] [ 4.92356567e-03 -1.86155267e-05 9.99987879e-01 2.84634885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.220281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:95.62, Y:18.21, Z:0.29 [[ 9.08142294e-01 -4.18637721e-01 -4.47570491e-03 9.56175289e+01] [ 4.18632693e-01 9.08153323e-01 -2.05180655e-03 1.82115740e+01] [ 4.92358990e-03 -1.03440932e-05 9.99987879e-01 2.85826074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.250281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:95.64, Y:18.22, Z:0.29 [[ 9.09754894e-01 -4.15121672e-01 -4.47553340e-03 9.56429279e+01] [ 4.15116600e-01 9.09765902e-01 -2.05218058e-03 1.82197708e+01] [ 4.92359232e-03 9.11311394e-06 9.99987879e-01 2.85270078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.280281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:95.67, Y:18.23, Z:0.28 [[ 9.10639377e-01 -4.13177804e-01 -4.47526955e-03 9.56687326e+01] [ 4.13172705e-01 9.10650373e-01 -2.05275582e-03 1.82307263e+01] [ 4.92355902e-03 2.02610529e-05 9.99987879e-01 2.83527685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.31028169300001 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:95.69, Y:18.24, Z:0.28 [[ 9.11472144e-01 -4.11337461e-01 -4.47487610e-03 9.56933530e+01] [ 4.11332336e-01 9.11483128e-01 -2.05361314e-03 1.82424867e+01] [ 4.92350208e-03 3.11499337e-05 9.99987879e-01 2.82804947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.340281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:95.72, Y:18.26, Z:0.28 [[ 9.13204124e-01 -4.07477859e-01 -4.47470460e-03 9.57173651e+01] [ 4.07472685e-01 9.13215085e-01 -2.05398676e-03 1.82552890e+01] [ 4.92332187e-03 5.23892795e-05 9.99987879e-01 2.84168647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.370281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:95.74, Y:18.27, Z:0.28 [[ 9.13994648e-01 -4.05701567e-01 -4.47453488e-03 9.57426936e+01] [ 4.05696370e-01 9.14005599e-01 -2.05435643e-03 1.82682905e+01] [ 4.92320556e-03 6.23682214e-05 9.99987879e-01 2.84667520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.400281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:95.77, Y:18.28, Z:0.28 [[ 9.15444679e-01 -4.02418964e-01 -4.47415103e-03 9.57660500e+01] [ 4.02413724e-01 9.15455609e-01 -2.05519207e-03 1.82836565e+01] [ 4.92293492e-03 8.09548667e-05 9.99987879e-01 2.84200314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.430281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:95.79, Y:18.30, Z:0.28 [[ 9.15948152e-01 -4.01271688e-01 -4.47376913e-03 9.57902167e+01] [ 4.01266430e-01 9.15959074e-01 -2.05602306e-03 1.82982303e+01] [ 4.92281327e-03 8.80371500e-05 9.99987879e-01 2.82845829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.460281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:95.81, Y:18.31, Z:0.28 [[ 9.16294477e-01 -4.00480237e-01 -4.47338809e-03 9.58145251e+01] [ 4.00474965e-01 9.16305392e-01 -2.05685177e-03 1.83122198e+01] [ 4.92271811e-03 9.32019732e-05 9.99987879e-01 2.82063461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.490281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:95.84, Y:18.33, Z:0.28 [[ 9.16282764e-01 -4.00507039e-01 -4.47300502e-03 9.58378569e+01] [ 4.00501764e-01 9.16293677e-01 -2.05768450e-03 1.83256146e+01] [ 4.92270334e-03 9.39744408e-05 9.99987879e-01 2.81183730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.520281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:95.86, Y:18.34, Z:0.28 [[ 9.16196720e-01 -4.00703836e-01 -4.47283824e-03 9.58625847e+01] [ 4.00698562e-01 9.16207633e-01 -2.05804696e-03 1.83391858e+01] [ 4.92271585e-03 9.33160231e-05 9.99987879e-01 2.80574314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.550281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:95.88, Y:18.36, Z:0.28 [[ 9.15847141e-01 -4.01502193e-01 -4.47245473e-03 9.58846187e+01] [ 4.01496924e-01 9.15858057e-01 -2.05888005e-03 1.83556272e+01] [ 4.92277856e-03 8.99425952e-05 9.99987879e-01 2.82142253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.580281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:95.91, Y:18.37, Z:0.28 [[ 9.15810772e-01 -4.01585144e-01 -4.47228830e-03 9.59072660e+01] [ 4.01579875e-01 9.15821688e-01 -2.05924151e-03 1.83700933e+01] [ 4.92277942e-03 8.98945839e-05 9.99987879e-01 2.83485724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.610281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:95.93, Y:18.39, Z:0.28 [[ 9.15857033e-01 -4.01479633e-01 -4.47203146e-03 9.59306084e+01] [ 4.01474359e-01 9.15867947e-01 -2.05979914e-03 1.83874475e+01] [ 4.92275767e-03 9.10755643e-05 9.99987879e-01 2.83579015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.640281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:95.95, Y:18.40, Z:0.28 [[ 9.15756172e-01 -4.01709643e-01 -4.47166101e-03 9.59545029e+01] [ 4.01704368e-01 9.15767085e-01 -2.06060303e-03 1.84017215e+01] [ 4.92276408e-03 9.07241849e-05 9.99987879e-01 2.83352167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.670281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:95.98, Y:18.42, Z:0.28 [[ 9.15494873e-01 -4.02304792e-01 -4.47128129e-03 9.59785275e+01] [ 4.02299520e-01 9.15505787e-01 -2.06142665e-03 1.84161464e+01] [ 4.92280572e-03 8.84312151e-05 9.99987879e-01 2.84144958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70028169300001 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:96.00, Y:18.43, Z:0.29 [[ 9.14633360e-01 -4.04259604e-01 -4.47089783e-03 9.60006755e+01] [ 4.04254352e-01 9.14644284e-01 -2.06225798e-03 1.84320635e+01] [ 4.92296874e-03 7.88300420e-05 9.99987879e-01 2.89523210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.730281693 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:96.03, Y:18.44, Z:0.29 [[ 9.14018130e-01 -4.05648702e-01 -4.47073118e-03 9.60251168e+01] [ 4.05643465e-01 9.14029061e-01 -2.06261919e-03 1.84446479e+01] [ 4.92307703e-03 7.17484488e-05 9.99987879e-01 2.92962723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.760281693 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:96.05, Y:18.46, Z:0.29 [[ 9.13307547e-01 -4.07246043e-01 -4.47036288e-03 9.60504132e+01] [ 4.07240821e-01 9.13318486e-01 -2.06341712e-03 1.84572916e+01] [ 4.92318351e-03 6.40201828e-05 9.99987879e-01 2.94829806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.790281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:96.07, Y:18.47, Z:0.29 [[ 9.11467032e-01 -4.11348841e-01 -4.46998358e-03 9.60743902e+01] [ 4.11343663e-01 9.11477992e-01 -2.06423847e-03 1.84715795e+01] [ 4.92341376e-03 4.27858906e-05 9.99987879e-01 2.92865417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.820281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:96.10, Y:18.49, Z:0.29 [[ 9.10164884e-01 -4.14222048e-01 -4.46980476e-03 9.60991016e+01] [ 4.14216903e-01 9.10175859e-01 -2.06462560e-03 1.84856940e+01] [ 4.92352183e-03 2.76810337e-05 9.99987879e-01 2.88820649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.850281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:96.12, Y:18.50, Z:0.28 [[ 9.07767232e-01 -4.19450443e-01 -4.46968763e-03 9.61222956e+01] [ 4.19445360e-01 9.07778236e-01 -2.06487916e-03 1.85001536e+01] [ 4.92359963e-03 -3.60099617e-07 9.99987879e-01 2.82534639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.880281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:96.15, Y:18.51, Z:0.28 [[ 9.06573746e-01 -4.22023776e-01 -4.46952469e-03 9.61471350e+01] [ 4.22018723e-01 9.06584763e-01 -2.06523178e-03 1.85132499e+01] [ 4.92357989e-03 -1.39381932e-05 9.99987879e-01 2.81702339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.910281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:96.17, Y:18.53, Z:0.28 [[ 9.05484863e-01 -4.24355028e-01 -4.46915503e-03 9.61716402e+01] [ 4.24349999e-01 9.05495892e-01 -2.06603141e-03 1.85258924e+01] [ 4.92353234e-03 -2.57257638e-05 9.99987879e-01 2.82632726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.940281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:96.20, Y:18.54, Z:0.28 [[ 9.03680630e-01 -4.28183780e-01 -4.46878288e-03 9.61960462e+01] [ 4.28178794e-01 9.03691678e-01 -2.06683604e-03 1.85394538e+01] [ 4.92338757e-03 -4.56783710e-05 9.99987879e-01 2.83980349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.970281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:96.22, Y:18.55, Z:0.29 [[ 9.02850754e-01 -4.29930866e-01 -4.46839651e-03 9.62199422e+01] [ 4.29925897e-01 9.02861810e-01 -2.06767102e-03 1.85517652e+01] [ 4.92330015e-03 -5.42810429e-05 9.99987879e-01 2.85379270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.000281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:96.24, Y:18.56, Z:0.29 [[ 9.02142938e-01 -4.31414133e-01 -4.46822898e-03 9.62447760e+01] [ 4.31409181e-01 9.02154001e-01 -2.06803298e-03 1.85649001e+01] [ 4.92320931e-03 -6.19736538e-05 9.99987879e-01 2.87234985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.030281693 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:96.27, Y:18.58, Z:0.29 [[ 9.01275735e-01 -4.33222907e-01 -4.46785712e-03 9.62692072e+01] [ 4.33217973e-01 9.01286806e-01 -2.06883607e-03 1.85786050e+01] [ 4.92308785e-03 -7.09642585e-05 9.99987879e-01 2.88543897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06028169300001 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:96.29, Y:18.59, Z:0.29 [[ 8.99515104e-01 -4.36866821e-01 -4.46747481e-03 9.62933974e+01] [ 4.36861927e-01 8.99526194e-01 -2.06966130e-03 1.85910369e+01] [ 4.92277696e-03 -8.99780570e-05 9.99987879e-01 2.87483026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.090281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:96.32, Y:18.60, Z:0.29 [[ 8.98785818e-01 -4.38365256e-01 -4.46721379e-03 9.63193693e+01] [ 4.38360378e-01 8.98796914e-01 -2.07022453e-03 1.86023998e+01] [ 4.92263248e-03 -9.75610779e-05 9.99987879e-01 2.86234454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.120281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:96.34, Y:18.61, Z:0.29 [[ 8.98143952e-01 -4.39678848e-01 -4.46683491e-03 9.63441282e+01] [ 4.39673983e-01 8.98155053e-01 -2.07104172e-03 1.86135983e+01] [ 4.92250358e-03 -1.03857502e-04 9.99987879e-01 2.85506258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.150281693 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:96.37, Y:18.62, Z:0.29 [[ 8.97212053e-01 -4.41577379e-01 -4.46657619e-03 9.63699999e+01] [ 4.41572534e-01 8.97223164e-01 -2.07159954e-03 1.86249179e+01] [ 4.92228711e-03 -1.13653285e-04 9.99987879e-01 2.87987758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.180281693 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:96.40, Y:18.64, Z:0.29 [[ 8.97130136e-01 -4.41743786e-01 -4.46619133e-03 9.63957527e+01] [ 4.41738939e-01 8.97141246e-01 -2.07242893e-03 1.86370754e+01] [ 4.92228705e-03 -1.13652177e-04 9.99987879e-01 2.88127997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.210281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:96.42, Y:18.65, Z:0.29 [[ 8.96742472e-01 -4.42530220e-01 -4.46580679e-03 9.64207086e+01] [ 4.42525379e-01 8.96753584e-01 -2.07325724e-03 1.86470843e+01] [ 4.92220722e-03 -1.17055022e-04 9.99987879e-01 2.90150271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.240281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:96.45, Y:18.66, Z:0.29 [[ 8.96225460e-01 -4.43576355e-01 -4.46563964e-03 9.64469064e+01] [ 4.43571525e-01 8.96236577e-01 -2.07361720e-03 1.86564282e+01] [ 4.92207714e-03 -1.22402051e-04 9.99987879e-01 2.92879485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.270281693 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:96.47, Y:18.66, Z:0.29 [[ 8.95354751e-01 -4.45331259e-01 -4.46526360e-03 9.64735269e+01] [ 4.45326447e-01 8.95365876e-01 -2.07442664e-03 1.86632676e+01] [ 4.92185168e-03 -1.31152223e-04 9.99987879e-01 2.94590395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.300281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:96.50, Y:18.67, Z:0.29 [[ 8.95228446e-01 -4.45585113e-01 -4.46509944e-03 9.64989339e+01] [ 4.45580302e-01 8.95239571e-01 -2.07477992e-03 1.86723225e+01] [ 4.92182475e-03 -1.32158357e-04 9.99987879e-01 2.94035039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.330281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:96.53, Y:18.68, Z:0.29 [[ 8.95276375e-01 -4.45488807e-01 -4.46493993e-03 9.65259033e+01] [ 4.45483994e-01 8.95287499e-01 -2.07512313e-03 1.86811127e+01] [ 4.92184903e-03 -1.31250559e-04 9.99987879e-01 2.91671582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.360281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:96.56, Y:18.69, Z:0.29 [[ 8.95675872e-01 -4.44685058e-01 -4.46457482e-03 9.65552071e+01] [ 4.44680230e-01 8.95686990e-01 -2.07590835e-03 1.86855435e+01] [ 4.92198701e-03 -1.25967141e-04 9.99987879e-01 2.88143331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.390281693 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:96.58, Y:18.69, Z:0.30 [[ 8.95917343e-01 -4.44198363e-01 -4.46420958e-03 9.65826980e+01] [ 4.44193525e-01 8.95928457e-01 -2.07669350e-03 1.86934561e+01] [ 4.92207625e-03 -1.22427266e-04 9.99987879e-01 2.95502640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.420281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:96.61, Y:18.70, Z:0.29 [[ 8.96372238e-01 -4.43279691e-01 -4.46384008e-03 9.66104153e+01] [ 4.43274839e-01 8.96383345e-01 -2.07748744e-03 1.86989552e+01] [ 4.92221989e-03 -1.16505925e-04 9.99987879e-01 2.88042487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.45028169300001 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:96.64, Y:18.71, Z:0.29 [[ 8.97017315e-01 -4.41972863e-01 -4.46367906e-03 9.66372475e+01] [ 4.41967993e-01 8.97028414e-01 -2.07783334e-03 1.87070994e+01] [ 4.92239290e-03 -1.08950787e-04 9.99987879e-01 2.86274989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.480281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:96.66, Y:18.72, Z:0.29 [[ 8.97987007e-01 -4.39999335e-01 -4.46330967e-03 9.66642162e+01] [ 4.39994436e-01 8.97998094e-01 -2.07862651e-03 1.87153685e+01] [ 4.92263786e-03 -9.72518221e-05 9.99987879e-01 2.85779085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.510281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:96.69, Y:18.72, Z:0.29 [[ 8.99389775e-01 -4.37124828e-01 -4.46292135e-03 9.66903891e+01] [ 4.37119890e-01 8.99400844e-01 -2.07945992e-03 1.87238373e+01] [ 4.92293879e-03 -8.05867032e-05 9.99987879e-01 2.85602159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.540281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:96.72, Y:18.73, Z:0.29 [[ 9.03445189e-01 -4.28680388e-01 -4.46265636e-03 9.67175891e+01] [ 4.28675343e-01 9.03456210e-01 -2.08002846e-03 1.87311871e+01] [ 4.92348201e-03 -3.38390388e-05 9.99987879e-01 2.89960869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.570281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:96.74, Y:18.74, Z:0.29 [[ 9.05810773e-01 -4.23658978e-01 -4.46241116e-03 9.67440201e+01] [ 4.23653870e-01 9.05821765e-01 -2.08055436e-03 1.87415795e+01] [ 4.92359469e-03 -5.92920192e-06 9.99987879e-01 2.91079314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.600281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:96.77, Y:18.75, Z:0.29 [[ 9.08230228e-01 -4.18447062e-01 -4.46201721e-03 9.67693328e+01] [ 4.18441886e-01 9.08241188e-01 -2.08139890e-03 1.87521215e+01] [ 4.92354307e-03 2.32944977e-05 9.99987879e-01 2.90428905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.630281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:96.79, Y:18.76, Z:0.29 [[ 9.12920786e-01 -4.08112399e-01 -4.46184604e-03 9.67946616e+01] [ 4.08107097e-01 9.12931686e-01 -2.08176576e-03 1.87628832e+01] [ 4.92295505e-03 7.95761935e-05 9.99987879e-01 2.88413717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.660281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:96.82, Y:18.77, Z:0.29 [[ 9.15106367e-01 -4.03187837e-01 -4.46145597e-03 9.68191899e+01] [ 4.03182472e-01 9.15117237e-01 -2.08260140e-03 1.87748908e+01] [ 4.92243481e-03 1.07020956e-04 9.99987879e-01 2.87894531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.690281693 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:96.84, Y:18.79, Z:0.29 [[ 9.17097435e-01 -3.98638171e-01 -4.46128742e-03 9.68439336e+01] [ 3.98632750e-01 9.17108277e-01 -2.08296239e-03 1.87878980e+01] [ 4.92183194e-03 1.31864185e-04 9.99987879e-01 2.88791946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.720281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:96.87, Y:18.80, Z:0.29 [[ 9.18996217e-01 -3.94241111e-01 -4.46089453e-03 9.68677771e+01] [ 3.94235635e-01 9.19007030e-01 -2.08380346e-03 1.88017369e+01] [ 4.92111443e-03 1.56363910e-04 9.99987879e-01 2.88533609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.750281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:96.89, Y:18.82, Z:0.29 [[ 9.22130751e-01 -3.86852659e-01 -4.46072465e-03 9.68905339e+01] [ 3.86847094e-01 9.22141519e-01 -2.08416707e-03 1.88192142e+01] [ 4.91968498e-03 1.96256180e-04 9.99987879e-01 2.87649398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.780281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:96.91, Y:18.83, Z:0.29 [[ 9.23333146e-01 -3.83973967e-01 -4.46033529e-03 9.69130123e+01] [ 3.83968364e-01 9.23343895e-01 -2.08500000e-03 1.88338898e+01] [ 4.91900908e-03 2.12521959e-04 9.99987879e-01 2.86864136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.81028169300001 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:96.93, Y:18.85, Z:0.29 [[ 9.24932231e-01 -3.80105872e-01 -4.46016626e-03 9.69342745e+01] [ 3.80100224e-01 9.24942956e-01 -2.08536153e-03 1.88514228e+01] [ 4.91805752e-03 2.33507901e-04 9.99987879e-01 2.88347614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.840281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:96.96, Y:18.87, Z:0.29 [[ 9.25360407e-01 -3.79062298e-01 -4.46001539e-03 9.69577719e+01] [ 3.79056636e-01 9.25371124e-01 -2.08568415e-03 1.88663788e+01] [ 4.91777368e-03 2.39411099e-04 9.99987879e-01 2.88775319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.870281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:96.98, Y:18.88, Z:0.29 [[ 9.25543256e-01 -3.78615627e-01 -4.45967213e-03 9.69820711e+01] [ 3.78609956e-01 9.25553968e-01 -2.08641786e-03 1.88815402e+01] [ 4.91761764e-03 2.42593712e-04 9.99987879e-01 2.87265755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.900281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:97.00, Y:18.90, Z:0.29 [[ 9.25301229e-01 -3.79206739e-01 -4.45932884e-03 9.70046880e+01] [ 3.79201071e-01 9.25311943e-01 -2.08715131e-03 1.88999601e+01] [ 4.91773208e-03 2.40261402e-04 9.99987879e-01 2.86212410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.930281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:97.03, Y:18.92, Z:0.29 [[ 9.25070199e-01 -3.79769989e-01 -4.45898588e-03 9.70282659e+01] [ 3.79764324e-01 9.25080915e-01 -2.08788377e-03 1.89151526e+01] [ 4.91783833e-03 2.38075295e-04 9.99987879e-01 2.87658250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.960281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:97.05, Y:18.93, Z:0.29 [[ 9.24887188e-01 -3.80215479e-01 -4.45861012e-03 9.70514826e+01] [ 3.80209815e-01 9.24897905e-01 -2.08868588e-03 1.89301454e+01] [ 4.91790986e-03 2.36591477e-04 9.99987879e-01 2.89154208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.990281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:97.07, Y:18.95, Z:0.29 [[ 9.24030546e-01 -3.82292654e-01 -4.45844652e-03 9.70736160e+01] [ 3.82287013e-01 9.24041274e-01 -2.08903503e-03 1.89469716e+01] [ 4.91841135e-03 2.25925980e-04 9.99987879e-01 2.89580600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.020281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:97.10, Y:18.96, Z:0.29 [[ 9.23286921e-01 -3.84085127e-01 -4.45828433e-03 9.70982313e+01] [ 3.84079505e-01 9.23297660e-01 -2.08938110e-03 1.89613665e+01] [ 4.91882370e-03 2.16762608e-04 9.99987879e-01 2.88782397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.050281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:97.12, Y:18.98, Z:0.29 [[ 9.22395083e-01 -3.86222005e-01 -4.45791585e-03 9.71228713e+01] [ 3.86216405e-01 9.22405833e-01 -2.09016701e-03 1.89757543e+01] [ 4.91927607e-03 2.06239545e-04 9.99987879e-01 2.88258729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.080281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:97.15, Y:18.99, Z:0.29 [[ 9.20641375e-01 -3.90383899e-01 -4.45754685e-03 9.71461249e+01] [ 3.90378343e-01 9.20652148e-01 -2.09095364e-03 1.89911484e+01] [ 4.92012472e-03 1.84888675e-04 9.99987879e-01 2.88232903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.110281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:97.17, Y:19.00, Z:0.29 [[ 9.19825151e-01 -3.92303231e-01 -4.45717317e-03 9.71699388e+01] [ 3.92297693e-01 9.19835933e-01 -2.09174989e-03 1.90046307e+01] [ 4.92046829e-03 1.75505406e-04 9.99987879e-01 2.89073759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.140281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:97.19, Y:19.02, Z:0.29 [[ 9.18470803e-01 -3.95463679e-01 -4.45680050e-03 9.71923651e+01] [ 3.95458175e-01 9.18481602e-01 -2.09254362e-03 1.90213865e+01] [ 4.92101426e-03 1.59462023e-04 9.99987879e-01 2.92236779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.170281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:97.22, Y:19.04, Z:0.29 [[ 9.17856304e-01 -3.96887822e-01 -4.45663963e-03 9.72165439e+01] [ 3.96882333e-01 9.17867111e-01 -2.09288619e-03 1.90364923e+01] [ 4.92124398e-03 1.52207253e-04 9.99987879e-01 2.92556691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20028169300001 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:97.24, Y:19.05, Z:0.29 [[ 9.17316214e-01 -3.98134533e-01 -4.45624564e-03 9.72394363e+01] [ 3.98129054e-01 9.17327026e-01 -2.09372475e-03 1.90508419e+01] [ 4.92141868e-03 1.46446794e-04 9.99987879e-01 2.91983648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.230281693 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:97.26, Y:19.07, Z:0.29 [[ 9.16330935e-01 -4.00397003e-01 -4.45607418e-03 9.72630527e+01] [ 4.00391550e-01 9.16341760e-01 -2.09408960e-03 1.90670338e+01] [ 4.92175406e-03 1.34704633e-04 9.99987879e-01 2.86923682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.260281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:97.29, Y:19.08, Z:0.29 [[ 9.15689021e-01 -4.01862867e-01 -4.45570864e-03 9.72875330e+01] [ 4.01857427e-01 9.15699853e-01 -2.09486710e-03 1.90811953e+01] [ 4.92194104e-03 1.27687198e-04 9.99987879e-01 2.85833598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.290281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:97.31, Y:19.10, Z:0.29 [[ 9.15007351e-01 -4.03412565e-01 -4.45531779e-03 9.73109865e+01] [ 4.03407139e-01 9.15018190e-01 -2.09569802e-03 1.90954548e+01] [ 4.92212773e-03 1.20272085e-04 9.99987879e-01 2.85322813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.320281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:97.33, Y:19.11, Z:0.29 [[ 9.14341305e-01 -4.04919905e-01 -4.45514819e-03 9.73346129e+01] [ 4.04914495e-01 9.14352152e-01 -2.09605850e-03 1.91094965e+01] [ 4.92231014e-03 1.12558787e-04 9.99987879e-01 2.88004886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.350281693 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:97.36, Y:19.13, Z:0.29 [[ 9.12641415e-01 -4.08736835e-01 -4.45503611e-03 9.73584428e+01] [ 4.08731470e-01 9.12652284e-01 -2.09629670e-03 1.91255868e+01] [ 4.92273255e-03 9.22537261e-05 9.99987879e-01 2.92588837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.380281693 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:97.38, Y:19.14, Z:0.29 [[ 9.11714819e-01 -4.10799519e-01 -4.45464851e-03 9.73833148e+01] [ 4.10794175e-01 9.11725698e-01 -2.09712002e-03 1.91392745e+01] [ 4.92291342e-03 8.20317390e-05 9.99987879e-01 2.92434181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.410281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:97.41, Y:19.15, Z:0.29 [[ 9.10773289e-01 -4.12882762e-01 -4.45425724e-03 9.74076845e+01] [ 4.12877438e-01 9.10784178e-01 -2.09795073e-03 1.91528554e+01] [ 4.92307472e-03 7.16951696e-05 9.99987879e-01 2.91777508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.440281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:97.43, Y:19.17, Z:0.29 [[ 9.09301444e-01 -4.16114224e-01 -4.45385800e-03 9.74312595e+01] [ 4.16108935e-01 9.09312350e-01 -2.09879797e-03 1.91663295e+01] [ 4.92328777e-03 5.51499209e-05 9.99987879e-01 2.89591653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.470281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:97.46, Y:19.18, Z:0.29 [[ 9.08540961e-01 -4.17772052e-01 -4.45368394e-03 9.74563307e+01] [ 4.17766781e-01 9.08551875e-01 -2.09916727e-03 1.91787080e+01] [ 4.92337631e-03 4.65782520e-05 9.99987879e-01 2.89012295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.500281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:97.48, Y:19.19, Z:0.29 [[ 9.07414401e-01 -4.20213366e-01 -4.45330440e-03 9.74812494e+01] [ 4.20208120e-01 9.07425328e-01 -2.09997214e-03 1.91914968e+01] [ 4.92347757e-03 3.42302944e-05 9.99987879e-01 2.90529628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.530281693 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:97.51, Y:19.20, Z:0.29 [[ 9.06878868e-01 -4.21367880e-01 -4.45291184e-03 9.75057486e+01] [ 4.21362644e-01 9.06889800e-01 -2.10080422e-03 1.92044740e+01] [ 4.92351175e-03 2.88842505e-05 9.99987879e-01 2.91556508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56028169300001 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:97.53, Y:19.22, Z:0.29 [[ 9.06343682e-01 -4.22517817e-01 -4.45251277e-03 9.75296255e+01] [ 4.22512590e-01 9.06354618e-01 -2.10164967e-03 1.92176195e+01] [ 4.92353994e-03 2.35741961e-05 9.99987879e-01 2.92146904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.590281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:97.55, Y:19.23, Z:0.29 [[ 9.05767373e-01 -4.23751866e-01 -4.45233932e-03 9.75543845e+01] [ 4.23746652e-01 9.05778315e-01 -2.10201707e-03 1.92308145e+01] [ 4.92356606e-03 1.72745986e-05 9.99987879e-01 2.91828642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.620281693 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:97.58, Y:19.24, Z:0.29 [[ 9.04628936e-01 -4.26176804e-01 -4.45194580e-03 9.75782012e+01] [ 4.26171616e-01 9.04639890e-01 -2.10285019e-03 1.92427005e+01] [ 4.92359373e-03 5.00618909e-06 9.99987879e-01 2.89724867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.650281693 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:97.60, Y:19.26, Z:0.29 [[ 9.03663443e-01 -4.28220228e-01 -4.45167804e-03 9.76037021e+01] [ 4.28215062e-01 9.03674408e-01 -2.10341688e-03 1.92552868e+01] [ 4.92359317e-03 -5.49465056e-06 9.99987879e-01 2.90494817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.680281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:97.63, Y:19.27, Z:0.29 [[ 9.02604317e-01 -4.30448178e-01 -4.45126584e-03 9.76281714e+01] [ 4.30443034e-01 9.02615292e-01 -2.10428882e-03 1.92670711e+01] [ 4.92356790e-03 -1.66762010e-05 9.99987879e-01 2.91400350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.710281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:97.65, Y:19.28, Z:0.29 [[ 9.00594125e-01 -4.34638252e-01 -4.45108729e-03 9.76534628e+01] [ 4.34633158e-01 9.00605123e-01 -2.10466642e-03 1.92777155e+01] [ 4.92344055e-03 -3.91399096e-05 9.99987879e-01 2.93643303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.740281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:97.68, Y:19.29, Z:0.29 [[ 8.99887304e-01 -4.36099793e-01 -4.45091174e-03 9.76793301e+01] [ 4.36094715e-01 8.99898310e-01 -2.10503761e-03 1.92884407e+01] [ 4.92337442e-03 -4.67224657e-05 9.99987879e-01 2.94048092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.770281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:97.70, Y:19.30, Z:0.29 [[ 8.99551057e-01 -4.36792958e-01 -4.45051309e-03 9.77041882e+01] [ 4.36787884e-01 8.99562065e-01 -2.10588011e-03 1.92985838e+01] [ 4.92334635e-03 -4.95835154e-05 9.99987879e-01 2.93602446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.800281693 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:97.73, Y:19.31, Z:0.29 [[ 8.99560933e-01 -4.36772622e-01 -4.45034042e-03 9.77296825e+01] [ 4.36767546e-01 8.99571940e-01 -2.10624494e-03 1.93077723e+01] [ 4.92335149e-03 -4.90685988e-05 9.99987879e-01 2.91420442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.830281693 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:97.76, Y:19.32, Z:0.29 [[ 8.99773631e-01 -4.36334285e-01 -4.45016869e-03 9.77557017e+01] [ 4.36329202e-01 8.99784635e-01 -2.10660771e-03 1.93185205e+01] [ 4.92337858e-03 -4.62684839e-05 9.99987879e-01 2.90831524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.860281693 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:97.78, Y:19.33, Z:0.29 [[ 9.00626732e-01 -4.34570695e-01 -4.44976836e-03 9.77830711e+01] [ 4.34565586e-01 9.00637724e-01 -2.10745299e-03 1.93266232e+01] [ 4.92346656e-03 -3.56877025e-05 9.99987879e-01 2.92246172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.890281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:97.81, Y:19.34, Z:0.29 [[ 9.01099527e-01 -4.33589491e-01 -4.44936394e-03 9.78079968e+01] [ 4.33584366e-01 9.01110511e-01 -2.10830649e-03 1.93359586e+01] [ 4.92350815e-03 -2.93806602e-05 9.99987879e-01 2.92941191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.920281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:97.83, Y:19.35, Z:0.29 [[ 9.01485660e-01 -4.32786101e-01 -4.44918739e-03 9.78340890e+01] [ 4.32780964e-01 9.01496639e-01 -2.10867900e-03 1.93461622e+01] [ 4.92353444e-03 -2.45797296e-05 9.99987879e-01 2.93711283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.95028169300001 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:97.86, Y:19.36, Z:0.29 [[ 9.01934011e-01 -4.31850956e-01 -4.44880381e-03 9.78601044e+01] [ 4.31845805e-01 9.01944982e-01 -2.10948794e-03 1.93569482e+01] [ 4.92356066e-03 -1.85783471e-05 9.99987879e-01 2.93699764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.980281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:97.89, Y:19.37, Z:0.29 [[ 9.02945904e-01 -4.29731202e-01 -4.44840712e-03 9.78858581e+01] [ 4.29726021e-01 9.02956861e-01 -2.11032413e-03 1.93658610e+01] [ 4.92359186e-03 -6.08776587e-06 9.99987879e-01 2.94130872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.010281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:97.91, Y:19.38, Z:0.29 [[ 9.03375681e-01 -4.28826997e-01 -4.44813602e-03 9.79116496e+01] [ 4.28821802e-01 9.03386632e-01 -2.11089541e-03 1.93765733e+01] [ 4.92359555e-03 -5.26119190e-07 9.99987879e-01 2.94355121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.040281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:97.94, Y:19.39, Z:0.29 [[ 9.03659072e-01 -4.28229494e-01 -4.44774663e-03 9.79369048e+01] [ 4.28224288e-01 9.03670017e-01 -2.11171556e-03 1.93876814e+01] [ 4.92359416e-03 3.63778711e-06 9.99987879e-01 2.94252092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.070281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:97.96, Y:19.40, Z:0.29 [[ 9.04535519e-01 -4.26375089e-01 -4.44737833e-03 9.79617255e+01] [ 4.26369856e-01 9.04546452e-01 -2.11249092e-03 1.93989913e+01] [ 4.92357379e-03 1.45950080e-05 9.99987879e-01 2.94956910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.100281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:97.99, Y:19.41, Z:0.30 [[ 9.04458601e-01 -4.26538230e-01 -4.44720661e-03 9.79873587e+01] [ 4.26532997e-01 9.04469534e-01 -2.11285236e-03 1.94113941e+01] [ 4.92357520e-03 1.41071250e-05 9.99987879e-01 2.95097129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.130281693 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:98.01, Y:19.42, Z:0.30 [[ 9.04801654e-01 -4.25810042e-01 -4.44682538e-03 9.80131902e+01] [ 4.25804797e-01 9.04812581e-01 -2.11365442e-03 1.94231203e+01] [ 4.92355883e-03 1.89584358e-05 9.99987879e-01 2.96076487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.160281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:98.04, Y:19.43, Z:0.30 [[ 9.05090526e-01 -4.25195684e-01 -4.44642467e-03 9.80374299e+01] [ 4.25190427e-01 9.05101447e-01 -2.11449704e-03 1.94339571e+01] [ 4.92354042e-03 2.32340338e-05 9.99987879e-01 2.96480634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.190281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:98.06, Y:19.44, Z:0.30 [[ 9.05136558e-01 -4.25097685e-01 -4.44624979e-03 9.80628679e+01] [ 4.25092425e-01 9.05147478e-01 -2.11486470e-03 1.94447051e+01] [ 4.92353588e-03 2.41742505e-05 9.99987879e-01 2.95647660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.220281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:98.09, Y:19.46, Z:0.29 [[ 9.05070014e-01 -4.25239349e-01 -4.44585144e-03 9.80875930e+01] [ 4.25234087e-01 9.05080933e-01 -2.11570178e-03 1.94561595e+01] [ 4.92353502e-03 2.43306585e-05 9.99987879e-01 2.94535773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.250281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:98.11, Y:19.47, Z:0.29 [[ 9.04393679e-01 -4.26675883e-01 -4.44557920e-03 9.81137147e+01] [ 4.26670635e-01 9.04404605e-01 -2.11627366e-03 1.94670782e+01] [ 4.92356524e-03 1.71464239e-05 9.99987879e-01 2.93157863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.280281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:98.14, Y:19.48, Z:0.29 [[ 9.03678104e-01 -4.28189356e-01 -4.44518548e-03 9.81397868e+01] [ 4.28184123e-01 9.03689037e-01 -2.11710034e-03 1.94778785e+01] [ 4.92358522e-03 9.81938055e-06 9.99987879e-01 2.93037691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.31028169300001 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:98.17, Y:19.49, Z:0.29 [[ 9.02881638e-01 -4.29866249e-01 -4.44479410e-03 9.81657777e+01] [ 4.29861031e-01 9.02892579e-01 -2.11792171e-03 1.94890563e+01] [ 4.92359467e-03 1.58884936e-06 9.99987879e-01 2.93156845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.340281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:98.19, Y:19.50, Z:0.29 [[ 9.01745141e-01 -4.32245240e-01 -4.44440194e-03 9.81907118e+01] [ 4.32240047e-01 9.01756094e-01 -2.11874433e-03 1.94991198e+01] [ 4.92358369e-03 -1.04811046e-05 9.99987879e-01 2.92475479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.370281693 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:98.22, Y:19.51, Z:0.29 [[ 9.01123294e-01 -4.33540146e-01 -4.44423078e-03 9.82167978e+01] [ 4.33534968e-01 9.01134253e-01 -2.11910330e-03 1.95105083e+01] [ 4.92356494e-03 -1.71561045e-05 9.99987879e-01 2.92275473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.400281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:98.24, Y:19.52, Z:0.29 [[ 9.00630441e-01 -4.34563068e-01 -4.44384415e-03 9.82430646e+01] [ 4.34557898e-01 9.00641404e-01 -2.11991376e-03 1.95210595e+01] [ 4.92354627e-03 -2.18487051e-05 9.99987879e-01 2.92791934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.430281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:98.27, Y:19.53, Z:0.29 [[ 9.00187667e-01 -4.35479530e-01 -4.44345820e-03 9.82684542e+01] [ 4.35474367e-01 9.00198633e-01 -2.12072243e-03 1.95312515e+01] [ 4.92352620e-03 -2.59639651e-05 9.99987879e-01 2.93727475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.460281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:98.29, Y:19.54, Z:0.30 [[ 8.99825024e-01 -4.36228362e-01 -4.44329057e-03 9.82947499e+01] [ 4.36223207e-01 8.99835993e-01 -2.12107359e-03 1.95421986e+01] [ 4.92350524e-03 -2.96713672e-05 9.99987879e-01 2.95326492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.490281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:98.32, Y:19.55, Z:0.30 [[ 9.00063446e-01 -4.35736220e-01 -4.44290937e-03 9.83205516e+01] [ 4.35731054e-01 9.00074412e-01 -2.12187176e-03 1.95530435e+01] [ 4.92352542e-03 -2.60943794e-05 9.99987879e-01 2.95562212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.520281693 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:98.35, Y:19.57, Z:0.30 [[ 9.00447227e-01 -4.34942589e-01 -4.44252952e-03 9.83457890e+01] [ 4.34937410e-01 9.00458185e-01 -2.12266675e-03 1.95655130e+01] [ 4.92355024e-03 -2.08728951e-05 9.99987879e-01 2.95511927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.550281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:98.37, Y:19.58, Z:0.30 [[ 9.01633883e-01 -4.32477292e-01 -4.44213143e-03 9.83701569e+01] [ 4.32472079e-01 9.01644826e-01 -2.12349952e-03 1.95768487e+01] [ 4.92359014e-03 -6.47869702e-06 9.99987879e-01 2.96047428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.580281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:98.40, Y:19.59, Z:0.30 [[ 9.02081128e-01 -4.31543634e-01 -4.44186017e-03 9.83956819e+01] [ 4.31538407e-01 9.02092064e-01 -2.12406678e-03 1.95890191e+01] [ 4.92359430e-03 -7.52705530e-07 9.99987879e-01 2.97156187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.610281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:98.42, Y:19.60, Z:0.30 [[ 9.02612370e-01 -4.30431391e-01 -4.44146336e-03 9.84200501e+01] [ 4.30426146e-01 9.02623298e-01 -2.12489618e-03 1.96008607e+01] [ 4.92359033e-03 6.23562006e-06 9.99987879e-01 2.98729520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.640281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:98.45, Y:19.61, Z:0.30 [[ 9.02404873e-01 -4.30866243e-01 -4.44129088e-03 9.84456667e+01] [ 4.30861002e-01 9.02415802e-01 -2.12525662e-03 1.96129990e+01] [ 4.92359241e-03 4.26289310e-06 9.99987879e-01 2.96949220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.670281693 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:98.47, Y:19.62, Z:0.30 [[ 9.01988562e-01 -4.31737086e-01 -4.44089324e-03 9.84709126e+01] [ 4.31731851e-01 9.01999495e-01 -2.12608720e-03 1.96241098e+01] [ 4.92359415e-03 4.31276099e-07 9.99987879e-01 2.95742539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70028169300001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:98.50, Y:19.63, Z:0.30 [[ 9.01566604e-01 -4.32617546e-01 -4.44047550e-03 9.84966673e+01] [ 4.32612317e-01 9.01577539e-01 -2.12695933e-03 1.96338538e+01] [ 4.92359290e-03 -3.40889413e-06 9.99987879e-01 2.96455209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.730281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:98.52, Y:19.65, Z:0.30 [[ 9.01552182e-01 -4.32647600e-01 -4.44029311e-03 9.85221152e+01] [ 4.32642370e-01 9.01563117e-01 -2.12734003e-03 1.96460544e+01] [ 4.92359305e-03 -3.15088658e-06 9.99987879e-01 2.98444128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.760281693 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:98.55, Y:19.66, Z:0.30 [[ 9.01834061e-01 -4.32059735e-01 -4.43989066e-03 9.85470312e+01] [ 4.32054493e-01 9.01844990e-01 -2.12817962e-03 1.96584331e+01] [ 4.92359387e-03 9.90154163e-07 9.99987879e-01 2.99382981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.790281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:98.57, Y:19.67, Z:0.30 [[ 9.03199318e-01 -4.29198419e-01 -4.43948690e-03 9.85728476e+01] [ 4.29193139e-01 9.03210229e-01 -2.12902155e-03 1.96703360e+01] [ 4.92356266e-03 1.75334938e-05 9.99987879e-01 2.99524086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.820281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:98.60, Y:19.68, Z:0.30 [[ 9.03857008e-01 -4.27811645e-01 -4.43907622e-03 9.85986734e+01] [ 4.27806344e-01 9.03867909e-01 -2.12987750e-03 1.96821026e+01] [ 4.92352493e-03 2.60397362e-05 9.99987879e-01 2.98841775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.850281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:98.62, Y:19.69, Z:0.30 [[ 9.04561063e-01 -4.26320985e-01 -4.43866763e-03 9.86236328e+01] [ 4.26315662e-01 9.04571952e-01 -2.13072866e-03 1.96929582e+01] [ 4.92346858e-03 3.51006584e-05 9.99987879e-01 2.99990861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.880281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:98.65, Y:19.70, Z:0.30 [[ 9.05394309e-01 -4.24548518e-01 -4.43849034e-03 9.86489392e+01] [ 4.24543172e-01 9.05405188e-01 -2.13109791e-03 1.97039744e+01] [ 4.92338664e-03 4.51531580e-05 9.99987879e-01 3.01249003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.910281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:98.67, Y:19.72, Z:0.30 [[ 9.05695459e-01 -4.23905695e-01 -4.43810800e-03 9.86741874e+01] [ 4.23900337e-01 9.05706332e-01 -2.13189385e-03 1.97155909e+01] [ 4.92334446e-03 4.95311043e-05 9.99987879e-01 3.00747998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.940281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:98.70, Y:19.73, Z:0.30 [[ 9.06740936e-01 -4.21664775e-01 -4.43770296e-03 9.86996040e+01] [ 4.21659386e-01 9.06751793e-01 -2.13273663e-03 1.97261606e+01] [ 4.92319503e-03 6.26404992e-05 9.99987879e-01 2.99081592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.970281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:98.72, Y:19.74, Z:0.30 [[ 9.07564468e-01 -4.19889325e-01 -4.43752694e-03 9.87246239e+01] [ 4.19883913e-01 9.07575313e-01 -2.13310280e-03 1.97382113e+01] [ 4.92305700e-03 7.26821340e-05 9.99987879e-01 2.98458060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.000281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:98.75, Y:19.75, Z:0.30 [[ 9.08386845e-01 -4.18107224e-01 -4.43713185e-03 9.87488632e+01] [ 4.18101787e-01 9.08397678e-01 -2.13392434e-03 1.97513319e+01] [ 4.92288945e-03 8.32560440e-05 9.99987879e-01 2.97940228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.030281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:98.77, Y:19.76, Z:0.30 [[ 9.09363009e-01 -4.15979847e-01 -4.43672839e-03 9.87722051e+01] [ 4.15974380e-01 9.09373827e-01 -2.13476285e-03 1.97643359e+01] [ 4.92266300e-03 9.57090262e-05 9.99987879e-01 2.97036435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06028169300001 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:98.80, Y:19.78, Z:0.30 [[ 9.10837494e-01 -4.12741296e-01 -4.43655263e-03 9.87958803e+01] [ 4.12735789e-01 9.10848291e-01 -2.13512806e-03 1.97767741e+01] [ 4.92228191e-03 1.13630640e-04 9.99987879e-01 2.96720724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.090281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:98.82, Y:19.79, Z:0.30 [[ 9.11192176e-01 -4.11957688e-01 -4.43637917e-03 9.88213573e+01] [ 4.11952170e-01 9.11202968e-01 -2.13548842e-03 1.97887873e+01] [ 4.92217274e-03 1.18264319e-04 9.99987879e-01 2.96866780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.120281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:98.85, Y:19.80, Z:0.30 [[ 9.11339461e-01 -4.11631763e-01 -4.43597903e-03 9.88451382e+01] [ 4.11626237e-01 9.11350249e-01 -2.13631930e-03 1.98005651e+01] [ 4.92210747e-03 1.20946719e-04 9.99987879e-01 2.96767322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.150281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:98.87, Y:19.81, Z:0.30 [[ 9.11070601e-01 -4.12226498e-01 -4.43570679e-03 9.88694312e+01] [ 4.12220976e-01 9.11081391e-01 -2.13688440e-03 1.98143289e+01] [ 4.92217029e-03 1.18361175e-04 9.99987879e-01 2.96991998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.180281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:98.89, Y:19.83, Z:0.30 [[ 9.10910777e-01 -4.12579549e-01 -4.43530652e-03 9.88934304e+01] [ 4.12574028e-01 9.10921567e-01 -2.13771488e-03 1.98267390e+01] [ 4.92219381e-03 1.17375241e-04 9.99987879e-01 2.97935458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.210281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:98.92, Y:19.84, Z:0.30 [[ 9.10339942e-01 -4.13837551e-01 -4.43513249e-03 9.89181719e+01] [ 4.13832043e-01 9.10350739e-01 -2.13807588e-03 1.98394988e+01] [ 4.92234223e-03 1.10975932e-04 9.99987879e-01 2.99309835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.240281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:98.94, Y:19.85, Z:0.30 [[ 9.09998590e-01 -4.14587626e-01 -4.43473529e-03 9.89427049e+01] [ 4.14582123e-01 9.10009389e-01 -2.13889942e-03 1.98515520e+01] [ 4.92241199e-03 1.07833484e-04 9.99987879e-01 3.00274047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.270281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:98.97, Y:19.86, Z:0.30 [[ 9.09588557e-01 -4.15486451e-01 -4.43456274e-03 9.89673829e+01] [ 4.15480957e-01 9.09599361e-01 -2.13925710e-03 1.98639447e+01] [ 4.92250778e-03 1.03367409e-04 9.99987879e-01 3.00520577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.300281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:98.99, Y:19.88, Z:0.30 [[ 9.09189549e-01 -4.16358863e-01 -4.43417919e-03 9.89922255e+01] [ 4.16353375e-01 9.09200356e-01 -2.14005183e-03 1.98760718e+01] [ 4.92258684e-03 9.95272939e-05 9.99987879e-01 2.99972333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.330281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:99.02, Y:19.89, Z:0.30 [[ 9.08392804e-01 -4.18094314e-01 -4.43377754e-03 9.90181121e+01] [ 4.18088843e-01 9.08403620e-01 -2.14088364e-03 1.98866738e+01] [ 4.92275084e-03 9.10503755e-05 9.99987879e-01 2.96236624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.360281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:99.04, Y:19.90, Z:0.30 [[ 9.07915648e-01 -4.19129481e-01 -4.43336670e-03 9.90428810e+01] [ 4.19124018e-01 9.07926468e-01 -2.14173408e-03 1.98971689e+01] [ 4.92283486e-03 8.63834222e-05 9.99987879e-01 2.95250635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.390281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:99.07, Y:19.91, Z:0.30 [[ 9.07159831e-01 -4.20762864e-01 -4.43318768e-03 9.90689761e+01] [ 4.20757419e-01 9.07170660e-01 -2.14210457e-03 1.99071371e+01] [ 4.92297585e-03 7.79346144e-05 9.99987879e-01 2.99418824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.420281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:99.09, Y:19.92, Z:0.30 [[ 9.06855017e-01 -4.21419420e-01 -4.43279314e-03 9.90945188e+01] [ 4.21413979e-01 9.06865848e-01 -2.14292071e-03 1.99183218e+01] [ 4.92301711e-03 7.52774038e-05 9.99987879e-01 3.02234046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.45028169300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:99.12, Y:19.93, Z:0.30 [[ 9.06651152e-01 -4.21857847e-01 -4.43239118e-03 9.91199897e+01] [ 4.21852406e-01 9.06661983e-01 -2.14375179e-03 1.99290181e+01] [ 4.92303909e-03 7.38201419e-05 9.99987879e-01 3.04209369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.480281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:99.15, Y:19.94, Z:0.30 [[ 9.06455663e-01 -4.22277739e-01 -4.43198500e-03 9.91458178e+01] [ 4.22272299e-01 9.06466495e-01 -2.14459119e-03 1.99374575e+01] [ 4.92305903e-03 7.24723366e-05 9.99987879e-01 3.04586054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.510281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:99.17, Y:19.95, Z:0.30 [[ 9.06373727e-01 -4.22453580e-01 -4.43170769e-03 9.91706670e+01] [ 4.22448139e-01 9.06384559e-01 -2.14516409e-03 1.99474230e+01] [ 4.92306367e-03 7.21537015e-05 9.99987879e-01 3.03142599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.540281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:99.20, Y:19.96, Z:0.30 [[ 9.06259396e-01 -4.22698793e-01 -4.43153295e-03 9.91976944e+01] [ 4.22693354e-01 9.06270228e-01 -2.14552502e-03 1.99561443e+01] [ 4.92307721e-03 7.12226838e-05 9.99987879e-01 3.00440754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.570281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:99.22, Y:19.97, Z:0.30 [[ 9.06228043e-01 -4.22766010e-01 -4.43112225e-03 9.92226483e+01] [ 4.22760567e-01 9.06238873e-01 -2.14637290e-03 1.99657110e+01] [ 4.92306874e-03 7.17995587e-05 9.99987879e-01 3.01193608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.600281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:99.25, Y:19.98, Z:0.30 [[ 9.06062215e-01 -4.23121293e-01 -4.43094403e-03 9.92483109e+01] [ 4.23115853e-01 9.06073047e-01 -2.14674075e-03 1.99758978e+01] [ 4.92309068e-03 7.02780189e-05 9.99987879e-01 3.02638634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.630281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:99.27, Y:19.99, Z:0.30 [[ 9.05964449e-01 -4.23330590e-01 -4.43054299e-03 9.92734169e+01] [ 4.23325148e-01 9.05975279e-01 -2.14756811e-03 1.99856434e+01] [ 4.92309370e-03 7.00600937e-05 9.99987879e-01 3.03243143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.660281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:99.30, Y:20.00, Z:0.30 [[ 9.05805416e-01 -4.23670768e-01 -4.43036883e-03 9.92985401e+01] [ 4.23665329e-01 9.05816248e-01 -2.14792733e-03 1.99956354e+01] [ 4.92311410e-03 6.86105363e-05 9.99987879e-01 3.03551095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.690281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:99.32, Y:20.00, Z:0.30 [[ 9.05739188e-01 -4.23812337e-01 -4.43019792e-03 9.93249987e+01] [ 4.23806898e-01 9.05750020e-01 -2.14827979e-03 2.00047594e+01] [ 4.92311933e-03 6.82327523e-05 9.99987879e-01 3.01518793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.720281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:99.35, Y:20.02, Z:0.30 [[ 9.05857066e-01 -4.23560330e-01 -4.42979873e-03 9.93503796e+01] [ 4.23554884e-01 9.05867894e-01 -2.14910261e-03 2.00157373e+01] [ 4.92308706e-03 7.05168942e-05 9.99987879e-01 3.00587000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.750281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:99.38, Y:20.03, Z:0.30 [[ 9.06221654e-01 -4.22779723e-01 -4.42939417e-03 9.93766397e+01] [ 4.22774263e-01 9.06232476e-01 -2.14993611e-03 2.00256512e+01] [ 4.92301024e-03 7.56848018e-05 9.99987879e-01 3.00572176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.780281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:99.40, Y:20.04, Z:0.30 [[ 9.06351071e-01 -4.22502213e-01 -4.42899024e-03 9.94015037e+01] [ 4.22496746e-01 9.06361889e-01 -2.15076790e-03 2.00369319e+01] [ 4.92297216e-03 7.81168299e-05 9.99987879e-01 3.01173484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.81028169300001 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:99.43, Y:20.05, Z:0.30 [[ 9.06336929e-01 -4.22532551e-01 -4.42881457e-03 9.94267748e+01] [ 4.22527082e-01 9.06347747e-01 -2.15112958e-03 2.00484714e+01] [ 4.92296837e-03 7.83540770e-05 9.99987879e-01 3.01184059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.840281693 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:99.45, Y:20.06, Z:0.30 [[ 9.06242630e-01 -4.22734769e-01 -4.42840683e-03 9.94508752e+01] [ 4.22729299e-01 9.06253446e-01 -2.15196865e-03 2.00596481e+01] [ 4.92297092e-03 7.81884111e-05 9.99987879e-01 3.01434386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.870281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:99.48, Y:20.07, Z:0.30 [[ 9.05918439e-01 -4.23429064e-01 -4.42822948e-03 9.94763025e+01] [ 4.23423600e-01 9.05929259e-01 -2.15233352e-03 2.00724778e+01] [ 4.92302322e-03 7.48217590e-05 9.99987879e-01 3.02102761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.900281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:99.50, Y:20.08, Z:0.30 [[ 9.05692869e-01 -4.23911337e-01 -4.42781568e-03 9.95003504e+01] [ 4.23905875e-01 9.05703689e-01 -2.15318445e-03 2.00848043e+01] [ 4.92304830e-03 7.31467232e-05 9.99987879e-01 3.01329610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.930281693 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:99.53, Y:20.10, Z:0.30 [[ 9.04962344e-01 -4.25468626e-01 -4.42763598e-03 9.95254263e+01] [ 4.25463181e-01 9.04973173e-01 -2.15355391e-03 2.00978581e+01] [ 4.92316141e-03 6.50891068e-05 9.99987879e-01 2.98078399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.960281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:99.55, Y:20.11, Z:0.30 [[ 9.04443532e-01 -4.26570389e-01 -4.42723005e-03 9.95506089e+01] [ 4.26564953e-01 9.04454366e-01 -2.15438809e-03 2.01101716e+01] [ 4.92322572e-03 6.00211943e-05 9.99987879e-01 2.98071788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.990281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:99.58, Y:20.12, Z:0.30 [[ 9.04362839e-01 -4.26741443e-01 -4.42682169e-03 9.95761358e+01] [ 4.26736005e-01 9.04373671e-01 -2.15522686e-03 2.01228155e+01] [ 4.92322561e-03 6.00228780e-05 9.99987879e-01 2.98212027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.020281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:99.60, Y:20.13, Z:0.30 [[ 9.02947756e-01 -4.29727539e-01 -4.42641391e-03 9.96008156e+01] [ 4.29722132e-01 9.02958604e-01 -2.15606404e-03 2.01349935e+01] [ 4.92338862e-03 4.46851599e-05 9.99987879e-01 3.02329690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.050281693 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:99.63, Y:20.15, Z:0.30 [[ 9.02045508e-01 -4.31618245e-01 -4.42628734e-03 9.96263091e+01] [ 4.31612860e-01 9.02056367e-01 -2.15632384e-03 2.01476294e+01] [ 4.92346939e-03 3.46596975e-05 9.99987879e-01 3.04517821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.080281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:99.65, Y:20.16, Z:0.31 [[ 9.01222604e-01 -4.33333855e-01 -4.42588337e-03 9.96504333e+01] [ 4.33328487e-01 9.01233471e-01 -2.15715269e-03 2.01591891e+01] [ 4.92352152e-03 2.62134175e-05 9.99987879e-01 3.05256868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.110281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:99.68, Y:20.17, Z:0.30 [[ 8.99901343e-01 -4.36071080e-01 -4.42560826e-03 9.96765012e+01] [ 4.36065742e-01 8.99912225e-01 -2.15771696e-03 2.01688226e+01] [ 4.92357694e-03 1.18762467e-05 9.99987879e-01 3.03554633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.140281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:99.70, Y:20.18, Z:0.30 [[ 8.99342656e-01 -4.37222146e-01 -4.42520598e-03 9.97025619e+01] [ 4.37216818e-01 8.99353543e-01 -2.15854166e-03 2.01799257e+01] [ 4.92358690e-03 6.49411233e-06 9.99987879e-01 3.02540136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.170281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:99.73, Y:20.19, Z:0.30 [[ 8.98958233e-01 -4.38012006e-01 -4.42480030e-03 9.97276241e+01] [ 4.38006683e-01 8.98969122e-01 -2.15937294e-03 2.01906621e+01] [ 4.92359012e-03 3.09397870e-06 9.99987879e-01 3.02675625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.200281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:99.75, Y:20.20, Z:0.30 [[ 8.99001872e-01 -4.37922432e-01 -4.42462467e-03 9.97532005e+01] [ 4.37917106e-01 8.99012761e-01 -2.15973277e-03 2.01994086e+01] [ 4.92358946e-03 3.98497443e-06 9.99987879e-01 3.04171789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.230281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:99.78, Y:20.21, Z:0.30 [[ 8.99290332e-01 -4.37329764e-01 -4.42445212e-03 9.97791891e+01] [ 4.37324430e-01 8.99301216e-01 -2.16008619e-03 2.02102071e+01] [ 4.92358516e-03 7.62362551e-06 9.99987879e-01 3.04590783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.260281693 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:99.80, Y:20.22, Z:0.31 [[ 8.99750177e-01 -4.36382912e-01 -4.42403228e-03 9.98042433e+01] [ 4.36377562e-01 8.99761054e-01 -2.16094571e-03 2.02208622e+01] [ 4.92357173e-03 1.37628650e-05 9.99987879e-01 3.05123824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.290281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:99.83, Y:20.23, Z:0.31 [[ 9.00189223e-01 -4.35476511e-01 -4.42384909e-03 9.98286864e+01] [ 4.35471148e-01 9.00200093e-01 -2.16132068e-03 2.02319243e+01] [ 4.92355375e-03 1.91389436e-05 9.99987879e-01 3.05599806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.320281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:99.85, Y:20.24, Z:0.31 [[ 9.01536449e-01 -4.32680555e-01 -4.42367381e-03 9.98538680e+01] [ 4.32675157e-01 9.01547301e-01 -2.16167938e-03 2.02431705e+01] [ 4.92346781e-03 3.48189915e-05 9.99987879e-01 3.06490119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.350281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:99.88, Y:20.26, Z:0.31 [[ 9.02146758e-01 -4.31406609e-01 -4.42328848e-03 9.98792735e+01] [ 4.31401191e-01 9.02157601e-01 -2.16246756e-03 2.02551965e+01] [ 4.92340612e-03 4.26511840e-05 9.99987879e-01 3.06397740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.380281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:99.90, Y:20.27, Z:0.31 [[ 9.02693067e-01 -4.30262321e-01 -4.42287597e-03 9.99038737e+01] [ 4.30256885e-01 9.02703901e-01 -2.16331093e-03 2.02670558e+01] [ 4.92333857e-03 4.98329345e-05 9.99987879e-01 3.05047402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.410281693 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:99.93, Y:20.28, Z:0.30 [[ 9.03456325e-01 -4.28657332e-01 -4.42269711e-03 9.99292137e+01] [ 4.28651875e-01 9.03467148e-01 -2.16367654e-03 2.02798262e+01] [ 4.92323735e-03 5.89898449e-05 9.99987879e-01 3.02423656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.440281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:99.95, Y:20.29, Z:0.30 [[ 9.03787453e-01 -4.27958740e-01 -4.42228082e-03 9.99546275e+01] [ 4.27953270e-01 9.03798270e-01 -2.16452704e-03 2.02926019e+01] [ 4.92317802e-03 6.37428419e-05 9.99987879e-01 3.01902391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.470281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:99.98, Y:20.31, Z:0.30 [[ 9.04431445e-01 -4.26596072e-01 -4.42185909e-03 9.99787755e+01] [ 4.26590583e-01 9.04442251e-01 -2.16538824e-03 2.03052315e+01] [ 4.92306231e-03 7.21217748e-05 9.99987879e-01 3.04443246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.500281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:100.00, Y:20.32, Z:0.31 [[ 9.04684626e-01 -4.26058890e-01 -4.42157206e-03 1.00003642e+02] [ 4.26053391e-01 9.04695427e-01 -2.16597418e-03 2.03188609e+01] [ 4.92300858e-03 7.56977672e-05 9.99987879e-01 3.06032424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.530281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:100.03, Y:20.33, Z:0.31 [[ 9.05132298e-01 -4.25107018e-01 -4.42115731e-03 1.00027578e+02] [ 4.25101503e-01 9.05143092e-01 -2.16682044e-03 2.03322035e+01] [ 4.92291057e-03 8.18185451e-05 9.99987879e-01 3.05796945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56028169300001 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:100.05, Y:20.35, Z:0.31 [[ 9.05909532e-01 -4.23448197e-01 -4.42097695e-03 1.00051374e+02] [ 4.23442661e-01 9.05920314e-01 -2.16718836e-03 2.03476937e+01] [ 4.92274483e-03 9.12463459e-05 9.99987879e-01 3.06617955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.590281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:100.07, Y:20.36, Z:0.31 [[ 9.06239003e-01 -4.22742627e-01 -4.42057275e-03 1.00074612e+02] [ 4.22737078e-01 9.06249779e-01 -2.16801252e-03 2.03607366e+01] [ 4.92265438e-03 9.59974965e-05 9.99987879e-01 3.06755743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.620281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:100.10, Y:20.37, Z:0.31 [[ 9.06485816e-01 -4.22213129e-01 -4.42029736e-03 1.00099026e+02] [ 4.22207571e-01 9.06496588e-01 -2.16857386e-03 2.03747401e+01] [ 4.92258483e-03 9.94984348e-05 9.99987879e-01 3.05448546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.650281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:100.12, Y:20.39, Z:0.30 [[ 9.07324068e-01 -4.20408730e-01 -4.41989769e-03 1.00122231e+02] [ 4.20403147e-01 9.07334827e-01 -2.16938815e-03 2.03915806e+01] [ 4.92235682e-03 1.10199186e-04 9.99987879e-01 3.03346643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.680281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:100.15, Y:20.41, Z:0.30 [[ 9.07871337e-01 -4.19225599e-01 -4.41949337e-03 1.00145942e+02] [ 4.19219998e-01 9.07882087e-01 -2.17021151e-03 2.04067438e+01] [ 4.92218708e-03 1.17532828e-04 9.99987879e-01 3.03478037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.710281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:100.17, Y:20.42, Z:0.30 [[ 9.08525652e-01 -4.17805711e-01 -4.41908759e-03 1.00169377e+02] [ 4.17800089e-01 9.08536390e-01 -2.17103747e-03 2.04218541e+01] [ 4.92197374e-03 1.26148046e-04 9.99987879e-01 3.04638286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.740281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:100.19, Y:20.44, Z:0.31 [[ 9.09900585e-01 -4.14802846e-01 -4.41868273e-03 1.00190827e+02] [ 4.14797185e-01 9.09911303e-01 -2.17186115e-03 2.04406826e+01] [ 4.92150355e-03 1.43320572e-04 9.99987879e-01 3.07715476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.770281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:100.21, Y:20.46, Z:0.31 [[ 9.10255492e-01 -4.14023451e-01 -4.41827854e-03 1.00214147e+02] [ 4.14017777e-01 9.10266203e-01 -2.17268310e-03 2.04572253e+01] [ 4.92135139e-03 1.48450861e-04 9.99987879e-01 3.08559901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.800281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:100.23, Y:20.48, Z:0.31 [[ 9.09978492e-01 -4.14631916e-01 -4.41787240e-03 1.00234910e+02] [ 4.14626245e-01 9.09989205e-01 -2.17350863e-03 2.04751460e+01] [ 4.92142224e-03 1.46080265e-04 9.99987879e-01 3.10029642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.830281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:100.26, Y:20.49, Z:0.31 [[ 9.09077148e-01 -4.16604396e-01 -4.41759564e-03 1.00258525e+02] [ 4.16598746e-01 9.09087872e-01 -2.17407098e-03 2.04895645e+01] [ 4.92171015e-03 1.36033443e-04 9.99987879e-01 3.10326187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.860281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:100.28, Y:20.50, Z:0.31 [[ 9.07715056e-01 -4.19563899e-01 -4.41718924e-03 1.00282469e+02] [ 4.19558279e-01 9.07725796e-01 -2.17489639e-03 2.05039112e+01] [ 4.92210462e-03 1.20917882e-04 9.99987879e-01 3.10286164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.890281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:100.31, Y:20.52, Z:0.31 [[ 9.06066038e-01 -4.23113256e-01 -4.41678360e-03 1.00306070e+02] [ 4.23107675e-01 9.06076797e-01 -2.17571985e-03 2.05185214e+01] [ 4.92252104e-03 1.02570822e-04 9.99987879e-01 3.10087769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.920281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:100.33, Y:20.53, Z:0.31 [[ 9.03301196e-01 -4.28984201e-01 -4.41637622e-03 1.00327932e+02] [ 4.28978685e-01 9.03311989e-01 -2.17654644e-03 2.05341857e+01] [ 4.92306963e-03 7.15457379e-05 9.99987879e-01 3.11472480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.950281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:100.35, Y:20.55, Z:0.31 [[ 9.02500748e-01 -4.30665645e-01 -4.41619861e-03 1.00351267e+02] [ 4.30660148e-01 9.02511550e-01 -2.17690676e-03 2.05482693e+01] [ 4.92318921e-03 6.27792375e-05 9.99987879e-01 3.13482979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.980281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:100.37, Y:20.56, Z:0.32 [[ 9.02263310e-01 -4.31162868e-01 -4.41602237e-03 1.00374645e+02] [ 4.31157374e-01 9.02274115e-01 -2.17726421e-03 2.05628374e+01] [ 4.92321816e-03 6.04649967e-05 9.99987879e-01 3.15229412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.010281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:100.40, Y:20.58, Z:0.31 [[ 9.02190778e-01 -4.31314618e-01 -4.41585008e-03 1.00396722e+02] [ 4.31309125e-01 9.02201583e-01 -2.17761359e-03 2.05808420e+01] [ 4.92322351e-03 6.00264605e-05 9.99987879e-01 3.12588286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.040281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:100.42, Y:20.60, Z:0.31 [[ 9.01799699e-01 -4.32131700e-01 -4.41545846e-03 1.00421194e+02] [ 4.32126213e-01 9.01810507e-01 -2.17840738e-03 2.05955664e+01] [ 4.92326571e-03 5.64517757e-05 9.99987879e-01 3.11080571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.070281693 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:100.44, Y:20.61, Z:0.31 [[ 9.00106219e-01 -4.35648139e-01 -4.41505746e-03 1.00444699e+02] [ 4.35642690e-01 9.00117047e-01 -2.17921980e-03 2.06091459e+01] [ 4.92344153e-03 3.81417869e-05 9.99987879e-01 3.08626246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.100281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:100.47, Y:20.62, Z:0.31 [[ 8.98814727e-01 -4.38306510e-01 -4.41478480e-03 1.00469880e+02] [ 4.38301090e-01 8.98825569e-01 -2.17977203e-03 2.06215503e+01] [ 4.92352973e-03 2.42062074e-05 9.99987879e-01 3.09465969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.130281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:100.49, Y:20.63, Z:0.31 [[ 8.97298488e-01 -4.41402240e-01 -4.41438992e-03 1.00494614e+02] [ 4.41396854e-01 8.97309346e-01 -2.18057142e-03 2.06338503e+01] [ 4.92358244e-03 8.12561744e-06 9.99987879e-01 3.11219280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.160281693 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:100.52, Y:20.65, Z:0.31 [[ 8.95806641e-01 -4.44422072e-01 -4.41397863e-03 1.00519458e+02] [ 4.44416718e-01 8.95817516e-01 -2.18140366e-03 2.06457332e+01] [ 4.92358330e-03 -7.53001582e-06 9.99987879e-01 3.12397531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.190281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:100.54, Y:20.66, Z:0.31 [[ 8.93829324e-01 -4.48385615e-01 -4.41355472e-03 1.00544615e+02] [ 4.48380305e-01 8.93840221e-01 -2.18226100e-03 2.06552448e+01] [ 4.92350716e-03 -2.83821393e-05 9.99987879e-01 3.14171719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.220281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:100.57, Y:20.67, Z:0.31 [[ 8.93128259e-01 -4.49780430e-01 -4.41337091e-03 1.00570633e+02] [ 4.49775135e-01 8.93139163e-01 -2.18263267e-03 2.06666621e+01] [ 4.92345986e-03 -3.56535779e-05 9.99987879e-01 3.14632184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.250281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:100.60, Y:20.68, Z:0.31 [[ 8.93126931e-01 -4.49783071e-01 -4.41298257e-03 1.00596707e+02] [ 4.49777773e-01 8.93137833e-01 -2.18341756e-03 2.06772626e+01] [ 4.92346594e-03 -3.47924433e-05 9.99987879e-01 3.13219431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.280281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:100.62, Y:20.69, Z:0.31 [[ 8.93662100e-01 -4.48718822e-01 -4.41257111e-03 1.00621825e+02] [ 4.48713506e-01 8.93672993e-01 -2.18424878e-03 2.06884470e+01] [ 4.92350917e-03 -2.79999020e-05 9.99987879e-01 3.11889512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.31028169300001 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:100.65, Y:20.70, Z:0.31 [[ 8.95285669e-01 -4.45470651e-01 -4.41239218e-03 1.00648163e+02] [ 4.45465294e-01 8.95296543e-01 -2.18461018e-03 2.06975316e+01] [ 4.92357918e-03 -9.71739288e-06 9.99987879e-01 3.08049065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.340281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:100.67, Y:20.71, Z:0.31 [[ 8.96210627e-01 -4.43606861e-01 -4.41198568e-03 1.00674007e+02] [ 4.43601478e-01 8.96221487e-01 -2.18543082e-03 2.07087970e+01] [ 4.92358847e-03 1.44295704e-06 9.99987879e-01 3.07300333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.370281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:100.70, Y:20.72, Z:0.31 [[ 8.97038643e-01 -4.41930098e-01 -4.41156675e-03 1.00698464e+02] [ 4.41924690e-01 8.97049490e-01 -2.18627616e-03 2.07209209e+01] [ 4.92357494e-03 1.15939266e-05 9.99987879e-01 3.06121742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.400281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:100.72, Y:20.73, Z:0.31 [[ 8.97853990e-01 -4.40271225e-01 -4.41138411e-03 1.00723426e+02] [ 4.40265796e-01 8.97864827e-01 -2.18664462e-03 2.07342344e+01] [ 4.92354334e-03 2.11060582e-05 9.99987879e-01 3.07794134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.430281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:100.75, Y:20.75, Z:0.31 [[ 8.99304131e-01 -4.37301525e-01 -4.41100736e-03 1.00748152e+02] [ 4.37296056e-01 8.99314948e-01 -2.18740435e-03 2.07485762e+01] [ 4.92344011e-03 3.82256443e-05 9.99987879e-01 3.14950615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.460281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:100.77, Y:20.76, Z:0.32 [[ 8.99776172e-01 -4.36329448e-01 -4.41064396e-03 1.00773417e+02] [ 4.36323963e-01 8.99786981e-01 -2.18813687e-03 2.07616208e+01] [ 4.92338856e-03 4.43637645e-05 9.99987879e-01 3.17742881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.490281693 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:100.80, Y:20.77, Z:0.32 [[ 9.00153711e-01 -4.35550051e-01 -4.41022838e-03 1.00797761e+02] [ 4.35544553e-01 9.00164513e-01 -2.18897415e-03 2.07741800e+01] [ 4.92333889e-03 4.95622552e-05 9.99987879e-01 3.19868803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.520281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:100.82, Y:20.79, Z:0.32 [[ 9.00234737e-01 -4.35382556e-01 -4.41004842e-03 1.00822325e+02] [ 4.35377055e-01 9.00245537e-01 -2.18933665e-03 2.07881405e+01] [ 4.92332540e-03 5.08830138e-05 9.99987879e-01 3.16221582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.550281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:100.85, Y:20.80, Z:0.32 [[ 9.00097151e-01 -4.35666930e-01 -4.40964190e-03 1.00847094e+02] [ 4.35661428e-01 9.00107951e-01 -2.19015514e-03 2.08014498e+01] [ 4.92333190e-03 5.02415128e-05 9.99987879e-01 3.15207233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.580281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:100.87, Y:20.81, Z:0.32 [[ 9.00188557e-01 -4.35478036e-01 -4.40922398e-03 1.00871084e+02] [ 4.35472528e-01 9.00199354e-01 -2.19099618e-03 2.08135763e+01] [ 4.92331129e-03 5.22137781e-05 9.99987879e-01 3.16229989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.610281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:100.90, Y:20.83, Z:0.32 [[ 9.00112597e-01 -4.35635022e-01 -4.40904282e-03 1.00896403e+02] [ 4.35629514e-01 9.00123394e-01 -2.19136066e-03 2.08265633e+01] [ 4.92331604e-03 5.17621540e-05 9.99987879e-01 3.18207167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.640281693 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:100.92, Y:20.84, Z:0.32 [[ 8.99973748e-01 -4.35921802e-01 -4.40862977e-03 1.00921345e+02] [ 4.35916293e-01 8.99984544e-01 -2.19219134e-03 2.08388025e+01] [ 4.92332265e-03 5.11211079e-05 9.99987879e-01 3.17515212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.670281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:100.95, Y:20.85, Z:0.32 [[ 8.99699983e-01 -4.36486551e-01 -4.40820573e-03 1.00946503e+02] [ 4.36481044e-01 8.99710781e-01 -2.19304369e-03 2.08488723e+01] [ 4.92334429e-03 4.89831242e-05 9.99987879e-01 3.15480393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.700281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:100.97, Y:20.86, Z:0.32 [[ 8.99699819e-01 -4.36486889e-01 -4.40802175e-03 1.00971219e+02] [ 4.36481381e-01 8.99710616e-01 -2.19341342e-03 2.08595403e+01] [ 4.92334017e-03 4.93942367e-05 9.99987879e-01 3.15600024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.730281693 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:101.00, Y:20.87, Z:0.32 [[ 8.99932854e-01 -4.36006226e-01 -4.40784228e-03 1.00996394e+02] [ 4.36000710e-01 8.99943647e-01 -2.19377402e-03 2.08708305e+01] [ 4.92330879e-03 5.24269553e-05 9.99987879e-01 3.15797622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.760281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:101.02, Y:20.88, Z:0.32 [[ 9.01076483e-01 -4.33637806e-01 -4.40742639e-03 1.01020848e+02] [ 4.33632257e-01 9.01087259e-01 -2.19460926e-03 2.08815710e+01] [ 4.92314131e-03 6.63085365e-05 9.99987879e-01 3.15181574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.790281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:101.05, Y:20.89, Z:0.32 [[ 9.01877484e-01 -4.31969421e-01 -4.40714331e-03 1.01046392e+02] [ 4.31963850e-01 9.01888249e-01 -2.19517759e-03 2.08933746e+01] [ 4.92300035e-03 7.60546468e-05 9.99987879e-01 3.15130665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.820281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:101.07, Y:20.90, Z:0.31 [[ 9.02510773e-01 -4.30644733e-01 -4.40673273e-03 1.01071369e+02] [ 4.30639142e-01 9.02521527e-01 -2.19600151e-03 2.09042476e+01] [ 4.92286763e-03 8.42034142e-05 9.99987879e-01 3.14991842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.850281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:101.10, Y:20.92, Z:0.32 [[ 9.02781556e-01 -4.30076790e-01 -4.40645333e-03 1.01097264e+02] [ 4.30071190e-01 9.02792305e-01 -2.19656199e-03 2.09155473e+01] [ 4.92280249e-03 8.79270191e-05 9.99987879e-01 3.15207479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.880281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:101.12, Y:20.93, Z:0.31 [[ 9.02605363e-01 -4.30446449e-01 -4.40605252e-03 1.01124279e+02] [ 4.30440850e-01 9.02616113e-01 -2.19736569e-03 2.09251791e+01] [ 4.92282225e-03 8.68090662e-05 9.99987879e-01 3.14790206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.910281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:101.15, Y:20.94, Z:0.31 [[ 9.02525323e-01 -4.30614249e-01 -4.40564467e-03 1.01149675e+02] [ 4.30608647e-01 9.02536072e-01 -2.19818310e-03 2.09380738e+01] [ 4.92282220e-03 8.68072275e-05 9.99987879e-01 3.14930445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.940281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:101.17, Y:20.95, Z:0.31 [[ 9.02195396e-01 -4.31305067e-01 -4.40523585e-03 1.01174072e+02] [ 4.31299470e-01 9.02206147e-01 -2.19900209e-03 2.09488986e+01] [ 4.92287161e-03 8.39536745e-05 9.99987879e-01 3.13468683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.970281693 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:101.20, Y:20.96, Z:0.31 [[ 9.01757998e-01 -4.32218821e-01 -4.40495719e-03 1.01200136e+02] [ 4.32213231e-01 9.01768754e-01 -2.19956014e-03 2.09599096e+01] [ 4.92294405e-03 7.95901662e-05 9.99987879e-01 3.12072381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.000281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:101.22, Y:20.97, Z:0.31 [[ 9.01856274e-01 -4.32013728e-01 -4.40453030e-03 1.01224194e+02] [ 4.32008132e-01 9.01867026e-01 -2.20041464e-03 2.09710622e+01] [ 4.92290997e-03 8.16648461e-05 9.99987879e-01 3.12690442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.030281693 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:101.25, Y:20.98, Z:0.32 [[ 9.02353469e-01 -4.30974268e-01 -4.40434479e-03 1.01248012e+02] [ 4.30968658e-01 9.02364213e-01 -2.20078590e-03 2.09829117e+01] [ 4.92280521e-03 8.77522291e-05 9.99987879e-01 3.15342069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06028169300001 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:101.27, Y:21.00, Z:0.32 [[ 9.04430496e-01 -4.26598268e-01 -4.40416653e-03 1.01272018e+02] [ 4.26592604e-01 9.04441212e-01 -2.20114258e-03 2.09973264e+01] [ 4.92231332e-03 1.11995608e-04 9.99987879e-01 3.19960094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.090281693 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:101.30, Y:21.01, Z:0.32 [[ 9.05794478e-01 -4.23694431e-01 -4.40375811e-03 1.01295771e+02] [ 4.23688729e-01 9.05805174e-01 -2.20195938e-03 2.10118804e+01] [ 4.92190481e-03 1.28699970e-04 9.99987879e-01 3.19599044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.120281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:101.32, Y:21.03, Z:0.32 [[ 9.07349126e-01 -4.20354819e-01 -4.40334809e-03 1.01319248e+02] [ 4.20349074e-01 9.07359799e-01 -2.20277901e-03 2.10267403e+01] [ 4.92136981e-03 1.47746315e-04 9.99987879e-01 3.16959088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.150281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:101.34, Y:21.04, Z:0.31 [[ 9.09834404e-01 -4.14948153e-01 -4.40322088e-03 1.01341145e+02] [ 4.14942342e-01 9.09845041e-01 -2.20303326e-03 2.10441682e+01] [ 4.92039327e-03 1.77312671e-04 9.99987879e-01 3.09423797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.180281693 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:101.36, Y:21.06, Z:0.31 [[ 9.10337011e-01 -4.13844343e-01 -4.40304456e-03 1.01364042e+02] [ 4.13838518e-01 9.10347640e-01 -2.20338561e-03 2.10598547e+01] [ 4.92015989e-03 1.83674038e-04 9.99987879e-01 3.08918407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.210281693 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:101.39, Y:21.08, Z:0.31 [[ 9.10501448e-01 -4.13482442e-01 -4.40264201e-03 1.01387212e+02] [ 4.13476609e-01 9.10512073e-01 -2.20418965e-03 2.10764541e+01] [ 4.92005243e-03 1.86528373e-04 9.99987879e-01 3.11484411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.240281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:101.41, Y:21.10, Z:0.32 [[ 9.10603797e-01 -4.13256997e-01 -4.40222924e-03 1.01407475e+02] [ 4.13251157e-01 9.10614419e-01 -2.20501373e-03 2.10969476e+01] [ 4.91997077e-03 1.88667548e-04 9.99987879e-01 3.17071879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.270281693 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:101.43, Y:21.11, Z:0.32 [[ 9.10590341e-01 -4.13286649e-01 -4.40194757e-03 1.01429773e+02] [ 4.13280807e-01 9.10600961e-01 -2.20557589e-03 2.11129649e+01] [ 4.91995276e-03 1.89135661e-04 9.99987879e-01 3.17671992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.300281693 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:101.45, Y:21.13, Z:0.32 [[ 9.10149558e-01 -4.14256450e-01 -4.40177033e-03 1.01449870e+02] [ 4.14250618e-01 9.10160183e-01 -2.20592957e-03 2.11333472e+01] [ 4.92013664e-03 1.84289738e-04 9.99987879e-01 3.16406714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.330281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:101.47, Y:21.15, Z:0.32 [[ 9.09841266e-01 -4.14933124e-01 -4.40159450e-03 1.01472075e+02] [ 4.14927298e-01 9.09851894e-01 -2.20628036e-03 2.11506086e+01] [ 4.92025790e-03 1.81023201e-04 9.99987879e-01 3.16577577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.360281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:101.49, Y:21.17, Z:0.32 [[ 9.09553869e-01 -4.15562737e-01 -4.40118147e-03 1.01493680e+02] [ 4.15556914e-01 9.09564500e-01 -2.20710397e-03 2.11677425e+01] [ 4.92034859e-03 1.78538567e-04 9.99987879e-01 3.17404276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.390281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:101.51, Y:21.19, Z:0.32 [[ 9.08731245e-01 -4.17358546e-01 -4.40100138e-03 1.01514197e+02] [ 4.17352742e-01 9.08741886e-01 -2.20746303e-03 2.11877538e+01] [ 4.92067785e-03 1.69220637e-04 9.99987879e-01 3.19913074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.420281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:101.54, Y:21.20, Z:0.32 [[ 9.08099284e-01 -4.18731805e-01 -4.40072343e-03 1.01537412e+02] [ 4.18726015e-01 9.08109932e-01 -2.20801700e-03 2.12039341e+01] [ 4.92090760e-03 1.62401275e-04 9.99987879e-01 3.20679144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.450281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:101.56, Y:21.23, Z:0.32 [[ 9.06638195e-01 -4.21886028e-01 -4.40032447e-03 1.01558047e+02] [ 4.21880271e-01 9.06648861e-01 -2.20881179e-03 2.12252326e+01] [ 4.92141600e-03 1.46183053e-04 9.99987879e-01 3.19440616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.480281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:101.58, Y:21.24, Z:0.32 [[ 9.05954266e-01 -4.23352699e-01 -4.39990176e-03 1.01580597e+02] [ 4.23346956e-01 9.05964940e-01 -2.20965349e-03 2.12415335e+01] [ 4.92161951e-03 1.39159993e-04 9.99987879e-01 3.19389859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.510281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:101.60, Y:21.26, Z:0.32 [[ 9.05254680e-01 -4.24846569e-01 -4.39971724e-03 1.01603891e+02] [ 4.24840841e-01 9.05265362e-01 -2.21002085e-03 2.12578434e+01] [ 4.92183139e-03 1.31452147e-04 9.99987879e-01 3.19400318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.540281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:101.63, Y:21.27, Z:0.32 [[ 9.04740018e-01 -4.25941481e-01 -4.39932013e-03 1.01627333e+02] [ 4.25935763e-01 9.04750705e-01 -2.21081106e-03 2.12735813e+01] [ 4.92196413e-03 1.26381467e-04 9.99987879e-01 3.18626585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.570281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:101.65, Y:21.29, Z:0.32 [[ 9.03758344e-01 -4.28020450e-01 -4.39890446e-03 1.01649081e+02] [ 4.28014752e-01 9.03769042e-01 -2.21163781e-03 2.12936474e+01] [ 4.92221988e-03 1.15990121e-04 9.99987879e-01 3.16779822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.600281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:101.67, Y:21.31, Z:0.32 [[ 9.03346868e-01 -4.28888202e-01 -4.39848443e-03 1.01671659e+02] [ 4.28882510e-01 9.03357569e-01 -2.21247286e-03 2.13101698e+01] [ 4.92230771e-03 1.12197388e-04 9.99987879e-01 3.15071669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.630281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:101.69, Y:21.33, Z:0.32 [[ 9.02428012e-01 -4.30818222e-01 -4.39806270e-03 1.01692373e+02] [ 4.30812549e-01 9.02438723e-01 -2.21331087e-03 2.13286466e+01] [ 4.92251674e-03 1.02613127e-04 9.99987879e-01 3.15032090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.660281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:101.72, Y:21.34, Z:0.32 [[ 9.01677488e-01 -4.32386825e-01 -4.39788013e-03 1.01716196e+02] [ 4.32381168e-01 9.01688208e-01 -2.21367357e-03 2.13439327e+01] [ 4.92267995e-03 9.44590766e-05 9.99987879e-01 3.15939306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.690281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:101.74, Y:21.36, Z:0.32 [[ 9.00762174e-01 -4.34290419e-01 -4.39746349e-03 1.01738534e+02] [ 4.34284781e-01 9.00772904e-01 -2.21450093e-03 2.13585996e+01] [ 4.92285249e-03 8.49872042e-05 9.99987879e-01 3.17688122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.720281693 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:101.76, Y:21.38, Z:0.32 [[ 8.98570985e-01 -4.38806163e-01 -4.39728284e-03 1.01760033e+02] [ 4.38800577e-01 8.98581742e-01 -2.21485959e-03 2.13761026e+01] [ 4.92321211e-03 6.06783130e-05 9.99987879e-01 3.17980553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.750281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:101.78, Y:21.39, Z:0.32 [[ 8.97429107e-01 -4.41136786e-01 -4.39710386e-03 1.01784626e+02] [ 4.41131227e-01 8.97439877e-01 -2.21521485e-03 2.13903141e+01] [ 4.92334911e-03 4.82984600e-05 9.99987879e-01 3.17698900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.780281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:101.81, Y:21.40, Z:0.32 [[ 8.96175328e-01 -4.43678318e-01 -4.39671593e-03 1.01809108e+02] [ 4.43672785e-01 8.96186113e-01 -2.21598454e-03 2.14034980e+01] [ 4.92346005e-03 3.52074751e-05 9.99987879e-01 3.16861764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.81028169300001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:101.83, Y:21.42, Z:0.32 [[ 8.93541539e-01 -4.48959007e-01 -4.39631588e-03 1.01833234e+02] [ 4.48953534e-01 8.93552354e-01 -2.21677792e-03 2.14181333e+01] [ 4.92358082e-03 7.04160729e-06 9.99987879e-01 3.15638914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.840281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:101.86, Y:21.43, Z:0.32 [[ 8.92192343e-01 -4.51634254e-01 -4.39591207e-03 1.01857068e+02] [ 4.51628810e-01 8.92203172e-01 -2.21757838e-03 2.14324703e+01] [ 4.92358106e-03 -6.81408735e-06 9.99987879e-01 3.15356149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.870281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:101.88, Y:21.45, Z:0.32 [[ 8.90821624e-01 -4.54331941e-01 -4.39550905e-03 1.01881073e+02] [ 4.54326526e-01 8.90832468e-01 -2.21837694e-03 2.14456233e+01] [ 4.92354168e-03 -2.08182100e-05 9.99987879e-01 3.15713982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.900281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:101.91, Y:21.46, Z:0.32 [[ 8.87712838e-01 -4.60376584e-01 -4.39533420e-03 1.01906738e+02] [ 4.60371240e-01 8.87723717e-01 -2.21872331e-03 2.14562012e+01] [ 4.92329068e-03 -5.38962893e-05 9.99987879e-01 3.16303884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.930281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:101.93, Y:21.47, Z:0.32 [[ 8.86063586e-01 -4.63542885e-01 -4.39493621e-03 1.01932307e+02] [ 4.63537577e-01 8.86074483e-01 -2.21951139e-03 2.14674889e+01] [ 4.92307954e-03 -7.05898641e-05 9.99987879e-01 3.16646578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.960281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:101.96, Y:21.48, Z:0.32 [[ 8.84499921e-01 -4.66519644e-01 -4.39452138e-03 1.01956893e+02] [ 4.66514369e-01 8.84510833e-01 -2.22033242e-03 2.14783055e+01] [ 4.92283046e-03 -8.62235166e-05 9.99987879e-01 3.16556241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.990281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:101.98, Y:21.49, Z:0.32 [[ 8.81644375e-01 -4.71893936e-01 -4.39434111e-03 1.01983074e+02] [ 4.71888725e-01 8.81655318e-01 -2.22068915e-03 2.14868283e+01] [ 4.92222395e-03 -1.15781921e-04 9.99987879e-01 3.18018171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.020281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:102.01, Y:21.50, Z:0.32 [[ 8.80510237e-01 -4.74006766e-01 -4.39417228e-03 1.02009882e+02] [ 4.74001580e-01 8.80521192e-01 -2.22102318e-03 2.14967325e+01] [ 4.92194183e-03 -1.27210961e-04 9.99987879e-01 3.17572523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.050281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:102.04, Y:21.50, Z:0.32 [[ 8.79372898e-01 -4.76113433e-01 -4.39377450e-03 1.02037538e+02] [ 4.76108269e-01 8.79383864e-01 -2.22180982e-03 2.15021723e+01] [ 4.92164789e-03 -1.38113037e-04 9.99987879e-01 3.17144083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.080281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:102.06, Y:21.51, Z:0.32 [[ 8.79041098e-01 -4.76725754e-01 -4.39360176e-03 1.02064006e+02] [ 4.76720596e-01 8.79052066e-01 -2.22215136e-03 2.15111114e+01] [ 4.92156148e-03 -1.41158080e-04 9.99987879e-01 3.17128647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.110281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:102.09, Y:21.52, Z:0.32 [[ 8.78967318e-01 -4.76861776e-01 -4.39322373e-03 1.02090871e+02] [ 4.76856616e-01 8.78978286e-01 -2.22289847e-03 2.15195514e+01] [ 4.92156357e-03 -1.41082696e-04 9.99987879e-01 3.16841194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.140281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.12, Y:21.53, Z:0.32 [[ 8.79076059e-01 -4.76661290e-01 -4.39281620e-03 1.02118118e+02] [ 4.76656124e-01 8.79087023e-01 -2.22370352e-03 2.15285184e+01] [ 4.92162111e-03 -1.39058218e-04 9.99987879e-01 3.17113332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.170281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:102.15, Y:21.53, Z:0.32 [[ 8.80372295e-01 -4.74262933e-01 -4.39240752e-03 1.02146141e+02] [ 4.74257733e-01 8.80383243e-01 -2.22451048e-03 2.15331737e+01] [ 4.92200484e-03 -1.24735833e-04 9.99987879e-01 3.17243618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.200281693 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:102.17, Y:21.54, Z:0.32 [[ 8.81761241e-01 -4.71675550e-01 -4.39200054e-03 1.02172209e+02] [ 4.71670313e-01 8.81772172e-01 -2.22531372e-03 2.15417878e+01] [ 4.92236993e-03 -1.09380882e-04 9.99987879e-01 3.17695544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.230281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:102.20, Y:21.55, Z:0.32 [[ 8.85242774e-01 -4.65108529e-01 -4.39182684e-03 1.02199702e+02] [ 4.65103209e-01 8.85253665e-01 -2.22565649e-03 2.15486160e+01] [ 4.92305262e-03 -7.24064329e-05 9.99987879e-01 3.20225100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.260281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:102.23, Y:21.56, Z:0.32 [[ 8.86934961e-01 -4.61873456e-01 -4.39146201e-03 1.02225076e+02] [ 4.61868093e-01 8.86945831e-01 -2.22637609e-03 2.15596552e+01] [ 4.92329294e-03 -5.36253903e-05 9.99987879e-01 3.21576820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.290281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:102.25, Y:21.57, Z:0.32 [[ 8.88410829e-01 -4.59028231e-01 -4.39105815e-03 1.02250993e+02] [ 4.59022830e-01 8.88421680e-01 -2.22717233e-03 2.15710347e+01] [ 4.92344624e-03 -3.69519208e-05 9.99987879e-01 3.22135304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.320281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:102.28, Y:21.58, Z:0.32 [[ 8.90981272e-01 -4.54018827e-01 -4.39064759e-03 1.02277216e+02] [ 4.54013361e-01 8.90992090e-01 -2.22798142e-03 2.15803894e+01] [ 4.92357779e-03 -8.32294862e-06 9.99987879e-01 3.22255665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.350281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:102.30, Y:21.59, Z:0.32 [[ 8.92018915e-01 -4.51976749e-01 -4.39024984e-03 1.02302034e+02] [ 4.51971254e-01 8.92029718e-01 -2.22876491e-03 2.15911284e+01] [ 4.92358325e-03 3.83373266e-06 9.99987879e-01 3.22635025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.380281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:102.33, Y:21.60, Z:0.32 [[ 8.92731736e-01 -4.50567170e-01 -4.39006440e-03 1.02326953e+02] [ 4.50561656e-01 8.92742530e-01 -2.22913013e-03 2.16028187e+01] [ 4.92357005e-03 1.20205281e-05 9.99987879e-01 3.22771590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.410281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:102.35, Y:21.62, Z:0.32 [[ 8.93352614e-01 -4.49334884e-01 -4.38964560e-03 1.02351250e+02] [ 4.49329351e-01 8.93363399e-01 -2.22995454e-03 2.16150461e+01] [ 4.92354507e-03 1.97391106e-05 9.99987879e-01 3.23602269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.440281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:102.38, Y:21.63, Z:0.32 [[ 8.94473820e-01 -4.47098781e-01 -4.38935935e-03 1.02375957e+02] [ 4.47093218e-01 8.94484589e-01 -2.23051782e-03 2.16281503e+01] [ 4.92347609e-03 3.26869953e-05 9.99987879e-01 3.23584617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.470281693 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:102.40, Y:21.64, Z:0.32 [[ 8.95949291e-01 -4.44134670e-01 -4.38894506e-03 1.02399290e+02] [ 4.44129068e-01 8.95960039e-01 -2.23133273e-03 2.16433340e+01] [ 4.92333161e-03 4.99028973e-05 9.99987879e-01 3.21013637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.500281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:102.42, Y:21.66, Z:0.32 [[ 8.96532579e-01 -4.42956061e-01 -4.38881597e-03 1.02423278e+02] [ 4.42950444e-01 8.96543320e-01 -2.23158660e-03 2.16580179e+01] [ 4.92325845e-03 5.66621113e-05 9.99987879e-01 3.20996192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.530281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:102.45, Y:21.67, Z:0.32 [[ 8.96910162e-01 -4.42191025e-01 -4.38842539e-03 1.02446187e+02] [ 4.42185394e-01 8.96920896e-01 -2.23235441e-03 2.16724894e+01] [ 4.92319752e-03 6.17237485e-05 9.99987879e-01 3.21384192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56028169300001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:102.47, Y:21.69, Z:0.32 [[ 8.96079342e-01 -4.43872230e-01 -4.38824328e-03 1.02469340e+02] [ 4.43866618e-01 8.96090085e-01 -2.23271233e-03 2.16881399e+01] [ 4.92330030e-03 5.28926948e-05 9.99987879e-01 3.24545593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.590281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:102.49, Y:21.70, Z:0.32 [[ 8.94876910e-01 -4.46291455e-01 -4.38782116e-03 1.02493471e+02] [ 4.46285868e-01 8.94887666e-01 -2.23354160e-03 2.17011944e+01] [ 4.92341757e-03 4.05222295e-05 9.99987879e-01 3.24847029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.620281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:102.52, Y:21.71, Z:0.32 [[ 8.93203109e-01 -4.49632022e-01 -4.38763809e-03 1.02518465e+02] [ 4.49626473e-01 8.93213885e-01 -2.23390117e-03 2.17136581e+01] [ 4.92353276e-03 2.25292289e-05 9.99987879e-01 3.23049221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.650281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:102.54, Y:21.72, Z:0.32 [[ 8.89290453e-01 -4.57321815e-01 -4.38721846e-03 1.02544950e+02] [ 4.57316355e-01 8.89301275e-01 -2.23472498e-03 2.17241914e+01] [ 4.92354746e-03 -1.90271636e-05 9.99987879e-01 3.21170664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.680281693 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:102.57, Y:21.74, Z:0.32 [[ 8.87349955e-01 -4.61075712e-01 -4.38680174e-03 1.02570044e+02] [ 4.61070295e-01 8.87360798e-01 -2.23554272e-03 2.17354573e+01] [ 4.92343034e-03 -3.89152404e-05 9.99987879e-01 3.22405751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.710281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:102.60, Y:21.75, Z:0.32 [[ 8.84833812e-01 -4.65886129e-01 -4.38637960e-03 1.02596418e+02] [ 4.65880766e-01 8.84844681e-01 -2.23637069e-03 2.17454762e+01] [ 4.92315875e-03 -6.47134888e-05 9.99987879e-01 3.24978596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.740281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:102.62, Y:21.76, Z:0.33 [[ 8.84020970e-01 -4.67426663e-01 -4.38624872e-03 1.02621692e+02] [ 4.67421318e-01 8.84031849e-01 -2.23662737e-03 2.17560058e+01] [ 4.92304283e-03 -7.30006610e-05 9.99987879e-01 3.25463553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.770281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.65, Y:21.77, Z:0.32 [[ 8.83288364e-01 -4.68809586e-01 -4.38606814e-03 1.02648010e+02] [ 4.68804256e-01 8.83299250e-01 -2.23698142e-03 2.17665607e+01] [ 4.92292904e-03 -8.03077510e-05 9.99987879e-01 3.23364055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.800281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.67, Y:21.78, Z:0.32 [[ 8.83202283e-01 -4.68971740e-01 -4.38565794e-03 1.02673286e+02] [ 4.68966408e-01 8.83213168e-01 -2.23778535e-03 2.17796673e+01] [ 4.92292893e-03 -8.03091213e-05 9.99987879e-01 3.23504294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.830281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.70, Y:21.79, Z:0.32 [[ 8.82466615e-01 -4.70354593e-01 -4.38524696e-03 1.02700349e+02] [ 4.70349274e-01 8.82477506e-01 -2.23859042e-03 2.17871658e+01] [ 4.92281309e-03 -8.71164141e-05 9.99987879e-01 3.20457087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.860281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:102.73, Y:21.80, Z:0.32 [[ 8.82126025e-01 -4.70993047e-01 -4.38483747e-03 1.02725993e+02] [ 4.70987731e-01 8.82136918e-01 -2.23939222e-03 2.17975369e+01] [ 4.92276518e-03 -8.97784979e-05 9.99987879e-01 3.19801321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.890281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:102.75, Y:21.81, Z:0.32 [[ 8.81674967e-01 -4.71836867e-01 -4.38442871e-03 1.02752291e+02] [ 4.71831559e-01 8.81685863e-01 -2.24019223e-03 2.18051350e+01] [ 4.92269410e-03 -9.35904207e-05 9.99987879e-01 3.18979882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.920281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:102.78, Y:21.82, Z:0.32 [[ 8.81562155e-01 -4.72047609e-01 -4.38425128e-03 1.02777154e+02] [ 4.72042301e-01 8.81573052e-01 -2.24053944e-03 2.18155767e+01] [ 4.92267906e-03 -9.43772863e-05 9.99987879e-01 3.18611705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.950281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:102.80, Y:21.83, Z:0.32 [[ 8.81457669e-01 -4.72242690e-01 -4.38407599e-03 1.02801807e+02] [ 4.72237383e-01 8.81468566e-01 -2.24088236e-03 2.18265468e+01] [ 4.92266549e-03 -9.50816304e-05 9.99987879e-01 3.17710105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.980281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:102.83, Y:21.84, Z:0.32 [[ 8.82116686e-01 -4.71010545e-01 -4.38390275e-03 1.02826653e+02] [ 4.71005221e-01 8.82127575e-01 -2.24122123e-03 2.18369884e+01] [ 4.92280034e-03 -8.78224460e-05 9.99987879e-01 3.18725197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.010281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:102.85, Y:21.85, Z:0.32 [[ 8.82917827e-01 -4.69507076e-01 -4.38363979e-03 1.02851663e+02] [ 4.69501731e-01 8.82928706e-01 -2.24173544e-03 2.18496453e+01] [ 4.92295206e-03 -7.88582860e-05 9.99987879e-01 3.21090954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.040281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:102.87, Y:21.86, Z:0.32 [[ 8.85621699e-01 -4.64386686e-01 -4.38323980e-03 1.02874751e+02] [ 4.64381274e-01 8.85632544e-01 -2.24251728e-03 2.18639517e+01] [ 4.92333498e-03 -4.94725215e-05 9.99987879e-01 3.22244249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.070281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:102.90, Y:21.88, Z:0.32 [[ 8.87271898e-01 -4.61225941e-01 -4.38306574e-03 1.02898883e+02] [ 4.61220489e-01 8.87282723e-01 -2.24285742e-03 2.18787793e+01] [ 4.92348253e-03 -3.15353622e-05 9.99987879e-01 3.21459037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.100281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.92, Y:21.89, Z:0.32 [[ 8.88946045e-01 -4.57990962e-01 -4.38266926e-03 1.02922491e+02] [ 4.57985467e-01 8.88956848e-01 -2.24363190e-03 2.18937833e+01] [ 4.92356698e-03 -1.27311245e-05 9.99987879e-01 3.21263293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.130281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:102.94, Y:21.91, Z:0.32 [[ 8.92388199e-01 -4.51247269e-01 -4.38226542e-03 1.02943289e+02] [ 4.51241688e-01 8.92398959e-01 -2.24442040e-03 2.19113027e+01] [ 4.92351767e-03 2.54334340e-05 9.99987879e-01 3.22009203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.160281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:102.97, Y:21.93, Z:0.32 [[ 8.93665070e-01 -4.48713204e-01 -4.38209018e-03 1.02966679e+02] [ 4.48707591e-01 8.93675813e-01 -2.24476250e-03 2.19274889e+01] [ 4.92342258e-03 3.97887076e-05 9.99987879e-01 3.21553164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.190281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:102.99, Y:21.94, Z:0.32 [[ 8.94503642e-01 -4.47039188e-01 -4.38169877e-03 1.02990225e+02] [ 4.47033551e-01 8.94514372e-01 -2.24552625e-03 2.19435130e+01] [ 4.92333076e-03 4.98650536e-05 9.99987879e-01 3.21434172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.220281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:103.01, Y:21.96, Z:0.32 [[ 8.94716747e-01 -4.46612524e-01 -4.38130657e-03 1.03013176e+02] [ 4.46606878e-01 8.94727473e-01 -2.24629122e-03 2.19589267e+01] [ 4.92329715e-03 5.30727215e-05 9.99987879e-01 3.21438155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.250281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:103.04, Y:21.98, Z:0.32 [[ 8.93644706e-01 -4.48753768e-01 -4.38113533e-03 1.03035099e+02] [ 4.48748146e-01 8.93655445e-01 -2.24662516e-03 2.19766995e+01] [ 4.92340695e-03 4.16583290e-05 9.99987879e-01 3.23964322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.280281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:103.06, Y:21.99, Z:0.33 [[ 8.92519611e-01 -4.50987310e-01 -4.38070967e-03 1.03057821e+02] [ 4.50981711e-01 8.92530361e-01 -2.24745486e-03 2.19917083e+01] [ 4.92349000e-03 3.02775972e-05 9.99987879e-01 3.26532225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31028169300001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:103.08, Y:22.01, Z:0.33 [[ 8.90574077e-01 -4.54817133e-01 -4.38052513e-03 1.03080325e+02] [ 4.54811579e-01 8.90584850e-01 -2.24781449e-03 2.20087328e+01] [ 4.92357385e-03 9.53176667e-06 9.99987879e-01 3.29566964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.340281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:103.10, Y:22.02, Z:0.33 [[ 8.89743738e-01 -4.56439364e-01 -4.38040370e-03 1.03104050e+02] [ 4.56433828e-01 8.89754520e-01 -2.24805108e-03 2.20234803e+01] [ 4.92358300e-03 8.24942083e-07 9.99987879e-01 3.28194297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.370281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:103.13, Y:22.04, Z:0.32 [[ 8.89333891e-01 -4.57237407e-01 -4.37999343e-03 1.03128380e+02] [ 4.57231876e-01 8.89344677e-01 -2.24885016e-03 2.20383287e+01] [ 4.92358225e-03 -2.69395039e-06 9.99987879e-01 3.24980407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.400281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:103.15, Y:22.05, Z:0.32 [[ 8.88577078e-01 -4.58706436e-01 -4.37962560e-03 1.03151777e+02] [ 4.58700920e-01 8.88587871e-01 -2.24956628e-03 2.20545315e+01] [ 4.92357272e-03 -1.00252580e-05 9.99987879e-01 3.18270353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.430281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.17, Y:22.07, Z:0.32 [[ 8.87866568e-01 -4.60080186e-01 -4.37949529e-03 1.03174812e+02] [ 4.60074685e-01 8.87877369e-01 -2.24981993e-03 2.20681838e+01] [ 4.92355233e-03 -1.73550189e-05 9.99987879e-01 3.17766834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.460281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.20, Y:22.08, Z:0.32 [[ 8.87047455e-01 -4.61657487e-01 -4.37921246e-03 1.03199075e+02] [ 4.61652003e-01 8.87058264e-01 -2.25037031e-03 2.20815844e+01] [ 4.92351691e-03 -2.54869479e-05 9.99987879e-01 3.18402022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.490281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:103.22, Y:22.09, Z:0.32 [[ 8.85970544e-01 -4.63720843e-01 -4.37878930e-03 1.03223139e+02] [ 4.63715381e-01 8.85981364e-01 -2.25119342e-03 2.20946040e+01] [ 4.92345103e-03 -3.60208864e-05 9.99987879e-01 3.20419452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.520281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.25, Y:22.11, Z:0.32 [[ 8.85707611e-01 -4.64222851e-01 -4.37860625e-03 1.03247142e+02] [ 4.64217393e-01 8.85718433e-01 -2.25154938e-03 2.21077618e+01] [ 4.92343294e-03 -3.84107540e-05 9.99987879e-01 3.20708710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.550281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:103.27, Y:22.12, Z:0.32 [[ 8.85206815e-01 -4.65177088e-01 -4.37842579e-03 1.03271625e+02] [ 4.65171639e-01 8.85217643e-01 -2.25190025e-03 2.21222421e+01] [ 4.92339216e-03 -4.33220526e-05 9.99987879e-01 3.20639361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.580281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.30, Y:22.14, Z:0.32 [[ 8.84836784e-01 -4.65880563e-01 -4.37799997e-03 1.03295545e+02] [ 4.65875119e-01 8.84847613e-01 -2.25272780e-03 2.21351699e+01] [ 4.92336493e-03 -4.63048339e-05 9.99987879e-01 3.20989760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.610281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:103.32, Y:22.15, Z:0.32 [[ 8.84403225e-01 -4.66703086e-01 -4.37781522e-03 1.03319673e+02] [ 4.66697650e-01 8.84414059e-01 -2.25308679e-03 2.21476586e+01] [ 4.92332388e-03 -5.04788517e-05 9.99987879e-01 3.21982599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.640281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:103.34, Y:22.16, Z:0.32 [[ 8.82931945e-01 -4.69480582e-01 -4.37763218e-03 1.03344548e+02] [ 4.69475179e-01 8.82942795e-01 -2.25344236e-03 2.21595458e+01] [ 4.92314623e-03 -6.55534092e-05 9.99987879e-01 3.22833292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.670281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.37, Y:22.17, Z:0.32 [[ 8.82043921e-01 -4.71146858e-01 -4.37720646e-03 1.03368573e+02] [ 4.71141471e-01 8.82054779e-01 -2.25426901e-03 2.21718336e+01] [ 4.92302763e-03 -7.39192116e-05 9.99987879e-01 3.21395044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.700281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.39, Y:22.18, Z:0.32 [[ 8.80153134e-01 -4.74669678e-01 -4.37702091e-03 1.03394140e+02] [ 4.74664332e-01 8.80164012e-01 -2.25462922e-03 2.21828130e+01] [ 4.92270041e-03 -9.31967338e-05 9.99987879e-01 3.19280883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.730281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.42, Y:22.19, Z:0.32 [[ 8.78967892e-01 -4.76860871e-01 -4.37660734e-03 1.03419222e+02] [ 4.76855549e-01 8.78978782e-01 -2.25543174e-03 2.21944633e+01] [ 4.92247213e-03 -1.04557410e-04 9.99987879e-01 3.19565453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.760281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:103.44, Y:22.21, Z:0.32 [[ 8.77973942e-01 -4.78688422e-01 -4.37619464e-03 1.03444962e+02] [ 4.78683119e-01 8.77984841e-01 -2.25623222e-03 2.22063200e+01] [ 4.92226480e-03 -1.13897401e-04 9.99987879e-01 3.20121155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.790281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:103.47, Y:22.22, Z:0.32 [[ 8.76969550e-01 -4.80526026e-01 -4.37578459e-03 1.03469662e+02] [ 4.80520741e-01 8.76980458e-01 -2.25702719e-03 2.22163611e+01] [ 4.92203788e-03 -1.23311135e-04 9.99987879e-01 3.20521486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.820281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.50, Y:22.23, Z:0.32 [[ 8.76901245e-01 -4.80650664e-01 -4.37560614e-03 1.03495049e+02] [ 4.80645379e-01 8.76912153e-01 -2.25737309e-03 2.22273397e+01] [ 4.92203008e-03 -1.23621601e-04 9.99987879e-01 3.20795357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.850281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:103.52, Y:22.24, Z:0.32 [[ 8.77173466e-01 -4.80153692e-01 -4.37519508e-03 1.03521928e+02] [ 4.80148397e-01 8.77184369e-01 -2.25816952e-03 2.22351397e+01] [ 4.92212117e-03 -1.19936518e-04 9.99987879e-01 3.23057316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.880281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.55, Y:22.25, Z:0.32 [[ 8.76997373e-01 -4.80475251e-01 -4.37501644e-03 1.03547850e+02] [ 4.80469959e-01 8.77008277e-01 -2.25851558e-03 2.22458702e+01] [ 4.92208647e-03 -1.21351736e-04 9.99987879e-01 3.24242235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.910281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:103.57, Y:22.26, Z:0.33 [[ 8.76577034e-01 -4.81241693e-01 -4.37460186e-03 1.03573496e+02] [ 4.81236405e-01 8.76587941e-01 -2.25931831e-03 2.22560552e+01] [ 4.92200140e-03 -1.24751130e-04 9.99987879e-01 3.25520408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.940281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.60, Y:22.26, Z:0.33 [[ 8.75394839e-01 -4.83388810e-01 -4.37418930e-03 1.03602536e+02] [ 4.83383545e-01 8.75405757e-01 -2.26011677e-03 2.22609755e+01] [ 4.92170565e-03 -1.35916577e-04 9.99987879e-01 3.25601748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.970281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.63, Y:22.27, Z:0.32 [[ 8.75112271e-01 -4.83900180e-01 -4.37377567e-03 1.03629260e+02] [ 4.83894917e-01 8.75123190e-01 -2.26091693e-03 2.22689450e+01] [ 4.92165063e-03 -1.37891672e-04 9.99987879e-01 3.24913564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.000281693 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.66, Y:22.28, Z:0.32 [[ 8.76324244e-01 -4.81701870e-01 -4.37359588e-03 1.03657521e+02] [ 4.81696579e-01 8.76335149e-01 -2.26126468e-03 2.22758267e+01] [ 4.92199122e-03 -1.25145115e-04 9.99987879e-01 3.24559052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.030281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:103.68, Y:22.29, Z:0.33 [[ 8.78108260e-01 -4.78442013e-01 -4.37316439e-03 1.03682767e+02] [ 4.78436677e-01 8.78119143e-01 -2.26209884e-03 2.22865791e+01] [ 4.92244249e-03 -1.05914565e-04 9.99987879e-01 3.25020356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06028169300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:103.71, Y:22.30, Z:0.33 [[ 8.80182669e-01 -4.74614946e-01 -4.37297679e-03 1.03707601e+02] [ 4.74609561e-01 8.80193528e-01 -2.26246145e-03 2.22984272e+01] [ 4.92286388e-03 -8.40772395e-05 9.99987879e-01 3.25254368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.090281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:103.73, Y:22.31, Z:0.33 [[ 8.85286024e-01 -4.65026383e-01 -4.37257115e-03 1.03731748e+02] [ 4.65020877e-01 8.85296821e-01 -2.26324514e-03 2.23103952e+01] [ 4.92349204e-03 -2.97175801e-05 9.99987879e-01 3.25262358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.120281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:103.75, Y:22.32, Z:0.33 [[ 8.87553968e-01 -4.60683012e-01 -4.37216587e-03 1.03754766e+02] [ 4.60677449e-01 8.87564737e-01 -2.26402779e-03 2.23236799e+01] [ 4.92357939e-03 -4.71137345e-06 9.99987879e-01 3.25537955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.150281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.78, Y:22.34, Z:0.33 [[ 8.90768397e-01 -4.54436517e-01 -4.37198985e-03 1.03777592e+02] [ 4.54430877e-01 8.90779126e-01 -2.26436765e-03 2.23396782e+01] [ 4.92348865e-03 3.02599595e-05 9.99987879e-01 3.26547713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.180281693 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:103.80, Y:22.35, Z:0.33 [[ 8.91405924e-01 -4.53184696e-01 -4.37158868e-03 1.03801565e+02] [ 4.53179037e-01 8.91416642e-01 -2.26514189e-03 2.23547175e+01] [ 4.92343454e-03 3.80485505e-05 9.99987879e-01 3.26326317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.210281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.82, Y:22.37, Z:0.32 [[ 8.91457000e-01 -4.53084219e-01 -4.37115933e-03 1.03823043e+02] [ 4.53078554e-01 8.91467716e-01 -2.26597011e-03 2.23719847e+01] [ 4.92342273e-03 3.95363651e-05 9.99987879e-01 3.24804492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.240281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.85, Y:22.39, Z:0.32 [[ 8.90940626e-01 -4.54098774e-01 -4.37086562e-03 1.03845729e+02] [ 4.54093119e-01 8.90951347e-01 -2.26653653e-03 2.23872750e+01] [ 4.92346007e-03 3.45694702e-05 9.99987879e-01 3.23436564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.270281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:103.87, Y:22.40, Z:0.32 [[ 8.90154912e-01 -4.55637060e-01 -4.37068192e-03 1.03868803e+02] [ 4.55631422e-01 8.90165641e-01 -2.26689071e-03 2.24025382e+01] [ 4.92351029e-03 2.64638831e-05 9.99987879e-01 3.22080299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.300281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.89, Y:22.42, Z:0.32 [[ 8.89358385e-01 -4.57189855e-01 -4.37027459e-03 1.03892471e+02] [ 4.57184232e-01 8.89369122e-01 -2.26767570e-03 2.24178319e+01] [ 4.92354561e-03 1.87557675e-05 9.99987879e-01 3.22492723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.330281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:103.91, Y:22.44, Z:0.32 [[ 8.87924550e-01 -4.59968366e-01 -4.36986601e-03 1.03914771e+02] [ 4.59962772e-01 8.87935303e-01 -2.26846277e-03 2.24354563e+01] [ 4.92357942e-03 4.24810337e-06 9.99987879e-01 3.23211216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.360281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:103.94, Y:22.45, Z:0.32 [[ 8.87205698e-01 -4.61353398e-01 -4.36944225e-03 1.03937002e+02] [ 4.61347816e-01 8.87216458e-01 -2.26927872e-03 2.24503019e+01] [ 4.92358052e-03 -2.51562643e-06 9.99987879e-01 3.23218551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.390281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.96, Y:22.47, Z:0.32 [[ 8.85687531e-01 -4.64261249e-01 -4.36925865e-03 1.03960434e+02] [ 4.64255702e-01 8.85698308e-01 -2.26963217e-03 2.24659406e+01] [ 4.92354726e-03 -1.82683333e-05 9.99987879e-01 3.20013792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.420281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:103.98, Y:22.48, Z:0.32 [[ 8.84940849e-01 -4.65682947e-01 -4.36881746e-03 1.03984566e+02] [ 4.65677413e-01 8.84951633e-01 -2.27048111e-03 2.24785603e+01] [ 4.92351647e-03 -2.52181308e-05 9.99987879e-01 3.18571778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.450281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:104.01, Y:22.49, Z:0.32 [[ 8.83848613e-01 -4.67752653e-01 -4.36862522e-03 1.04009507e+02] [ 4.67747142e-01 8.83859409e-01 -2.27085092e-03 2.24916333e+01] [ 4.92344705e-03 -3.63235233e-05 9.99987879e-01 3.18739312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.480281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.03, Y:22.50, Z:0.32 [[ 8.81540543e-01 -4.72088117e-01 -4.36818646e-03 1.04033662e+02] [ 4.72082655e-01 8.81551364e-01 -2.27169461e-03 2.25033916e+01] [ 4.92322076e-03 -5.95541565e-05 9.99987879e-01 3.18919861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.510281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:104.06, Y:22.52, Z:0.32 [[ 8.80256545e-01 -4.74477962e-01 -4.36799634e-03 1.04058431e+02] [ 4.74472527e-01 8.80267379e-01 -2.27206012e-03 2.25152647e+01] [ 4.92304714e-03 -7.24984745e-05 9.99987879e-01 3.18999784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.540281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:104.08, Y:22.53, Z:0.32 [[ 8.79274591e-01 -4.76295198e-01 -4.36781371e-03 1.04083596e+02] [ 4.76289785e-01 8.79285436e-01 -2.27241115e-03 2.25262614e+01] [ 4.92289350e-03 -8.22716624e-05 9.99987879e-01 3.19911094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.570281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:104.11, Y:22.54, Z:0.32 [[ 8.78291405e-01 -4.78105775e-01 -4.36763602e-03 1.04109611e+02] [ 4.78100382e-01 8.78302259e-01 -2.27275261e-03 2.25364115e+01] [ 4.92272074e-03 -9.20293677e-05 9.99987879e-01 3.22019717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.600281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:104.13, Y:22.55, Z:0.32 [[ 8.78203236e-01 -4.78267712e-01 -4.36724204e-03 1.04134870e+02] [ 4.78262317e-01 8.78214090e-01 -2.27350942e-03 2.25487530e+01] [ 4.92271964e-03 -9.20839707e-05 9.99987879e-01 3.22323315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.630281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:104.16, Y:22.56, Z:0.32 [[ 8.78136813e-01 -4.78389662e-01 -4.36682133e-03 1.04160056e+02] [ 4.78384265e-01 8.78147666e-01 -2.27431722e-03 2.25616034e+01] [ 4.92272380e-03 -9.18569332e-05 9.99987879e-01 3.22376661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.660281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:104.18, Y:22.57, Z:0.32 [[ 8.78569129e-01 -4.77595246e-01 -4.36640201e-03 1.04184431e+02] [ 4.77589835e-01 8.78579975e-01 -2.27512197e-03 2.25741248e+01] [ 4.92282081e-03 -8.64972857e-05 9.99987879e-01 3.22129198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.690281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:104.21, Y:22.59, Z:0.32 [[ 8.78640419e-01 -4.77464083e-01 -4.36621976e-03 1.04209010e+02] [ 4.77458668e-01 8.78651263e-01 -2.27547168e-03 2.25875170e+01] [ 4.92284050e-03 -8.53680837e-05 9.99987879e-01 3.22151606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.720281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:104.23, Y:22.60, Z:0.32 [[ 8.79342762e-01 -4.76169347e-01 -4.36579506e-03 1.04233128e+02] [ 4.76163913e-01 8.79353596e-01 -2.27628622e-03 2.26024882e+01] [ 4.92297531e-03 -7.71982480e-05 9.99987879e-01 3.22010479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.750281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:104.26, Y:22.62, Z:0.32 [[ 8.79253813e-01 -4.76333577e-01 -4.36536925e-03 1.04258286e+02] [ 4.76328140e-01 8.79264646e-01 -2.27710254e-03 2.26158182e+01] [ 4.92297524e-03 -7.71971244e-05 9.99987879e-01 3.22150718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.780281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:104.28, Y:22.63, Z:0.32 [[ 8.79826943e-01 -4.75274130e-01 -4.36494380e-03 1.04280908e+02] [ 4.75268676e-01 8.79837767e-01 -2.27791778e-03 2.26298373e+01] [ 4.92307780e-03 -7.03476211e-05 9.99987879e-01 3.21029483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81028169300001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:104.30, Y:22.64, Z:0.32 [[ 8.80221177e-01 -4.74543600e-01 -4.36475890e-03 1.04304675e+02] [ 4.74538136e-01 8.80231996e-01 -2.27827202e-03 2.26442642e+01] [ 4.92313984e-03 -6.58612752e-05 9.99987879e-01 3.19737831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.840281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:104.33, Y:22.66, Z:0.32 [[ 8.80199112e-01 -4.74584531e-01 -4.36433444e-03 1.04327157e+02] [ 4.74579063e-01 8.80209929e-01 -2.27908484e-03 2.26585282e+01] [ 4.92314891e-03 -6.51732959e-05 9.99987879e-01 3.16734613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.870281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:104.35, Y:22.67, Z:0.32 [[ 8.79692870e-01 -4.75522249e-01 -4.36414928e-03 1.04351619e+02] [ 4.75516791e-01 8.79703692e-01 -2.27943934e-03 2.26729525e+01] [ 4.92308235e-03 -7.00197306e-05 9.99987879e-01 3.17315095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.900281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:104.38, Y:22.69, Z:0.32 [[ 8.79136267e-01 -4.76550503e-01 -4.36372696e-03 1.04375313e+02] [ 4.76545053e-01 8.79147094e-01 -2.28024754e-03 2.26875389e+01] [ 4.92301098e-03 -7.48641802e-05 9.99987879e-01 3.19539067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.930281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.40, Y:22.70, Z:0.32 [[ 8.78060598e-01 -4.78529569e-01 -4.36330123e-03 1.04398454e+02] [ 4.78524140e-01 8.78071435e-01 -2.28106189e-03 2.27022473e+01] [ 4.92284573e-03 -8.50344046e-05 9.99987879e-01 3.20155567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.960281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:104.42, Y:22.72, Z:0.32 [[ 8.77480975e-01 -4.79591598e-01 -4.36311640e-03 1.04422135e+02] [ 4.79586181e-01 8.77491818e-01 -2.28141536e-03 2.27153022e+01] [ 4.92274658e-03 -9.05917561e-05 9.99987879e-01 3.19341450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.990281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:104.45, Y:22.73, Z:0.32 [[ 8.76680506e-01 -4.81053277e-01 -4.36293466e-03 1.04447050e+02] [ 4.81047876e-01 8.76691357e-01 -2.28176286e-03 2.27286895e+01] [ 4.92259661e-03 -9.84034292e-05 9.99987879e-01 3.18158147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.020281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:104.47, Y:22.74, Z:0.32 [[ 8.74882301e-01 -4.84315939e-01 -4.36252018e-03 1.04471088e+02] [ 4.84310574e-01 8.74893170e-01 -2.28255505e-03 2.27407440e+01] [ 4.92221690e-03 -1.15847638e-04 9.99987879e-01 3.17637060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.050281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:104.50, Y:22.75, Z:0.32 [[ 8.74106498e-01 -4.85714733e-01 -4.36223750e-03 1.04496292e+02] [ 4.85709383e-01 8.74117374e-01 -2.28309516e-03 2.27532493e+01] [ 4.92204054e-03 -1.23111370e-04 9.99987879e-01 3.18286400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.080281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:104.52, Y:22.77, Z:0.32 [[ 8.73545545e-01 -4.86722873e-01 -4.36182956e-03 1.04521450e+02] [ 4.86717531e-01 8.73556426e-01 -2.28387426e-03 2.27655823e+01] [ 4.92191808e-03 -1.27910732e-04 9.99987879e-01 3.18499904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.110281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:104.55, Y:22.78, Z:0.32 [[ 8.72977642e-01 -4.87740724e-01 -4.36140996e-03 1.04546040e+02] [ 4.87735391e-01 8.72988527e-01 -2.28467527e-03 2.27769031e+01] [ 4.92179002e-03 -1.32743561e-04 9.99987879e-01 3.19649254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.140281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.57, Y:22.79, Z:0.32 [[ 8.72789035e-01 -4.88078150e-01 -4.36122827e-03 1.04570694e+02] [ 4.88072819e-01 8.72799921e-01 -2.28502203e-03 2.27901214e+01] [ 4.92174902e-03 -1.34254804e-04 9.99987879e-01 3.20601091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.170281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:104.60, Y:22.80, Z:0.32 [[ 8.72297531e-01 -4.88956032e-01 -4.36081881e-03 1.04595564e+02] [ 4.88950709e-01 8.72308420e-01 -2.28580319e-03 2.28030760e+01] [ 4.92163623e-03 -1.38324967e-04 9.99987879e-01 3.21453561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.200281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:104.62, Y:22.81, Z:0.32 [[ 8.71901711e-01 -4.89661508e-01 -4.36043609e-03 1.04619825e+02] [ 4.89656190e-01 8.71912603e-01 -2.28653305e-03 2.28145883e+01] [ 4.92154640e-03 -1.41482440e-04 9.99987879e-01 3.21417974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.230281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:104.65, Y:22.82, Z:0.32 [[ 8.70823959e-01 -4.91575651e-01 -4.36025762e-03 1.04645679e+02] [ 4.91570355e-01 8.70834861e-01 -2.28687333e-03 2.28245228e+01] [ 4.92123559e-03 -1.51909296e-04 9.99987879e-01 3.21224780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.260281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.67, Y:22.84, Z:0.32 [[ 8.70337292e-01 -4.92436788e-01 -4.35985573e-03 1.04670913e+02] [ 4.92431499e-01 8.70348198e-01 -2.28763926e-03 2.28357295e+01] [ 4.92111031e-03 -1.55912541e-04 9.99987879e-01 3.21863540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.290281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:104.70, Y:22.85, Z:0.32 [[ 8.70248489e-01 -4.92593709e-01 -4.35944846e-03 1.04696100e+02] [ 4.92588418e-01 8.70259394e-01 -2.28841511e-03 2.28464206e+01] [ 4.92110986e-03 -1.55924033e-04 9.99987879e-01 3.23283394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.320281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:104.72, Y:22.86, Z:0.33 [[ 8.70606288e-01 -4.91961063e-01 -4.35927164e-03 1.04721588e+02] [ 4.91955762e-01 8.70617189e-01 -2.28875189e-03 2.28560042e+01] [ 4.92123363e-03 -1.51967014e-04 9.99987879e-01 3.25078825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.350281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:104.75, Y:22.87, Z:0.33 [[ 8.71208095e-01 -4.90894544e-01 -4.35909574e-03 1.04746288e+02] [ 4.90889228e-01 8.71218988e-01 -2.28908686e-03 2.28678016e+01] [ 4.92142723e-03 -1.45562141e-04 9.99987879e-01 3.25313128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.380281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:104.77, Y:22.88, Z:0.32 [[ 8.72862041e-01 -4.87947597e-01 -4.35892219e-03 1.04772181e+02] [ 4.87942243e-01 8.72872915e-01 -2.28941729e-03 2.28792509e+01] [ 4.92190078e-03 -1.28556818e-04 9.99987879e-01 3.24263211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.410281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:104.80, Y:22.89, Z:0.32 [[ 8.73852255e-01 -4.86172028e-01 -4.35852208e-03 1.04796722e+02] [ 4.86166648e-01 8.73863116e-01 -2.29017874e-03 2.28902965e+01] [ 4.92217253e-03 -1.17690212e-04 9.99987879e-01 3.23490337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.440281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:104.82, Y:22.90, Z:0.32 [[ 8.74755586e-01 -4.84544807e-01 -4.35834763e-03 1.04822232e+02] [ 4.84539406e-01 8.74766436e-01 -2.29051070e-03 2.29021267e+01] [ 4.92239129e-03 -1.08154142e-04 9.99987879e-01 3.22732503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.470281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:104.85, Y:22.92, Z:0.32 [[ 8.75643147e-01 -4.82939009e-01 -4.35796049e-03 1.04847495e+02] [ 4.82933584e-01 8.75653986e-01 -2.29124703e-03 2.29151748e+01] [ 4.92259805e-03 -9.82907186e-05 9.99987879e-01 3.22489717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.500281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:104.87, Y:22.93, Z:0.32 [[ 8.77967698e-01 -4.78700044e-01 -4.35755980e-03 1.04871192e+02] [ 4.78694563e-01 8.77978509e-01 -2.29200883e-03 2.29286494e+01] [ 4.92302858e-03 -7.36304636e-05 9.99987879e-01 3.22358715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.530281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:104.90, Y:22.94, Z:0.32 [[ 8.78850315e-01 -4.77077705e-01 -4.35738592e-03 1.04895220e+02] [ 4.77072202e-01 8.78861115e-01 -2.29233934e-03 2.29422661e+01] [ 4.92316104e-03 -6.41645450e-05 9.99987879e-01 3.22745162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56028169300001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:104.92, Y:22.96, Z:0.32 [[ 8.79525755e-01 -4.75831339e-01 -4.35699285e-03 1.04919287e+02] [ 4.75825817e-01 8.79536545e-01 -2.29308619e-03 2.29572339e+01] [ 4.92325671e-03 -5.63413186e-05 9.99987879e-01 3.23997334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.590281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:104.94, Y:22.97, Z:0.32 [[ 8.79398596e-01 -4.76066309e-01 -4.35659816e-03 1.04943863e+02] [ 4.76060786e-01 8.79409385e-01 -2.29383582e-03 2.29712295e+01] [ 4.92325126e-03 -5.68095418e-05 9.99987879e-01 3.23035161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.620281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:104.97, Y:22.99, Z:0.32 [[ 8.79108976e-01 -4.76600914e-01 -4.35619254e-03 1.04968636e+02] [ 4.76595394e-01 8.79119767e-01 -2.29460586e-03 2.29851963e+01] [ 4.92322623e-03 -5.89326959e-05 9.99987879e-01 3.21005072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.650281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:104.99, Y:23.00, Z:0.32 [[ 8.78149478e-01 -4.78366514e-01 -4.35578394e-03 1.04992152e+02] [ 4.78361012e-01 8.78160278e-01 -2.29538123e-03 2.29977709e+01] [ 4.92310996e-03 -6.79493817e-05 9.99987879e-01 3.18671322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.680281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.02, Y:23.01, Z:0.32 [[ 8.77592274e-01 -4.79387975e-01 -4.35550470e-03 1.05015537e+02] [ 4.79382483e-01 8.77603079e-01 -2.29591098e-03 2.30106221e+01] [ 4.92303645e-03 -7.30789133e-05 9.99987879e-01 3.19185441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.710281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:105.04, Y:23.02, Z:0.32 [[ 8.77041674e-01 -4.80394561e-01 -4.35533407e-03 1.05039083e+02] [ 4.80389079e-01 8.77052484e-01 -2.29623462e-03 2.30236465e+01] [ 4.92295519e-03 -7.83614715e-05 9.99987879e-01 3.19841448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.740281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:105.06, Y:23.04, Z:0.32 [[ 8.76430318e-01 -4.81509014e-01 -4.35516447e-03 1.05063778e+02] [ 4.81503545e-01 8.76441134e-01 -2.29655625e-03 2.30369132e+01] [ 4.92285782e-03 -8.42556049e-05 9.99987879e-01 3.19500751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.770281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.09, Y:23.05, Z:0.32 [[ 8.75685116e-01 -4.82862935e-01 -4.35478078e-03 1.05089043e+02] [ 4.82857479e-01 8.75695939e-01 -2.29728357e-03 2.30491451e+01] [ 4.92273693e-03 -9.10414419e-05 9.99987879e-01 3.19702035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.800281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.11, Y:23.06, Z:0.32 [[ 8.75747688e-01 -4.82749446e-01 -4.35434777e-03 1.05113175e+02] [ 4.82743984e-01 8.75758508e-01 -2.29810402e-03 2.30612304e+01] [ 4.92276555e-03 -8.94759147e-05 9.99987879e-01 3.19390774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.830281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:105.14, Y:23.07, Z:0.32 [[ 8.76475799e-01 -4.81426229e-01 -4.35416002e-03 1.05137842e+02] [ 4.81420750e-01 8.76486611e-01 -2.29845969e-03 2.30733304e+01] [ 4.92290174e-03 -8.16386864e-05 9.99987879e-01 3.18150872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.860281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.16, Y:23.09, Z:0.32 [[ 8.76812188e-01 -4.80813301e-01 -4.35397429e-03 1.05162949e+02] [ 4.80807811e-01 8.76822995e-01 -2.29881147e-03 2.30864018e+01] [ 4.92296391e-03 -7.77989377e-05 9.99987879e-01 3.18918944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.890281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:105.19, Y:23.10, Z:0.32 [[ 8.76929219e-01 -4.80599824e-01 -4.35359578e-03 1.05187966e+02] [ 4.80594329e-01 8.76940023e-01 -2.29952809e-03 2.30994597e+01] [ 4.92299518e-03 -7.57900702e-05 9.99987879e-01 3.21443904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.920281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.21, Y:23.11, Z:0.32 [[ 8.76373029e-01 -4.81613293e-01 -4.35321655e-03 1.05212662e+02] [ 4.81607806e-01 8.76383837e-01 -2.30024578e-03 2.31125672e+01] [ 4.92291757e-03 -8.06697152e-05 9.99987879e-01 3.22534947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.950281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.24, Y:23.13, Z:0.32 [[ 8.75687598e-01 -4.82858451e-01 -4.35283834e-03 1.05237143e+02] [ 4.82852976e-01 8.75698412e-01 -2.30096125e-03 2.31253165e+01] [ 4.92281221e-03 -8.68577161e-05 9.99987879e-01 3.22493490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.980281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.26, Y:23.14, Z:0.32 [[ 8.74942247e-01 -4.84207724e-01 -4.35244870e-03 1.05262439e+02] [ 4.84202262e-01 8.74953068e-01 -2.30169806e-03 2.31374444e+01] [ 4.92268832e-03 -9.36126335e-05 9.99987879e-01 3.22281294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.010281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:105.29, Y:23.15, Z:0.32 [[ 8.73882935e-01 -4.86116936e-01 -4.35203583e-03 1.05289088e+02] [ 4.86111494e-01 8.73893766e-01 -2.30247844e-03 2.31472554e+01] [ 4.92249075e-03 -1.03478022e-04 9.99987879e-01 3.21600706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.040281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:105.31, Y:23.16, Z:0.32 [[ 8.73879952e-01 -4.86122302e-01 -4.35162205e-03 1.05313273e+02] [ 4.86116856e-01 8.73890781e-01 -2.30326021e-03 2.31582810e+01] [ 4.92250855e-03 -1.02623913e-04 9.99987879e-01 3.22603894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.070281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:105.34, Y:23.17, Z:0.32 [[ 8.74043705e-01 -4.85827816e-01 -4.35144222e-03 1.05338394e+02] [ 4.85822365e-01 8.74054531e-01 -2.30359991e-03 2.31700892e+01] [ 4.92255070e-03 -1.00580951e-04 9.99987879e-01 3.23974655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.100281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:105.36, Y:23.18, Z:0.32 [[ 8.74852362e-01 -4.84370121e-01 -4.35103334e-03 1.05364350e+02] [ 4.84364648e-01 8.74863177e-01 -2.30437193e-03 2.31811017e+01] [ 4.92272776e-03 -9.15015039e-05 9.99987879e-01 3.24424141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.130281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:105.39, Y:23.19, Z:0.32 [[ 8.75467942e-01 -4.83256614e-01 -4.35062571e-03 1.05389374e+02] [ 4.83251124e-01 8.75478748e-01 -2.30514128e-03 2.31935788e+01] [ 4.92285512e-03 -8.43674723e-05 9.99987879e-01 3.24064506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.160281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:105.41, Y:23.21, Z:0.32 [[ 8.76756716e-01 -4.80914480e-01 -4.35021476e-03 1.05414728e+02] [ 4.80908957e-01 8.76767505e-01 -2.30591656e-03 2.32056327e+01] [ 4.92307560e-03 -7.03294093e-05 9.99987879e-01 3.23321593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.190281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:105.44, Y:23.22, Z:0.32 [[ 8.77438022e-01 -4.79670300e-01 -4.34979443e-03 1.05439305e+02] [ 4.79664758e-01 8.77448801e-01 -2.30670919e-03 2.32180233e+01] [ 4.92318179e-03 -6.24487459e-05 9.99987879e-01 3.24682245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.220281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:105.46, Y:23.23, Z:0.32 [[ 8.78771400e-01 -4.77223124e-01 -4.34936553e-03 1.05463228e+02] [ 4.77217548e-01 8.78782162e-01 -2.30751759e-03 2.32304434e+01] [ 4.92334560e-03 -4.78130907e-05 9.99987879e-01 3.24956542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.250281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:105.49, Y:23.24, Z:0.32 [[ 8.79204843e-01 -4.76424106e-01 -4.34917823e-03 1.05486552e+02] [ 4.76418518e-01 8.79215599e-01 -2.30787056e-03 2.32430397e+01] [ 4.92339051e-03 -4.29380728e-05 9.99987879e-01 3.23649350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.280281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:105.51, Y:23.26, Z:0.32 [[ 8.79362113e-01 -4.76133763e-01 -4.34899742e-03 1.05510710e+02] [ 4.76128169e-01 8.79372867e-01 -2.30821123e-03 2.32566136e+01] [ 4.92340763e-03 -4.09266719e-05 9.99987879e-01 3.22317734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31028169300001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:105.53, Y:23.27, Z:0.32 [[ 8.79466563e-01 -4.75940811e-01 -4.34857915e-03 1.05533831e+02] [ 4.75935211e-01 8.79477313e-01 -2.30899896e-03 2.32702609e+01] [ 4.92342355e-03 -3.89545566e-05 9.99987879e-01 3.20308227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.340281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:105.56, Y:23.29, Z:0.32 [[ 8.78881398e-01 -4.77020523e-01 -4.34839759e-03 1.05556574e+02] [ 4.77014935e-01 8.78892154e-01 -2.30934085e-03 2.32863549e+01] [ 4.92337550e-03 -4.46138762e-05 9.99987879e-01 3.22700779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.370281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:105.58, Y:23.30, Z:0.32 [[ 8.78241594e-01 -4.78197446e-01 -4.34797031e-03 1.05580329e+02] [ 4.78191869e-01 8.78252356e-01 -2.31014504e-03 2.33002845e+01] [ 4.92332062e-03 -5.02985874e-05 9.99987879e-01 3.24846579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.400281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:105.60, Y:23.31, Z:0.33 [[ 8.76619672e-01 -4.81164261e-01 -4.34783721e-03 1.05604899e+02] [ 4.81158719e-01 8.76630452e-01 -2.31039550e-03 2.33140901e+01] [ 4.92312625e-03 -6.66616364e-05 9.99987879e-01 3.26560986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.430281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:105.63, Y:23.33, Z:0.32 [[ 8.75800298e-01 -4.82654057e-01 -4.34740960e-03 1.05628252e+02] [ 4.82648529e-01 8.75811084e-01 -2.31119985e-03 2.33268727e+01] [ 4.92301950e-03 -7.41213392e-05 9.99987879e-01 3.24754189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.460281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:105.65, Y:23.34, Z:0.32 [[ 8.74936589e-01 -4.84217995e-01 -4.34722441e-03 1.05653140e+02] [ 4.84212484e-01 8.74947385e-01 -2.31154812e-03 2.33402529e+01] [ 4.92288583e-03 -8.25223025e-05 9.99987879e-01 3.23450675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.490281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:105.68, Y:23.35, Z:0.32 [[ 8.74005923e-01 -4.85895825e-01 -4.34680432e-03 1.05676933e+02] [ 4.85890331e-01 8.74016727e-01 -2.31233783e-03 2.33526664e+01] [ 4.92273498e-03 -9.10732324e-05 9.99987879e-01 3.22847548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.520281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:105.70, Y:23.36, Z:0.33 [[ 8.72079191e-01 -4.89345472e-01 -4.34662149e-03 1.05702027e+02] [ 4.89340020e-01 8.72090016e-01 -2.31268146e-03 2.33641580e+01] [ 4.92234540e-03 -1.10134467e-04 9.99987879e-01 3.27138544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.550281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.73, Y:23.38, Z:0.33 [[ 8.70980120e-01 -4.91299035e-01 -4.34622184e-03 1.05727099e+02] [ 4.91293602e-01 8.70990955e-01 -2.31343227e-03 2.33765675e+01] [ 4.92210695e-03 -1.20317465e-04 9.99987879e-01 3.29986569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.580281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:105.75, Y:23.39, Z:0.33 [[ 8.68805373e-01 -4.95134666e-01 -4.34581046e-03 1.05752805e+02] [ 4.95129278e-01 8.68816230e-01 -2.31420480e-03 2.33858932e+01] [ 4.92155368e-03 -1.41144430e-04 9.99987879e-01 3.30885937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.610281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.78, Y:23.40, Z:0.33 [[ 8.67658973e-01 -4.97140847e-01 -4.34563226e-03 1.05779103e+02] [ 4.97135483e-01 8.67669842e-01 -2.31453938e-03 2.33965409e+01] [ 4.92122612e-03 -1.52137125e-04 9.99987879e-01 3.29166185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.640281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.80, Y:23.41, Z:0.33 [[ 8.67575276e-01 -4.97286898e-01 -4.34524037e-03 1.05804141e+02] [ 4.97281531e-01 8.67586144e-01 -2.31527486e-03 2.34101088e+01] [ 4.92122619e-03 -1.52132559e-04 9.99987879e-01 3.29306425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.670281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:105.83, Y:23.42, Z:0.33 [[ 8.66525677e-01 -4.99113587e-01 -4.34485051e-03 1.05830178e+02] [ 4.99108240e-01 8.66536555e-01 -2.31600624e-03 2.34204873e+01] [ 4.92092198e-03 -1.61671810e-04 9.99987879e-01 3.27537837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.700281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:105.86, Y:23.43, Z:0.33 [[ 8.65592175e-01 -5.00730778e-01 -4.34444677e-03 1.05856598e+02] [ 5.00725448e-01 8.65603061e-01 -2.31676334e-03 2.34280458e+01] [ 4.92064113e-03 -1.70002835e-04 9.99987879e-01 3.26129008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.730281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:105.88, Y:23.44, Z:0.33 [[ 8.65784037e-01 -5.00398970e-01 -4.34427078e-03 1.05882235e+02] [ 5.00393634e-01 8.65794919e-01 -2.31709330e-03 2.34389407e+01] [ 4.92071867e-03 -1.67743057e-04 9.99987879e-01 3.27682777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.760281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:105.91, Y:23.45, Z:0.33 [[ 8.66585922e-01 -4.99008988e-01 -4.34386778e-03 1.05908340e+02] [ 4.99003630e-01 8.66596795e-01 -2.31784857e-03 2.34496271e+01] [ 4.92100916e-03 -1.58990844e-04 9.99987879e-01 3.29030271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.790281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:105.93, Y:23.46, Z:0.33 [[ 8.69155477e-01 -4.94519859e-01 -4.34343185e-03 1.05934344e+02] [ 4.94514441e-01 8.69166320e-01 -2.31866516e-03 2.34589795e+01] [ 4.92179065e-03 -1.32609247e-04 9.99987879e-01 3.27504100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.820281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:105.96, Y:23.47, Z:0.33 [[ 8.70575554e-01 -4.92015591e-01 -4.34324186e-03 1.05959749e+02] [ 4.92010140e-01 8.70586380e-01 -2.31902100e-03 2.34712705e+01] [ 4.92216169e-03 -1.18036046e-04 9.99987879e-01 3.28103932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.850281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:105.99, Y:23.48, Z:0.33 [[ 8.73050780e-01 -4.87609962e-01 -4.34300405e-03 1.05986173e+02] [ 4.87604454e-01 8.73061577e-01 -2.31946627e-03 2.34817441e+01] [ 4.92270483e-03 -9.26562782e-05 9.99987879e-01 3.31394621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.880281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:106.01, Y:23.49, Z:0.33 [[ 8.73812993e-01 -4.86242733e-01 -4.34260883e-03 1.06010582e+02] [ 4.86237205e-01 8.73823779e-01 -2.32020598e-03 2.34928689e+01] [ 4.92285816e-03 -8.41118503e-05 9.99987879e-01 3.32947307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.910281693 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:106.04, Y:23.50, Z:0.33 [[ 8.74156668e-01 -4.85624612e-01 -4.34233940e-03 1.06037257e+02] [ 4.85619074e-01 8.74167449e-01 -2.32071013e-03 2.35033538e+01] [ 4.92292571e-03 -8.00586060e-05 9.99987879e-01 3.32638716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.940281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:106.06, Y:23.52, Z:0.33 [[ 8.73898061e-01 -4.86089834e-01 -4.34194819e-03 1.06062768e+02] [ 4.86084298e-01 8.73908843e-01 -2.32144182e-03 2.35152430e+01] [ 4.92289620e-03 -8.18493304e-05 9.99987879e-01 3.31000741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.970281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:106.09, Y:23.53, Z:0.33 [[ 8.73444310e-01 -4.86904701e-01 -4.34155704e-03 1.06087804e+02] [ 4.86899170e-01 8.73455096e-01 -2.32217313e-03 2.35268984e+01] [ 4.92283214e-03 -8.56116094e-05 9.99987879e-01 3.28541074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.000281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:106.11, Y:23.54, Z:0.33 [[ 8.73070113e-01 -4.87575361e-01 -4.34116701e-03 1.06113638e+02] [ 4.87569836e-01 8.73080901e-01 -2.32290203e-03 2.35379148e+01] [ 4.92277980e-03 -8.85657502e-05 9.99987879e-01 3.26462969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.030281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:106.14, Y:23.55, Z:0.33 [[ 8.72694164e-01 -4.88247943e-01 -4.34077661e-03 1.06139942e+02] [ 4.88242422e-01 8.72704955e-01 -2.32363134e-03 2.35458027e+01] [ 4.92272548e-03 -9.15317748e-05 9.99987879e-01 3.25728631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06028169300001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:106.17, Y:23.56, Z:0.33 [[ 8.72748214e-01 -4.88151324e-01 -4.34050972e-03 1.06165850e+02] [ 4.88145799e-01 8.72759003e-01 -2.32412979e-03 2.35568637e+01] [ 4.92274597e-03 -9.04214586e-05 9.99987879e-01 3.28500658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.090281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:106.19, Y:23.57, Z:0.33 [[ 8.73324109e-01 -4.87120277e-01 -4.34008593e-03 1.06190849e+02] [ 4.87114736e-01 8.73334889e-01 -2.32492090e-03 2.35675702e+01] [ 4.92286458e-03 -8.37103420e-05 9.99987879e-01 3.30781490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.120281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:106.22, Y:23.58, Z:0.33 [[ 8.75544518e-01 -4.83117959e-01 -4.33990142e-03 1.06215790e+02] [ 4.83112367e-01 8.75555272e-01 -2.32526528e-03 2.35777283e+01] [ 4.92320098e-03 -6.07867829e-05 9.99987879e-01 3.32344566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.150281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:106.24, Y:23.59, Z:0.33 [[ 8.76937154e-01 -4.80585470e-01 -4.33972059e-03 1.06241108e+02] [ 4.80579845e-01 8.76947891e-01 -2.32560272e-03 2.35902322e+01] [ 4.92335969e-03 -4.61748199e-05 9.99987879e-01 3.31654585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.180281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:106.27, Y:23.60, Z:0.33 [[ 8.79522450e-01 -4.75837610e-01 -4.33930230e-03 1.06265924e+02] [ 4.75831923e-01 8.79533154e-01 -2.32638294e-03 2.36008253e+01] [ 4.92354073e-03 -1.86725328e-05 9.99987879e-01 3.30871446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.210281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:106.29, Y:23.61, Z:0.33 [[ 8.80391340e-01 -4.74228069e-01 -4.33901642e-03 1.06291225e+02] [ 4.74222360e-01 8.80402032e-01 -2.32691601e-03 2.36133751e+01] [ 4.92356776e-03 -9.06190770e-06 9.99987879e-01 3.31981892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.240281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:106.31, Y:23.63, Z:0.33 [[ 8.81005675e-01 -4.73085804e-01 -4.33860223e-03 1.06314975e+02] [ 4.73080077e-01 8.81016358e-01 -2.32768803e-03 2.36251465e+01] [ 4.92357570e-03 -1.79991646e-06 9.99987879e-01 3.33117544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.270281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:106.34, Y:23.64, Z:0.33 [[ 8.81348244e-01 -4.72447301e-01 -4.33831927e-03 1.06340050e+02] [ 4.72441565e-01 8.81358921e-01 -2.32821528e-03 2.36380818e+01] [ 4.92357542e-03 2.36610524e-06 9.99987879e-01 3.34837782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.300281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:106.36, Y:23.65, Z:0.34 [[ 8.81460383e-01 -4.72238049e-01 -4.33790799e-03 1.06364745e+02] [ 4.72232306e-01 8.81471057e-01 -2.32898132e-03 2.36499786e+01] [ 4.92357394e-03 4.40447567e-06 9.99987879e-01 3.35367184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.330281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:106.39, Y:23.66, Z:0.33 [[ 8.81242636e-01 -4.72644266e-01 -4.33762831e-03 1.06388871e+02] [ 4.72638525e-01 8.81253311e-01 -2.32950210e-03 2.36618065e+01] [ 4.92357512e-03 2.72632330e-06 9.99987879e-01 3.33878762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.360281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:106.41, Y:23.67, Z:0.33 [[ 8.80328585e-01 -4.74344567e-01 -4.33745022e-03 1.06413484e+02] [ 4.74338846e-01 8.80339271e-01 -2.32983365e-03 2.36734498e+01] [ 4.92357170e-03 -6.40197221e-06 9.99987879e-01 3.30192803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.390281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:106.44, Y:23.69, Z:0.33 [[ 8.80081532e-01 -4.74802787e-01 -4.33717296e-03 1.06436653e+02] [ 4.74797069e-01 8.80092219e-01 -2.33034968e-03 2.36866226e+01] [ 4.92356870e-03 -8.37929576e-06 9.99987879e-01 3.29150957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.420281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:106.46, Y:23.70, Z:0.33 [[ 8.80093371e-01 -4.74780842e-01 -4.33699667e-03 1.06460333e+02] [ 4.74775122e-01 8.80104057e-01 -2.33067772e-03 2.37010279e+01] [ 4.92356950e-03 -7.88411377e-06 9.99987879e-01 3.28177568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.450281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:106.48, Y:23.72, Z:0.33 [[ 8.81225061e-01 -4.72677042e-01 -4.33659398e-03 1.06483084e+02] [ 4.72671292e-01 8.81235731e-01 -2.33142676e-03 2.37150896e+01] [ 4.92357347e-03 4.72820632e-06 9.99987879e-01 3.30271232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.480281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:106.51, Y:23.73, Z:0.33 [[ 8.81817190e-01 -4.71571458e-01 -4.33642547e-03 1.06507443e+02] [ 4.71565693e-01 8.81827852e-01 -2.33174014e-03 2.37285006e+01] [ 4.92356285e-03 1.12590600e-05 9.99987879e-01 3.33296324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.510281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:106.53, Y:23.74, Z:0.34 [[ 8.82251202e-01 -4.70758979e-01 -4.33602636e-03 1.06531206e+02] [ 4.70753201e-01 8.82261857e-01 -2.33248208e-03 2.37424654e+01] [ 4.92354755e-03 1.66368308e-05 9.99987879e-01 3.35342446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.540281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:106.55, Y:23.76, Z:0.34 [[ 8.82260858e-01 -4.70740885e-01 -4.33562848e-03 1.06554509e+02] [ 4.70735103e-01 8.82271511e-01 -2.33322142e-03 2.37591524e+01] [ 4.92354421e-03 1.75774076e-05 9.99987879e-01 3.36174493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.570281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:106.58, Y:23.77, Z:0.34 [[ 8.82027528e-01 -4.71177934e-01 -4.33518320e-03 1.06577734e+02] [ 4.71172154e-01 8.82038182e-01 -2.33404847e-03 2.37722556e+01] [ 4.92354924e-03 1.60774019e-05 9.99987879e-01 3.35157976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.600281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:106.60, Y:23.78, Z:0.33 [[ 8.81320281e-01 -4.72499491e-01 -4.33498999e-03 1.06603242e+02] [ 4.72493725e-01 8.81330943e-01 -2.33440726e-03 2.37834650e+01] [ 4.92356706e-03 9.10489396e-06 9.99987879e-01 3.33099828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.630281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:106.63, Y:23.80, Z:0.33 [[ 8.80614323e-01 -4.73813914e-01 -4.33456648e-03 1.06627968e+02] [ 4.73808160e-01 8.80624991e-01 -2.33519338e-03 2.37956826e+01] [ 4.92357468e-03 2.65177171e-06 9.99987879e-01 3.33663210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.660281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:106.65, Y:23.81, Z:0.33 [[ 8.79888089e-01 -4.75161200e-01 -4.33414406e-03 1.06652918e+02] [ 4.75155458e-01 8.79898763e-01 -2.33597714e-03 2.38087691e+01] [ 4.92357369e-03 -3.99374550e-06 9.99987879e-01 3.34674424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.690281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:106.68, Y:23.82, Z:0.33 [[ 8.79515412e-01 -4.75850669e-01 -4.33370455e-03 1.06677993e+02] [ 4.75844931e-01 8.79526089e-01 -2.33679223e-03 2.38199460e+01] [ 4.92357036e-03 -6.92656301e-06 9.99987879e-01 3.34041559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.720281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:106.70, Y:23.83, Z:0.33 [[ 8.79858900e-01 -4.75215252e-01 -4.33351387e-03 1.06703567e+02] [ 4.75209505e-01 8.79869572e-01 -2.33714578e-03 2.38309440e+01] [ 4.92357432e-03 -2.96846296e-06 9.99987879e-01 3.33904333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.750281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:106.73, Y:23.84, Z:0.33 [[ 8.80302521e-01 -4.74392976e-01 -4.33308283e-03 1.06728223e+02] [ 4.74387215e-01 8.80313185e-01 -2.33794465e-03 2.38417410e+01] [ 4.92357447e-03 2.53947215e-06 9.99987879e-01 3.33676197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.780281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:106.75, Y:23.85, Z:0.34 [[ 8.81380583e-01 -4.72387016e-01 -4.33289491e-03 1.06754289e+02] [ 4.72381229e-01 8.81391234e-01 -2.33829288e-03 2.38520384e+01] [ 4.92355479e-03 1.41477213e-05 9.99987879e-01 3.35866594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81028169300001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:106.78, Y:23.86, Z:0.34 [[ 8.81861718e-01 -4.71488218e-01 -4.33247981e-03 1.06778949e+02] [ 4.71482416e-01 8.81872360e-01 -2.33906173e-03 2.38642441e+01] [ 4.92353425e-03 2.00409483e-05 9.99987879e-01 3.36406331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.840281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:106.81, Y:23.87, Z:0.33 [[ 8.82468371e-01 -4.70351791e-01 -4.33205573e-03 1.06805028e+02] [ 4.70345971e-01 8.82479004e-01 -2.33984690e-03 2.38738529e+01] [ 4.92349940e-03 2.72759234e-05 9.99987879e-01 3.33846747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.870281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:106.83, Y:23.89, Z:0.33 [[ 8.82521092e-01 -4.70252867e-01 -4.33162011e-03 1.06830139e+02] [ 4.70247042e-01 8.82531722e-01 -2.34065304e-03 2.38851231e+01] [ 4.92349096e-03 2.87441351e-05 9.99987879e-01 3.31247263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.900281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:106.86, Y:23.90, Z:0.33 [[ 8.83008041e-01 -4.69337872e-01 -4.33143081e-03 1.06855178e+02] [ 4.69332035e-01 8.83018664e-01 -2.34100331e-03 2.38968775e+01] [ 4.92345575e-03 3.42455089e-05 9.99987879e-01 3.30352433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.930281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:106.88, Y:23.91, Z:0.33 [[ 8.83413779e-01 -4.68573726e-01 -4.33100483e-03 1.06878708e+02] [ 4.68567876e-01 8.83424395e-01 -2.34179114e-03 2.39102881e+01] [ 4.92341712e-03 3.94008256e-05 9.99987879e-01 3.32528813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.960281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:106.90, Y:23.92, Z:0.33 [[ 8.84093793e-01 -4.67289428e-01 -4.33082158e-03 1.06902758e+02] [ 4.67283561e-01 8.84104399e-01 -2.34212998e-03 2.39238478e+01] [ 4.92335099e-03 4.69408449e-05 9.99987879e-01 3.34694425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.990281693 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:106.93, Y:23.94, Z:0.34 [[ 8.84775293e-01 -4.65997778e-01 -4.33039710e-03 1.06925949e+02] [ 4.65991892e-01 8.84785888e-01 -2.34291454e-03 2.39372227e+01] [ 4.92326721e-03 5.50229591e-05 9.99987879e-01 3.35924157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.020281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:106.95, Y:23.95, Z:0.34 [[ 8.86072355e-01 -4.63526731e-01 -4.33021318e-03 1.06949410e+02] [ 4.63520813e-01 8.86082933e-01 -2.34325441e-03 2.39524740e+01] [ 4.92308905e-03 6.91490212e-05 9.99987879e-01 3.37540925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.050281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:106.97, Y:23.97, Z:0.34 [[ 8.86555490e-01 -4.62602006e-01 -4.32979280e-03 1.06973419e+02] [ 4.62596073e-01 8.86566060e-01 -2.34403092e-03 2.39671941e+01] [ 4.92300075e-03 7.51683398e-05 9.99987879e-01 3.38560713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.080281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:107.00, Y:23.98, Z:0.34 [[ 8.87718020e-01 -4.60367217e-01 -4.32937391e-03 1.06996618e+02] [ 4.60361254e-01 8.87728572e-01 -2.34480435e-03 2.39837509e+01] [ 4.92277997e-03 8.84490704e-05 9.99987879e-01 3.39334750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.110281693 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:107.02, Y:24.00, Z:0.34 [[ 8.88032298e-01 -4.59760697e-01 -4.32893371e-03 1.07020089e+02] [ 4.59754722e-01 8.88042844e-01 -2.34561675e-03 2.39992384e+01] [ 4.92270100e-03 9.27357211e-05 9.99987879e-01 3.38249605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.140281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:107.04, Y:24.01, Z:0.34 [[ 8.88273072e-01 -4.59295345e-01 -4.32849375e-03 1.07042989e+02] [ 4.59289361e-01 8.88283613e-01 -2.34642835e-03 2.40144041e+01] [ 4.92263369e-03 9.62379909e-05 9.99987879e-01 3.35580634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.170281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:107.07, Y:24.03, Z:0.33 [[ 8.88343141e-01 -4.59159809e-01 -4.32819330e-03 1.07066157e+02] [ 4.59153821e-01 8.88353680e-01 -2.34698244e-03 2.40301135e+01] [ 4.92260645e-03 9.76192616e-05 9.99987879e-01 3.33721439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.200281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:107.09, Y:24.05, Z:0.33 [[ 8.88089290e-01 -4.59650609e-01 -4.32778401e-03 1.07089120e+02] [ 4.59644623e-01 8.88099830e-01 -2.34773691e-03 2.40466855e+01] [ 4.92264294e-03 9.57573606e-05 9.99987879e-01 3.34333717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.230281693 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:107.11, Y:24.06, Z:0.34 [[ 8.87746517e-01 -4.60312280e-01 -4.32734777e-03 1.07112123e+02] [ 4.60306298e-01 8.87757059e-01 -2.34854070e-03 2.40610980e+01] [ 4.92269566e-03 9.30033974e-05 9.99987879e-01 3.35355495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.260281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:107.14, Y:24.08, Z:0.34 [[ 8.86746187e-01 -4.62236385e-01 -4.32715882e-03 1.07136120e+02] [ 4.62230424e-01 8.86756741e-01 -2.34888880e-03 2.40760209e+01] [ 4.92287912e-03 8.27237350e-05 9.99987879e-01 3.37819501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.290281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:107.16, Y:24.09, Z:0.34 [[ 8.85889735e-01 -4.63875689e-01 -4.32702455e-03 1.07160140e+02] [ 4.63869747e-01 8.85900299e-01 -2.34913613e-03 2.40897812e+01] [ 4.92301948e-03 7.38998000e-05 9.99987879e-01 3.39357080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.320281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:107.18, Y:24.10, Z:0.34 [[ 8.84913168e-01 -4.65735940e-01 -4.32659813e-03 1.07184318e+02] [ 4.65730016e-01 8.84923742e-01 -2.34992123e-03 2.41036215e+01] [ 4.92315218e-03 6.44496265e-05 9.99987879e-01 3.41049767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.350281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:107.21, Y:24.12, Z:0.34 [[ 8.83219265e-01 -4.68940310e-01 -4.32617083e-03 1.07207969e+02] [ 4.68934421e-01 8.83229859e-01 -2.35070762e-03 2.41165812e+01] [ 4.92334481e-03 4.74998489e-05 9.99987879e-01 3.41984339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.380281693 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:107.23, Y:24.13, Z:0.34 [[ 8.82509473e-01 -4.70274723e-01 -4.32598496e-03 1.07232372e+02] [ 4.70268848e-01 8.82520075e-01 -2.35104962e-03 2.41304601e+01] [ 4.92340778e-03 4.04475980e-05 9.99987879e-01 3.43085868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.410281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:107.26, Y:24.14, Z:0.34 [[ 8.82160435e-01 -4.70929142e-01 -4.32556041e-03 1.07257014e+02] [ 4.70923271e-01 8.82171039e-01 -2.35183048e-03 2.41445814e+01] [ 4.92342963e-03 3.76847455e-05 9.99987879e-01 3.43008507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.440281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:107.28, Y:24.16, Z:0.34 [[ 8.81980587e-01 -4.71265888e-01 -4.32513776e-03 1.07281399e+02] [ 4.71260018e-01 8.81991191e-01 -2.35260749e-03 2.41587837e+01] [ 4.92343706e-03 3.66896351e-05 9.99987879e-01 3.39314297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.470281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:107.31, Y:24.17, Z:0.34 [[ 8.81958566e-01 -4.71307102e-01 -4.32471560e-03 1.07305004e+02] [ 4.71301228e-01 8.81969169e-01 -2.35338327e-03 2.41719068e+01] [ 4.92343207e-03 3.73427580e-05 9.99987879e-01 3.38064407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.500281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:107.33, Y:24.19, Z:0.34 [[ 8.81772470e-01 -4.71655181e-01 -4.32453232e-03 1.07329355e+02] [ 4.71649310e-01 8.81783074e-01 -2.35372001e-03 2.41860774e+01] [ 4.92344364e-03 3.57828201e-05 9.99987879e-01 3.37920499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.530281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:107.35, Y:24.20, Z:0.34 [[ 8.81715075e-01 -4.71762471e-01 -4.32411349e-03 1.07351607e+02] [ 4.71756597e-01 8.81725677e-01 -2.35448921e-03 2.42011014e+01] [ 4.92344155e-03 3.60595668e-05 9.99987879e-01 3.40373639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56028169300001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:107.38, Y:24.21, Z:0.34 [[ 8.81631708e-01 -4.71918250e-01 -4.32393187e-03 1.07376520e+02] [ 4.71912376e-01 8.81642311e-01 -2.35482270e-03 2.42149119e+01] [ 4.92344510e-03 3.55693970e-05 9.99987879e-01 3.40513883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.590281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:107.40, Y:24.23, Z:0.34 [[ 8.81672512e-01 -4.71842017e-01 -4.32351567e-03 1.07400018e+02] [ 4.71836139e-01 8.81683112e-01 -2.35558661e-03 2.42294409e+01] [ 4.92343549e-03 3.68650222e-05 9.99987879e-01 3.41765404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.620281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:107.42, Y:24.25, Z:0.34 [[ 8.81829259e-01 -4.71549010e-01 -4.32309272e-03 1.07422386e+02] [ 4.71543124e-01 8.81839855e-01 -2.35636258e-03 2.42454067e+01] [ 4.92341590e-03 3.93848262e-05 9.99987879e-01 3.38798688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.650281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:107.45, Y:24.26, Z:0.34 [[ 8.81882206e-01 -4.71449983e-01 -4.32290878e-03 1.07445889e+02] [ 4.71444094e-01 8.81892801e-01 -2.35669997e-03 2.42614197e+01] [ 4.92340830e-03 4.03219550e-05 9.99987879e-01 3.36770912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.680281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:107.47, Y:24.28, Z:0.34 [[ 8.81986380e-01 -4.71255071e-01 -4.32249917e-03 1.07468903e+02] [ 4.71249176e-01 8.81996971e-01 -2.35745103e-03 2.42769657e+01] [ 4.92339192e-03 4.22655244e-05 9.99987879e-01 3.36208685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.710281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:107.49, Y:24.29, Z:0.34 [[ 8.82208359e-01 -4.70839389e-01 -4.32209025e-03 1.07489732e+02] [ 4.70833486e-01 8.82218946e-01 -2.35820049e-03 2.42946726e+01] [ 4.92336358e-03 4.54393653e-05 9.99987879e-01 3.38782775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.740281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:107.51, Y:24.31, Z:0.34 [[ 8.82453682e-01 -4.70379443e-01 -4.32191224e-03 1.07511711e+02] [ 4.70373533e-01 8.82464264e-01 -2.35852668e-03 2.43103025e+01] [ 4.92333557e-03 4.83774261e-05 9.99987879e-01 3.40790648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.770281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:107.53, Y:24.33, Z:0.34 [[ 8.82710566e-01 -4.69897200e-01 -4.32173590e-03 1.07534930e+02] [ 4.69891282e-01 8.82721144e-01 -2.35884975e-03 2.43267240e+01] [ 4.92330456e-03 5.14355775e-05 9.99987879e-01 3.42255418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.800281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:107.56, Y:24.34, Z:0.34 [[ 8.82965272e-01 -4.69418422e-01 -4.32133281e-03 1.07558054e+02] [ 4.69412495e-01 8.82975845e-01 -2.35958797e-03 2.43428076e+01] [ 4.92326655e-03 5.49466135e-05 9.99987879e-01 3.42606117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.830281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:107.58, Y:24.36, Z:0.34 [[ 8.83149719e-01 -4.69071320e-01 -4.32090775e-03 1.07579554e+02] [ 4.69065385e-01 8.83160287e-01 -2.36036610e-03 2.43612248e+01] [ 4.92323417e-03 5.77683983e-05 9.99987879e-01 3.41833088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.860281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:107.60, Y:24.38, Z:0.34 [[ 8.83033062e-01 -4.69290896e-01 -4.32046871e-03 1.07602040e+02] [ 4.69284959e-01 8.83043630e-01 -2.36116945e-03 2.43765079e+01] [ 4.92323770e-03 5.74597084e-05 9.99987879e-01 3.41069989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.890281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:107.62, Y:24.39, Z:0.34 [[ 8.82749433e-01 -4.69824196e-01 -4.32016927e-03 1.07623191e+02] [ 4.69818263e-01 8.82760002e-01 -2.36171720e-03 2.43940463e+01] [ 4.92326452e-03 5.51100921e-05 9.99987879e-01 3.40160718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.920281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:107.65, Y:24.41, Z:0.34 [[ 8.82534067e-01 -4.70228623e-01 -4.31998478e-03 1.07646580e+02] [ 4.70222693e-01 8.82544639e-01 -2.36205462e-03 2.44104262e+01] [ 4.92328510e-03 5.32387975e-05 9.99987879e-01 3.40366756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.950281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:107.67, Y:24.43, Z:0.34 [[ 8.82268340e-01 -4.70727009e-01 -4.31958990e-03 1.07668705e+02] [ 4.70721082e-01 8.82278913e-01 -2.36277653e-03 2.44286788e+01] [ 4.92330581e-03 5.12808977e-05 9.99987879e-01 3.43194312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.980281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:107.69, Y:24.44, Z:0.34 [[ 8.82028234e-01 -4.71176759e-01 -4.31917904e-03 1.07692422e+02] [ 4.71170834e-01 8.82038808e-01 -2.36352735e-03 2.44441947e+01] [ 4.92332269e-03 4.96266694e-05 9.99987879e-01 3.44083764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.010281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:107.72, Y:24.46, Z:0.34 [[ 8.81740136e-01 -4.71715678e-01 -4.31876761e-03 1.07715599e+02] [ 4.71709755e-01 8.81750711e-01 -2.36427889e-03 2.44598195e+01] [ 4.92334383e-03 4.74747763e-05 9.99987879e-01 3.44004433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.040281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:107.74, Y:24.48, Z:0.34 [[ 8.81633473e-01 -4.71915005e-01 -4.31832336e-03 1.07738153e+02] [ 4.71909081e-01 8.81644047e-01 -2.36509003e-03 2.44750838e+01] [ 4.92334556e-03 4.72865304e-05 9.99987879e-01 3.42617327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.070281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:107.76, Y:24.49, Z:0.34 [[ 8.81386467e-01 -4.72376174e-01 -4.31813099e-03 1.07759350e+02] [ 4.72370254e-01 8.81397043e-01 -2.36544120e-03 2.44923834e+01] [ 4.92336596e-03 4.51112267e-05 9.99987879e-01 3.40218754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.100281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:107.78, Y:24.51, Z:0.34 [[ 8.81193987e-01 -4.72735141e-01 -4.31794051e-03 1.07782836e+02] [ 4.72729223e-01 8.81204565e-01 -2.36578886e-03 2.45077069e+01] [ 4.92338042e-03 4.35022550e-05 9.99987879e-01 3.40307010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.130281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:107.80, Y:24.53, Z:0.34 [[ 8.80715376e-01 -4.73626209e-01 -4.31750510e-03 1.07803550e+02] [ 4.73620298e-01 8.80725958e-01 -2.36658320e-03 2.45251395e+01] [ 4.92341465e-03 3.94281607e-05 9.99987879e-01 3.40505309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.160281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:107.83, Y:24.54, Z:0.34 [[ 8.80198026e-01 -4.74586974e-01 -4.31731537e-03 1.07825811e+02] [ 4.74581073e-01 8.80208613e-01 -2.36692927e-03 2.45398897e+01] [ 4.92345198e-03 3.44503096e-05 9.99987879e-01 3.41090240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.190281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:107.85, Y:24.55, Z:0.34 [[ 8.79433340e-01 -4.76002482e-01 -4.31712978e-03 1.07848747e+02] [ 4.75996596e-01 8.79443936e-01 -2.36726774e-03 2.45547482e+01] [ 4.92349892e-03 2.69150960e-05 9.99987879e-01 3.40806037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.220281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:107.87, Y:24.57, Z:0.34 [[ 8.78469069e-01 -4.77779717e-01 -4.31694515e-03 1.07872991e+02] [ 4.77773851e-01 8.78479676e-01 -2.36760437e-03 2.45697149e+01] [ 4.92354193e-03 1.73437012e-05 9.99987879e-01 3.40749361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.250281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:107.89, Y:24.58, Z:0.34 [[ 8.75895645e-01 -4.82481281e-01 -4.31651894e-03 1.07894953e+02] [ 4.82475468e-01 8.75906281e-01 -2.36838117e-03 2.45849073e+01] [ 4.92356563e-03 -8.15974872e-06 9.99987879e-01 3.39563000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.280281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:107.92, Y:24.60, Z:0.34 [[ 8.74475234e-01 -4.85050961e-01 -4.31633423e-03 1.07918162e+02] [ 4.85045178e-01 8.74485886e-01 -2.36871776e-03 2.45982211e+01] [ 4.92352219e-03 -2.22320903e-05 9.99987879e-01 3.40088394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31028169300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:107.94, Y:24.61, Z:0.34 [[ 8.71462450e-01 -4.90443238e-01 -4.31615111e-03 1.07942781e+02] [ 4.90437519e-01 8.71473136e-01 -2.36905138e-03 2.46119508e+01] [ 4.92329497e-03 -5.22631216e-05 9.99987879e-01 3.41871059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.340281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:107.97, Y:24.62, Z:0.34 [[ 8.70154280e-01 -4.92760493e-01 -4.31570935e-03 1.07966038e+02] [ 4.92754798e-01 8.70164980e-01 -2.36985586e-03 2.46249314e+01] [ 4.92315048e-03 -6.44462660e-05 9.99987879e-01 3.42197240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.370281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:107.99, Y:24.64, Z:0.34 [[ 8.68301650e-01 -4.96017763e-01 -4.31551756e-03 1.07989272e+02] [ 4.96012106e-01 8.68312370e-01 -2.37020505e-03 2.46377775e+01] [ 4.92288109e-03 -8.24959976e-05 9.99987879e-01 3.41438958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.400281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:108.01, Y:24.65, Z:0.34 [[ 8.67762344e-01 -4.96960655e-01 -4.31532659e-03 1.08013077e+02] [ 4.96955009e-01 8.67773069e-01 -2.37055269e-03 2.46507588e+01] [ 4.92279562e-03 -8.74468034e-05 9.99987879e-01 3.41364028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.430281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:108.04, Y:24.66, Z:0.34 [[ 8.67244492e-01 -4.97863808e-01 -4.31503233e-03 1.08037744e+02] [ 4.97858170e-01 8.67255222e-01 -2.37108821e-03 2.46640475e+01] [ 4.92271333e-03 -9.19609073e-05 9.99987879e-01 3.41288723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.460281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:108.06, Y:24.68, Z:0.34 [[ 8.66711953e-01 -4.98790312e-01 -4.31460186e-03 1.08061824e+02] [ 4.98784682e-01 8.66722686e-01 -2.37187127e-03 2.46756849e+01] [ 4.92262972e-03 -9.63281406e-05 9.99987879e-01 3.41110102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.490281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:108.09, Y:24.69, Z:0.34 [[ 8.66757465e-01 -4.98711221e-01 -4.31441497e-03 1.08085425e+02] [ 4.98705589e-01 8.66768198e-01 -2.37221118e-03 2.46887241e+01] [ 4.92264602e-03 -9.54911088e-05 9.99987879e-01 3.41768603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.520281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:108.11, Y:24.70, Z:0.34 [[ 8.66795200e-01 -4.98645635e-01 -4.31422932e-03 1.08109251e+02] [ 4.98640000e-01 8.66805931e-01 -2.37254875e-03 2.47022053e+01] [ 4.92266064e-03 -9.47334409e-05 9.99987879e-01 3.41841101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.550281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:108.13, Y:24.72, Z:0.34 [[ 8.66602340e-01 -4.98980734e-01 -4.31405227e-03 1.08133826e+02] [ 4.98975101e-01 8.66613073e-01 -2.37287064e-03 2.47152852e+01] [ 4.92263083e-03 -9.62694168e-05 9.99987879e-01 3.44920130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.580281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:108.16, Y:24.73, Z:0.35 [[ 8.66376455e-01 -4.99372838e-01 -4.31363269e-03 1.08157607e+02] [ 4.99367206e-01 8.66387188e-01 -2.37363315e-03 2.47272198e+01] [ 4.92260402e-03 -9.76268254e-05 9.99987879e-01 3.46428261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.610281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:108.18, Y:24.74, Z:0.35 [[ 8.66005056e-01 -5.00016640e-01 -4.31321614e-03 1.08182522e+02] [ 5.00011012e-01 8.66015791e-01 -2.37438985e-03 2.47401502e+01] [ 4.92254772e-03 -1.00421955e-04 9.99987879e-01 3.47123166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.640281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:108.21, Y:24.75, Z:0.34 [[ 8.65805993e-01 -5.00361252e-01 -4.31281951e-03 1.08207238e+02] [ 5.00355626e-01 8.65816728e-01 -2.37511005e-03 2.47529409e+01] [ 4.92252432e-03 -1.01558992e-04 9.99987879e-01 3.43643295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.670281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:108.23, Y:24.77, Z:0.34 [[ 8.66024637e-01 -4.99982732e-01 -4.31240485e-03 1.08231257e+02] [ 4.99977096e-01 8.66035368e-01 -2.37586270e-03 2.47667711e+01] [ 4.92258544e-03 -9.85480238e-05 9.99987879e-01 3.42619461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.700281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:108.26, Y:24.78, Z:0.34 [[ 8.67360158e-01 -4.97662299e-01 -4.31198710e-03 1.08255331e+02] [ 4.97656631e-01 8.67370872e-01 -2.37662063e-03 2.47814061e+01] [ 4.92284650e-03 -8.45029283e-05 9.99987879e-01 3.41946991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.730281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:108.28, Y:24.80, Z:0.34 [[ 8.68134856e-01 -4.96309664e-01 -4.31154126e-03 1.08278122e+02] [ 4.96303975e-01 8.68145559e-01 -2.37742918e-03 2.47950390e+01] [ 4.92298648e-03 -7.59059232e-05 9.99987879e-01 3.41185450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.760281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:108.30, Y:24.81, Z:0.34 [[ 8.68823303e-01 -4.95103507e-01 -4.31109779e-03 1.08301963e+02] [ 4.95097800e-01 8.68833996e-01 -2.37823307e-03 2.48095936e+01] [ 4.92309986e-03 -6.81507201e-05 9.99987879e-01 3.42169754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.790281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:108.33, Y:24.82, Z:0.34 [[ 8.69615360e-01 -4.93710992e-01 -4.31067868e-03 1.08325041e+02] [ 4.93705264e-01 8.69626042e-01 -2.37899250e-03 2.48235005e+01] [ 4.92321318e-03 -5.93963372e-05 9.99987879e-01 3.42295619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.820281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:108.35, Y:24.84, Z:0.34 [[ 8.70818793e-01 -4.91585242e-01 -4.31049746e-03 1.08348450e+02] [ 4.91579486e-01 8.70829460e-01 -2.37932081e-03 2.48385796e+01] [ 4.92334717e-03 -4.69948518e-05 9.99987879e-01 3.42326973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.850281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:108.37, Y:24.85, Z:0.34 [[ 8.71237944e-01 -4.90841999e-01 -4.31005496e-03 1.08371346e+02] [ 4.90836231e-01 8.71248604e-01 -2.38012210e-03 2.48524823e+01] [ 4.92339326e-03 -4.18784518e-05 9.99987879e-01 3.41247902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.880281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:108.40, Y:24.87, Z:0.34 [[ 8.71569872e-01 -4.90252366e-01 -4.30986262e-03 1.08395654e+02] [ 4.90246588e-01 8.71580528e-01 -2.38047033e-03 2.48668907e+01] [ 4.92342355e-03 -3.81492252e-05 9.99987879e-01 3.42146923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.910281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:108.42, Y:24.88, Z:0.34 [[ 8.72192243e-01 -4.89144273e-01 -4.30942102e-03 1.08419285e+02] [ 4.89138477e-01 8.72202889e-01 -2.38126950e-03 2.48809748e+01] [ 4.92347380e-03 -3.09788473e-05 9.99987879e-01 3.43178568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.940281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:108.44, Y:24.89, Z:0.34 [[ 8.72224553e-01 -4.89086660e-01 -4.30897580e-03 1.08442390e+02] [ 4.89080860e-01 8.72235196e-01 -2.38207488e-03 2.48949904e+01] [ 4.92348140e-03 -2.97333903e-05 9.99987879e-01 3.44154117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.970281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:108.47, Y:24.91, Z:0.35 [[ 8.71994274e-01 -4.89497109e-01 -4.30878229e-03 1.08466479e+02] [ 4.89491312e-01 8.72004919e-01 -2.38242486e-03 2.49094977e+01] [ 4.92346943e-03 -3.16506602e-05 9.99987879e-01 3.45482021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.000281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:108.49, Y:24.92, Z:0.35 [[ 8.71472147e-01 -4.90426075e-01 -4.30832542e-03 1.08490515e+02] [ 4.90420286e-01 8.71482796e-01 -2.38325075e-03 2.49221221e+01] [ 4.92343980e-03 -3.59535343e-05 9.99987879e-01 3.45288416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.030281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.52, Y:24.93, Z:0.35 [[ 8.70483413e-01 -4.92178900e-01 -4.30801473e-03 1.08515334e+02] [ 4.92173129e-01 8.70494072e-01 -2.38381224e-03 2.49349903e+01] [ 4.92336337e-03 -4.52200734e-05 9.99987879e-01 3.45569582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06028169300001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:108.54, Y:24.95, Z:0.35 [[ 8.69211390e-01 -4.94421890e-01 -4.30757424e-03 1.08540445e+02] [ 4.94416142e-01 8.69222061e-01 -2.38460794e-03 2.49478502e+01] [ 4.92324092e-03 -5.70058621e-05 9.99987879e-01 3.45904187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.090281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:108.57, Y:24.96, Z:0.35 [[ 8.66670405e-01 -4.98862565e-01 -4.30713173e-03 1.08565801e+02] [ 4.98856868e-01 8.66681103e-01 -2.38540694e-03 2.49601575e+01] [ 4.92289991e-03 -8.12806445e-05 9.99987879e-01 3.47178585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.120281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.59, Y:24.97, Z:0.35 [[ 8.65608750e-01 -5.00702452e-01 -4.30668263e-03 1.08589987e+02] [ 5.00696774e-01 8.65619458e-01 -2.38621749e-03 2.49723602e+01] [ 4.92273323e-03 -9.08113638e-05 9.99987879e-01 3.46471514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.150281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:108.61, Y:24.98, Z:0.35 [[ 8.64475875e-01 -5.02655863e-01 -4.30637683e-03 1.08614863e+02] [ 5.02650206e-01 8.64486595e-01 -2.38676923e-03 2.49834286e+01] [ 4.92252859e-03 -1.01296788e-04 9.99987879e-01 3.47179874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.180281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:108.64, Y:25.00, Z:0.35 [[ 8.64260140e-01 -5.03026707e-01 -4.30618429e-03 1.08639407e+02] [ 5.03021054e-01 8.64270861e-01 -2.38711655e-03 2.49968490e+01] [ 4.92249299e-03 -1.03011676e-04 9.99987879e-01 3.47270940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.210281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:108.66, Y:25.01, Z:0.35 [[ 8.64244621e-01 -5.03053373e-01 -4.30574758e-03 1.08663335e+02] [ 5.03047716e-01 8.64255341e-01 -2.38790401e-03 2.50106071e+01] [ 4.92250851e-03 -1.02263283e-04 9.99987879e-01 3.46238074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.240281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:108.69, Y:25.03, Z:0.34 [[ 8.64820194e-01 -5.02063240e-01 -4.30530089e-03 1.08686587e+02] [ 5.02057567e-01 8.64830905e-01 -2.38870910e-03 2.50251636e+01] [ 4.92264030e-03 -9.57050240e-05 9.99987879e-01 3.44596838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.270281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:108.71, Y:25.04, Z:0.35 [[ 8.65207863e-01 -5.01394874e-01 -4.30510690e-03 1.08710802e+02] [ 5.01389190e-01 8.65218569e-01 -2.38905868e-03 2.50396081e+01] [ 4.92272021e-03 -9.15017015e-05 9.99987879e-01 3.45706473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.300281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:108.73, Y:25.06, Z:0.35 [[ 8.65557157e-01 -5.00791651e-01 -4.30466442e-03 1.08734008e+02] [ 5.00785956e-01 8.65567857e-01 -2.38985569e-03 2.50554470e+01] [ 4.92279893e-03 -8.71587876e-05 9.99987879e-01 3.47809506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.330281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:108.76, Y:25.07, Z:0.35 [[ 8.65370056e-01 -5.01114896e-01 -4.30422281e-03 1.08757967e+02] [ 5.01109201e-01 8.65380756e-01 -2.39065077e-03 2.50703555e+01] [ 4.92278231e-03 -8.80880673e-05 9.99987879e-01 3.47868711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.360281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:108.78, Y:25.08, Z:0.35 [[ 8.64987360e-01 -5.01775194e-01 -4.30377800e-03 1.08780973e+02] [ 5.01769503e-01 8.64998062e-01 -2.39145128e-03 2.50844238e+01] [ 4.92273056e-03 -9.09294177e-05 9.99987879e-01 3.46035653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.390281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:108.81, Y:25.10, Z:0.34 [[ 8.63390695e-01 -5.04517578e-01 -4.30358537e-03 1.08805140e+02] [ 5.04511920e-01 8.63401414e-01 -2.39179788e-03 2.50985538e+01] [ 4.92242577e-03 -1.06154083e-04 9.99987879e-01 3.43030184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.420281693 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:108.83, Y:25.11, Z:0.35 [[ 8.62109689e-01 -5.06703431e-01 -4.30316582e-03 1.08829825e+02] [ 5.06697796e-01 8.62120420e-01 -2.39255246e-03 2.51124971e+01] [ 4.92216167e-03 -1.17761980e-04 9.99987879e-01 3.49898576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.450281693 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:108.85, Y:25.13, Z:0.35 [[ 8.62016925e-01 -5.06861230e-01 -4.30272704e-03 1.08854616e+02] [ 5.06855593e-01 8.62027656e-01 -2.39334131e-03 2.51264975e+01] [ 4.92216162e-03 -1.17760545e-04 9.99987879e-01 3.50038814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.480281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:108.88, Y:25.14, Z:0.34 [[ 8.58779448e-01 -5.12327386e-01 -4.30228880e-03 1.08879848e+02] [ 5.12321814e-01 8.58790211e-01 -2.39412883e-03 2.51387830e+01] [ 4.92134127e-03 -1.48127767e-04 9.99987879e-01 3.44230089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.510281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.90, Y:25.15, Z:0.35 [[ 8.57149949e-01 -5.15048987e-01 -4.30185257e-03 1.08904474e+02] [ 5.15043445e-01 8.57160729e-01 -2.39491241e-03 2.51504052e+01] [ 4.92087629e-03 -1.62841914e-04 9.99987879e-01 3.45281395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.540281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.93, Y:25.16, Z:0.35 [[ 8.55497097e-01 -5.17789739e-01 -4.30166353e-03 1.08930159e+02] [ 5.17784229e-01 8.55507893e-01 -2.39525190e-03 2.51617017e+01] [ 4.92034396e-03 -1.78202490e-04 9.99987879e-01 3.46889019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.570281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.96, Y:25.17, Z:0.35 [[ 8.53906656e-01 -5.20408418e-01 -4.30125416e-03 1.08956187e+02] [ 5.20402938e-01 8.53917467e-01 -2.39598679e-03 2.51721859e+01] [ 4.91980776e-03 -1.92436235e-04 9.99987879e-01 3.47420731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.600281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:108.98, Y:25.18, Z:0.35 [[ 8.50939938e-01 -5.25245395e-01 -4.30082672e-03 1.08984568e+02] [ 5.25239973e-01 8.50950778e-01 -2.39675381e-03 2.51771317e+01] [ 4.91867575e-03 -2.19472575e-04 9.99987879e-01 3.46073006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.630281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:109.01, Y:25.18, Z:0.34 [[ 8.49556133e-01 -5.27480693e-01 -4.30064201e-03 1.09013196e+02] [ 5.27475297e-01 8.49566987e-01 -2.39708520e-03 2.51819162e+01] [ 4.91809964e-03 -2.32023987e-04 9.99987879e-01 3.44105404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.660281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:109.04, Y:25.19, Z:0.35 [[ 8.49863814e-01 -5.26984822e-01 -4.30047133e-03 1.09040040e+02] [ 5.26979419e-01 8.49874664e-01 -2.39739138e-03 2.51912913e+01] [ 4.91825050e-03 -2.28803693e-04 9.99987879e-01 3.45160541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.690281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:109.07, Y:25.20, Z:0.35 [[ 8.50880264e-01 -5.25342065e-01 -4.30005214e-03 1.09067170e+02] [ 5.25336637e-01 8.50891102e-01 -2.39814302e-03 2.52008714e+01] [ 4.91872151e-03 -2.18442365e-04 9.99987879e-01 3.46503667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.720281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:109.09, Y:25.21, Z:0.35 [[ 8.52472521e-01 -5.22754354e-01 -4.29963311e-03 1.09094198e+02] [ 5.22748889e-01 8.52483340e-01 -2.39889406e-03 2.52104477e+01] [ 4.91939791e-03 -2.02637160e-04 9.99987879e-01 3.49315973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.750281693 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.12, Y:25.22, Z:0.35 [[ 8.56442991e-01 -5.16223711e-01 -4.29919076e-03 1.09123211e+02] [ 5.16218159e-01 8.56453766e-01 -2.39968656e-03 2.52168300e+01] [ 4.92083322e-03 -1.64125607e-04 9.99987879e-01 3.54474912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.780281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:109.15, Y:25.23, Z:0.36 [[ 8.58354156e-01 -5.13039631e-01 -4.29874387e-03 1.09148366e+02] [ 5.13034036e-01 8.58364908e-01 -2.40048684e-03 2.52262463e+01] [ 4.92143577e-03 -1.44934056e-04 9.99987879e-01 3.56338219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81028169300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:109.18, Y:25.24, Z:0.36 [[ 8.60066193e-01 -5.10164353e-01 -4.29854960e-03 1.09175086e+02] [ 5.10158720e-01 8.60076925e-01 -2.40083466e-03 2.52362103e+01] [ 4.92190359e-03 -1.28065837e-04 9.99987879e-01 3.55748725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.840281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.20, Y:25.24, Z:0.35 [[ 8.63137474e-01 -5.04950718e-01 -4.29810177e-03 1.09202235e+02] [ 5.04945016e-01 8.63148170e-01 -2.40163612e-03 2.52426011e+01] [ 4.92260656e-03 -9.73629335e-05 9.99987879e-01 3.52231411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.870281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:109.23, Y:25.25, Z:0.35 [[ 8.64600055e-01 -5.02442308e-01 -4.29790626e-03 1.09227992e+02] [ 5.02436574e-01 8.64610733e-01 -2.40198595e-03 2.52545007e+01] [ 4.92287525e-03 -8.26681070e-05 9.99987879e-01 3.50561974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.900281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:109.25, Y:25.27, Z:0.35 [[ 8.66206553e-01 -4.99667629e-01 -4.29745909e-03 1.09252240e+02] [ 4.99661856e-01 8.66217211e-01 -2.40278574e-03 2.52669973e+01] [ 4.92312728e-03 -6.59676258e-05 9.99987879e-01 3.49982353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.930281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:109.28, Y:25.28, Z:0.35 [[ 8.69941110e-01 -4.93136899e-01 -4.29701453e-03 1.09275235e+02] [ 4.93131042e-01 8.69951722e-01 -2.40358050e-03 2.52809369e+01] [ 4.92348942e-03 -2.80177635e-05 9.99987879e-01 3.49503026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.960281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:109.30, Y:25.30, Z:0.35 [[ 8.71488420e-01 -4.90397258e-01 -4.29682114e-03 1.09299555e+02] [ 4.90391366e-01 8.71499013e-01 -2.40392616e-03 2.52951135e+01] [ 4.92355418e-03 -1.21301809e-05 9.99987879e-01 3.49374490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.990281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:109.32, Y:25.31, Z:0.35 [[ 8.73434247e-01 -4.86923154e-01 -4.29638034e-03 1.09324010e+02] [ 4.86917216e-01 8.73444814e-01 -2.40471372e-03 2.53095212e+01] [ 4.92356191e-03 8.37776348e-06 9.99987879e-01 3.48290129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.020281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:109.35, Y:25.32, Z:0.35 [[ 8.73633924e-01 -4.86564808e-01 -4.29593862e-03 1.09347249e+02] [ 4.86558861e-01 8.73644486e-01 -2.40550258e-03 2.53227427e+01] [ 4.92355599e-03 1.13016542e-05 9.99987879e-01 3.48194260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.050281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:109.37, Y:25.34, Z:0.35 [[ 8.73497582e-01 -4.86809532e-01 -4.29574666e-03 1.09371858e+02] [ 4.86803587e-01 8.73508145e-01 -2.40584533e-03 2.53366624e+01] [ 4.92355814e-03 1.03151911e-05 9.99987879e-01 3.48611891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.080281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:109.40, Y:25.35, Z:0.35 [[ 8.73261649e-01 -4.87232638e-01 -4.29531334e-03 1.09396711e+02] [ 4.87226694e-01 8.73272212e-01 -2.40661873e-03 2.53500937e+01] [ 4.92356097e-03 8.81651663e-06 9.99987879e-01 3.49234540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.110281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.42, Y:25.36, Z:0.35 [[ 8.73195664e-01 -4.87350886e-01 -4.29487725e-03 1.09420989e+02] [ 4.87344940e-01 8.73206226e-01 -2.40739673e-03 2.53643750e+01] [ 4.92356048e-03 9.04168755e-06 9.99987879e-01 3.48460424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.140281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:109.44, Y:25.38, Z:0.35 [[ 8.74027599e-01 -4.85857298e-01 -4.29444252e-03 1.09443473e+02] [ 4.85851330e-01 8.74038149e-01 -2.40817197e-03 2.53797459e+01] [ 4.92353451e-03 1.83481525e-05 9.99987879e-01 3.47366628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.170281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:109.47, Y:25.39, Z:0.35 [[ 8.74647438e-01 -4.84740568e-01 -4.29425332e-03 1.09466688e+02] [ 4.84734585e-01 8.74657979e-01 -2.40850931e-03 2.53942127e+01] [ 4.92350510e-03 2.50233953e-05 9.99987879e-01 3.47190112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.200281693 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:109.49, Y:25.41, Z:0.35 [[ 8.75209109e-01 -4.83725725e-01 -4.29406457e-03 1.09490849e+02] [ 4.83719728e-01 8.75219642e-01 -2.40884577e-03 2.54083731e+01] [ 4.92347032e-03 3.11200117e-05 9.99987879e-01 3.48263748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.230281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:109.51, Y:25.42, Z:0.35 [[ 8.75469359e-01 -4.83254557e-01 -4.29363233e-03 1.09514626e+02] [ 4.83248550e-01 8.75479887e-01 -2.40961597e-03 2.54225299e+01] [ 4.92344664e-03 3.46533499e-05 9.99987879e-01 3.49056007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.260281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:109.54, Y:25.44, Z:0.35 [[ 8.75070464e-01 -4.83976498e-01 -4.29319981e-03 1.09539025e+02] [ 4.83970497e-01 8.75080995e-01 -2.41038634e-03 2.54365625e+01] [ 4.92346790e-03 3.14758460e-05 9.99987879e-01 3.49551245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.290281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.56, Y:25.45, Z:0.35 [[ 8.74507508e-01 -4.84992980e-01 -4.29273793e-03 1.09562219e+02] [ 4.84986986e-01 8.74518044e-01 -2.41120863e-03 2.54497286e+01] [ 4.92349604e-03 2.66980174e-05 9.99987879e-01 3.47163798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.320281693 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:109.59, Y:25.46, Z:0.35 [[ 8.73185671e-01 -4.87368812e-01 -4.29253707e-03 1.09586134e+02] [ 4.87362846e-01 8.73196221e-01 -2.41156616e-03 2.54632731e+01] [ 4.92354929e-03 1.37219346e-05 9.99987879e-01 3.47461868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.350281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:109.61, Y:25.48, Z:0.35 [[ 8.72688012e-01 -4.88259370e-01 -4.29206655e-03 1.09609593e+02] [ 4.88253411e-01 8.72698566e-01 -2.41240329e-03 2.54769203e+01] [ 4.92355884e-03 9.65930160e-06 9.99987879e-01 3.48440473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.380281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:109.63, Y:25.49, Z:0.35 [[ 8.72405711e-01 -4.88763600e-01 -4.29174599e-03 1.09632464e+02] [ 4.88757643e-01 8.72416267e-01 -2.41297345e-03 2.54911878e+01] [ 4.92356261e-03 7.46816724e-06 9.99987879e-01 3.51638046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.410281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:109.66, Y:25.51, Z:0.35 [[ 8.72461056e-01 -4.88664801e-01 -4.29155783e-03 1.09656853e+02] [ 4.88658842e-01 8.72471611e-01 -2.41330806e-03 2.55056138e+01] [ 4.92356107e-03 8.40962132e-06 9.99987879e-01 3.52001867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.440281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:109.68, Y:25.52, Z:0.35 [[ 8.72780020e-01 -4.88094891e-01 -4.29113557e-03 1.09681039e+02] [ 4.88088922e-01 8.72790569e-01 -2.41405865e-03 2.55203457e+01] [ 4.92355235e-03 1.24864196e-05 9.99987879e-01 3.51755520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.470281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:109.70, Y:25.53, Z:0.35 [[ 8.73342053e-01 -4.87088543e-01 -4.29068502e-03 1.09703728e+02] [ 4.87082557e-01 8.73352593e-01 -2.41485918e-03 2.55343305e+01] [ 4.92353112e-03 1.90802396e-05 9.99987879e-01 3.50026299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.500281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:109.73, Y:25.55, Z:0.35 [[ 8.74510867e-01 -4.84986943e-01 -4.29048925e-03 1.09726398e+02] [ 4.84980930e-01 8.74521391e-01 -2.41520696e-03 2.55508698e+01] [ 4.92346846e-03 3.13192624e-05 9.99987879e-01 3.50958403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.530281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:109.75, Y:25.56, Z:0.35 [[ 8.75112140e-01 -4.83901165e-01 -4.29004599e-03 1.09749367e+02] [ 4.83895135e-01 8.75122655e-01 -2.41599404e-03 2.55649001e+01] [ 4.92341877e-03 3.83333339e-05 9.99987879e-01 3.52574748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56028169300001 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:109.77, Y:25.58, Z:0.35 [[ 8.76063095e-01 -4.82177406e-01 -4.28985358e-03 1.09773065e+02] [ 4.82171354e-01 8.76073597e-01 -2.41633563e-03 2.55797603e+01] [ 4.92332990e-03 4.84179636e-05 9.99987879e-01 3.52480520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.590281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:109.80, Y:25.59, Z:0.35 [[ 8.76059956e-01 -4.82183113e-01 -4.28941792e-03 1.09797026e+02] [ 4.82177057e-01 8.76070455e-01 -2.41710876e-03 2.55941168e+01] [ 4.92332134e-03 4.92732786e-05 9.99987879e-01 3.51018620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.620281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:109.82, Y:25.61, Z:0.35 [[ 8.75859270e-01 -4.82547556e-01 -4.28896382e-03 1.09821101e+02] [ 4.82541501e-01 8.75869770e-01 -2.41791425e-03 2.56083376e+01] [ 4.92333237e-03 4.81495711e-05 9.99987879e-01 3.49953623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.650281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:109.84, Y:25.62, Z:0.35 [[ 8.75249233e-01 -4.83653170e-01 -4.28850704e-03 1.09844649e+02] [ 4.83647124e-01 8.75259738e-01 -2.41872415e-03 2.56209747e+01] [ 4.92338115e-03 4.28623643e-05 9.99987879e-01 3.50752254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.680281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:109.87, Y:25.63, Z:0.35 [[ 8.75010347e-01 -4.84085223e-01 -4.28830890e-03 1.09869386e+02] [ 4.84079181e-01 8.75020854e-01 -2.41907539e-03 2.56348830e+01] [ 4.92339837e-03 4.08349341e-05 9.99987879e-01 3.53129565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.710281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:109.89, Y:25.65, Z:0.36 [[ 8.75161108e-01 -4.83812617e-01 -4.28787897e-03 1.09892276e+02] [ 4.83806568e-01 8.75171611e-01 -2.41983721e-03 2.56507812e+01] [ 4.92337772e-03 4.32434024e-05 9.99987879e-01 3.55484986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.740281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:109.92, Y:25.67, Z:0.35 [[ 8.75471552e-01 -4.83250638e-01 -4.28742339e-03 1.09915084e+02] [ 4.83244578e-01 8.75482049e-01 -2.42064413e-03 2.56653997e+01] [ 4.92334004e-03 4.73309630e-05 9.99987879e-01 3.54693067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.770281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:109.94, Y:25.68, Z:0.35 [[ 8.75594434e-01 -4.83027957e-01 -4.28722482e-03 1.09938401e+02] [ 4.83021892e-01 8.75604928e-01 -2.42099578e-03 2.56799342e+01] [ 4.92332382e-03 4.89869870e-05 9.99987879e-01 3.53718063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.800281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:109.96, Y:25.70, Z:0.35 [[ 8.75644479e-01 -4.82937229e-01 -4.28703218e-03 1.09962013e+02] [ 4.82931161e-01 8.75654972e-01 -2.42133685e-03 2.56955170e+01] [ 4.92331475e-03 4.98888178e-05 9.99987879e-01 3.52568707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.830281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:109.99, Y:25.71, Z:0.35 [[ 8.75308584e-01 -4.83545767e-01 -4.28656913e-03 1.09985461e+02] [ 4.83539703e-01 8.75319078e-01 -2.42215632e-03 2.57108444e+01] [ 4.92333918e-03 4.74078587e-05 9.99987879e-01 3.53353596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.860281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:110.01, Y:25.73, Z:0.35 [[ 8.74762462e-01 -4.84533037e-01 -4.28609271e-03 1.10007693e+02] [ 4.84526981e-01 8.74772962e-01 -2.42299907e-03 2.57263454e+01] [ 4.92338111e-03 4.28210708e-05 9.99987879e-01 3.53671513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.890281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:110.03, Y:25.74, Z:0.35 [[ 8.73411762e-01 -4.86963577e-01 -4.28588565e-03 1.10030280e+02] [ 4.86957548e-01 8.73422277e-01 -2.42336526e-03 2.57442188e+01] [ 4.92347862e-03 2.95513580e-05 9.99987879e-01 3.54911810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.920281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:110.05, Y:25.76, Z:0.36 [[ 8.72617516e-01 -4.88385407e-01 -4.28542550e-03 1.10053161e+02] [ 4.88379391e-01 8.72628039e-01 -2.42417871e-03 2.57594354e+01] [ 4.92351596e-03 2.24673113e-05 9.99987879e-01 3.55881211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.950281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:110.08, Y:25.78, Z:0.36 [[ 8.70714878e-01 -4.91769496e-01 -4.28522531e-03 1.10075562e+02] [ 4.91763520e-01 8.70725423e-01 -2.42453254e-03 2.57766379e+01] [ 4.92356577e-03 3.75907886e-06 9.99987879e-01 3.58288382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.980281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:110.10, Y:25.79, Z:0.36 [[ 8.69925474e-01 -4.93164588e-01 -4.28477379e-03 1.10098643e+02] [ 4.93158624e-01 8.69936026e-01 -2.42533023e-03 2.57920945e+01] [ 4.92356607e-03 -3.21659611e-06 9.99987879e-01 3.59525496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.010281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:110.12, Y:25.81, Z:0.36 [[ 8.69239092e-01 -4.94373387e-01 -4.28431840e-03 1.10121349e+02] [ 4.94367434e-01 8.69249650e-01 -2.42613440e-03 2.58065184e+01] [ 4.92355855e-03 -9.13663795e-06 9.99987879e-01 3.59630336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.040281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:110.14, Y:25.82, Z:0.36 [[ 8.68027596e-01 -4.96497471e-01 -4.28412072e-03 1.10144981e+02] [ 4.96491542e-01 8.68038168e-01 -2.42648342e-03 2.58218696e+01] [ 4.92352318e-03 -2.07751343e-05 9.99987879e-01 3.56462529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.070281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:110.17, Y:25.84, Z:0.35 [[ 8.67177709e-01 -4.97980392e-01 -4.28366837e-03 1.10168516e+02] [ 4.97974477e-01 8.67188289e-01 -2.42728174e-03 2.58351889e+01] [ 4.92348575e-03 -2.82728974e-05 9.99987879e-01 3.54654078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.100281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:110.19, Y:25.85, Z:0.35 [[ 8.65996674e-01 -5.00031411e-01 -4.28347171e-03 1.10193173e+02] [ 5.00025520e-01 8.66007267e-01 -2.42762874e-03 2.58491025e+01] [ 4.92340825e-03 -3.95267544e-05 9.99987879e-01 3.54444854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.130281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:110.22, Y:25.86, Z:0.36 [[ 8.64770609e-01 -5.02148832e-01 -4.28301943e-03 1.10217991e+02] [ 5.02142963e-01 8.64781214e-01 -2.42842641e-03 2.58625015e+01] [ 4.92330623e-03 -5.06562783e-05 9.99987879e-01 3.55764583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.160281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:110.24, Y:25.87, Z:0.36 [[ 8.62830761e-01 -5.05474765e-01 -4.28255942e-03 1.10242553e+02] [ 5.05468933e-01 8.62841386e-01 -2.42923739e-03 2.58746379e+01] [ 4.92308770e-03 -6.86799947e-05 9.99987879e-01 3.58478969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.190281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:110.27, Y:25.89, Z:0.36 [[ 8.61737803e-01 -5.07335806e-01 -4.28235940e-03 1.10268778e+02] [ 5.07329994e-01 8.61748440e-01 -2.42958993e-03 2.58851682e+01] [ 4.92293450e-03 -7.88998825e-05 9.99987879e-01 3.57608690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.220281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:110.29, Y:25.90, Z:0.36 [[ 8.61523931e-01 -5.07698908e-01 -4.28190916e-03 1.10293582e+02] [ 5.07693097e-01 8.61534568e-01 -2.43038317e-03 2.58972143e+01] [ 4.92291564e-03 -8.00624647e-05 9.99987879e-01 3.57974039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.250281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:110.32, Y:25.91, Z:0.36 [[ 8.61587275e-01 -5.07591408e-01 -4.28146166e-03 1.10318648e+02] [ 5.07585591e-01 8.61597909e-01 -2.43117126e-03 2.59096044e+01] [ 4.92294005e-03 -7.85420287e-05 9.99987879e-01 3.58328728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.280281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:110.34, Y:25.92, Z:0.36 [[ 8.61951185e-01 -5.06973202e-01 -4.28101311e-03 1.10343148e+02] [ 5.06967375e-01 8.61961813e-01 -2.43196084e-03 2.59219748e+01] [ 4.92300880e-03 -7.41024508e-05 9.99987879e-01 3.58192249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.310281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:110.37, Y:25.93, Z:0.36 [[ 8.63809197e-01 -5.03800899e-01 -4.28081848e-03 1.10368045e+02] [ 5.03795030e-01 8.63819803e-01 -2.43230338e-03 2.59342556e+01] [ 4.92325241e-03 -5.56090461e-05 9.99987879e-01 3.55355084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.340281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:110.39, Y:25.95, Z:0.35 [[ 8.64958672e-01 -5.01824844e-01 -4.28037722e-03 1.10391622e+02] [ 5.01818948e-01 8.64969262e-01 -2.43307968e-03 2.59480114e+01] [ 4.92337455e-03 -4.34610278e-05 9.99987879e-01 3.53271178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.370281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:110.42, Y:25.96, Z:0.35 [[ 8.64867926e-01 -5.01981225e-01 -4.28018479e-03 1.10416281e+02] [ 5.01975328e-01 8.64878516e-01 -2.43341814e-03 2.59622613e+01] [ 4.92337009e-03 -4.39618620e-05 9.99987879e-01 3.53411409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.400281693 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:110.44, Y:25.98, Z:0.35 [[ 8.65918822e-01 -5.00166249e-01 -4.27974468e-03 1.10440173e+02] [ 5.00160327e-01 8.65929398e-01 -2.43419194e-03 2.59768504e+01] [ 4.92345738e-03 -3.27458777e-05 9.99987879e-01 3.52740797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.430281693 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:110.46, Y:25.99, Z:0.35 [[ 8.67417640e-01 -4.97562383e-01 -4.27930428e-03 1.10463103e+02] [ 4.97556425e-01 8.67428196e-01 -2.43496591e-03 2.59905411e+01] [ 4.92353663e-03 -1.70629605e-05 9.99987879e-01 3.53461499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.460281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:110.49, Y:26.00, Z:0.36 [[ 8.67724856e-01 -4.97026421e-01 -4.27911237e-03 1.10487956e+02] [ 4.97020455e-01 8.67735407e-01 -2.43530312e-03 2.60041716e+01] [ 4.92354731e-03 -1.36333221e-05 9.99987879e-01 3.55518573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49028169300001 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:110.51, Y:26.02, Z:0.36 [[ 8.68426692e-01 -4.95799127e-01 -4.27867267e-03 1.10511031e+02] [ 4.95793142e-01 8.68437232e-01 -2.43607539e-03 2.60185380e+01] [ 4.92356270e-03 -5.78367321e-06 9.99987879e-01 3.59719261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.520281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:110.53, Y:26.03, Z:0.36 [[ 8.68930758e-01 -4.94915178e-01 -4.27848144e-03 1.10534331e+02] [ 4.94909180e-01 8.68941291e-01 -2.43641121e-03 2.60334740e+01] [ 4.92356607e-03 -3.87105921e-07 9.99987879e-01 3.61647333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.550281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:110.56, Y:26.05, Z:0.36 [[ 8.69649502e-01 -4.93651134e-01 -4.27804923e-03 1.10557945e+02] [ 4.93645118e-01 8.69660024e-01 -2.43716988e-03 2.60485053e+01] [ 4.92356007e-03 7.64545191e-06 9.99987879e-01 3.61624264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.580281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:110.58, Y:26.06, Z:0.36 [[ 8.71891996e-01 -4.89679538e-01 -4.27761732e-03 1.10581038e+02] [ 4.89673470e-01 8.71902488e-01 -2.43792771e-03 2.60646131e+01] [ 4.92346850e-03 3.09739363e-05 9.99987879e-01 3.59616681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.610281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:110.60, Y:26.08, Z:0.36 [[ 8.72927967e-01 -4.87830370e-01 -4.27717007e-03 1.10603540e+02] [ 4.87824276e-01 8.72938445e-01 -2.43871212e-03 2.60803208e+01] [ 4.92338403e-03 4.23126249e-05 9.99987879e-01 3.58304188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.640281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:110.63, Y:26.10, Z:0.36 [[ 8.74002437e-01 -4.85902715e-01 -4.27697552e-03 1.10625535e+02] [ 4.85896596e-01 8.74012900e-01 -2.43905328e-03 2.60961585e+01] [ 4.92327439e-03 5.35706651e-05 9.99987879e-01 3.57129710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.670281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:110.65, Y:26.11, Z:0.36 [[ 8.76037976e-01 -4.82223158e-01 -4.27678776e-03 1.10647635e+02] [ 4.82216993e-01 8.76048412e-01 -2.43938248e-03 2.61140258e+01] [ 4.92299984e-03 7.46519556e-05 9.99987879e-01 3.59766767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.700281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:110.67, Y:26.13, Z:0.36 [[ 8.76689024e-01 -4.81038531e-01 -4.27636258e-03 1.10670636e+02] [ 4.81032349e-01 8.76699450e-01 -2.44012760e-03 2.61295090e+01] [ 4.92288012e-03 8.21643416e-05 9.99987879e-01 3.61640556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.730281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:110.69, Y:26.15, Z:0.36 [[ 8.77264452e-01 -4.79988332e-01 -4.27593748e-03 1.10691565e+02] [ 4.79982134e-01 8.77274868e-01 -2.44087230e-03 2.61472674e+01] [ 4.92276271e-03 8.89169055e-05 9.99987879e-01 3.62623209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.760281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:110.71, Y:26.16, Z:0.36 [[ 8.76853646e-01 -4.80738392e-01 -4.27575338e-03 1.10713963e+02] [ 4.80732201e-01 8.76864067e-01 -2.44119475e-03 2.61630373e+01] [ 4.92283053e-03 8.50781807e-05 9.99987879e-01 3.62317897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.790281693 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:110.74, Y:26.18, Z:0.36 [[ 8.76330260e-01 -4.81691804e-01 -4.27556956e-03 1.10736871e+02] [ 4.81685623e-01 8.76340687e-01 -2.44151665e-03 2.61793530e+01] [ 4.92291413e-03 8.00945314e-05 9.99987879e-01 3.61876729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.820281693 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:110.76, Y:26.20, Z:0.36 [[ 8.75676631e-01 -4.82879033e-01 -4.27515002e-03 1.10756800e+02] [ 4.82872862e-01 8.75687064e-01 -2.44225106e-03 2.61986965e+01] [ 4.92300540e-03 7.42682521e-05 9.99987879e-01 3.59610228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.850281693 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:110.78, Y:26.22, Z:0.36 [[ 8.75438731e-01 -4.83310204e-01 -4.27496782e-03 1.10778672e+02] [ 4.83304037e-01 8.75449166e-01 -2.44256993e-03 2.62162300e+01] [ 4.92303599e-03 7.22111117e-05 9.99987879e-01 3.57542904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.880281693 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:110.80, Y:26.23, Z:0.36 [[ 8.75488243e-01 -4.83220513e-01 -4.27453649e-03 1.10800348e+02] [ 4.83214341e-01 8.75498675e-01 -2.44332455e-03 2.62336371e+01] [ 4.92301557e-03 7.35845841e-05 9.99987879e-01 3.56303268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.910281693 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:110.82, Y:26.25, Z:0.36 [[ 8.75385453e-01 -4.83406700e-01 -4.27434839e-03 1.10819242e+02] [ 4.83400529e-01 8.75395886e-01 -2.44365355e-03 2.62545274e+01] [ 4.92302550e-03 7.29164979e-05 9.99987879e-01 3.56393686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.940281693 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:110.84, Y:26.27, Z:0.36 [[ 8.75251373e-01 -4.83649424e-01 -4.27416839e-03 1.10841017e+02] [ 4.83643255e-01 8.75261806e-01 -2.44396835e-03 2.62718651e+01] [ 4.92304023e-03 7.19139398e-05 9.99987879e-01 3.58621722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.970281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:110.86, Y:26.29, Z:0.36 [[ 8.75101877e-01 -4.83919870e-01 -4.27370036e-03 1.10862211e+02] [ 4.83913700e-01 8.75112309e-01 -2.44478652e-03 2.62889802e+01] [ 4.92304856e-03 7.13351193e-05 9.99987879e-01 3.59861668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.000281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:110.88, Y:26.31, Z:0.36 [[ 8.73815676e-01 -4.86238524e-01 -4.27349688e-03 1.10883121e+02] [ 4.86232380e-01 8.73826124e-01 -2.44514214e-03 2.63097042e+01] [ 4.92321552e-03 5.86909745e-05 9.99987879e-01 3.59803646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.030281693 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:110.91, Y:26.33, Z:0.36 [[ 8.72627838e-01 -4.88367072e-01 -4.27308910e-03 1.10905868e+02] [ 4.88360950e-01 8.72638299e-01 -2.44585457e-03 2.63265911e+01] [ 4.92333604e-03 4.75109401e-05 9.99987879e-01 3.60023734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.060281693 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:110.93, Y:26.34, Z:0.36 [[ 8.69772953e-01 -4.93433637e-01 -4.27268319e-03 1.10928190e+02] [ 4.93427572e-01 8.69783448e-01 -2.44656345e-03 2.63443820e+01] [ 4.92352582e-03 1.96950251e-05 9.99987879e-01 3.60116626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.090281693 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:110.95, Y:26.36, Z:0.36 [[ 8.68332942e-01 -4.95963356e-01 -4.27224554e-03 1.10951244e+02] [ 4.95957318e-01 8.68343451e-01 -2.44732744e-03 2.63586167e+01] [ 4.92356117e-03 6.24359230e-06 9.99987879e-01 3.59057262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.120281693 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:110.98, Y:26.37, Z:0.36 [[ 8.66899367e-01 -4.98464881e-01 -4.27205474e-03 1.10975584e+02] [ 4.98458872e-01 8.66909893e-01 -2.44766046e-03 2.63727962e+01] [ 4.92355930e-03 -7.56827698e-06 9.99987879e-01 3.58396661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.150281693 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:111.00, Y:26.39, Z:0.36 [[ 8.65299289e-01 -5.01237362e-01 -4.27162134e-03 1.10999169e+02] [ 5.01231383e-01 8.65309833e-01 -2.44841659e-03 2.63866670e+01] [ 4.92351382e-03 -2.24575289e-05 9.99987879e-01 3.60497283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.180281693 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:111.02, Y:26.40, Z:0.36 [[ 8.65176168e-01 -5.01449853e-01 -4.27132552e-03 1.11022948e+02] [ 5.01443873e-01 8.65186711e-01 -2.44893254e-03 2.64008071e+01] [ 4.92351094e-03 -2.30719446e-05 9.99987879e-01 3.62639050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.210281693 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:111.05, Y:26.42, Z:0.36 [[ 8.66113392e-01 -4.99829323e-01 -4.27088813e-03 1.11046396e+02] [ 4.99823320e-01 8.66123922e-01 -2.44969510e-03 2.64156573e+01] [ 4.92354782e-03 -1.29757494e-05 9.99987879e-01 3.63696144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24028169300001 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:111.07, Y:26.43, Z:0.36 [[ 8.66613651e-01 -4.98961465e-01 -4.27044539e-03 1.11070447e+02] [ 4.98955448e-01 8.66624173e-01 -2.45046668e-03 2.64297025e+01] [ 4.92355964e-03 -7.15411653e-06 9.99987879e-01 3.62971484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.270281693 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:111.09, Y:26.44, Z:0.36 [[ 8.67003539e-01 -4.98283685e-01 -4.27000441e-03 1.11093342e+02] [ 4.98277656e-01 8.67014054e-01 -2.45123486e-03 2.64431828e+01] [ 4.92356417e-03 -2.41849059e-06 9.99987879e-01 3.62782547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.300281693 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:111.12, Y:26.46, Z:0.36 [[ 8.65977383e-01 -5.00064936e-01 -4.26981292e-03 1.11117929e+02] [ 5.00058927e-01 8.65987910e-01 -2.45156836e-03 2.64571951e+01] [ 4.92354974e-03 -1.21553096e-05 9.99987879e-01 3.64832144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.330281693 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:111.14, Y:26.47, Z:0.37 [[ 8.64742702e-01 -5.02197004e-01 -4.26937860e-03 1.11143177e+02] [ 5.02191017e-01 8.64753241e-01 -2.45232450e-03 2.64702428e+01] [ 4.92350900e-03 -2.34138642e-05 9.99987879e-01 3.66268131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.360281693 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:111.17, Y:26.48, Z:0.37 [[ 8.63200044e-01 -5.04843996e-01 -4.26894597e-03 1.11168244e+02] [ 5.04838038e-01 8.63210599e-01 -2.45307738e-03 2.64820216e+01] [ 4.92342079e-03 -3.76298038e-05 9.99987879e-01 3.67568144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.390281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:111.20, Y:26.49, Z:0.36 [[ 8.59955668e-01 -5.10350887e-01 -4.26851264e-03 1.11195248e+02] [ 5.10344993e-01 8.59966259e-01 -2.45383116e-03 2.64914252e+01] [ 4.92309176e-03 -6.82280343e-05 9.99987879e-01 3.64628614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.420281693 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:111.22, Y:26.50, Z:0.36 [[ 8.58614101e-01 -5.12604728e-01 -4.26837821e-03 1.11220556e+02] [ 5.12598860e-01 8.58624706e-01 -2.45406499e-03 2.65034106e+01] [ 4.92290030e-03 -8.08709975e-05 9.99987879e-01 3.61919117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.450281693 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:111.25, Y:26.52, Z:0.36 [[ 8.57609543e-01 -5.14283634e-01 -4.26795041e-03 1.11245953e+02] [ 5.14277783e-01 8.57620158e-01 -2.45480876e-03 2.65155351e+01] [ 4.92274827e-03 -8.96446619e-05 9.99987879e-01 3.60400508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.480281693 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:111.27, Y:26.52, Z:0.36 [[ 8.57184746e-01 -5.14991359e-01 -4.26751054e-03 1.11271982e+02] [ 5.14985513e-01 8.57195364e-01 -2.45557320e-03 2.65246615e+01] [ 4.92268923e-03 -9.28262129e-05 9.99987879e-01 3.59764729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.510281693 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:111.30, Y:26.54, Z:0.36 [[ 8.57441023e-01 -5.14564555e-01 -4.26731844e-03 1.11297715e+02] [ 5.14558702e-01 8.57451637e-01 -2.45590700e-03 2.65361290e+01] [ 4.92274187e-03 -8.99904270e-05 9.99987879e-01 3.60750577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.540281693 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:111.32, Y:26.55, Z:0.36 [[ 8.57998859e-01 -5.13633870e-01 -4.26689462e-03 1.11323646e+02] [ 5.13628002e-01 8.58009464e-01 -2.45664312e-03 2.65478588e+01] [ 4.92285108e-03 -8.37995666e-05 9.99987879e-01 3.61452980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.570281693 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:111.35, Y:26.56, Z:0.36 [[ 8.59773078e-01 -5.10658448e-01 -4.26663179e-03 1.11350872e+02] [ 5.10652540e-01 8.59783662e-01 -2.45709951e-03 2.65569738e+01] [ 4.92311892e-03 -6.62183516e-05 9.99987879e-01 3.59596770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.600281693 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:111.38, Y:26.57, Z:0.36 [[ 8.60508104e-01 -5.09418887e-01 -4.26620818e-03 1.11376374e+02] [ 5.09412961e-01 8.60518677e-01 -2.45783480e-03 2.65688241e+01] [ 4.92321928e-03 -5.82749815e-05 9.99987879e-01 3.57831080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.630281693 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:111.40, Y:26.58, Z:0.36 [[ 8.61865905e-01 -5.07118295e-01 -4.26578596e-03 1.11403086e+02] [ 5.07112337e-01 8.61876460e-01 -2.45856737e-03 2.65786645e+01] [ 4.92336500e-03 -4.42772933e-05 9.99987879e-01 3.56955440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.660281693 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:111.43, Y:26.59, Z:0.36 [[ 8.62598011e-01 -5.05871998e-01 -4.26535787e-03 1.11427824e+02] [ 5.05866021e-01 8.62608556e-01 -2.45930984e-03 2.65906824e+01] [ 4.92343017e-03 -3.63038346e-05 9.99987879e-01 3.57582166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.690281693 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:111.45, Y:26.60, Z:0.36 [[ 8.63214561e-01 -5.04819206e-01 -4.26506520e-03 1.11452620e+02] [ 5.04813214e-01 8.63225097e-01 -2.45981729e-03 2.66037740e+01] [ 4.92347434e-03 -2.97111668e-05 9.99987879e-01 3.58003972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.720281693 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:111.48, Y:26.62, Z:0.36 [[ 8.65379043e-01 -5.01099716e-01 -4.26463504e-03 1.11476328e+02] [ 5.01093675e-01 8.65389551e-01 -2.46056285e-03 2.66159165e+01] [ 4.92355795e-03 -7.66212045e-06 9.99987879e-01 3.58998957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.750281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:111.50, Y:26.63, Z:0.36 [[ 8.66627395e-01 -4.98937644e-01 -4.26444838e-03 1.11499442e+02] [ 4.98931575e-01 8.66637887e-01 -2.46088631e-03 2.66303438e+01] [ 4.92356135e-03 5.00354081e-06 9.99987879e-01 3.59835982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.780281693 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:111.52, Y:26.65, Z:0.36 [[ 8.67948544e-01 -4.96635823e-01 -4.26426323e-03 1.11522705e+02] [ 4.96629725e-01 8.67959019e-01 -2.46120709e-03 2.66457783e+01] [ 4.92352934e-03 1.84412379e-05 9.99987879e-01 3.62476239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.810281693 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:111.54, Y:26.66, Z:0.37 [[ 8.70747965e-01 -4.91711096e-01 -4.26383857e-03 1.11543793e+02] [ 4.91704935e-01 8.70758403e-01 -2.46194258e-03 2.66639845e+01] [ 4.92333774e-03 4.71810220e-05 9.99987879e-01 3.67306046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.840281693 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:111.57, Y:26.68, Z:0.37 [[ 8.71630420e-01 -4.90145114e-01 -4.26365364e-03 1.11566507e+02] [ 4.90138932e-01 8.71640846e-01 -2.46226279e-03 2.66803400e+01] [ 4.92324074e-03 5.64005086e-05 9.99987879e-01 3.68552784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.870281693 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:111.59, Y:26.70, Z:0.37 [[ 8.72420966e-01 -4.88736620e-01 -4.26323351e-03 1.11588762e+02] [ 4.88730418e-01 8.72431380e-01 -2.46299000e-03 2.66965155e+01] [ 4.92313210e-03 6.51922232e-05 9.99987879e-01 3.68665402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.900281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:111.61, Y:26.72, Z:0.37 [[ 8.72979734e-01 -4.87737851e-01 -4.26305076e-03 1.11609094e+02] [ 4.87731635e-01 8.72990140e-01 -2.46330627e-03 2.67167623e+01] [ 4.92304899e-03 7.11917272e-05 9.99987879e-01 3.69058690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.930281693 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:111.63, Y:26.73, Z:0.37 [[ 8.72674378e-01 -4.88283995e-01 -4.26262298e-03 1.11631332e+02] [ 4.88277783e-01 8.72684786e-01 -2.46404630e-03 2.67340274e+01] [ 4.92308060e-03 6.89659769e-05 9.99987879e-01 3.68668312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.960281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:111.65, Y:26.75, Z:0.37 [[ 8.72275666e-01 -4.88995907e-01 -4.26214149e-03 1.11654235e+02] [ 4.88989699e-01 8.72286076e-01 -2.46487886e-03 2.67512674e+01] [ 4.92312236e-03 6.59105676e-05 9.99987879e-01 3.69252191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99028169300001 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:111.67, Y:26.77, Z:0.37 [[ 8.71393777e-01 -4.90565718e-01 -4.26166305e-03 1.11674202e+02] [ 4.90559524e-01 8.71404196e-01 -2.46570579e-03 2.67715204e+01] [ 4.92322180e-03 5.80012857e-05 9.99987879e-01 3.69211037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.020281693 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:111.70, Y:26.79, Z:0.37 [[ 8.70826509e-01 -4.91572000e-01 -4.26145448e-03 1.11696177e+02] [ 4.91565817e-01 8.70836934e-01 -2.46606620e-03 2.67888613e+01] [ 4.92328105e-03 5.27304665e-05 9.99987879e-01 3.66808293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.050281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:111.72, Y:26.81, Z:0.36 [[ 8.70235112e-01 -4.92618203e-01 -4.26104472e-03 1.11718742e+02] [ 4.92612029e-01 8.70245542e-01 -2.46677402e-03 2.68055630e+01] [ 4.92333296e-03 4.76314758e-05 9.99987879e-01 3.64160737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.080281693 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:111.74, Y:26.82, Z:0.36 [[ 8.68570779e-01 -4.95546818e-01 -4.26059682e-03 1.11740480e+02] [ 4.95540676e-01 8.68581228e-01 -2.46754739e-03 2.68239673e+01] [ 4.92345968e-03 3.19405360e-05 9.99987879e-01 3.62085736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.110281693 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:111.76, Y:26.84, Z:0.36 [[ 8.67318376e-01 -4.97735558e-01 -4.26014892e-03 1.11762096e+02] [ 4.97729438e-01 8.67328839e-01 -2.46832044e-03 2.68396239e+01] [ 4.92352086e-03 2.04181522e-05 9.99987879e-01 3.62542609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.140281693 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:111.78, Y:26.86, Z:0.36 [[ 8.64893671e-01 -5.01937038e-01 -4.25995487e-03 1.11784473e+02] [ 5.01930967e-01 8.64904162e-01 -2.46865528e-03 2.68566781e+01] [ 4.92356222e-03 -3.07893639e-06 9.99987879e-01 3.62631692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.170281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:111.81, Y:26.87, Z:0.36 [[ 8.63910631e-01 -5.03627123e-01 -4.25951627e-03 1.11807112e+02] [ 5.03621069e-01 8.63921131e-01 -2.46941183e-03 2.68705844e+01] [ 4.92354889e-03 -1.18310066e-05 9.99987879e-01 3.62311036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.200281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:111.83, Y:26.88, Z:0.36 [[ 8.63095801e-01 -5.05022274e-01 -4.25932590e-03 1.11830669e+02] [ 5.05016235e-01 8.63106310e-01 -2.46974015e-03 2.68845721e+01] [ 4.92352485e-03 -1.94063818e-05 9.99987879e-01 3.61779445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.230281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:111.86, Y:26.90, Z:0.36 [[ 8.63012399e-01 -5.05164784e-01 -4.25913689e-03 1.11855186e+02] [ 5.05158746e-01 8.63022908e-01 -2.47006607e-03 2.68990409e+01] [ 4.92352309e-03 -1.98426069e-05 9.99987879e-01 3.61919640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.260281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:111.88, Y:26.91, Z:0.36 [[ 8.61611023e-01 -5.07551286e-01 -4.25872890e-03 1.11878958e+02] [ 5.07545273e-01 8.61621548e-01 -2.47076928e-03 2.69135407e+01] [ 4.92345471e-03 -3.26556716e-05 9.99987879e-01 3.59957456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.290281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:111.90, Y:26.93, Z:0.36 [[ 8.60819606e-01 -5.08892399e-01 -4.25829869e-03 1.11903137e+02] [ 5.08886399e-01 8.60830137e-01 -2.47151052e-03 2.69276581e+01] [ 4.92340476e-03 -3.94655694e-05 9.99987879e-01 3.59324177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.320281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:111.93, Y:26.94, Z:0.36 [[ 8.59555362e-01 -5.11024902e-01 -4.25784321e-03 1.11926754e+02] [ 5.11018924e-01 8.59565906e-01 -2.47229496e-03 2.69401631e+01] [ 4.92330115e-03 -5.07640701e-05 9.99987879e-01 3.58278702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.350281693 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:111.95, Y:26.95, Z:0.36 [[ 8.58991456e-01 -5.11972217e-01 -4.25753267e-03 1.11950964e+02] [ 5.11966248e-01 8.59002006e-01 -2.47282963e-03 2.69540814e+01] [ 4.92324917e-03 -5.55735052e-05 9.99987879e-01 3.59773668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.380281693 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:111.98, Y:26.97, Z:0.36 [[ 8.58244579e-01 -5.13223264e-01 -4.25710838e-03 1.11975854e+02] [ 5.13217307e-01 8.58255135e-01 -2.47355985e-03 2.69673804e+01] [ 4.92317359e-03 -6.19023678e-05 9.99987879e-01 3.62192156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.410281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:112.00, Y:26.98, Z:0.36 [[ 8.57761204e-01 -5.14030737e-01 -4.25666094e-03 1.11999508e+02] [ 5.14024786e-01 8.57771763e-01 -2.47432959e-03 2.69800731e+01] [ 4.92312502e-03 -6.56452940e-05 9.99987879e-01 3.62635993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.440281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:112.02, Y:26.99, Z:0.36 [[ 8.57115234e-01 -5.15107132e-01 -4.25646682e-03 1.12024421e+02] [ 5.15101193e-01 8.57125800e-01 -2.47466348e-03 2.69934489e+01] [ 4.92304434e-03 -7.14393639e-05 9.99987879e-01 3.63177514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.470281693 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:112.05, Y:27.01, Z:0.36 [[ 8.56411750e-01 -5.16275895e-01 -4.25604722e-03 1.12048543e+02] [ 5.16269967e-01 8.56422322e-01 -2.47538492e-03 2.70068718e+01] [ 4.92295541e-03 -7.73206215e-05 9.99987879e-01 3.64008337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.500281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:112.07, Y:27.02, Z:0.36 [[ 8.54973879e-01 -5.18653599e-01 -4.25562995e-03 1.12073117e+02] [ 5.18647696e-01 8.54984465e-01 -2.47610208e-03 2.70202199e+01] [ 4.92273675e-03 -9.01700721e-05 9.99987879e-01 3.63681418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.530281693 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:112.10, Y:27.03, Z:0.36 [[ 8.54014235e-01 -5.20232236e-01 -4.25518877e-03 1.12097766e+02] [ 5.20226349e-01 8.54024831e-01 -2.47686002e-03 2.70340919e+01] [ 4.92257929e-03 -9.83876016e-05 9.99987879e-01 3.62860954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.560281693 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:112.12, Y:27.05, Z:0.36 [[ 8.52488997e-01 -5.22727851e-01 -4.25473846e-03 1.12122931e+02] [ 5.22721991e-01 8.52499608e-01 -2.47763330e-03 2.70468723e+01] [ 4.92229080e-03 -1.11890236e-04 9.99987879e-01 3.62645765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.590281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:112.15, Y:27.06, Z:0.36 [[ 8.52004434e-01 -5.23517283e-01 -4.25428898e-03 1.12147048e+02] [ 5.23511429e-01 8.52015047e-01 -2.47840486e-03 2.70600154e+01] [ 4.92220600e-03 -1.15556974e-04 9.99987879e-01 3.63373833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.620281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:112.17, Y:27.07, Z:0.37 [[ 8.51450385e-01 -5.24417910e-01 -4.25409409e-03 1.12171344e+02] [ 5.24412066e-01 8.51461004e-01 -2.47873933e-03 2.70740079e+01] [ 4.92209053e-03 -1.20374711e-04 9.99987879e-01 3.65376680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.650281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:112.20, Y:27.09, Z:0.37 [[ 8.50883817e-01 -5.25336688e-01 -4.25364865e-03 1.12196107e+02] [ 5.25330851e-01 8.50894440e-01 -2.47950350e-03 2.70877784e+01] [ 4.92198014e-03 -1.24803466e-04 9.99987879e-01 3.67177714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.680281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:112.22, Y:27.10, Z:0.37 [[ 8.49214222e-01 -5.28031358e-01 -4.25320199e-03 1.12222144e+02] [ 5.28025552e-01 8.49224861e-01 -2.48026943e-03 2.70980712e+01] [ 4.92158491e-03 -1.39519250e-04 9.99987879e-01 3.66440250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.710281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:112.25, Y:27.11, Z:0.36 [[ 8.47326520e-01 -5.31055253e-01 -4.25275680e-03 1.12248964e+02] [ 5.31049481e-01 8.47337178e-01 -2.48103254e-03 2.71060883e+01] [ 4.92108431e-03 -1.56179616e-04 9.99987879e-01 3.64379707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74028169300001 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:112.27, Y:27.12, Z:0.36 [[ 8.46093342e-01 -5.33017797e-01 -4.25256353e-03 1.12274388e+02] [ 5.33012047e-01 8.46104013e-01 -2.48136377e-03 2.71171068e+01] [ 4.92072212e-03 -1.67202227e-04 9.99987879e-01 3.64645823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.770281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:112.30, Y:27.13, Z:0.36 [[ 8.45028951e-01 -5.34703648e-01 -4.25212725e-03 1.12300412e+02] [ 5.34697916e-01 8.45039631e-01 -2.48211116e-03 2.71276449e+01] [ 4.92040994e-03 -1.76147783e-04 9.99987879e-01 3.63502550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.800281693 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:112.33, Y:27.14, Z:0.36 [[ 8.44001097e-01 -5.36324595e-01 -4.25169362e-03 1.12326815e+02] [ 5.36318880e-01 8.44011786e-01 -2.48285372e-03 2.71381722e+01] [ 4.92009504e-03 -1.84732292e-04 9.99987879e-01 3.62501662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.830281693 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:112.35, Y:27.14, Z:0.36 [[ 8.43202735e-01 -5.37578900e-01 -4.25126045e-03 1.12354200e+02] [ 5.37573197e-01 8.43213431e-01 -2.48359520e-03 2.71439460e+01] [ 4.91984828e-03 -1.91189404e-04 9.99987879e-01 3.61461716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.860281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:112.38, Y:27.15, Z:0.36 [[ 8.43197764e-01 -5.37586699e-01 -4.25107148e-03 1.12380059e+02] [ 5.37580995e-01 8.43208458e-01 -2.48391861e-03 2.71544648e+01] [ 4.91986103e-03 -1.90860613e-04 9.99987879e-01 3.62289118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.890281693 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:112.41, Y:27.16, Z:0.37 [[ 8.43869292e-01 -5.36531966e-01 -4.25064118e-03 1.12408305e+02] [ 5.36526244e-01 8.43879977e-01 -2.48465474e-03 2.71608565e+01] [ 4.92012767e-03 -1.83856717e-04 9.99987879e-01 3.65620623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.920281693 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:112.44, Y:27.17, Z:0.37 [[ 8.44260468e-01 -5.35916223e-01 -4.25021190e-03 1.12435252e+02] [ 5.35910490e-01 8.44271147e-01 -2.48538885e-03 2.71706285e+01] [ 4.92029148e-03 -1.79417584e-04 9.99987879e-01 3.66563829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.950281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:112.46, Y:27.18, Z:0.37 [[ 8.45561933e-01 -5.33860429e-01 -4.24978283e-03 1.12463631e+02] [ 5.33854666e-01 8.45572596e-01 -2.48612229e-03 2.71763104e+01] [ 4.92074222e-03 -1.66596025e-04 9.99987879e-01 3.66645753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.980281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:112.49, Y:27.19, Z:0.37 [[ 8.46533195e-01 -5.32318974e-01 -4.24959646e-03 1.12489587e+02] [ 5.32313190e-01 8.46543847e-01 -2.48644083e-03 2.71882042e+01] [ 4.92104937e-03 -1.57261546e-04 9.99987879e-01 3.66083414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.010281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:112.51, Y:27.20, Z:0.37 [[ 8.47618210e-01 -5.30589592e-01 -4.24915047e-03 1.12513535e+02] [ 5.30583782e-01 8.47628848e-01 -2.48720276e-03 2.71998942e+01] [ 4.92138641e-03 -1.46331974e-04 9.99987879e-01 3.65700305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.040281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:112.54, Y:27.21, Z:0.37 [[ 8.49868895e-01 -5.26977048e-01 -4.24884579e-03 1.12539199e+02] [ 5.26971191e-01 8.49879506e-01 -2.48772313e-03 2.72110000e+01] [ 4.92197995e-03 -1.24780812e-04 9.99987879e-01 3.68084100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.070281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:112.56, Y:27.22, Z:0.37 [[ 8.50931499e-01 -5.25259493e-01 -4.24841853e-03 1.12563500e+02] [ 5.25253611e-01 8.50942097e-01 -2.48845257e-03 2.72237938e+01] [ 4.92224151e-03 -1.13994497e-04 9.99987879e-01 3.69231748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.100281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:112.59, Y:27.24, Z:0.37 [[ 8.51783477e-01 -5.23876761e-01 -4.24821937e-03 1.12588663e+02] [ 5.23870859e-01 8.51794065e-01 -2.48879253e-03 2.72371027e+01] [ 4.92242861e-03 -1.05605977e-04 9.99987879e-01 3.70528661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.130281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:112.61, Y:27.25, Z:0.37 [[ 8.52396010e-01 -5.22879526e-01 -4.24777606e-03 1.12613418e+02] [ 5.22873609e-01 8.52406588e-01 -2.48954891e-03 2.72503724e+01] [ 4.92256646e-03 -9.89684413e-05 9.99987879e-01 3.70725895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.160281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:112.64, Y:27.26, Z:0.37 [[ 8.53284854e-01 -5.21427769e-01 -4.24732338e-03 1.12638056e+02] [ 5.21421830e-01 8.53295420e-01 -2.49032097e-03 2.72612680e+01] [ 4.92274410e-03 -8.96939643e-05 9.99987879e-01 3.69178640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.190281693 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:112.66, Y:27.27, Z:0.37 [[ 8.53268388e-01 -5.21454716e-01 -4.24712626e-03 1.12663437e+02] [ 5.21448775e-01 8.53278953e-01 -2.49065711e-03 2.72741527e+01] [ 4.92274834e-03 -8.94598060e-05 9.99987879e-01 3.68551878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.220281693 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:112.69, Y:27.29, Z:0.37 [[ 8.53268107e-01 -5.21455178e-01 -4.24667604e-03 1.12689098e+02] [ 5.21449234e-01 8.53278670e-01 -2.49142451e-03 2.72860414e+01] [ 4.92276430e-03 -8.85728911e-05 9.99987879e-01 3.69842481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.250281693 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:112.71, Y:27.30, Z:0.37 [[ 8.53195101e-01 -5.21574625e-01 -4.24622808e-03 1.12713000e+02] [ 5.21568678e-01 8.53205663e-01 -2.49218776e-03 2.72993749e+01] [ 4.92276774e-03 -8.83771806e-05 9.99987879e-01 3.70680806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.280281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:112.74, Y:27.31, Z:0.37 [[ 8.53175228e-01 -5.21607134e-01 -4.24603338e-03 1.12737556e+02] [ 5.21601186e-01 8.53185789e-01 -2.49251943e-03 2.73120069e+01] [ 4.92277126e-03 -8.81802129e-05 9.99987879e-01 3.72223697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.310281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:112.76, Y:27.33, Z:0.37 [[ 8.53017655e-01 -5.21864787e-01 -4.24560584e-03 1.12762259e+02] [ 5.21858839e-01 8.53028215e-01 -2.49324746e-03 2.73259180e+01] [ 4.92275963e-03 -8.88228349e-05 9.99987879e-01 3.72282769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.340281693 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:112.79, Y:27.34, Z:0.37 [[ 8.53017879e-01 -5.21864424e-01 -4.24516647e-03 1.12786871e+02] [ 5.21858472e-01 8.53028438e-01 -2.49399535e-03 2.73400688e+01] [ 4.92277516e-03 -8.79534645e-05 9.99987879e-01 3.71118040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.370281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:112.81, Y:27.35, Z:0.37 [[ 8.53229961e-01 -5.21517609e-01 -4.24469427e-03 1.12810042e+02] [ 5.21511649e-01 8.53240515e-01 -2.49479875e-03 2.73542231e+01] [ 4.92282660e-03 -8.50204720e-05 9.99987879e-01 3.66629650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.400281693 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:112.83, Y:27.37, Z:0.37 [[ 8.53381318e-01 -5.21269902e-01 -4.24448899e-03 1.12833923e+02] [ 5.21263937e-01 8.53391869e-01 -2.49514795e-03 2.73686466e+01] [ 4.92285792e-03 -8.31863916e-05 9.99987879e-01 3.65254395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.430281693 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:112.86, Y:27.38, Z:0.37 [[ 8.54478888e-01 -5.19468784e-01 -4.24405374e-03 1.12856817e+02] [ 5.19462793e-01 8.54489425e-01 -2.49588806e-03 2.73831169e+01] [ 4.92303498e-03 -7.19443579e-05 9.99987879e-01 3.65372050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.460281693 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:112.88, Y:27.40, Z:0.37 [[ 8.55175794e-01 -5.18320703e-01 -4.24386487e-03 1.12879615e+02] [ 5.18314696e-01 8.55186322e-01 -2.49620916e-03 2.73981183e+01] [ 4.92313208e-03 -6.49598827e-05 9.99987879e-01 3.66200637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49028169300001 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:112.90, Y:27.41, Z:0.37 [[ 8.55709556e-01 -5.17439027e-01 -4.24367774e-03 1.12902599e+02] [ 5.17433008e-01 8.55720077e-01 -2.49652725e-03 2.74133632e+01] [ 4.92320087e-03 -5.95167090e-05 9.99987879e-01 3.67060871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.520281693 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:112.93, Y:27.43, Z:0.37 [[ 8.56194915e-01 -5.16635522e-01 -4.24324261e-03 1.12925070e+02] [ 5.16629489e-01 8.56205428e-01 -2.49726660e-03 2.74279716e+01] [ 4.92326399e-03 -5.40372981e-05 9.99987879e-01 3.66930636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.550281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:112.95, Y:27.44, Z:0.37 [[ 8.57232159e-01 -5.14912635e-01 -4.24305328e-03 1.12946395e+02] [ 5.14906579e-01 8.57242659e-01 -2.49758825e-03 2.74441820e+01] [ 4.92336602e-03 -4.37630791e-05 9.99987879e-01 3.65822180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.580281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:112.97, Y:27.46, Z:0.37 [[ 8.57723889e-01 -5.14093113e-01 -4.24286660e-03 1.12968232e+02] [ 5.14087046e-01 8.57734382e-01 -2.49790535e-03 2.74619202e+01] [ 4.92340849e-03 -3.86896662e-05 9.99987879e-01 3.67570469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.610281693 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:112.99, Y:27.48, Z:0.37 [[ 8.57639830e-01 -5.14233336e-01 -4.24240288e-03 1.12990537e+02] [ 5.14227267e-01 8.57650322e-01 -2.49869266e-03 2.74766374e+01] [ 4.92340926e-03 -3.85808892e-05 9.99987879e-01 3.68426998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.640281693 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:113.01, Y:27.49, Z:0.37 [[ 8.57141851e-01 -5.15062958e-01 -4.24220114e-03 1.13014161e+02] [ 5.15056897e-01 8.57152348e-01 -2.49903513e-03 2.74915989e+01] [ 4.92337309e-03 -4.29473612e-05 9.99987879e-01 3.70649455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.670281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:113.04, Y:27.51, Z:0.37 [[ 8.56386235e-01 -5.16318336e-01 -4.24177395e-03 1.13038173e+02] [ 5.16312287e-01 8.56396738e-01 -2.49976001e-03 2.75066704e+01] [ 4.92331331e-03 -4.93199415e-05 9.99987879e-01 3.71947802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.700281693 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:113.06, Y:27.52, Z:0.37 [[ 8.54133970e-01 -5.20035742e-01 -4.24131253e-03 1.13060674e+02] [ 5.20029735e-01 8.54144497e-01 -2.50054265e-03 2.75219691e+01] [ 4.92306531e-03 -6.98102066e-05 9.99987879e-01 3.71331739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.730281693 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:113.08, Y:27.54, Z:0.37 [[ 8.53117730e-01 -5.21701210e-01 -4.24111258e-03 1.13084351e+02] [ 5.21695221e-01 8.53128268e-01 -2.50088174e-03 2.75358817e+01] [ 4.92292606e-03 -7.90216077e-05 9.99987879e-01 3.70340589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.760281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:113.11, Y:27.55, Z:0.37 [[ 8.50907957e-01 -5.25297690e-01 -4.24091484e-03 1.13109528e+02] [ 5.25291745e-01 8.50918519e-01 -2.50121702e-03 2.75476002e+01] [ 4.92255650e-03 -9.94120941e-05 9.99987879e-01 3.70155953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.790281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:113.13, Y:27.56, Z:0.37 [[ 8.49524335e-01 -5.27532391e-01 -4.24044537e-03 1.13133912e+02] [ 5.27526469e-01 8.49534911e-01 -2.50201269e-03 2.75597658e+01] [ 4.92229911e-03 -1.11426506e-04 9.99987879e-01 3.71395702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.820281693 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:113.16, Y:27.57, Z:0.37 [[ 8.47900686e-01 -5.30138139e-01 -4.24024217e-03 1.13158730e+02] [ 5.30132249e-01 8.47911279e-01 -2.50235700e-03 2.75724122e+01] [ 4.92194405e-03 -1.26138896e-04 9.99987879e-01 3.72533047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.850281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:113.19, Y:27.58, Z:0.37 [[ 8.45553038e-01 -5.33874596e-01 -4.23979270e-03 1.13185469e+02] [ 5.33868748e-01 8.45563655e-01 -2.50311832e-03 2.75821841e+01] [ 4.92136589e-03 -1.46973522e-04 9.99987879e-01 3.73340117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.880281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:113.21, Y:27.59, Z:0.37 [[ 8.45009334e-01 -5.34734750e-01 -4.23934326e-03 1.13210347e+02] [ 5.34728910e-01 8.45019955e-01 -2.50387926e-03 2.75933095e+01] [ 4.92124090e-03 -1.51098052e-04 9.99987879e-01 3.74668051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.910281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:113.24, Y:27.60, Z:0.38 [[ 8.44802563e-01 -5.35061361e-01 -4.23914843e-03 1.13235735e+02] [ 5.35055522e-01 8.44813185e-01 -2.50420908e-03 2.76048671e+01] [ 4.92119400e-03 -1.52617532e-04 9.99987879e-01 3.76972941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.940281693 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:113.26, Y:27.61, Z:0.38 [[ 8.44726469e-01 -5.35181489e-01 -4.23868381e-03 1.13263422e+02] [ 5.35175648e-01 8.44737090e-01 -2.50499526e-03 2.76136732e+01] [ 4.92120052e-03 -1.52404554e-04 9.99987879e-01 3.79088921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.970281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:113.29, Y:27.62, Z:0.38 [[ 8.44702902e-01 -5.35218689e-01 -4.23821039e-03 1.13288747e+02] [ 5.35212844e-01 8.44713521e-01 -2.50579599e-03 2.76241918e+01] [ 4.92122246e-03 -1.51691496e-04 9.99987879e-01 3.78230052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.000281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:113.32, Y:27.63, Z:0.38 [[ 8.44843437e-01 -5.34996828e-01 -4.23800464e-03 1.13316680e+02] [ 5.34990979e-01 8.44854053e-01 -2.50614391e-03 2.76328382e+01] [ 4.92127444e-03 -1.49995012e-04 9.99987879e-01 3.75311850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.030281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:113.34, Y:27.64, Z:0.37 [[ 8.45158579e-01 -5.34498849e-01 -4.23755435e-03 1.13341434e+02] [ 5.34492990e-01 8.45169190e-01 -2.50690507e-03 2.76441972e+01] [ 4.92138825e-03 -1.46210766e-04 9.99987879e-01 3.74743231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.060281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:113.37, Y:27.66, Z:0.38 [[ 8.45521733e-01 -5.33924192e-01 -4.23735761e-03 1.13366075e+02] [ 5.33918324e-01 8.45532339e-01 -2.50723757e-03 2.76562352e+01] [ 4.92149768e-03 -1.42479020e-04 9.99987879e-01 3.75444275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.090281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:113.39, Y:27.67, Z:0.38 [[ 8.46347819e-01 -5.32613759e-01 -4.23716263e-03 1.13392074e+02] [ 5.32607873e-01 8.46358415e-01 -2.50756703e-03 2.76661098e+01] [ 4.92172295e-03 -1.34472285e-04 9.99987879e-01 3.77520029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.120281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:113.42, Y:27.68, Z:0.38 [[ 8.46835017e-01 -5.31838794e-01 -4.23691758e-03 1.13417269e+02] [ 5.31832896e-01 8.46845606e-01 -2.50798101e-03 2.76784505e+01] [ 4.92185663e-03 -1.29486005e-04 9.99987879e-01 3.76947872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.150281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:113.44, Y:27.69, Z:0.38 [[ 8.47398421e-01 -5.30940645e-01 -4.23645579e-03 1.13441466e+02] [ 5.30934732e-01 8.47409002e-01 -2.50876082e-03 2.76910103e+01] [ 4.92201386e-03 -1.23361561e-04 9.99987879e-01 3.75537884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.180281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:113.47, Y:27.71, Z:0.38 [[ 8.47305356e-01 -5.31089153e-01 -4.23625530e-03 1.13465873e+02] [ 5.31083240e-01 8.47315937e-01 -2.50909932e-03 2.77057049e+01] [ 4.92200206e-03 -1.23830901e-04 9.99987879e-01 3.75678137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.210281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:113.49, Y:27.72, Z:0.37 [[ 8.48402832e-01 -5.29334198e-01 -4.23581542e-03 1.13491911e+02] [ 5.29328260e-01 8.48413398e-01 -2.50984170e-03 2.77176554e+01] [ 4.92226760e-03 -1.12780003e-04 9.99987879e-01 3.74879414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24028169300001 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:113.52, Y:27.73, Z:0.38 [[ 8.48735504e-01 -5.28800630e-01 -4.23538736e-03 1.13515929e+02] [ 5.28794682e-01 8.48746064e-01 -2.51056384e-03 2.77310368e+01] [ 4.92235610e-03 -1.08845643e-04 9.99987879e-01 3.75967607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.270281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:113.54, Y:27.74, Z:0.38 [[ 8.49781228e-01 -5.27118515e-01 -4.23507718e-03 1.13540921e+02] [ 5.27112543e-01 8.49791776e-01 -2.51108698e-03 2.77446274e+01] [ 4.92257420e-03 -9.84877207e-05 9.99987879e-01 3.76913101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.300281693 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:113.56, Y:27.76, Z:0.38 [[ 8.50652074e-01 -5.25712009e-01 -4.23462775e-03 1.13564209e+02] [ 5.25706016e-01 8.50662610e-01 -2.51184465e-03 2.77575942e+01] [ 4.92274640e-03 -8.94634195e-05 9.99987879e-01 3.75776975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.330281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:113.59, Y:27.77, Z:0.38 [[ 8.51499696e-01 -5.24337999e-01 -4.23443301e-03 1.13588555e+02] [ 5.24331987e-01 8.51510221e-01 -2.51217290e-03 2.77715201e+01] [ 4.92289070e-03 -8.11342137e-05 9.99987879e-01 3.76336878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.360281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:113.61, Y:27.79, Z:0.38 [[ 8.52163060e-01 -5.23259202e-01 -4.23397005e-03 1.13611976e+02] [ 5.23253173e-01 8.52173575e-01 -2.51295293e-03 2.77861327e+01] [ 4.92300314e-03 -7.39925991e-05 9.99987879e-01 3.76289147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.390281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:113.64, Y:27.80, Z:0.38 [[ 8.53477835e-01 -5.21111948e-01 -4.23350601e-03 1.13635443e+02] [ 5.21105888e-01 8.53488333e-01 -2.51373444e-03 2.78013160e+01] [ 4.92318504e-03 -6.06882807e-05 9.99987879e-01 3.77264915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.420281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:113.66, Y:27.81, Z:0.38 [[ 8.53789650e-01 -5.20600917e-01 -4.23302748e-03 1.13658457e+02] [ 5.20594847e-01 8.53800142e-01 -2.51454000e-03 2.78146941e+01] [ 4.92323130e-03 -5.68040668e-05 9.99987879e-01 3.77095645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.450281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:113.68, Y:27.83, Z:0.38 [[ 8.53801902e-01 -5.20580826e-01 -4.23281932e-03 1.13684055e+02] [ 5.20574754e-01 8.53812392e-01 -2.51489036e-03 2.78269298e+01] [ 4.92323729e-03 -5.62807110e-05 9.99987879e-01 3.75619158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.480281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:113.71, Y:27.84, Z:0.37 [[ 8.53482247e-01 -5.21104732e-01 -4.23234508e-03 1.13707995e+02] [ 5.21098663e-01 8.53492739e-01 -2.51568821e-03 2.78400915e+01] [ 4.92321283e-03 -5.83741362e-05 9.99987879e-01 3.74000210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.510281693 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:113.73, Y:27.85, Z:0.38 [[ 8.53191557e-01 -5.21580537e-01 -4.23213932e-03 1.13732087e+02] [ 5.21574472e-01 8.53202051e-01 -2.51603432e-03 2.78535413e+01] [ 4.92318448e-03 -6.07165896e-05 9.99987879e-01 3.76083812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.540281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:113.76, Y:27.87, Z:0.38 [[ 8.53195872e-01 -5.21573481e-01 -4.23165206e-03 1.13755558e+02] [ 5.21567412e-01 8.53206364e-01 -2.51685357e-03 2.78669608e+01] [ 4.92319654e-03 -5.97227374e-05 9.99987879e-01 3.77969848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.570281693 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:113.78, Y:27.88, Z:0.38 [[ 8.53043825e-01 -5.21822122e-01 -4.23144340e-03 1.13780143e+02] [ 5.21816054e-01 8.53054318e-01 -2.51720433e-03 2.78807464e+01] [ 4.92318396e-03 -6.07494881e-05 9.99987879e-01 3.81026346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.600281693 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:113.80, Y:27.89, Z:0.38 [[ 8.52962717e-01 -5.21954694e-01 -4.23101108e-03 1.13804962e+02] [ 5.21948624e-01 8.52973208e-01 -2.51793077e-03 2.78943974e+01] [ 4.92318488e-03 -6.06693375e-05 9.99987879e-01 3.82612781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.630281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:113.83, Y:27.91, Z:0.38 [[ 8.53643501e-01 -5.20840547e-01 -4.23053360e-03 1.13829448e+02] [ 5.20834460e-01 8.53653982e-01 -2.51873275e-03 2.79062630e+01] [ 4.92327000e-03 -5.33078402e-05 9.99987879e-01 3.80531076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.660281693 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:113.85, Y:27.92, Z:0.38 [[ 8.54152707e-01 -5.20005055e-01 -4.23032808e-03 1.13853418e+02] [ 5.19998955e-01 8.54163182e-01 -2.51907789e-03 2.79199319e+01] [ 4.92332373e-03 -4.80889872e-05 9.99987879e-01 3.77583151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.690281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:113.88, Y:27.93, Z:0.37 [[ 8.55750635e-01 -5.17371200e-01 -4.22988204e-03 1.13879008e+02] [ 5.17365065e-01 8.55761088e-01 -2.51982663e-03 2.79337529e+01] [ 4.92345419e-03 -3.20499612e-05 9.99987879e-01 3.73833849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.720281693 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:113.90, Y:27.95, Z:0.38 [[ 8.56493983e-01 -5.16139680e-01 -4.22948314e-03 1.13903509e+02] [ 5.16133526e-01 8.56504425e-01 -2.52049600e-03 2.79481878e+01] [ 4.92349902e-03 -2.41883891e-05 9.99987879e-01 3.75307103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.750281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:113.93, Y:27.96, Z:0.38 [[ 8.57171081e-01 -5.15014421e-01 -4.22901474e-03 1.13927137e+02] [ 5.15008249e-01 8.57181513e-01 -2.52128165e-03 2.79621332e+01] [ 4.92352967e-03 -1.68077589e-05 9.99987879e-01 3.78126906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.780281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:113.95, Y:27.98, Z:0.38 [[ 8.57719689e-01 -5.14100236e-01 -4.22883990e-03 1.13950971e+02] [ 5.14094052e-01 8.57730113e-01 -2.52157488e-03 2.79773752e+01] [ 4.92354557e-03 -1.12170153e-05 9.99987879e-01 3.83799967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.810281693 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:113.97, Y:27.99, Z:0.39 [[ 8.57749557e-01 -5.14050404e-01 -4.22838194e-03 1.13974168e+02] [ 5.14044216e-01 8.57759979e-01 -2.52234259e-03 2.79918905e+01] [ 4.92354803e-03 -1.00370438e-05 9.99987879e-01 3.85845612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.840281693 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:114.00, Y:28.01, Z:0.39 [[ 8.57524289e-01 -5.14426103e-01 -4.22818206e-03 1.13998445e+02] [ 5.14419918e-01 8.57534713e-01 -2.52267761e-03 2.80067112e+01] [ 4.92354410e-03 -1.18037417e-05 9.99987879e-01 3.86347303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.870281693 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:114.02, Y:28.02, Z:0.39 [[ 8.57244995e-01 -5.14891392e-01 -4.22772150e-03 1.14022675e+02] [ 5.14885208e-01 8.57255420e-01 -2.52344921e-03 2.80210570e+01] [ 4.92353945e-03 -1.35770652e-05 9.99987879e-01 3.85529229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.900281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:114.05, Y:28.03, Z:0.38 [[ 8.56730437e-01 -5.15747118e-01 -4.22726226e-03 1.14045501e+02] [ 5.15740941e-01 8.56740865e-01 -2.52421829e-03 2.80345825e+01] [ 4.92352664e-03 -1.75975828e-05 9.99987879e-01 3.83650223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.930281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:114.07, Y:28.05, Z:0.38 [[ 8.54924165e-01 -5.18735774e-01 -4.22706280e-03 1.14069994e+02] [ 5.18729632e-01 8.54934615e-01 -2.52455226e-03 2.80483672e+01] [ 4.92343788e-03 -3.44019938e-05 9.99987879e-01 3.79293738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.960281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:114.09, Y:28.06, Z:0.38 [[ 8.53632910e-01 -5.20857937e-01 -4.22659826e-03 1.14093016e+02] [ 5.20851817e-01 8.53643373e-01 -2.52532975e-03 2.80618702e+01] [ 4.92334564e-03 -4.57267943e-05 9.99987879e-01 3.77905598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99028169300001 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:114.12, Y:28.08, Z:0.38 [[ 8.52336775e-01 -5.22976251e-01 -4.22639657e-03 1.14116464e+02] [ 5.22970155e-01 8.52347252e-01 -2.52566726e-03 2.80752315e+01] [ 4.92322150e-03 -5.75601794e-05 9.99987879e-01 3.76917039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.020281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:114.14, Y:28.09, Z:0.38 [[ 8.50239800e-01 -5.26378592e-01 -4.22619548e-03 1.14140804e+02] [ 5.26372537e-01 8.50250300e-01 -2.52600369e-03 2.80867771e+01] [ 4.92295824e-03 -7.68443613e-05 9.99987879e-01 3.77245742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.050281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:114.17, Y:28.10, Z:0.38 [[ 8.49630291e-01 -5.27361841e-01 -4.22594490e-03 1.14165435e+02] [ 5.27355795e-01 8.49640796e-01 -2.52642284e-03 2.81000685e+01] [ 4.92287419e-03 -8.20511621e-05 9.99987879e-01 3.78779801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.080281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:114.19, Y:28.11, Z:0.38 [[ 8.50212160e-01 -5.26423240e-01 -4.22548940e-03 1.14190063e+02] [ 5.26417179e-01 8.50222657e-01 -2.52718444e-03 2.81139936e+01] [ 4.92297545e-03 -7.57272700e-05 9.99987879e-01 3.81442279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.110281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:114.21, Y:28.13, Z:0.38 [[ 8.51539821e-01 -5.24272909e-01 -4.22503068e-03 1.14214126e+02] [ 5.24266818e-01 8.51550300e-01 -2.52795112e-03 2.81290004e+01] [ 4.92316243e-03 -6.23923498e-05 9.99987879e-01 3.82396078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.140281693 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:114.24, Y:28.14, Z:0.38 [[ 8.52946894e-01 -5.21980634e-01 -4.22060120e-03 1.14238784e+02] [ 5.21974478e-01 8.52957336e-01 -2.53535223e-03 2.81444311e+01] [ 4.92339752e-03 -4.05252976e-05 9.99987879e-01 3.80494937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.170281693 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:114.26, Y:28.16, Z:0.38 [[ 8.56782300e-01 -5.15660977e-01 -4.22453846e-03 1.14261104e+02] [ 5.15654777e-01 8.56792715e-01 -2.52877470e-03 2.81602156e+01] [ 4.92354421e-03 -1.17940343e-05 9.99987879e-01 3.80212788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.200281693 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:114.28, Y:28.18, Z:0.38 [[ 8.58631227e-01 -5.12576405e-01 -4.22433223e-03 1.14284469e+02] [ 5.12570166e-01 8.58641618e-01 -2.52911915e-03 2.81762916e+01] [ 4.92355427e-03 6.31400788e-06 9.99987879e-01 3.80242847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.230281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:114.31, Y:28.19, Z:0.38 [[ 8.60171123e-01 -5.09988037e-01 -4.22387528e-03 1.14306817e+02] [ 5.09981763e-01 8.60181493e-01 -2.52988207e-03 2.81922150e+01] [ 4.92350894e-03 2.20321389e-05 9.99987879e-01 3.79035775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.260281693 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:114.33, Y:28.21, Z:0.38 [[ 8.62621818e-01 -5.05831751e-01 -4.22356272e-03 1.14328202e+02] [ 5.05825424e-01 8.62632157e-01 -2.53040379e-03 2.82101806e+01] [ 4.92333959e-03 4.63961157e-05 9.99987879e-01 3.78535503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.290281693 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:114.35, Y:28.23, Z:0.38 [[ 8.63327637e-01 -5.04626155e-01 -4.22311039e-03 1.14350666e+02] [ 5.04619810e-01 8.63337965e-01 -2.53115846e-03 2.82263592e+01] [ 4.92326029e-03 5.41538929e-05 9.99987879e-01 3.80132070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.320281693 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:114.37, Y:28.24, Z:0.38 [[ 8.63951092e-01 -5.03558021e-01 -4.22263472e-03 1.14372590e+02] [ 5.03551659e-01 8.63961409e-01 -2.53195176e-03 2.82426018e+01] [ 4.92317806e-03 6.11677711e-05 9.99987879e-01 3.81488458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.350281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:114.40, Y:28.26, Z:0.38 [[ 8.63869714e-01 -5.03697616e-01 -4.22242821e-03 1.14395846e+02] [ 5.03691254e-01 8.63880031e-01 -2.53229611e-03 2.82584151e+01] [ 4.92318292e-03 6.07737589e-05 9.99987879e-01 3.82051344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.380281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:114.42, Y:28.27, Z:0.38 [[ 8.64064638e-01 -5.03363165e-01 -4.22195705e-03 1.14417684e+02] [ 5.03356795e-01 8.64074951e-01 -2.53308140e-03 2.82736967e+01] [ 4.92314720e-03 6.35952969e-05 9.99987879e-01 3.80863065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.410281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:114.44, Y:28.29, Z:0.38 [[ 8.65300656e-01 -5.01235425e-01 -4.22175260e-03 1.14439918e+02] [ 5.01229028e-01 8.65310952e-01 -2.53342210e-03 2.82916644e+01] [ 4.92296966e-03 7.61068577e-05 9.99987879e-01 3.82159722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.440281693 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:114.46, Y:28.31, Z:0.38 [[ 8.66322328e-01 -4.99467522e-01 -4.22128602e-03 1.14461977e+02] [ 4.99461101e-01 8.66332608e-01 -2.53419930e-03 2.83078612e+01] [ 4.92278797e-03 8.70652757e-05 9.99987879e-01 3.82852336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.470281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:114.48, Y:28.32, Z:0.38 [[ 8.67594121e-01 -4.97255089e-01 -4.22108291e-03 1.14484024e+02] [ 4.97248640e-01 8.67604384e-01 -2.53453756e-03 2.83237316e+01] [ 4.92254174e-03 1.00022155e-04 9.99987879e-01 3.82994046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.500281693 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:114.51, Y:28.34, Z:0.38 [[ 8.68838052e-01 -4.95078401e-01 -4.22088194e-03 1.14507028e+02] [ 4.95071924e-01 8.68848298e-01 -2.53487221e-03 2.83403393e+01] [ 4.92226656e-03 1.12753291e-04 9.99987879e-01 3.82820150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.530281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:114.53, Y:28.36, Z:0.38 [[ 8.70640645e-01 -4.91901470e-01 -4.22041996e-03 1.14527130e+02] [ 4.91894952e-01 8.70650864e-01 -2.53564113e-03 2.83588379e+01] [ 4.92179789e-03 1.31628953e-04 9.99987879e-01 3.82336494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.560281693 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:114.55, Y:28.38, Z:0.38 [[ 8.70995091e-01 -4.91273592e-01 -4.22010422e-03 1.14548252e+02] [ 4.91267065e-01 8.71005304e-01 -2.53616652e-03 2.83756205e+01] [ 4.92168479e-03 1.35790374e-04 9.99987879e-01 3.82046186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.590281693 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:114.57, Y:28.40, Z:0.39 [[ 8.70921127e-01 -4.91404705e-01 -4.21990490e-03 1.14569417e+02] [ 4.91398177e-01 8.70931339e-01 -2.53649813e-03 2.83956261e+01] [ 4.92169454e-03 1.35436233e-04 9.99987879e-01 3.85206525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.620281693 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:114.59, Y:28.41, Z:0.39 [[ 8.70683123e-01 -4.91826286e-01 -4.21945286e-03 1.14591981e+02] [ 4.91819759e-01 8.70693337e-01 -2.53724987e-03 2.84121977e+01] [ 4.92173567e-03 1.33930356e-04 9.99987879e-01 3.85470989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.650281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:114.61, Y:28.43, Z:0.39 [[ 8.70678525e-01 -4.91834430e-01 -4.21899634e-03 1.14612602e+02] [ 4.91827900e-01 8.70688736e-01 -2.53800876e-03 2.84319910e+01] [ 4.92171268e-03 1.34769608e-04 9.99987879e-01 3.89359735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.680281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:114.63, Y:28.45, Z:0.39 [[ 8.70915826e-01 -4.91414111e-01 -4.21852166e-03 1.14633572e+02] [ 4.91407572e-01 8.70926032e-01 -2.53879749e-03 2.84488498e+01] [ 4.92162124e-03 1.38065422e-04 9.99987879e-01 3.90645254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.710281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:114.66, Y:28.47, Z:0.39 [[ 8.71037386e-01 -4.91198616e-01 -4.21805055e-03 1.14655448e+02] [ 4.91192071e-01 8.71047588e-01 -2.53957997e-03 2.84661358e+01] [ 4.92156092e-03 1.40196113e-04 9.99987879e-01 3.92122443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74028169300001 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:114.68, Y:28.48, Z:0.39 [[ 8.71023435e-01 -4.91223359e-01 -4.21760291e-03 1.14676938e+02] [ 4.91216810e-01 8.71033634e-01 -2.54032316e-03 2.84820568e+01] [ 4.92154007e-03 1.40923558e-04 9.99987879e-01 3.91542796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.770281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:114.70, Y:28.50, Z:0.39 [[ 8.70019668e-01 -4.92998976e-01 -4.21740887e-03 1.14699090e+02] [ 4.92992447e-01 8.70029880e-01 -2.54064527e-03 2.84997367e+01] [ 4.92180725e-03 1.31260636e-04 9.99987879e-01 3.87942919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.800281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:114.72, Y:28.52, Z:0.39 [[ 8.69101745e-01 -4.94615380e-01 -4.21694006e-03 1.14722166e+02] [ 4.94608866e-01 8.69111967e-01 -2.54142316e-03 2.85160389e+01] [ 4.92202005e-03 1.23019360e-04 9.99987879e-01 3.87422896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.830281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:114.74, Y:28.53, Z:0.39 [[ 8.68032142e-01 -4.96490102e-01 -4.21647260e-03 1.14743869e+02] [ 4.96483607e-01 8.68042375e-01 -2.54219848e-03 2.85322094e+01] [ 4.92225328e-03 1.13300469e-04 9.99987879e-01 3.88196636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.860281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:114.77, Y:28.55, Z:0.39 [[ 8.67671856e-01 -4.97119477e-01 -4.21626880e-03 1.14766854e+02] [ 4.97112987e-01 8.67682093e-01 -2.54253645e-03 2.85475046e+01] [ 4.92232532e-03 1.10125345e-04 9.99987879e-01 3.89043582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.890281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:114.79, Y:28.56, Z:0.39 [[ 8.67605478e-01 -4.97235318e-01 -4.21580656e-03 1.14788845e+02] [ 4.97228826e-01 8.67615714e-01 -2.54330266e-03 2.85626902e+01] [ 4.92231992e-03 1.10362773e-04 9.99987879e-01 3.88650712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.920281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:114.81, Y:28.58, Z:0.39 [[ 8.67839556e-01 -4.96826664e-01 -4.21560507e-03 1.14810075e+02] [ 4.96820165e-01 8.67849787e-01 -2.54363659e-03 2.85821520e+01] [ 4.92225844e-03 1.13070846e-04 9.99987879e-01 3.86307227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.950281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:114.83, Y:28.60, Z:0.39 [[ 8.68203992e-01 -4.96189540e-01 -4.21517041e-03 1.14832197e+02] [ 4.96183031e-01 8.68214217e-01 -2.54435667e-03 2.85993672e+01] [ 4.92215405e-03 1.17524588e-04 9.99987879e-01 3.85950369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.980281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:114.85, Y:28.62, Z:0.39 [[ 8.68884807e-01 -4.94996393e-01 -4.21471097e-03 1.14854574e+02] [ 4.94989865e-01 8.68895020e-01 -2.54511752e-03 2.86163067e+01] [ 4.92196536e-03 1.25174730e-04 9.99987879e-01 3.85148227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.010281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:114.87, Y:28.64, Z:0.39 [[ 8.70120999e-01 -4.92820137e-01 -4.21425217e-03 1.14874591e+02] [ 4.92813581e-01 8.70131193e-01 -2.54587697e-03 2.86354585e+01] [ 4.92161171e-03 1.38380312e-04 9.99987879e-01 3.85361762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.040281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:114.90, Y:28.65, Z:0.39 [[ 8.70033184e-01 -4.92975152e-01 -4.21405312e-03 1.14898856e+02] [ 4.92968595e-01 8.70043379e-01 -2.54620641e-03 2.86503632e+01] [ 4.92162551e-03 1.37888219e-04 9.99987879e-01 3.85501982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.070281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:114.92, Y:28.67, Z:0.39 [[ 8.70221092e-01 -4.92643377e-01 -4.21359935e-03 1.14921116e+02] [ 4.92636814e-01 8.70231281e-01 -2.54695711e-03 2.86682861e+01] [ 4.92154751e-03 1.40641637e-04 9.99987879e-01 3.86107684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.100281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:114.94, Y:28.69, Z:0.39 [[ 8.70158157e-01 -4.92754534e-01 -4.21314322e-03 1.14941398e+02] [ 4.92747967e-01 8.70168346e-01 -2.54771141e-03 2.86893979e+01] [ 4.92154021e-03 1.40894107e-04 9.99987879e-01 3.85364387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.130281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:114.96, Y:28.71, Z:0.38 [[ 8.69675462e-01 -4.93605960e-01 -4.21266743e-03 1.14962599e+02] [ 4.93599400e-01 8.69685654e-01 -2.54849790e-03 2.87064291e+01] [ 4.92165018e-03 1.36995972e-04 9.99987879e-01 3.84966544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.160281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:114.98, Y:28.72, Z:0.39 [[ 8.69055534e-01 -4.94696609e-01 -4.21234398e-03 1.14984643e+02] [ 4.94690059e-01 8.69065733e-01 -2.54903240e-03 2.87234681e+01] [ 4.92180149e-03 1.31446021e-04 9.99987879e-01 3.86142832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.190281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:115.01, Y:28.74, Z:0.39 [[ 8.68357475e-01 -4.95920914e-01 -4.21219953e-03 1.15007164e+02] [ 4.95914377e-01 8.68367682e-01 -2.54927108e-03 2.87403399e+01] [ 4.92197479e-03 1.24788290e-04 9.99987879e-01 3.88811807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.220281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:115.03, Y:28.76, Z:0.39 [[ 8.67230851e-01 -4.97888454e-01 -4.21173029e-03 1.15028326e+02] [ 4.97881937e-01 8.67241070e-01 -2.55004608e-03 2.87594436e+01] [ 4.92222399e-03 1.14534199e-04 9.99987879e-01 3.91957144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.250281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:115.05, Y:28.78, Z:0.39 [[ 8.66956778e-01 -4.98365539e-01 -4.21126133e-03 1.15051066e+02] [ 4.98359024e-01 8.66966999e-01 -2.55082032e-03 2.87767694e+01] [ 4.92226554e-03 1.12730885e-04 9.99987879e-01 3.92038158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.280281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:115.07, Y:28.80, Z:0.39 [[ 8.66727345e-01 -4.98764452e-01 -4.21077742e-03 1.15070621e+02] [ 4.98757938e-01 8.66737566e-01 -2.55161888e-03 2.87958457e+01] [ 4.92229577e-03 1.11399196e-04 9.99987879e-01 3.91377437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.310281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:115.09, Y:28.81, Z:0.39 [[ 8.66368673e-01 -4.99387221e-01 -4.21029704e-03 1.15092276e+02] [ 4.99380710e-01 8.66378896e-01 -2.55241128e-03 2.88129118e+01] [ 4.92235408e-03 1.08788053e-04 9.99987879e-01 3.91526741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.340281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:115.11, Y:28.83, Z:0.39 [[ 8.64903154e-01 -5.01921119e-01 -4.21009547e-03 1.15111988e+02] [ 5.01914637e-01 8.64913395e-01 -2.55274372e-03 2.88334012e+01] [ 4.92264395e-03 9.47675587e-05 9.99987879e-01 3.91858168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.370281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:115.13, Y:28.85, Z:0.39 [[ 8.64025315e-01 -5.03430763e-01 -4.20963138e-03 1.15133700e+02] [ 5.03424295e-01 8.64035566e-01 -2.55350881e-03 2.88502589e+01] [ 4.92278612e-03 8.70655442e-05 9.99987879e-01 3.90892508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.400281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:115.16, Y:28.87, Z:0.39 [[ 8.63274903e-01 -5.04716477e-01 -4.20943000e-03 1.15155520e+02] [ 5.04710022e-01 8.63285162e-01 -2.55384073e-03 2.88664928e+01] [ 4.92290396e-03 8.01251021e-05 9.99987879e-01 3.89810243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.430281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:115.18, Y:28.89, Z:0.39 [[ 8.61630027e-01 -5.07519437e-01 -4.20922970e-03 1.15176353e+02] [ 5.07513014e-01 8.61640306e-01 -2.55417083e-03 2.88851098e+01] [ 4.92313331e-03 6.45114256e-05 9.99987879e-01 3.88600740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.460281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:115.20, Y:28.90, Z:0.39 [[ 8.60348417e-01 -5.09689009e-01 -4.20903253e-03 1.15198424e+02] [ 5.09682611e-01 8.60358711e-01 -2.55449571e-03 2.89017021e+01] [ 4.92327619e-03 5.24856531e-05 9.99987879e-01 3.89009323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49028169300001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:115.22, Y:28.92, Z:0.39 [[ 8.58886230e-01 -5.12149129e-01 -4.20872081e-03 1.15220717e+02] [ 5.12142758e-01 8.58896541e-01 -2.55500918e-03 2.89181981e+01] [ 4.92340147e-03 3.89963239e-05 9.99987879e-01 3.90827157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.520281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:115.24, Y:28.94, Z:0.39 [[ 8.56483743e-01 -5.16156845e-01 -4.20822873e-03 1.15242739e+02] [ 5.16150517e-01 8.56494081e-01 -2.55581940e-03 2.89362412e+01] [ 4.92352668e-03 1.69383297e-05 9.99987879e-01 3.91706811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.550281693 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:115.27, Y:28.95, Z:0.39 [[ 8.55442354e-01 -5.17880944e-01 -4.20807717e-03 1.15265936e+02] [ 5.17874636e-01 8.55452704e-01 -2.55606893e-03 2.89523479e+01] [ 4.92355038e-03 7.31319076e-06 9.99987879e-01 3.93283468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.580281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:115.29, Y:28.97, Z:0.39 [[ 8.54539402e-01 -5.19369527e-01 -4.20759489e-03 1.15288465e+02] [ 5.19363234e-01 8.54549761e-01 -2.55686257e-03 2.89675788e+01] [ 4.92355571e-03 -3.30272131e-07 9.99987879e-01 3.92407788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.610281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:115.31, Y:28.98, Z:0.39 [[ 8.52770114e-01 -5.22269500e-01 -4.20738613e-03 1.15312462e+02] [ 5.22263240e-01 8.52780493e-01 -2.55720605e-03 2.89816377e+01] [ 4.92352754e-03 -1.66542212e-05 9.99987879e-01 3.92332698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.640281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:115.34, Y:29.00, Z:0.39 [[ 8.51644118e-01 -5.24103613e-01 -4.20695181e-03 1.15336414e+02] [ 5.24097372e-01 8.51654509e-01 -2.55792035e-03 2.89951767e+01] [ 4.92348478e-03 -2.64145653e-05 9.99987879e-01 3.92939293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.670281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:115.36, Y:29.01, Z:0.39 [[ 8.50471851e-01 -5.26003741e-01 -4.20647307e-03 1.15360021e+02] [ 5.25997519e-01 8.50482253e-01 -2.55870740e-03 2.90081327e+01] [ 4.92342036e-03 -3.64857764e-05 9.99987879e-01 3.93032547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.700281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:115.38, Y:29.02, Z:0.39 [[ 8.49432650e-01 -5.27680283e-01 -4.20626630e-03 1.15383801e+02] [ 5.27674080e-01 8.49443063e-01 -2.55904727e-03 2.90207841e+01] [ 4.92334251e-03 -4.57993961e-05 9.99987879e-01 3.92672794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.730281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:115.41, Y:29.03, Z:0.40 [[ 8.47515973e-01 -5.30753224e-01 -4.20606232e-03 1.15410102e+02] [ 5.30747056e-01 8.47526408e-01 -2.55938248e-03 2.90319629e+01] [ 4.92314939e-03 -6.32376672e-05 9.99987879e-01 3.95154908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.760281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:115.43, Y:29.04, Z:0.40 [[ 8.46679937e-01 -5.32085893e-01 -4.20558762e-03 1.15434015e+02] [ 5.32079739e-01 8.46690379e-01 -2.56016227e-03 2.90436450e+01] [ 4.92305680e-03 -7.00699386e-05 9.99987879e-01 3.95233326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.790281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:115.46, Y:29.05, Z:0.39 [[ 8.45568073e-01 -5.33851055e-01 -4.20538148e-03 1.15461215e+02] [ 5.33844921e-01 8.45578526e-01 -2.56050084e-03 2.90541387e+01] [ 4.92290635e-03 -7.99437789e-05 9.99987879e-01 3.91625925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.820281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:115.49, Y:29.07, Z:0.39 [[ 8.45360732e-01 -5.34179325e-01 -4.20498319e-03 1.15485581e+02] [ 5.34173191e-01 8.45371186e-01 -2.56115476e-03 2.90662940e+01] [ 4.92288755e-03 -8.10896256e-05 9.99987879e-01 3.89543362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.850281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:115.51, Y:29.08, Z:0.39 [[ 8.45404054e-01 -5.34110761e-01 -4.20479388e-03 1.15510443e+02] [ 5.34104625e-01 8.45414507e-01 -2.56146553e-03 2.90787983e+01] [ 4.92290005e-03 -8.03265134e-05 9.99987879e-01 3.89532095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.880281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:115.54, Y:29.09, Z:0.39 [[ 8.45653720e-01 -5.33715382e-01 -4.20433749e-03 1.15537488e+02] [ 5.33709238e-01 8.45664168e-01 -2.56221441e-03 2.90900506e+01] [ 4.92295081e-03 -7.71476087e-05 9.99987879e-01 3.94494425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.910281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:115.56, Y:29.10, Z:0.40 [[ 8.45893615e-01 -5.33335091e-01 -4.20392553e-03 1.15561975e+02] [ 5.33328938e-01 8.45904058e-01 -2.56289015e-03 2.91025908e+01] [ 4.92299692e-03 -7.41427283e-05 9.99987879e-01 3.96308994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.940281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:115.59, Y:29.11, Z:0.40 [[ 8.46789445e-01 -5.31911614e-01 -4.20377916e-03 1.15586815e+02] [ 5.31905442e-01 8.46799877e-01 -2.56313022e-03 2.91146995e+01] [ 4.92311840e-03 -6.55813965e-05 9.99987879e-01 3.96734803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.970281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.61, Y:29.13, Z:0.40 [[ 8.47210992e-01 -5.31239934e-01 -4.20330479e-03 1.15609977e+02] [ 5.31233750e-01 8.47221417e-01 -2.56390790e-03 2.91277751e+01] [ 4.92318011e-03 -6.07664121e-05 9.99987879e-01 3.96056624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.000281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:115.63, Y:29.14, Z:0.40 [[ 8.47673962e-01 -5.30500883e-01 -4.20309930e-03 1.15634235e+02] [ 5.30494689e-01 8.47684381e-01 -2.56424472e-03 2.91418281e+01] [ 4.92323572e-03 -5.60783740e-05 9.99987879e-01 3.96655532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.030281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:115.66, Y:29.16, Z:0.40 [[ 8.48220767e-01 -5.29626159e-01 -4.20262515e-03 1.15657013e+02] [ 5.29619950e-01 8.48231177e-01 -2.56502159e-03 2.91553870e+01] [ 4.92330021e-03 -5.00895406e-05 9.99987879e-01 3.97280378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.060281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:115.68, Y:29.17, Z:0.40 [[ 8.49045380e-01 -5.28303212e-01 -4.20230168e-03 1.15682198e+02] [ 5.28296984e-01 8.49055778e-01 -2.56555142e-03 2.91679468e+01] [ 4.92337758e-03 -4.17937239e-05 9.99987879e-01 3.98980139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.090281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:115.71, Y:29.18, Z:0.40 [[ 8.48809493e-01 -5.28682124e-01 -4.20183721e-03 1.15706856e+02] [ 5.28675897e-01 8.48819892e-01 -2.56631191e-03 2.91794408e+01] [ 4.92336624e-03 -4.31001412e-05 9.99987879e-01 3.97208665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.120281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:115.73, Y:29.19, Z:0.40 [[ 8.48576479e-01 -5.29056052e-01 -4.20163558e-03 1.15731590e+02] [ 5.29049828e-01 8.48586879e-01 -2.56664198e-03 2.91931969e+01] [ 4.92335030e-03 -4.48825696e-05 9.99987879e-01 3.95175310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.150281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:115.76, Y:29.21, Z:0.39 [[ 8.48695639e-01 -5.28864882e-01 -4.20117211e-03 1.15756233e+02] [ 5.28858652e-01 8.48706036e-01 -2.56740038e-03 2.92061825e+01] [ 4.92336802e-03 -4.28847107e-05 9.99987879e-01 3.93561723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.180281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:115.78, Y:29.22, Z:0.39 [[ 8.49387547e-01 -5.27752924e-01 -4.20087873e-03 1.15781758e+02] [ 5.27746678e-01 8.49397934e-01 -2.56788034e-03 2.92179588e+01] [ 4.92342407e-03 -3.58742130e-05 9.99987879e-01 3.91617298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.210281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:115.81, Y:29.23, Z:0.39 [[ 8.49799342e-01 -5.27089587e-01 -4.20065769e-03 1.15805506e+02] [ 5.27083331e-01 8.49809724e-01 -2.56824186e-03 2.92315751e+01] [ 4.92345329e-03 -3.16064087e-05 9.99987879e-01 3.92284421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24028169300001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:115.83, Y:29.25, Z:0.39 [[ 8.50205371e-01 -5.26434406e-01 -4.20033840e-03 1.15830712e+02] [ 5.26428140e-01 8.50215746e-01 -2.56876396e-03 2.92464460e+01] [ 4.92347957e-03 -2.71994113e-05 9.99987879e-01 3.94957238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.270281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:115.85, Y:29.26, Z:0.40 [[ 8.51637350e-01 -5.24114668e-01 -4.19993849e-03 1.15854962e+02] [ 5.24108370e-01 8.51647706e-01 -2.56941765e-03 2.92595070e+01] [ 4.92353745e-03 -1.30108784e-05 9.99987879e-01 3.98586575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.300281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:115.88, Y:29.27, Z:0.40 [[ 8.52299630e-01 -5.23037002e-01 -4.19947611e-03 1.15878720e+02] [ 5.23030687e-01 8.52309976e-01 -2.57017314e-03 2.92735294e+01] [ 4.92355103e-03 -5.89725798e-06 9.99987879e-01 3.98612957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.330281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:115.90, Y:29.29, Z:0.40 [[ 8.52800421e-01 -5.22220079e-01 -4.19901160e-03 1.15902372e+02] [ 5.22213750e-01 8.52810758e-01 -2.57093181e-03 2.92884669e+01] [ 4.92355448e-03 -2.89865943e-07 9.99987879e-01 3.96988872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.360281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:115.93, Y:29.30, Z:0.39 [[ 8.53468369e-01 -5.21127734e-01 -4.19854989e-03 1.15925434e+02] [ 5.21121389e-01 8.53478696e-01 -2.57168560e-03 2.93034113e+01] [ 4.92354957e-03 6.89816598e-06 9.99987879e-01 3.94378015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.390281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:115.95, Y:29.32, Z:0.39 [[ 8.53534165e-01 -5.21019966e-01 -4.19808836e-03 1.15949497e+02] [ 5.21013615e-01 8.53544489e-01 -2.57243878e-03 2.93182968e+01] [ 4.92354716e-03 8.40319351e-06 9.99987879e-01 3.94763828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.420281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:115.97, Y:29.33, Z:0.40 [[ 8.53314346e-01 -5.21379906e-01 -4.19761285e-03 1.15972760e+02] [ 5.21373556e-01 8.53324671e-01 -2.57321447e-03 2.93325126e+01] [ 4.92354892e-03 7.23648613e-06 9.99987879e-01 3.95115496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.450281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:116.00, Y:29.35, Z:0.40 [[ 8.53028569e-01 -5.21847337e-01 -4.19728912e-03 1.15995925e+02] [ 5.21840990e-01 8.53038895e-01 -2.57374241e-03 2.93473958e+01] [ 4.92355150e-03 5.15829691e-06 9.99987879e-01 4.00928403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.480281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:116.02, Y:29.36, Z:0.40 [[ 8.52849870e-01 -5.22139359e-01 -4.19383629e-03 1.16020267e+02] [ 5.22132988e-01 8.52860182e-01 -2.57937128e-03 2.93634301e+01] [ 4.92354725e-03 1.00761927e-05 9.99987879e-01 4.03917735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.510281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:116.04, Y:29.38, Z:0.41 [[ 8.52817537e-01 -5.22192146e-01 -4.19648096e-03 1.16044228e+02] [ 5.22185797e-01 8.52827862e-01 -2.57506135e-03 2.93787855e+01] [ 4.92355270e-03 4.71472690e-06 9.99987879e-01 4.05128696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.540281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:116.07, Y:29.39, Z:0.40 [[ 8.52936576e-01 -5.21997692e-01 -4.19600599e-03 1.16067009e+02] [ 5.21991337e-01 8.52946897e-01 -2.57583507e-03 2.93941404e+01] [ 4.92355026e-03 6.74517104e-06 9.99987879e-01 4.04680760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.570281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:116.09, Y:29.41, Z:0.40 [[ 8.52915245e-01 -5.22032546e-01 -4.19579924e-03 1.16089487e+02] [ 5.22026190e-01 8.52925566e-01 -2.57617181e-03 2.94090187e+01] [ 4.92354997e-03 6.93912046e-06 9.99987879e-01 4.04228440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.600281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:116.11, Y:29.42, Z:0.40 [[ 8.53154926e-01 -5.21640747e-01 -4.19548268e-03 1.16112672e+02] [ 5.21634384e-01 8.53165242e-01 -2.57668724e-03 2.94241895e+01] [ 4.92354506e-03 9.80539075e-06 9.99987879e-01 4.02901554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.630281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:116.14, Y:29.44, Z:0.40 [[ 8.53275523e-01 -5.21443462e-01 -4.19500840e-03 1.16135399e+02] [ 5.21437092e-01 8.53285835e-01 -2.57745917e-03 2.94378914e+01] [ 4.92354048e-03 1.18498370e-05 9.99987879e-01 4.02497614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.660281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:116.16, Y:29.45, Z:0.40 [[ 8.53364396e-01 -5.21298006e-01 -4.19480302e-03 1.16159102e+02] [ 5.21291632e-01 8.53374706e-01 -2.57779339e-03 2.94523106e+01] [ 4.92353735e-03 1.30813917e-05 9.99987879e-01 4.03276801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.690281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:116.18, Y:29.47, Z:0.40 [[ 8.53673378e-01 -5.20791870e-01 -4.19433341e-03 1.16181490e+02] [ 5.20785487e-01 8.53683681e-01 -2.57855727e-03 2.94678006e+01] [ 4.92352565e-03 1.68977264e-05 9.99987879e-01 4.04414174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.720281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:116.20, Y:29.48, Z:0.40 [[ 8.53784423e-01 -5.20609804e-01 -4.19412824e-03 1.16203236e+02] [ 5.20603417e-01 8.53794724e-01 -2.57889094e-03 2.94831615e+01] [ 4.92352047e-03 1.83394260e-05 9.99987879e-01 4.02922114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.750281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:116.23, Y:29.50, Z:0.40 [[ 8.54096758e-01 -5.20097241e-01 -4.19392492e-03 1.16225581e+02] [ 5.20090846e-01 8.54107054e-01 -2.57922154e-03 2.95008772e+01] [ 4.92350687e-03 2.16827921e-05 9.99987879e-01 3.98815542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.780281693 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.25, Y:29.52, Z:0.40 [[ 8.54333926e-01 -5.19707567e-01 -4.19369728e-03 1.16248390e+02] [ 5.19701166e-01 8.54344219e-01 -2.57959163e-03 2.95170083e+01] [ 4.92349431e-03 2.43632780e-05 9.99987879e-01 3.99586474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.810281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:116.27, Y:29.53, Z:0.40 [[ 8.54516799e-01 -5.19406832e-01 -4.19320900e-03 1.16270490e+02] [ 5.19400423e-01 8.54527087e-01 -2.58038509e-03 2.95326942e+01] [ 4.92348032e-03 2.70278792e-05 9.99987879e-01 3.99295259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.840281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:116.29, Y:29.55, Z:0.40 [[ 8.55372433e-01 -5.17996546e-01 -4.19287590e-03 1.16291990e+02] [ 5.17990117e-01 8.55382708e-01 -2.58092623e-03 2.95512242e+01] [ 4.92342442e-03 3.57848665e-05 9.99987879e-01 4.02343132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.870281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:116.31, Y:29.57, Z:0.40 [[ 8.55671003e-01 -5.17503193e-01 -4.19272588e-03 1.16314003e+02] [ 5.17496758e-01 8.55681274e-01 -2.58116992e-03 2.95678869e+01] [ 4.92340070e-03 3.89102078e-05 9.99987879e-01 4.04168966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.900281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.34, Y:29.58, Z:0.40 [[ 8.55881404e-01 -5.17155149e-01 -4.19224959e-03 1.16336293e+02] [ 5.17148705e-01 8.55891670e-01 -2.58194326e-03 2.95847277e+01] [ 4.92337675e-03 4.18207701e-05 9.99987879e-01 4.04942075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.930281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:116.36, Y:29.60, Z:0.41 [[ 8.55463881e-01 -5.17845515e-01 -4.19176059e-03 1.16356190e+02] [ 5.17839075e-01 8.55474150e-01 -2.58273690e-03 2.96031683e+01] [ 4.92340155e-03 3.87807049e-05 9.99987879e-01 4.05856363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.960281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.38, Y:29.62, Z:0.41 [[ 8.54985955e-01 -5.18634213e-01 -4.19154738e-03 1.16377579e+02] [ 5.18627782e-01 8.54996229e-01 -2.58308288e-03 2.96189788e+01] [ 4.92343236e-03 3.46466599e-05 9.99987879e-01 4.06388694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99028169300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.40, Y:29.63, Z:0.41 [[ 8.54892060e-01 -5.18788973e-01 -4.19134162e-03 1.16401708e+02] [ 5.18782542e-01 8.54902334e-01 -2.58341671e-03 2.96340885e+01] [ 4.92343583e-03 3.41475793e-05 9.99987879e-01 4.06528894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.020281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.42, Y:29.65, Z:0.41 [[ 8.54411589e-01 -5.19579901e-01 -4.19087383e-03 1.16424269e+02] [ 5.19573476e-01 8.54421866e-01 -2.58417534e-03 2.96505480e+01] [ 4.92345981e-03 3.04824719e-05 9.99987879e-01 4.07044257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.050281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:116.45, Y:29.67, Z:0.41 [[ 8.53977286e-01 -5.20293413e-01 -4.19040492e-03 1.16446004e+02] [ 5.20286993e-01 8.53987566e-01 -2.58493549e-03 2.96690455e+01] [ 4.92347861e-03 2.72630184e-05 9.99987879e-01 4.08534208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.080281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:116.47, Y:29.69, Z:0.41 [[ 8.53731032e-01 -5.20697388e-01 -4.18992736e-03 1.16468103e+02] [ 5.20690969e-01 8.53741313e-01 -2.58570933e-03 2.96854992e+01] [ 4.92348618e-03 2.58429544e-05 9.99987879e-01 4.07889723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.110281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.49, Y:29.70, Z:0.41 [[ 8.53339369e-01 -5.21339014e-01 -4.18971988e-03 1.16490284e+02] [ 5.21332601e-01 8.53349654e-01 -2.58604548e-03 2.97018955e+01] [ 4.92350241e-03 2.25368606e-05 9.99987879e-01 4.07697700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.140281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.51, Y:29.72, Z:0.41 [[ 8.52178499e-01 -5.23234418e-01 -4.18925801e-03 1.16511288e+02] [ 5.23228023e-01 8.52188796e-01 -2.58679347e-03 2.97205263e+01] [ 4.92353811e-03 1.24725922e-05 9.99987879e-01 4.07395718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.170281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:116.53, Y:29.74, Z:0.41 [[ 8.51180038e-01 -5.24857121e-01 -4.18877405e-03 1.16532555e+02] [ 5.24850742e-01 8.51190345e-01 -2.58757690e-03 2.97368484e+01] [ 4.92355219e-03 4.01262860e-06 9.99987879e-01 4.06958965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.200281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.55, Y:29.75, Z:0.41 [[ 8.49921999e-01 -5.26891880e-01 -4.18844486e-03 1.16554798e+02] [ 5.26885524e-01 8.49932319e-01 -2.58810965e-03 2.97537513e+01] [ 4.92354861e-03 -7.13963842e-06 9.99987879e-01 4.06381744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.230281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.58, Y:29.77, Z:0.40 [[ 8.48386228e-01 -5.29361189e-01 -4.18795173e-03 1.16576892e+02] [ 5.29354859e-01 8.48396565e-01 -2.58890736e-03 2.97694693e+01] [ 4.92351094e-03 -2.05192493e-05 9.99987879e-01 4.04887187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.260281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:116.60, Y:29.78, Z:0.40 [[ 8.44617473e-01 -5.35353890e-01 -4.18773742e-03 1.16600385e+02] [ 5.35347632e-01 8.44627852e-01 -2.58925398e-03 2.97839819e+01] [ 4.92324685e-03 -5.49661587e-05 9.99987879e-01 4.04325503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.290281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:116.62, Y:29.80, Z:0.41 [[ 8.42358856e-01 -5.38900756e-01 -4.18726283e-03 1.16624952e+02] [ 5.38894537e-01 8.42369259e-01 -2.59002123e-03 2.97983202e+01] [ 4.92298589e-03 -7.47657459e-05 9.99987879e-01 4.05893178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.320281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.65, Y:29.81, Z:0.41 [[ 8.38768138e-01 -5.44472664e-01 -4.18679115e-03 1.16649583e+02] [ 5.44466510e-01 8.38778580e-01 -2.59078349e-03 2.98108727e+01] [ 4.92240152e-03 -1.06500923e-04 9.99987879e-01 4.09729828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.350281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.67, Y:29.82, Z:0.41 [[ 8.37349339e-01 -5.46652138e-01 -4.18628547e-03 1.16673083e+02] [ 5.46646007e-01 8.37359795e-01 -2.59160033e-03 2.98239009e+01] [ 4.92213100e-03 -1.18341411e-04 9.99987879e-01 4.11149798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.380281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.70, Y:29.84, Z:0.41 [[ 8.36196902e-01 -5.48413364e-01 -4.18606678e-03 1.16697036e+02] [ 5.48407254e-01 8.36207370e-01 -2.59195351e-03 2.98367714e+01] [ 4.92188184e-03 -1.28285888e-04 9.99987879e-01 4.10958513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.410281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:116.72, Y:29.85, Z:0.41 [[ 8.34724014e-01 -5.50652611e-01 -4.18586515e-03 1.16722605e+02] [ 5.50646527e-01 8.34734498e-01 -2.59227910e-03 2.98479018e+01] [ 4.92153130e-03 -1.41094494e-04 9.99987879e-01 4.07434790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.440281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.75, Y:29.86, Z:0.40 [[ 8.34397218e-01 -5.51147681e-01 -4.18540738e-03 1.16747604e+02] [ 5.51141599e-01 8.34407702e-01 -2.59301798e-03 2.98610958e+01] [ 4.92147200e-03 -1.43145134e-04 9.99987879e-01 4.04855573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.470281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.77, Y:29.87, Z:0.40 [[ 8.34282314e-01 -5.51321600e-01 -4.18493534e-03 1.16772298e+02] [ 5.51315517e-01 8.34292798e-01 -2.59377960e-03 2.98717662e+01] [ 4.92146813e-03 -1.43275345e-04 9.99987879e-01 4.02085853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.500281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.80, Y:29.88, Z:0.41 [[ 8.34160836e-01 -5.51505384e-01 -4.18473263e-03 1.16797214e+02] [ 5.51499302e-01 8.34171320e-01 -2.59410660e-03 2.98849440e+01] [ 4.92144770e-03 -1.43975000e-04 9.99987879e-01 4.05018565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.530281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:116.82, Y:29.90, Z:0.41 [[ 8.33889976e-01 -5.51914849e-01 -4.18424514e-03 1.16821171e+02] [ 5.51908768e-01 8.33900461e-01 -2.59489268e-03 2.98969999e+01] [ 4.92140375e-03 -1.45466580e-04 9.99987879e-01 4.07266259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.560281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.85, Y:29.91, Z:0.41 [[ 8.33347486e-01 -5.52733626e-01 -4.18404171e-03 1.16846055e+02] [ 5.52727554e-01 8.33357976e-01 -2.59522064e-03 2.99090713e+01] [ 4.92127025e-03 -1.49914544e-04 9.99987879e-01 4.10462415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.590281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.87, Y:29.92, Z:0.41 [[ 8.32130070e-01 -5.54564734e-01 -4.18357749e-03 1.16873470e+02] [ 5.54558681e-01 8.32140571e-01 -2.59596878e-03 2.99171495e+01] [ 4.92095729e-03 -1.59855536e-04 9.99987879e-01 4.10566283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.620281693 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:116.90, Y:29.93, Z:0.41 [[ 8.31497097e-01 -5.55513347e-01 -4.18310847e-03 1.16899283e+02] [ 5.55507302e-01 8.31507603e-01 -2.59672433e-03 2.99288326e+01] [ 4.92080152e-03 -1.64578555e-04 9.99987879e-01 4.08940209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.650281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.93, Y:29.94, Z:0.41 [[ 8.31008610e-01 -5.56243827e-01 -4.18262847e-03 1.16925689e+02] [ 5.56237788e-01 8.31019119e-01 -2.59749725e-03 2.99370975e+01] [ 4.92068604e-03 -1.67993424e-04 9.99987879e-01 4.07281474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.680281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:116.95, Y:29.95, Z:0.41 [[ 8.31098042e-01 -5.56110199e-01 -4.18214986e-03 1.16951589e+02] [ 5.56104154e-01 8.31108548e-01 -2.59826761e-03 2.99484444e+01] [ 4.92074362e-03 -1.66295783e-04 9.99987879e-01 4.09589449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.710281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:116.98, Y:29.96, Z:0.41 [[ 8.31255821e-01 -5.55874333e-01 -4.18168093e-03 1.16978340e+02] [ 5.55868281e-01 8.31266323e-01 -2.59902209e-03 2.99600807e+01] [ 4.92082020e-03 -1.64011553e-04 9.99987879e-01 4.13445095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74028169300001 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:117.01, Y:29.97, Z:0.42 [[ 8.32623264e-01 -5.53823950e-01 -4.18717489e-03 1.17006187e+02] [ 5.53817917e-01 8.32633776e-01 -2.59018314e-03 2.99667324e+01] [ 4.92088871e-03 -1.62285735e-04 9.99987879e-01 4.16394438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.770281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:117.03, Y:29.98, Z:0.41 [[ 8.33132468e-01 -5.53057692e-01 -4.18096890e-03 1.17031537e+02] [ 5.53051599e-01 8.33142946e-01 -2.60016217e-03 2.99776326e+01] [ 4.92138443e-03 -1.46012005e-04 9.99987879e-01 4.14559462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.800281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:117.06, Y:29.99, Z:0.41 [[ 8.33691745e-01 -5.52214266e-01 -4.18064890e-03 1.17057715e+02] [ 5.52208160e-01 8.33702216e-01 -2.60067658e-03 2.99887840e+01] [ 4.92154696e-03 -1.40425840e-04 9.99987879e-01 4.12678499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.830281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:117.08, Y:30.00, Z:0.41 [[ 8.34561861e-01 -5.50898382e-01 -4.18018337e-03 1.17083962e+02] [ 5.50892255e-01 8.34572319e-01 -2.60142463e-03 3.00000915e+01] [ 4.92178594e-03 -1.31780868e-04 9.99987879e-01 4.12079900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.860281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:117.11, Y:30.01, Z:0.42 [[ 8.37375768e-01 -5.46611702e-01 -4.17971922e-03 1.17111456e+02] [ 5.46605518e-01 8.37386193e-01 -2.60217016e-03 3.00088822e+01] [ 4.92241583e-03 -1.05663357e-04 9.99987879e-01 4.15230976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.890281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:117.14, Y:30.02, Z:0.42 [[ 8.39052214e-01 -5.44034848e-01 -4.17928546e-03 1.17136375e+02] [ 5.44028628e-01 8.39062618e-01 -2.60286662e-03 3.00221198e+01] [ 4.92273235e-03 -8.97099353e-05 9.99987879e-01 4.15273067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.920281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:117.16, Y:30.03, Z:0.41 [[ 8.43319142e-01 -5.37396838e-01 -4.17882239e-03 1.17162062e+02] [ 5.37390534e-01 8.43329494e-01 -2.60360986e-03 3.00345498e+01] [ 4.92329588e-03 -4.99855556e-05 9.99987879e-01 4.12685884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.950281693 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:117.19, Y:30.05, Z:0.41 [[ 8.45488145e-01 -5.33977845e-01 -4.17835331e-03 1.17186062e+02] [ 5.33971494e-01 8.45498469e-01 -2.60436244e-03 3.00480482e+01] [ 4.92346317e-03 -2.91639924e-05 9.99987879e-01 4.11241708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.980281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:117.21, Y:30.06, Z:0.41 [[ 8.49765359e-01 -5.27144553e-01 -4.17785182e-03 1.17209787e+02] [ 5.27138116e-01 8.49775629e-01 -2.60516667e-03 3.00613173e+01] [ 4.92353608e-03 1.14754597e-05 9.99987879e-01 4.10816112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.010281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:117.23, Y:30.08, Z:0.41 [[ 8.51600115e-01 -5.24175345e-01 -4.17763321e-03 1.17233612e+02] [ 5.24168870e-01 8.51610361e-01 -2.60551718e-03 3.00763285e+01] [ 4.92346359e-03 2.90734549e-05 9.99987879e-01 4.11419798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.040281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:117.26, Y:30.09, Z:0.41 [[ 8.53186829e-01 -5.21588713e-01 -4.17717841e-03 1.17258071e+02] [ 5.21582204e-01 8.53197054e-01 -2.60624612e-03 3.00908840e+01] [ 4.92334487e-03 4.48729467e-05 9.99987879e-01 4.11207657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.070281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:117.28, Y:30.11, Z:0.41 [[ 8.54338965e-01 -5.19699420e-01 -4.17672348e-03 1.17281817e+02] [ 5.19692885e-01 8.54349173e-01 -2.60697498e-03 3.01051339e+01] [ 4.92322363e-03 5.66268368e-05 9.99987879e-01 4.10595229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.100281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.31, Y:30.12, Z:0.41 [[ 8.55623663e-01 -5.17581594e-01 -4.17626759e-03 1.17305519e+02] [ 5.17575030e-01 8.55633852e-01 -2.60770509e-03 3.01196963e+01] [ 4.92305608e-03 6.96823582e-05 9.99987879e-01 4.08379962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.130281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:117.33, Y:30.14, Z:0.41 [[ 8.55752219e-01 -5.17369020e-01 -4.17580973e-03 1.17328783e+02] [ 5.17362449e-01 8.55762404e-01 -2.60843806e-03 3.01350339e+01] [ 4.92302602e-03 7.17695103e-05 9.99987879e-01 4.07144366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.160281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:117.35, Y:30.15, Z:0.41 [[ 8.55153067e-01 -5.18358755e-01 -4.17533675e-03 1.17352164e+02] [ 5.18352193e-01 8.55163257e-01 -2.60919494e-03 3.01494825e+01] [ 4.92309362e-03 6.69660989e-05 9.99987879e-01 4.07330870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.190281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:117.38, Y:30.16, Z:0.41 [[ 8.54924697e-01 -5.18735318e-01 -4.17513170e-03 1.17376070e+02] [ 5.18728758e-01 8.54934890e-01 -2.60952301e-03 3.01633813e+01] [ 4.92311751e-03 6.51847879e-05 9.99987879e-01 4.08587469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.220281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.40, Y:30.18, Z:0.41 [[ 8.54774549e-01 -5.18982700e-01 -4.17466572e-03 1.17400037e+02] [ 5.18976140e-01 8.54784740e-01 -2.61026828e-03 3.01780043e+01] [ 4.92312463e-03 6.46389922e-05 9.99987879e-01 4.09783973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.250281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:117.42, Y:30.19, Z:0.41 [[ 8.54863857e-01 -5.18835583e-01 -4.17417840e-03 1.17422411e+02] [ 5.18829017e-01 8.54874046e-01 -2.61104733e-03 3.01922290e+01] [ 4.92310104e-03 6.64051140e-05 9.99987879e-01 4.10807120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.280281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:117.45, Y:30.21, Z:0.41 [[ 8.55071277e-01 -5.18493674e-01 -4.17396617e-03 1.17445766e+02] [ 5.18487102e-01 8.55081461e-01 -2.61138656e-03 3.02073883e+01] [ 4.92306850e-03 6.87740194e-05 9.99987879e-01 4.11868298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.310281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:117.47, Y:30.22, Z:0.41 [[ 8.55478667e-01 -5.17821235e-01 -4.17348217e-03 1.17469565e+02] [ 5.17814652e-01 8.55488844e-01 -2.61215984e-03 3.02228875e+01] [ 4.92299928e-03 7.35568004e-05 9.99987879e-01 4.13482917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.340281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:117.49, Y:30.24, Z:0.42 [[ 8.56788328e-01 -5.15651381e-01 -4.17299494e-03 1.17492313e+02] [ 5.15644769e-01 8.56798486e-01 -2.61293797e-03 3.02396813e+01] [ 4.92278082e-03 8.69517472e-05 9.99987879e-01 4.16311031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.370281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:117.52, Y:30.26, Z:0.42 [[ 8.57062527e-01 -5.15195512e-01 -4.17250843e-03 1.17515117e+02] [ 5.15188890e-01 8.57072678e-01 -2.61371463e-03 3.02561605e+01] [ 4.92271703e-03 9.04868809e-05 9.99987879e-01 4.16956683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.400281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:117.54, Y:30.27, Z:0.42 [[ 8.57620146e-01 -5.14266699e-01 -4.17691128e-03 1.17536248e+02] [ 5.14260100e-01 8.57630313e-01 -2.60668727e-03 3.02715781e+01] [ 4.92277819e-03 8.75287041e-05 9.99987879e-01 4.16881859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.430281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:117.56, Y:30.29, Z:0.41 [[ 8.57179124e-01 -5.15001500e-01 -4.17183950e-03 1.17557839e+02] [ 5.14994871e-01 8.57189271e-01 -2.61477922e-03 3.02896158e+01] [ 4.92267128e-03 9.28582105e-05 9.99987879e-01 4.14343029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.460281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:117.58, Y:30.31, Z:0.41 [[ 8.56548608e-01 -5.16049495e-01 -4.17135829e-03 1.17580099e+02] [ 5.16042874e-01 8.56558761e-01 -2.61554667e-03 3.03055633e+01] [ 4.92276503e-03 8.77431356e-05 9.99987879e-01 4.13088214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49028169300001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:117.60, Y:30.32, Z:0.41 [[ 8.55147269e-01 -5.18368353e-01 -4.17114878e-03 1.17602367e+02] [ 5.18361758e-01 8.55157439e-01 -2.61588075e-03 3.03234308e+01] [ 4.92297870e-03 7.47992687e-05 9.99987879e-01 4.12029733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.520281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:117.62, Y:30.34, Z:0.41 [[ 8.54882452e-01 -5.18804971e-01 -4.17068060e-03 1.17624261e+02] [ 5.18798378e-01 8.54892623e-01 -2.61662698e-03 3.03403762e+01] [ 4.92300316e-03 7.31661597e-05 9.99987879e-01 4.12670773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.550281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:117.65, Y:30.36, Z:0.41 [[ 8.55192140e-01 -5.18294331e-01 -4.17020803e-03 1.17646128e+02] [ 5.18287728e-01 8.55202304e-01 -2.61737991e-03 3.03582107e+01] [ 4.92294469e-03 7.69950792e-05 9.99987879e-01 4.12729549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.580281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:117.67, Y:30.38, Z:0.41 [[ 8.55980209e-01 -5.16991775e-01 -4.16971605e-03 1.17667593e+02] [ 5.16985152e-01 8.55990361e-01 -2.61816346e-03 3.03767167e+01] [ 4.92280572e-03 8.54148171e-05 9.99987879e-01 4.12575387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.610281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:117.69, Y:30.40, Z:0.41 [[ 8.57995655e-01 -5.13640023e-01 -4.16922427e-03 1.17685773e+02] [ 5.13633357e-01 8.58005778e-01 -2.61894634e-03 3.03994283e+01] [ 4.92241417e-03 1.05591916e-04 9.99987879e-01 4.11988891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.640281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:117.71, Y:30.42, Z:0.41 [[ 8.58565399e-01 -5.12687112e-01 -4.16901006e-03 1.17706476e+02] [ 5.12680434e-01 8.58575514e-01 -2.61928728e-03 3.04187701e+01] [ 4.92228479e-03 1.11459546e-04 9.99987879e-01 4.12451173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.670281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:117.73, Y:30.44, Z:0.41 [[ 8.58840885e-01 -5.12225495e-01 -4.16853879e-03 1.17726466e+02] [ 5.12218808e-01 8.58850993e-01 -2.62003709e-03 3.04378129e+01] [ 4.92220348e-03 1.14991007e-04 9.99987879e-01 4.12223380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.700281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:117.74, Y:30.46, Z:0.41 [[ 8.58596626e-01 -5.12634821e-01 -4.16833394e-03 1.17744930e+02] [ 5.12628136e-01 8.58606736e-01 -2.62036295e-03 3.04619657e+01] [ 4.92224889e-03 1.13029528e-04 9.99987879e-01 4.10621007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.730281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:117.76, Y:30.48, Z:0.41 [[ 8.58195983e-01 -5.13305254e-01 -4.16788180e-03 1.17764490e+02] [ 5.13298573e-01 8.58206097e-01 -2.62108192e-03 3.04809529e+01] [ 4.92231669e-03 1.10034199e-04 9.99987879e-01 4.09293720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.760281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:117.78, Y:30.51, Z:0.41 [[ 8.56931536e-01 -5.15413400e-01 -4.16767191e-03 1.17781681e+02] [ 5.15406743e-01 8.56941665e-01 -2.62141562e-03 3.05054737e+01] [ 4.92256444e-03 9.83275055e-05 9.99987879e-01 4.11738391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.790281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:117.80, Y:30.52, Z:0.41 [[ 8.56003575e-01 -5.16953106e-01 -4.16719511e-03 1.17801598e+02] [ 5.16946464e-01 8.56013714e-01 -2.62217335e-03 3.05245269e+01] [ 4.92271682e-03 9.03729843e-05 9.99987879e-01 4.13972902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.820281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:117.82, Y:30.54, Z:0.42 [[ 8.54877682e-01 -5.18812861e-01 -4.16698743e-03 1.17822202e+02] [ 5.18806239e-01 8.54887834e-01 -2.62250335e-03 3.05434099e+01] [ 4.92289532e-03 8.00605096e-05 9.99987879e-01 4.15918715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.850281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:117.85, Y:30.56, Z:0.42 [[ 8.54783674e-01 -5.18967737e-01 -4.16651141e-03 1.17846182e+02] [ 5.18961113e-01 8.54793824e-01 -2.62325940e-03 3.05587520e+01] [ 4.92289522e-03 8.00619121e-05 9.99987879e-01 4.16058954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.880281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:117.86, Y:30.58, Z:0.42 [[ 8.52577917e-01 -5.22583524e-01 -4.16603600e-03 1.17864381e+02] [ 5.22576939e-01 8.52588093e-01 -2.62401419e-03 3.05800392e+01] [ 4.92317927e-03 6.01022047e-05 9.99987879e-01 4.17450763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.910281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:117.89, Y:30.60, Z:0.42 [[ 8.51440950e-01 -5.24433938e-01 -4.16582931e-03 1.17885706e+02] [ 5.24427374e-01 8.51451139e-01 -2.62434228e-03 3.05980144e+01] [ 4.92329427e-03 4.97975589e-05 9.99987879e-01 4.18065446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.940281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:117.91, Y:30.62, Z:0.42 [[ 8.50169142e-01 -5.26493191e-01 -4.16533929e-03 1.17906373e+02] [ 5.26486648e-01 8.50179345e-01 -2.62511981e-03 3.06150041e+01] [ 4.92339314e-03 3.88003295e-05 9.99987879e-01 4.18449660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.970281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:117.93, Y:30.63, Z:0.42 [[ 8.48722376e-01 -5.28822259e-01 -4.16500479e-03 1.17928260e+02] [ 5.28815742e-01 8.48732595e-01 -2.62565043e-03 3.06320418e+01] [ 4.92347771e-03 2.59281730e-05 9.99987879e-01 4.17789067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.000281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:117.95, Y:30.65, Z:0.42 [[ 8.45684071e-01 -5.33667602e-01 -4.16451444e-03 1.17949235e+02] [ 5.33661139e-01 8.45694324e-01 -2.62642793e-03 3.06488906e+01] [ 4.92354572e-03 -1.31126167e-06 9.99987879e-01 4.15332468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.030281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:117.97, Y:30.66, Z:0.42 [[ 8.44130191e-01 -5.36122075e-01 -4.16430090e-03 1.17971562e+02] [ 5.36115641e-01 8.44140462e-01 -2.62676647e-03 3.06644542e+01] [ 4.92352237e-03 -1.52139640e-05 9.99987879e-01 4.15589818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.060281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:117.99, Y:30.68, Z:0.42 [[ 8.40937878e-01 -5.41115650e-01 -4.16408987e-03 1.17994190e+02] [ 5.41109274e-01 8.40948186e-01 -2.62710095e-03 3.06814745e+01] [ 4.92334926e-03 -4.39989524e-05 9.99987879e-01 4.17687447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.090281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:118.02, Y:30.70, Z:0.42 [[ 8.39575467e-01 -5.43227117e-01 -4.16361631e-03 1.18017704e+02] [ 5.43220763e-01 8.39585789e-01 -2.62785128e-03 3.06969169e+01] [ 4.92323315e-03 -5.54833622e-05 9.99987879e-01 4.18899249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.120281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:118.04, Y:30.71, Z:0.42 [[ 8.37592000e-01 -5.46280432e-01 -4.16313724e-03 1.18041312e+02] [ 5.46274112e-01 8.37602343e-01 -2.62861001e-03 3.07099527e+01] [ 4.92301172e-03 -7.25113846e-05 9.99987879e-01 4.18564538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.150281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:118.06, Y:30.72, Z:0.42 [[ 8.36905102e-01 -5.47332184e-01 -4.16292976e-03 1.18064151e+02] [ 5.47325876e-01 8.36915452e-01 -2.62893855e-03 3.07238057e+01] [ 4.92292293e-03 -7.83070917e-05 9.99987879e-01 4.17755805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.180281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:118.09, Y:30.74, Z:0.42 [[ 8.36398304e-01 -5.48106330e-01 -4.16272468e-03 1.18088059e+02] [ 5.48100030e-01 8.36408659e-01 -2.62926325e-03 3.07386427e+01] [ 4.92285480e-03 -8.24782015e-05 9.99987879e-01 4.15718965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.210281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:118.11, Y:30.75, Z:0.41 [[ 8.36092622e-01 -5.48572514e-01 -4.16224729e-03 1.18110802e+02] [ 5.48566216e-01 8.36102978e-01 -2.63001877e-03 3.07526526e+01] [ 4.92282336e-03 -8.43289541e-05 9.99987879e-01 4.14264377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24028169300001 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:118.14, Y:30.77, Z:0.41 [[ 8.35591136e-01 -5.49336082e-01 -4.16203977e-03 1.18135188e+02] [ 5.49329792e-01 8.35601497e-01 -2.63034713e-03 3.07657621e+01] [ 4.92275124e-03 -8.84376902e-05 9.99987879e-01 4.11616072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.270281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:118.16, Y:30.78, Z:0.41 [[ 8.35590644e-01 -5.49336834e-01 -4.16156266e-03 1.18158866e+02] [ 5.49330540e-01 8.35601002e-01 -2.63110176e-03 3.07792457e+01] [ 4.92276704e-03 -8.75494569e-05 9.99987879e-01 4.11390525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.300281693 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:118.18, Y:30.79, Z:0.42 [[ 8.36007157e-01 -5.48702757e-01 -4.16135506e-03 1.18183278e+02] [ 5.48696454e-01 8.36017510e-01 -2.63143006e-03 3.07923125e+01] [ 4.92283862e-03 -8.34263954e-05 9.99987879e-01 4.15254649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.330281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:118.21, Y:30.81, Z:0.42 [[ 8.36407099e-01 -5.48092922e-01 -4.16086849e-03 1.18206670e+02] [ 5.48086607e-01 8.36417445e-01 -2.63219921e-03 3.08054597e+01] [ 4.92291275e-03 -7.89261843e-05 9.99987879e-01 4.17779875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.360281693 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:118.23, Y:30.82, Z:0.42 [[ 8.36783913e-01 -5.47517462e-01 -4.16065654e-03 1.18230813e+02] [ 5.47511138e-01 8.36794254e-01 -2.63253419e-03 3.08189294e+01] [ 4.92297192e-03 -7.51435390e-05 9.99987879e-01 4.19980792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.390281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:118.26, Y:30.83, Z:0.42 [[ 8.38126942e-01 -5.45459368e-01 -4.16016674e-03 1.18256120e+02] [ 5.45453015e-01 8.38137265e-01 -2.63330799e-03 3.08318342e+01] [ 4.92315328e-03 -6.21291174e-05 9.99987879e-01 4.19802408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.420281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:118.28, Y:30.85, Z:0.42 [[ 8.39040104e-01 -5.44053674e-01 -4.15967782e-03 1.18280259e+02] [ 5.44047300e-01 8.39050414e-01 -2.63408008e-03 3.08457957e+01] [ 4.92326034e-03 -5.29626660e-05 9.99987879e-01 4.18154412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.450281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:118.30, Y:30.86, Z:0.42 [[ 8.40233098e-01 -5.42209408e-01 -4.15918730e-03 1.18304255e+02] [ 5.42203007e-01 8.40243391e-01 -2.63485438e-03 3.08593527e+01] [ 4.92337247e-03 -4.12319995e-05 9.99987879e-01 4.16372572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.480281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:118.33, Y:30.87, Z:0.42 [[ 8.41769368e-01 -5.39821301e-01 -4.15869687e-03 1.18327271e+02] [ 5.39814867e-01 8.41779640e-01 -2.63562822e-03 3.08726070e+01] [ 4.92347461e-03 -2.63352992e-05 9.99987879e-01 4.15381774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.510281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:118.35, Y:30.89, Z:0.42 [[ 8.45328077e-01 -5.34231365e-01 -4.15820890e-03 1.18350441e+02] [ 5.34224860e-01 8.45338304e-01 -2.63639786e-03 3.08865056e+01] [ 4.92353969e-03 7.20256971e-06 9.99987879e-01 4.16429588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.540281693 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:118.37, Y:30.90, Z:0.42 [[ 8.47100617e-01 -5.31416273e-01 -4.15799611e-03 1.18374256e+02] [ 5.31409732e-01 8.47110822e-01 -2.63673342e-03 3.09017930e+01] [ 4.92348655e-03 2.39789054e-05 9.99987879e-01 4.16386275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.570281693 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:118.40, Y:30.92, Z:0.41 [[ 8.50166033e-01 -5.26498273e-01 -4.15750378e-03 1.18397995e+02] [ 5.26491670e-01 8.50176197e-01 -2.63750948e-03 3.09163718e+01] [ 4.92325494e-03 5.34298652e-05 9.99987879e-01 4.14239779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.600281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:118.42, Y:30.93, Z:0.41 [[ 8.51288561e-01 -5.24681337e-01 -4.15703943e-03 1.18420465e+02] [ 5.24674708e-01 8.51298708e-01 -2.63824114e-03 3.09306400e+01] [ 4.92311819e-03 6.48110564e-05 9.99987879e-01 4.13644358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.630281693 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:118.44, Y:30.95, Z:0.41 [[ 8.52129315e-01 -5.23314773e-01 -4.15682299e-03 1.18443237e+02] [ 5.23308126e-01 8.52139451e-01 -2.63858212e-03 3.09463701e+01] [ 4.92300186e-03 7.31139292e-05 9.99987879e-01 4.14557318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.660281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:118.47, Y:30.96, Z:0.42 [[ 8.53375555e-01 -5.21280047e-01 -4.15633179e-03 1.18465117e+02] [ 5.21273372e-01 8.53385672e-01 -2.63935565e-03 3.09623971e+01] [ 4.92279743e-03 8.57765017e-05 9.99987879e-01 4.15591041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.690281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:118.49, Y:30.98, Z:0.42 [[ 8.53499371e-01 -5.21077299e-01 -4.15611839e-03 1.18487518e+02] [ 5.21070620e-01 8.53509485e-01 -2.63969164e-03 3.09773972e+01] [ 4.92276985e-03 8.73439718e-05 9.99987879e-01 4.15765661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.720281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:118.51, Y:30.99, Z:0.41 [[ 8.52917370e-01 -5.22029394e-01 -4.15590956e-03 1.18510331e+02] [ 5.22022725e-01 8.52927491e-01 -2.64002037e-03 3.09945108e+01] [ 4.92285775e-03 8.22399960e-05 9.99987879e-01 4.14305206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.750281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:118.53, Y:31.01, Z:0.41 [[ 8.52731576e-01 -5.22332837e-01 -4.15540940e-03 1.18532426e+02] [ 5.22326167e-01 8.52741697e-01 -2.64080739e-03 3.10103156e+01] [ 4.92287128e-03 8.14207836e-05 9.99987879e-01 4.12940536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.780281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:118.56, Y:31.03, Z:0.41 [[ 8.52588425e-01 -5.22566467e-01 -4.15519269e-03 1.18555211e+02] [ 5.22559799e-01 8.52598546e-01 -2.64114834e-03 3.10265563e+01] [ 4.92288680e-03 8.04758438e-05 9.99987879e-01 4.12852174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.810281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:118.58, Y:31.04, Z:0.41 [[ 8.52676115e-01 -5.22423374e-01 -4.15469680e-03 1.18577673e+02] [ 5.22416700e-01 8.52686233e-01 -2.64192817e-03 3.10423867e+01] [ 4.92285779e-03 8.22260556e-05 9.99987879e-01 4.14120571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.840281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:118.60, Y:31.06, Z:0.42 [[ 8.53126622e-01 -5.21687365e-01 -4.15448161e-03 1.18599318e+02] [ 5.21680681e-01 8.53136733e-01 -2.64226652e-03 3.10584365e+01] [ 4.92277793e-03 8.68751087e-05 9.99987879e-01 4.19446102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.870281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:118.62, Y:31.07, Z:0.42 [[ 8.53351301e-01 -5.21319768e-01 -4.15414654e-03 1.18621613e+02] [ 5.21313077e-01 8.53361407e-01 -2.64279321e-03 3.10731797e+01] [ 4.92272868e-03 8.96201129e-05 9.99987879e-01 4.20296578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.900281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:118.64, Y:31.09, Z:0.42 [[ 8.53797444e-01 -5.20588771e-01 -4.15394067e-03 1.18644425e+02] [ 5.20582070e-01 8.53807544e-01 -2.64311676e-03 3.10897563e+01] [ 4.92264279e-03 9.42192991e-05 9.99987879e-01 4.17164138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.930281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:118.67, Y:31.11, Z:0.42 [[ 8.54224966e-01 -5.19886966e-01 -4.15345366e-03 1.18666670e+02] [ 5.19880252e-01 8.54235057e-01 -2.64388183e-03 3.11059172e+01] [ 4.92254543e-03 9.91713333e-05 9.99987879e-01 4.15411701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.960281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:118.69, Y:31.12, Z:0.41 [[ 8.54822411e-01 -5.18904034e-01 -4.15324213e-03 1.18689548e+02] [ 5.18897308e-01 8.54832494e-01 -2.64421408e-03 3.11227752e+01] [ 4.92241968e-03 1.05227295e-04 9.99987879e-01 4.13795757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.990281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:118.71, Y:31.14, Z:0.41 [[ 8.56151924e-01 -5.16707497e-01 -4.15276522e-03 1.18710653e+02] [ 5.16700741e-01 8.56161987e-01 -2.64496286e-03 3.11409281e+01] [ 4.92211186e-03 1.18753175e-04 9.99987879e-01 4.13340903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.020281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:118.73, Y:31.16, Z:0.41 [[ 8.56668917e-01 -5.15849906e-01 -4.15228966e-03 1.18732903e+02] [ 5.15843136e-01 8.56678971e-01 -2.64570922e-03 3.11575440e+01] [ 4.92196809e-03 1.24566734e-04 9.99987879e-01 4.14996529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.050281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:118.75, Y:31.17, Z:0.42 [[ 8.56843230e-01 -5.15560318e-01 -4.15181519e-03 1.18754185e+02] [ 5.15553541e-01 8.56853280e-01 -2.64645358e-03 3.11737470e+01] [ 4.92190291e-03 1.27112816e-04 9.99987879e-01 4.17688713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.080281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:118.78, Y:31.19, Z:0.42 [[ 8.56637310e-01 -5.15902398e-01 -4.15149075e-03 1.18776505e+02] [ 5.15895623e-01 8.56647360e-01 -2.64696243e-03 3.11909153e+01] [ 4.92193786e-03 1.25750864e-04 9.99987879e-01 4.19561099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.110281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:118.80, Y:31.21, Z:0.42 [[ 8.55344018e-01 -5.18043801e-01 -4.15101252e-03 1.18796757e+02] [ 5.18037047e-01 8.55354083e-01 -2.64771218e-03 3.12095985e+01] [ 4.92221639e-03 1.14326507e-04 9.99987879e-01 4.19813932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.140281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:118.82, Y:31.23, Z:0.42 [[ 8.54366433e-01 -5.19654471e-01 -4.15080539e-03 1.18819703e+02] [ 5.19647735e-01 8.54376509e-01 -2.64803686e-03 3.12261359e+01] [ 4.92241482e-03 1.05437192e-04 9.99987879e-01 4.20239970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.170281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:118.84, Y:31.24, Z:0.42 [[ 8.53179808e-01 -5.21600412e-01 -4.15034169e-03 1.18841797e+02] [ 5.21593695e-01 8.53189898e-01 -2.64876343e-03 3.12441787e+01] [ 4.92262570e-03 9.50794148e-05 9.99987879e-01 4.23489977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.200281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:118.86, Y:31.26, Z:0.42 [[ 8.52910659e-01 -5.22040407e-01 -4.14987382e-03 1.18863794e+02] [ 5.22033692e-01 8.52920749e-01 -2.64949627e-03 3.12615023e+01] [ 4.92265759e-03 9.34096551e-05 9.99987879e-01 4.24697002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.230281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:118.88, Y:31.28, Z:0.42 [[ 8.52871178e-01 -5.22104910e-01 -4.14940791e-03 1.18883955e+02] [ 5.22098192e-01 8.52881266e-01 -2.65022572e-03 3.12814478e+01] [ 4.92264814e-03 9.39027591e-05 9.99987879e-01 4.23701062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.260281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:118.91, Y:31.30, Z:0.42 [[ 8.52680363e-01 -5.22416486e-01 -4.14893330e-03 1.18906564e+02] [ 5.22409768e-01 8.52690452e-01 -2.65096852e-03 3.12986461e+01] [ 4.92266547e-03 9.29855199e-05 9.99987879e-01 4.21542186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.290281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:118.93, Y:31.32, Z:0.42 [[ 8.52316073e-01 -5.23010614e-01 -4.14845204e-03 1.18929690e+02] [ 5.23003899e-01 8.52326164e-01 -2.65172142e-03 3.13151656e+01] [ 4.92271266e-03 9.04481938e-05 9.99987879e-01 4.19173393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.320281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:118.95, Y:31.33, Z:0.42 [[ 8.51587607e-01 -5.24195900e-01 -4.14796144e-03 1.18952169e+02] [ 5.24189196e-01 8.51597705e-01 -2.65248861e-03 3.13309510e+01] [ 4.92281810e-03 8.45098549e-05 9.99987879e-01 4.16235444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.350281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:118.98, Y:31.35, Z:0.41 [[ 8.49199346e-01 -5.28056121e-01 -4.14774774e-03 1.18975493e+02] [ 5.28049461e-01 8.49209473e-01 -2.65282275e-03 3.13464642e+01] [ 4.92314596e-03 6.25593893e-05 9.99987879e-01 4.11451465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.380281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:119.00, Y:31.36, Z:0.41 [[ 8.47802161e-01 -5.30296422e-01 -4.14726201e-03 1.18998226e+02] [ 5.30289786e-01 8.47812303e-01 -2.65358189e-03 3.13605092e+01] [ 4.92328474e-03 5.04617828e-05 9.99987879e-01 4.10683596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.410281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:119.02, Y:31.38, Z:0.41 [[ 8.46110565e-01 -5.32991288e-01 -4.14705112e-03 1.19021687e+02] [ 5.32984682e-01 8.46120727e-01 -2.65391143e-03 3.13755812e+01] [ 4.92341758e-03 3.51877762e-05 9.99987879e-01 4.12959761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.440281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:119.04, Y:31.39, Z:0.42 [[ 8.43373535e-01 -5.37311722e-01 -4.14659056e-03 1.19044482e+02] [ 5.37305165e-01 8.43383728e-01 -2.65463083e-03 3.13895068e+01] [ 4.92353127e-03 1.08608652e-05 9.99987879e-01 4.19840749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.470281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:119.07, Y:31.40, Z:0.42 [[ 8.42723994e-01 -5.38329897e-01 -4.14627725e-03 1.19068684e+02] [ 5.38323349e-01 8.42734194e-01 -2.65512011e-03 3.14044277e+01] [ 4.92354015e-03 5.49556683e-06 9.99987879e-01 4.21503613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.500281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:119.09, Y:31.42, Z:0.42 [[ 8.42592358e-01 -5.38535914e-01 -4.14582540e-03 1.19093174e+02] [ 5.38529365e-01 8.42602557e-01 -2.65582546e-03 3.14175931e+01] [ 4.92354047e-03 5.12951844e-06 9.99987879e-01 4.22039086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.530281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:119.12, Y:31.43, Z:0.42 [[ 8.42681464e-01 -5.38396477e-01 -4.14537356e-03 1.19117531e+02] [ 5.38389923e-01 8.42691660e-01 -2.65653053e-03 3.14315045e+01] [ 4.92353840e-03 6.78168634e-06 9.99987879e-01 4.21022976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.560281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:119.14, Y:31.44, Z:0.42 [[ 8.42905548e-01 -5.38045590e-01 -4.14490635e-03 1.19142149e+02] [ 5.38039028e-01 8.42915739e-01 -2.65725930e-03 3.14449393e+01] [ 4.92353345e-03 9.69722453e-06 9.99987879e-01 4.19915599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.590281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:119.17, Y:31.46, Z:0.42 [[ 8.43229650e-01 -5.37537515e-01 -4.14443848e-03 1.19167429e+02] [ 5.37530944e-01 8.43239835e-01 -2.65798883e-03 3.14557545e+01] [ 4.92352433e-03 1.35310645e-05 9.99987879e-01 4.19733942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.620281693 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:119.19, Y:31.47, Z:0.42 [[ 8.42990306e-01 -5.37912790e-01 -4.14423533e-03 1.19191464e+02] [ 5.37906221e-01 8.43000493e-01 -2.65830553e-03 3.14698894e+01] [ 4.92352897e-03 1.17158242e-05 9.99987879e-01 4.20943647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.650281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:119.22, Y:31.48, Z:0.42 [[ 8.42675327e-01 -5.38406094e-01 -4.14377216e-03 1.19215588e+02] [ 5.38399528e-01 8.42685515e-01 -2.65902732e-03 3.14834281e+01] [ 4.92353329e-03 9.69174295e-06 9.99987879e-01 4.21408566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.680281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:119.24, Y:31.49, Z:0.42 [[ 8.41438930e-01 -5.40336340e-01 -4.14330778e-03 1.19242913e+02] [ 5.40329794e-01 8.41449131e-01 -2.65975073e-03 3.14933450e+01] [ 4.92354270e-03 -7.34827342e-07 9.99987879e-01 4.18853936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.710281693 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:119.27, Y:31.50, Z:0.42 [[ 8.40799087e-01 -5.41331445e-01 -4.14280892e-03 1.19268195e+02] [ 5.41324907e-01 8.40809293e-01 -2.66052751e-03 3.15046830e+01] [ 4.92353944e-03 -5.63655083e-06 9.99987879e-01 4.17434265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.740281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:119.29, Y:31.51, Z:0.42 [[ 8.40419934e-01 -5.41919897e-01 -4.14247018e-03 1.19294681e+02] [ 5.41913364e-01 8.40430143e-01 -2.66105484e-03 3.15144063e+01] [ 4.92353537e-03 -8.45641512e-06 9.99987879e-01 4.18410077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.770281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:119.32, Y:31.53, Z:0.42 [[ 8.40319032e-01 -5.42076349e-01 -4.14197499e-03 1.19318524e+02] [ 5.42069813e-01 8.40329240e-01 -2.66182538e-03 3.15299526e+01] [ 4.92353528e-03 -8.45707979e-06 9.99987879e-01 4.18550315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.800281693 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:119.34, Y:31.54, Z:0.42 [[ 8.40800995e-01 -5.41328490e-01 -4.14147930e-03 1.19342862e+02] [ 5.41321942e-01 8.40811195e-01 -2.66259639e-03 3.15428767e+01] [ 4.92354145e-03 -3.15992197e-06 9.99987879e-01 4.20674975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.830281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:119.37, Y:31.56, Z:0.42 [[ 8.41590548e-01 -5.40100177e-01 -4.14098503e-03 1.19366594e+02] [ 5.40093610e-01 8.41600736e-01 -2.66336488e-03 3.15555589e+01] [ 4.92353989e-03 4.94315861e-06 9.99987879e-01 4.22448066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.860281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:119.39, Y:31.57, Z:0.42 [[ 8.42435497e-01 -5.38781298e-01 -4.14076961e-03 1.19391622e+02] [ 5.38774713e-01 8.42445674e-01 -2.66369975e-03 3.15689289e+01] [ 4.92352506e-03 1.30532651e-05 9.99987879e-01 4.22148103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.890281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:119.42, Y:31.58, Z:0.42 [[ 8.43944286e-01 -5.36414858e-01 -4.14031586e-03 1.19417442e+02] [ 5.36408241e-01 8.43954442e-01 -2.66440485e-03 3.15798260e+01] [ 4.92346431e-03 2.77096974e-05 9.99987879e-01 4.18017939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.920281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:119.44, Y:31.59, Z:0.42 [[ 8.44474296e-01 -5.35580083e-01 -4.13983591e-03 1.19442060e+02] [ 5.35573453e-01 8.44484442e-01 -2.66515037e-03 3.15936877e+01] [ 4.92342848e-03 3.34647653e-05 9.99987879e-01 4.16819213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.950281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:119.47, Y:31.61, Z:0.42 [[ 8.45688547e-01 -5.33660704e-01 -4.13933190e-03 1.19467371e+02] [ 5.33654047e-01 8.45698676e-01 -2.66593293e-03 3.16068594e+01] [ 4.92333116e-03 4.55777283e-05 9.99987879e-01 4.17880697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.980281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:119.49, Y:31.62, Z:0.42 [[ 8.46135340e-01 -5.32952020e-01 -4.13886002e-03 1.19490549e+02] [ 5.32945351e-01 8.46145461e-01 -2.66666533e-03 3.16209147e+01] [ 4.92328230e-03 5.05735743e-05 9.99987879e-01 4.19729984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.010281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:119.51, Y:31.63, Z:0.42 [[ 8.46426126e-01 -5.32490079e-01 -4.13864006e-03 1.19513522e+02] [ 5.32483403e-01 8.46436243e-01 -2.66700666e-03 3.16345385e+01] [ 4.92324953e-03 5.36669717e-05 9.99987879e-01 4.21491947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.040281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:119.54, Y:31.65, Z:0.42 [[ 8.46806128e-01 -5.31885566e-01 -4.13842785e-03 1.19536908e+02] [ 5.31878881e-01 8.46816238e-01 -2.66733590e-03 3.16493351e+01] [ 4.92320537e-03 5.75740115e-05 9.99987879e-01 4.22323732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.070281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:119.56, Y:31.66, Z:0.42 [[ 8.47080691e-01 -5.31448191e-01 -4.13792434e-03 1.19559047e+02] [ 5.31441497e-01 8.47090796e-01 -2.66811679e-03 3.16648439e+01] [ 4.92316347e-03 6.10455093e-05 9.99987879e-01 4.21741976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.100281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:119.58, Y:31.68, Z:0.42 [[ 8.47423131e-01 -5.30901984e-01 -4.13758020e-03 1.19582662e+02] [ 5.30895281e-01 8.47433230e-01 -2.66865036e-03 3.16806061e+01] [ 4.92311472e-03 6.48542405e-05 9.99987879e-01 4.20721145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.130281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:119.61, Y:31.70, Z:0.42 [[ 8.47491504e-01 -5.30792836e-01 -4.13708640e-03 1.19606187e+02] [ 5.30786128e-01 8.47501599e-01 -2.66941566e-03 3.16959497e+01] [ 4.92309405e-03 6.63990279e-05 9.99987879e-01 4.19571865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.160281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:119.63, Y:31.71, Z:0.42 [[ 8.47054327e-01 -5.31490222e-01 -4.13658857e-03 1.19628914e+02] [ 5.31483518e-01 8.47064425e-01 -2.67018688e-03 3.17116945e+01] [ 4.92313524e-03 6.32647083e-05 9.99987879e-01 4.21368275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.190281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:119.65, Y:31.73, Z:0.42 [[ 8.46690225e-01 -5.32070067e-01 -4.13607505e-03 1.19650818e+02] [ 5.32063366e-01 8.46700325e-01 -2.67098207e-03 3.17270452e+01] [ 4.92316570e-03 6.08403967e-05 9.99987879e-01 4.23222298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.220281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:119.67, Y:31.74, Z:0.42 [[ 8.46333669e-01 -5.32637040e-01 -4.13585282e-03 1.19673708e+02] [ 5.32630344e-01 8.46343772e-01 -2.67132615e-03 3.17435021e+01] [ 4.92320053e-03 5.79525475e-05 9.99987879e-01 4.24273100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.250281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:119.70, Y:31.76, Z:0.42 [[ 8.45904176e-01 -5.33318877e-01 -4.13535756e-03 1.19696644e+02] [ 5.33312186e-01 8.45914282e-01 -2.67209261e-03 3.17586657e+01] [ 4.92323545e-03 5.48977167e-05 9.99987879e-01 4.23238174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.280281693 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:119.72, Y:31.77, Z:0.42 [[ 8.45147229e-01 -5.34517597e-01 -4.13513946e-03 1.19718804e+02] [ 5.34510918e-01 8.45157344e-01 -2.67243009e-03 3.17747827e+01] [ 4.92330439e-03 4.83197016e-05 9.99987879e-01 4.22756845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.310281693 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:119.74, Y:31.79, Z:0.42 [[ 8.44642530e-01 -5.35314766e-01 -4.13492254e-03 1.19741353e+02] [ 5.35308095e-01 8.44652650e-01 -2.67276567e-03 3.17908180e+01] [ 4.92334421e-03 4.40740526e-05 9.99987879e-01 4.23210792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.340281693 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:119.76, Y:31.81, Z:0.42 [[ 8.44252012e-01 -5.35930450e-01 -4.13443942e-03 1.19764370e+02] [ 5.35923783e-01 8.44262134e-01 -2.67351279e-03 3.18061111e+01] [ 4.92336756e-03 4.13741353e-05 9.99987879e-01 4.24282494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.370281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:119.79, Y:31.82, Z:0.43 [[ 8.43813432e-01 -5.36620724e-01 -4.13395832e-03 1.19787295e+02] [ 5.36614062e-01 8.43823558e-01 -2.67425650e-03 3.18199098e+01] [ 4.92339288e-03 3.82333872e-05 9.99987879e-01 4.26214391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.400281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:119.81, Y:31.83, Z:0.43 [[ 8.43635718e-01 -5.36900072e-01 -4.13374922e-03 1.19809702e+02] [ 5.36893412e-01 8.43645845e-01 -2.67457967e-03 3.18345922e+01] [ 4.92340237e-03 3.69882195e-05 9.99987879e-01 4.27431802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.430281693 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:119.83, Y:31.85, Z:0.43 [[ 8.43352121e-01 -5.37345433e-01 -4.13354158e-03 1.19833177e+02] [ 5.37338777e-01 8.43362250e-01 -2.67490054e-03 3.18501737e+01] [ 4.92341852e-03 3.47708620e-05 9.99987879e-01 4.26813596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.460281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:119.86, Y:31.87, Z:0.42 [[ 8.42978723e-01 -5.37931028e-01 -4.13304662e-03 1.19856076e+02] [ 5.37924375e-01 8.42988854e-01 -2.67566509e-03 3.18650799e+01] [ 4.92343551e-03 3.22622231e-05 9.99987879e-01 4.23584548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.490281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:119.88, Y:31.88, Z:0.42 [[ 8.42837899e-01 -5.38151648e-01 -4.13277106e-03 1.19879807e+02] [ 5.38144995e-01 8.42848031e-01 -2.67609066e-03 3.18804911e+01] [ 4.92344054e-03 3.14805696e-05 9.99987879e-01 4.22437988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.520281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:119.90, Y:31.90, Z:0.42 [[ 8.42617079e-01 -5.38497337e-01 -4.13228975e-03 1.19902982e+02] [ 5.38490685e-01 8.42627211e-01 -2.67683366e-03 3.18955596e+01] [ 4.92344759e-03 3.03462189e-05 9.99987879e-01 4.21856335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.550281693 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:119.93, Y:31.91, Z:0.42 [[ 8.42057726e-01 -5.39371592e-01 -4.13180311e-03 1.19926865e+02] [ 5.39364946e-01 8.42067863e-01 -2.67758460e-03 3.19088859e+01] [ 4.92347168e-03 2.61310357e-05 9.99987879e-01 4.21710199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.580281693 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:119.95, Y:31.92, Z:0.42 [[ 8.41404367e-01 -5.40390249e-01 -4.13159135e-03 1.19950746e+02] [ 5.40383614e-01 8.41414510e-01 -2.67791131e-03 3.19225326e+01] [ 4.92349807e-03 2.05620101e-05 9.99987879e-01 4.21670363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.610281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:119.98, Y:31.94, Z:0.42 [[ 8.40529182e-01 -5.41750520e-01 -4.13138321e-03 1.19975137e+02] [ 5.41743900e-01 8.40539335e-01 -2.67823239e-03 3.19360528e+01] [ 4.92352388e-03 1.29808291e-05 9.99987879e-01 4.20468039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.640281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:120.00, Y:31.95, Z:0.42 [[ 8.38785059e-01 -5.44447023e-01 -4.13092097e-03 1.20000835e+02] [ 5.44440432e-01 8.38795231e-01 -2.67894516e-03 3.19485683e+01] [ 4.92354052e-03 -1.98122730e-06 9.99987879e-01 4.17745475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.670281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:120.03, Y:31.96, Z:0.42 [[ 8.38089983e-01 -5.45516379e-01 -4.13044776e-03 1.20025047e+02] [ 5.45509798e-01 8.38100161e-01 -2.67967456e-03 3.19624036e+01] [ 4.92353530e-03 -7.39131430e-06 9.99987879e-01 4.17991103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.700281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:120.05, Y:31.97, Z:0.42 [[ 8.37253834e-01 -5.46798830e-01 -4.12997702e-03 1.20050039e+02] [ 5.46792261e-01 8.37264020e-01 -2.68039988e-03 3.19739041e+01] [ 4.92352068e-03 -1.40644002e-05 9.99987879e-01 4.19903612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.730281693 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:120.08, Y:31.99, Z:0.42 [[ 8.36909094e-01 -5.47326332e-01 -4.12977160e-03 1.20075374e+02] [ 5.47319768e-01 8.36919283e-01 -2.68071634e-03 3.19870376e+01] [ 4.92351213e-03 -1.67897478e-05 9.99987879e-01 4.20870031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.760281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:120.10, Y:32.00, Z:0.42 [[ 8.36547547e-01 -5.47878773e-01 -4.12931900e-03 1.20100299e+02] [ 5.47872212e-01 8.36557738e-01 -2.68141333e-03 3.20003251e+01] [ 4.92350321e-03 -1.92093916e-05 9.99987879e-01 4.21488931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.790281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:120.13, Y:32.01, Z:0.42 [[ 8.35896135e-01 -5.48872120e-01 -4.12885915e-03 1.20125996e+02] [ 5.48865567e-01 8.35906332e-01 -2.68212123e-03 3.20115538e+01] [ 4.92348107e-03 -2.42138432e-05 9.99987879e-01 4.20261188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.820281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:120.15, Y:32.02, Z:0.42 [[ 8.35371689e-01 -5.49669990e-01 -4.12839752e-03 1.20150664e+02] [ 5.49663443e-01 8.35381890e-01 -2.68283160e-03 3.20249006e+01] [ 4.92346054e-03 -2.80676327e-05 9.99987879e-01 4.20885771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.850281693 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:120.18, Y:32.04, Z:0.42 [[ 8.34876693e-01 -5.50421537e-01 -4.12793525e-03 1.20175802e+02] [ 5.50414996e-01 8.34886897e-01 -2.68354268e-03 3.20383446e+01] [ 4.92343874e-03 -3.16502270e-05 9.99987879e-01 4.22501850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.880281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:120.20, Y:32.05, Z:0.43 [[ 8.33757404e-01 -5.52115527e-01 -4.12743320e-03 1.20200568e+02] [ 5.52109003e-01 8.33767620e-01 -2.68431463e-03 3.20502474e+01] [ 4.92337194e-03 -4.07258287e-05 9.99987879e-01 4.26348893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.910281693 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:120.23, Y:32.06, Z:0.43 [[ 8.33366556e-01 -5.52705301e-01 -4.12721423e-03 1.20225066e+02] [ 5.52698782e-01 8.33376775e-01 -2.68465126e-03 3.20646561e+01] [ 4.92334547e-03 -4.38077060e-05 9.99987879e-01 4.27251839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.940281693 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:120.25, Y:32.08, Z:0.43 [[ 8.34106174e-01 -5.51588489e-01 -4.12675773e-03 1.20249950e+02] [ 5.51581953e-01 8.34116382e-01 -2.68535280e-03 3.20777920e+01] [ 4.92340592e-03 -3.63757362e-05 9.99987879e-01 4.26592944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.970281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:120.27, Y:32.09, Z:0.43 [[ 8.34973152e-01 -5.50275213e-01 -4.12627057e-03 1.20273085e+02] [ 5.50268657e-01 8.34983347e-01 -2.68610115e-03 3.20924421e+01] [ 4.92346209e-03 -2.77350297e-05 9.99987879e-01 4.25883030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.000281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:120.30, Y:32.11, Z:0.43 [[ 8.35969916e-01 -5.48759761e-01 -4.12605777e-03 1.20296479e+02] [ 5.48753185e-01 8.35980098e-01 -2.68642799e-03 3.21085193e+01] [ 4.92350576e-03 -1.84143639e-05 9.99987879e-01 4.25002597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.030281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:120.32, Y:32.13, Z:0.42 [[ 8.38536914e-01 -5.44829169e-01 -4.12557150e-03 1.20318997e+02] [ 5.44822542e-01 8.38547063e-01 -2.68717456e-03 3.21260437e+01] [ 4.92353694e-03 5.59071036e-06 9.99987879e-01 4.23924173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.060281693 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:120.34, Y:32.14, Z:0.42 [[ 8.39578916e-01 -5.43222080e-01 -4.12508050e-03 1.20341444e+02] [ 5.43215430e-01 8.39589049e-01 -2.68792808e-03 3.21418284e+01] [ 4.92351429e-03 1.59203655e-05 9.99987879e-01 4.23580260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.090281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:120.36, Y:32.16, Z:0.42 [[ 8.40388053e-01 -5.41969470e-01 -4.12486681e-03 1.20363176e+02] [ 5.41962803e-01 8.40398175e-01 -2.68825596e-03 3.21574545e+01] [ 4.92348320e-03 2.36538133e-05 9.99987879e-01 4.23531514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.120281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:120.38, Y:32.18, Z:0.42 [[ 8.41603841e-01 -5.40079588e-01 -4.12465686e-03 1.20384280e+02] [ 5.40072898e-01 8.41613948e-01 -2.68857805e-03 3.21759272e+01] [ 4.92341487e-03 3.51022262e-05 9.99987879e-01 4.23749944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.150281693 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:120.41, Y:32.19, Z:0.43 [[ 8.42253790e-01 -5.39065437e-01 -4.12417553e-03 1.20405859e+02] [ 5.39058730e-01 8.42263886e-01 -2.68931619e-03 3.21928621e+01] [ 4.92336151e-03 4.19139232e-05 9.99987879e-01 4.26024754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.180281693 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:120.43, Y:32.21, Z:0.43 [[ 8.43117603e-01 -5.37713400e-01 -4.12396538e-03 1.20426998e+02] [ 5.37706676e-01 8.43127687e-01 -2.68963841e-03 3.22117010e+01] [ 4.92328401e-03 5.01977700e-05 9.99987879e-01 4.26165189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.210281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:120.45, Y:32.23, Z:0.42 [[ 8.43488708e-01 -5.37131079e-01 -4.12348890e-03 1.20449141e+02] [ 5.37124344e-01 8.43498785e-01 -2.69036871e-03 3.22293649e+01] [ 4.92323852e-03 5.44693517e-05 9.99987879e-01 4.24916045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.240281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:120.47, Y:32.25, Z:0.42 [[ 8.44327640e-01 -5.35811382e-01 -4.12300963e-03 1.20469670e+02] [ 5.35804628e-01 8.44337704e-01 -2.69110299e-03 3.22496458e+01] [ 4.92313610e-03 6.30449928e-05 9.99987879e-01 4.22950474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.270281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:120.49, Y:32.27, Z:0.42 [[ 8.44530529e-01 -5.35491541e-01 -4.12251783e-03 1.20491275e+02] [ 5.35484779e-01 8.44540588e-01 -2.69185616e-03 3.22664311e+01] [ 4.92309984e-03 6.58091583e-05 9.99987879e-01 4.22556400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.300281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:120.51, Y:32.28, Z:0.42 [[ 8.44467785e-01 -5.35590484e-01 -4.12230335e-03 1.20513845e+02] [ 5.35583722e-01 8.44477844e-01 -2.69218459e-03 3.22835142e+01] [ 4.92310229e-03 6.56245838e-05 9.99987879e-01 4.21501083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.330281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:120.54, Y:32.30, Z:0.42 [[ 8.44353521e-01 -5.35770606e-01 -4.12181384e-03 1.20536788e+02] [ 5.35763842e-01 8.44363579e-01 -2.69293383e-03 3.23003669e+01] [ 4.92310428e-03 6.54693435e-05 9.99987879e-01 4.20687152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.360281693 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:120.56, Y:32.32, Z:0.42 [[ 8.44576690e-01 -5.35418743e-01 -4.12130604e-03 1.20557460e+02] [ 5.35411971e-01 8.44586742e-01 -2.69371075e-03 3.23187736e+01] [ 4.92306367e-03 6.84487214e-05 9.99987879e-01 4.20391082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.390281693 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:120.58, Y:32.34, Z:0.42 [[ 8.44947376e-01 -5.34833571e-01 -4.12108611e-03 1.20578765e+02] [ 5.34826790e-01 8.44957423e-01 -2.69404718e-03 3.23360748e+01] [ 4.92300917e-03 7.22608439e-05 9.99987879e-01 4.21781704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.420281693 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:120.60, Y:32.35, Z:0.42 [[ 8.45239668e-01 -5.34371520e-01 -4.12086726e-03 1.20600676e+02] [ 5.34364733e-01 8.45249710e-01 -2.69438190e-03 3.23543385e+01] [ 4.92296281e-03 7.53523285e-05 9.99987879e-01 4.22671713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.450281693 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:120.62, Y:32.37, Z:0.42 [[ 8.45364226e-01 -5.34174455e-01 -4.12035726e-03 1.20619847e+02] [ 5.34167661e-01 8.45374264e-01 -2.69516158e-03 3.23734066e+01] [ 4.92293045e-03 7.74315786e-05 9.99987879e-01 4.22857535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.480281693 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:120.64, Y:32.39, Z:0.42 [[ 8.45008629e-01 -5.34736798e-01 -4.12000964e-03 1.20640372e+02] [ 5.34730008e-01 8.45018669e-01 -2.69569288e-03 3.23906320e+01] [ 4.92297124e-03 7.47909552e-05 9.99987879e-01 4.23666226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.510281693 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:120.66, Y:32.41, Z:0.42 [[ 8.44577504e-01 -5.35417469e-01 -4.11979064e-03 1.20661866e+02] [ 5.35410686e-01 8.44587549e-01 -2.69602753e-03 3.24080469e+01] [ 4.92302411e-03 7.12242666e-05 9.99987879e-01 4.24425692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.540281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:120.68, Y:32.43, Z:0.42 [[ 8.43361288e-01 -5.37331154e-01 -4.11928280e-03 1.20682398e+02] [ 5.37324390e-01 8.43371346e-01 -2.69680324e-03 3.24257776e+01] [ 4.92316147e-03 6.09883387e-05 9.99987879e-01 4.24896956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.570281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:120.71, Y:32.44, Z:0.42 [[ 8.42411850e-01 -5.38818437e-01 -4.11906294e-03 1.20705011e+02] [ 5.38811689e-01 8.42421918e-01 -2.69713900e-03 3.24422675e+01] [ 4.92325713e-03 5.27025892e-05 9.99987879e-01 4.24431838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.600281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:120.73, Y:32.46, Z:0.42 [[ 8.41283869e-01 -5.40577922e-01 -4.11856737e-03 1.20728121e+02] [ 5.40571191e-01 8.41293949e-01 -2.69789553e-03 3.24587697e+01] [ 4.92334857e-03 4.33171218e-05 9.99987879e-01 4.23961702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.630281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:120.75, Y:32.48, Z:0.42 [[ 8.38333081e-01 -5.45142813e-01 -4.11806999e-03 1.20749110e+02] [ 5.45136134e-01 8.38343195e-01 -2.69865451e-03 3.24755234e+01] [ 4.92350807e-03 1.74625985e-05 9.99987879e-01 4.23416635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.660281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:120.77, Y:32.49, Z:0.42 [[ 8.38240254e-01 -5.45285539e-01 -4.11785420e-03 1.20772812e+02] [ 5.45278860e-01 8.38250369e-01 -2.69898375e-03 3.24912888e+01] [ 4.92350961e-03 1.70179820e-05 9.99987879e-01 4.23556830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.690281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:120.80, Y:32.51, Z:0.42 [[ 8.36709280e-01 -5.47631836e-01 -4.11739455e-03 1.20796072e+02] [ 5.47625181e-01 8.36719411e-01 -2.69968478e-03 3.25071917e+01] [ 4.92353728e-03 4.06236470e-06 9.99987879e-01 4.24658048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.720281693 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:120.82, Y:32.52, Z:0.43 [[ 8.34311179e-01 -5.51278431e-01 -4.11687783e-03 1.20818872e+02] [ 5.51271817e-01 8.34321336e-01 -2.70047253e-03 3.25213251e+01] [ 4.92351127e-03 -1.64843038e-05 9.99987879e-01 4.25080214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.750281693 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:120.84, Y:32.54, Z:0.42 [[ 8.32980122e-01 -5.53287601e-01 -4.11665450e-03 1.20842487e+02] [ 5.53281010e-01 8.32990294e-01 -2.70081293e-03 3.25361210e+01] [ 4.92345955e-03 -2.79432709e-05 9.99987879e-01 4.23613086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.780281693 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:120.87, Y:32.55, Z:0.42 [[ 8.31695672e-01 -5.55216504e-01 -4.11614604e-03 1.20865222e+02] [ 5.55209933e-01 8.31705857e-01 -2.70158762e-03 3.25502745e+01] [ 4.92338880e-03 -3.84264378e-05 9.99987879e-01 4.22547657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.810281693 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:120.89, Y:32.56, Z:0.42 [[ 8.29015665e-01 -5.59210235e-01 -4.11592501e-03 1.20890026e+02] [ 5.59203711e-01 8.29025880e-01 -2.70192432e-03 3.25639476e+01] [ 4.92315209e-03 -6.17029546e-05 9.99987879e-01 4.22184233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.840281693 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:120.91, Y:32.58, Z:0.43 [[ 8.27972923e-01 -5.60752978e-01 -4.11542312e-03 1.20913961e+02] [ 5.60746469e-01 8.27983148e-01 -2.70268856e-03 3.25787695e+01] [ 4.92304165e-03 -6.99560319e-05 9.99987879e-01 4.31173079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.870281693 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:120.94, Y:32.59, Z:0.42 [[ 8.25786566e-01 -5.63967742e-01 -4.11489902e-03 1.20938315e+02] [ 5.63961269e-01 8.25796814e-01 -2.70348628e-03 3.25909269e+01] [ 4.92274955e-03 -8.81410259e-05 9.99987879e-01 4.24073158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.900281693 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:120.96, Y:32.60, Z:0.43 [[ 8.25107649e-01 -5.64960562e-01 -4.11467104e-03 1.20961824e+02] [ 5.64954099e-01 8.25117904e-01 -2.70383321e-03 3.26047109e+01] [ 4.92264787e-03 -9.36468056e-05 9.99987879e-01 4.25176715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.930281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:120.99, Y:32.62, Z:0.43 [[ 8.25346555e-01 -5.64611490e-01 -4.11444822e-03 1.20986236e+02] [ 5.64605022e-01 8.25356806e-01 -2.70417224e-03 3.26167201e+01] [ 4.92269456e-03 -9.11588890e-05 9.99987879e-01 4.25782504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.960281693 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:121.01, Y:32.63, Z:0.42 [[ 8.26006567e-01 -5.63645478e-01 -4.11423010e-03 1.21010631e+02] [ 5.63638996e-01 8.26016809e-01 -2.70450406e-03 3.26314146e+01] [ 4.92280470e-03 -8.50024093e-05 9.99987879e-01 4.23720896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.990281693 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:121.03, Y:32.65, Z:0.42 [[ 8.26940927e-01 -5.62273759e-01 -4.11373150e-03 1.21034506e+02] [ 5.62267256e-01 8.26951156e-01 -2.70526224e-03 3.26466103e+01] [ 4.92295299e-03 -7.59244577e-05 9.99987879e-01 4.22299298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.020281693 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:121.06, Y:32.66, Z:0.42 [[ 8.27590216e-01 -5.61317661e-01 -4.11322915e-03 1.21057991e+02] [ 5.61311142e-01 8.27600434e-01 -2.70602583e-03 3.26619234e+01] [ 4.92305032e-03 -6.93208525e-05 9.99987879e-01 4.20606872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.050281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:121.08, Y:32.67, Z:0.42 [[ 8.27558565e-01 -5.61364326e-01 -4.11272755e-03 1.21083138e+02] [ 5.61357804e-01 8.27568782e-01 -2.70678797e-03 3.26744542e+01] [ 4.92305913e-03 -6.86861321e-05 9.99987879e-01 4.18485490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.080281693 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:121.11, Y:32.69, Z:0.42 [[ 8.26706781e-01 -5.62617976e-01 -4.11222418e-03 1.21107720e+02] [ 5.62611467e-01 8.26717005e-01 -2.70755248e-03 3.26877359e+01] [ 4.92296336e-03 -7.52324770e-05 9.99987879e-01 4.17806122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.110281693 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:121.13, Y:32.70, Z:0.42 [[ 8.24560501e-01 -5.65758847e-01 -4.11171871e-03 1.21134453e+02] [ 5.65752373e-01 8.24570748e-01 -2.70831988e-03 3.26986106e+01] [ 4.92265890e-03 -9.30410229e-05 9.99987879e-01 4.19307117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.140281693 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:121.16, Y:32.71, Z:0.42 [[ 8.23707696e-01 -5.66999761e-01 -4.11120541e-03 1.21159364e+02] [ 5.66993298e-01 8.23717950e-01 -2.70909884e-03 3.27115955e+01] [ 4.92253209e-03 -9.95203443e-05 9.99987879e-01 4.22529141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.170281693 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:121.18, Y:32.72, Z:0.43 [[ 8.23073639e-01 -5.67919789e-01 -4.11068842e-03 1.21183274e+02] [ 5.67913333e-01 8.23083898e-01 -2.70988307e-03 3.27245489e+01] [ 4.92243767e-03 -1.04081440e-04 9.99987879e-01 4.25714769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.200281693 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:121.21, Y:32.74, Z:0.43 [[ 8.23796750e-01 -5.66870372e-01 -4.11033804e-03 1.21208130e+02] [ 5.66863901e-01 8.23806999e-01 -2.71041442e-03 3.27359692e+01] [ 4.92257888e-03 -9.71716621e-05 9.99987879e-01 4.26947340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.230281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:121.23, Y:32.75, Z:0.43 [[ 8.25266162e-01 -5.64729023e-01 -4.11011508e-03 1.21231115e+02] [ 5.64722523e-01 8.25276393e-01 -2.71075248e-03 3.27504367e+01] [ 4.92282155e-03 -8.39822620e-05 9.99987879e-01 4.26620459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.260281693 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:121.25, Y:32.77, Z:0.42 [[ 8.29768506e-01 -5.58092587e-01 -4.10989388e-03 1.21253050e+02] [ 5.58086004e-01 8.29778683e-01 -2.71108781e-03 3.27655999e+01] [ 4.92334034e-03 -4.40989700e-05 9.99987879e-01 4.24516027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.290281693 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:121.28, Y:32.78, Z:0.42 [[ 8.31976477e-01 -5.54795685e-01 -4.10967384e-03 1.21275751e+02] [ 5.54789060e-01 8.31986627e-01 -2.71142132e-03 3.27814425e+01] [ 4.92347853e-03 -2.41633327e-05 9.99987879e-01 4.24737556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.320281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:121.30, Y:32.80, Z:0.43 [[ 8.34014736e-01 -5.51726867e-01 -4.10918185e-03 1.21299012e+02] [ 5.51720200e-01 8.34024859e-01 -2.71216674e-03 3.27969824e+01] [ 4.92353507e-03 -5.13161015e-06 9.99987879e-01 4.25883693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.350281693 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:121.32, Y:32.81, Z:0.43 [[ 8.36416650e-01 -5.48078742e-01 -4.10867581e-03 1.21322133e+02] [ 5.48072028e-01 8.36426741e-01 -2.71293313e-03 3.28107819e+01] [ 4.92350729e-03 1.72921558e-05 9.99987879e-01 4.28267456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.380281693 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:121.35, Y:32.83, Z:0.43 [[ 8.36485171e-01 -5.47974162e-01 -4.10817239e-03 1.21345030e+02] [ 5.47967443e-01 8.36495258e-01 -2.71369523e-03 3.28254956e+01] [ 4.92350160e-03 1.88210913e-05 9.99987879e-01 4.27603557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.410281693 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:121.37, Y:32.84, Z:0.42 [[ 8.35506845e-01 -5.49464681e-01 -4.10795279e-03 1.21367768e+02] [ 5.49457978e-01 8.35516944e-01 -2.71402762e-03 3.28398090e+01] [ 4.92352648e-03 1.04412211e-05 9.99987879e-01 4.23321144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.440281693 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:121.39, Y:32.85, Z:0.42 [[ 8.34839406e-01 -5.50478241e-01 -4.10761108e-03 1.21391003e+02] [ 5.50471548e-01 8.34849511e-01 -2.71454469e-03 3.28549516e+01] [ 4.92353489e-03 5.08585115e-06 9.99987879e-01 4.22698287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.470281693 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:121.41, Y:32.87, Z:0.42 [[ 8.34804965e-01 -5.50530473e-01 -4.10708693e-03 1.21413443e+02] [ 5.50523777e-01 8.34815068e-01 -2.71533749e-03 3.28692173e+01] [ 4.92353409e-03 5.72820932e-06 9.99987879e-01 4.22896807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.500281693 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:121.44, Y:32.88, Z:0.42 [[ 8.37165159e-01 -5.46934759e-01 -4.10685886e-03 1.21436864e+02] [ 5.46928017e-01 8.37175232e-01 -2.71568240e-03 3.28844074e+01] [ 4.92346162e-03 2.73185152e-05 9.99987879e-01 4.23388821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.530281693 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:121.46, Y:32.90, Z:0.42 [[ 8.38761280e-01 -5.44483841e-01 -4.10636336e-03 1.21459539e+02] [ 5.44477067e-01 8.38771331e-01 -2.71643144e-03 3.28996914e+01] [ 4.92335288e-03 4.26168319e-05 9.99987879e-01 4.23089692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.560281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:121.48, Y:32.92, Z:0.42 [[ 8.40407987e-01 -5.41938701e-01 -4.10602591e-03 1.21482697e+02] [ 5.41931894e-01 8.40418016e-01 -2.71694142e-03 3.29153183e+01] [ 4.92319385e-03 5.81528725e-05 9.99987879e-01 4.23258470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.590281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:121.50, Y:32.93, Z:0.43 [[ 8.43124249e-01 -5.37703120e-01 -4.10553588e-03 1.21504800e+02] [ 5.37696259e-01 8.43134241e-01 -2.71768168e-03 3.29308091e+01] [ 4.92282380e-03 8.38120428e-05 9.99987879e-01 4.26196274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.620281693 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:121.53, Y:32.95, Z:0.43 [[ 8.44047459e-01 -5.36252770e-01 -4.10533524e-03 1.21527202e+02] [ 5.36245890e-01 8.44057438e-01 -2.71798473e-03 3.29464549e+01] [ 4.92266559e-03 9.26389568e-05 9.99987879e-01 4.28017911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.650281693 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:121.55, Y:32.96, Z:0.43 [[ 8.44861216e-01 -5.34969788e-01 -4.10512231e-03 1.21549398e+02] [ 5.34962891e-01 8.44871183e-01 -2.71830631e-03 3.29644478e+01] [ 4.92251129e-03 1.00503473e-04 9.99987879e-01 4.27748926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.680281693 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:121.57, Y:32.98, Z:0.43 [[ 8.45171594e-01 -5.34479306e-01 -4.10461895e-03 1.21570622e+02] [ 5.34472399e-01 8.45181555e-01 -2.71906615e-03 3.29811329e+01] [ 4.92243282e-03 1.04271933e-04 9.99987879e-01 4.27621225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.710281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:121.59, Y:33.00, Z:0.43 [[ 8.45474141e-01 -5.34000590e-01 -4.10439994e-03 1.21592592e+02] [ 5.33993676e-01 8.45484097e-01 -2.71939671e-03 3.29977082e+01] [ 4.92236433e-03 1.07455984e-04 9.99987879e-01 4.27814837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.740281693 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:121.61, Y:33.01, Z:0.43 [[ 8.45731455e-01 -5.33592976e-01 -4.10389061e-03 1.21613723e+02] [ 5.33586054e-01 8.45741405e-01 -2.72016513e-03 3.30148246e+01] [ 4.92229122e-03 1.10750414e-04 9.99987879e-01 4.29698790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.770281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:121.64, Y:33.03, Z:0.43 [[ 8.45601768e-01 -5.33798474e-01 -4.10354428e-03 1.21635281e+02] [ 5.33791552e-01 8.45611717e-01 -2.72068750e-03 3.30311154e+01] [ 4.92230396e-03 1.10180889e-04 9.99987879e-01 4.29671208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.800281693 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:121.66, Y:33.05, Z:0.43 [[ 8.45022722e-01 -5.34714655e-01 -4.10332500e-03 1.21657091e+02] [ 5.34707742e-01 8.45032678e-01 -2.72101817e-03 3.30485978e+01] [ 4.92241201e-03 1.05242537e-04 9.99987879e-01 4.28473589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.830281693 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:121.68, Y:33.07, Z:0.42 [[ 8.43382331e-01 -5.37298251e-01 -4.10280553e-03 1.21677357e+02] [ 5.37291364e-01 8.43392306e-01 -2.72180122e-03 3.30668186e+01] [ 4.92269365e-03 9.11170746e-05 9.99987879e-01 4.24206783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.860281693 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:121.70, Y:33.08, Z:0.43 [[ 8.41873016e-01 -5.39660074e-01 -4.10245158e-03 1.21700476e+02] [ 5.39653213e-01 8.41883008e-01 -2.72233460e-03 3.30838562e+01] [ 4.92291957e-03 7.79588580e-05 9.99987879e-01 4.25197725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.890281693 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:121.72, Y:33.10, Z:0.43 [[ 8.39218726e-01 -5.43778479e-01 -4.11047410e-03 1.21721633e+02] [ 5.43771726e-01 8.39228791e-01 -2.71024572e-03 3.31001884e+01] [ 4.92340151e-03 3.93293623e-05 9.99987879e-01 4.26098416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.920281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:121.74, Y:33.12, Z:0.43 [[ 8.38053160e-01 -5.45573165e-01 -4.10160422e-03 1.21743750e+02] [ 5.45566369e-01 8.38063195e-01 -2.72360330e-03 3.31165023e+01] [ 4.92332841e-03 4.48270287e-05 9.99987879e-01 4.27590575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.950281693 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:121.77, Y:33.13, Z:0.43 [[ 8.37312810e-01 -5.46708732e-01 -4.10139116e-03 1.21766423e+02] [ 5.46701947e-01 8.37322854e-01 -2.72392411e-03 3.31330151e+01] [ 4.92338164e-03 3.85380221e-05 9.99987879e-01 4.27982004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.980281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:121.79, Y:33.15, Z:0.43 [[ 8.36932644e-01 -5.47290537e-01 -4.10088595e-03 1.21788160e+02] [ 5.47283755e-01 8.36942690e-01 -2.72468449e-03 3.31490071e+01] [ 4.92340056e-03 3.60291324e-05 9.99987879e-01 4.27223329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.010281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:121.81, Y:33.17, Z:0.43 [[ 8.36204945e-01 -5.48401746e-01 -4.10066668e-03 1.21810502e+02] [ 5.48394977e-01 8.36214999e-01 -2.72501446e-03 3.31661230e+01] [ 4.92344167e-03 2.98855575e-05 9.99987879e-01 4.27457312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.040281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:121.83, Y:33.18, Z:0.43 [[ 8.35614035e-01 -5.49301713e-01 -4.10016825e-03 1.21833387e+02] [ 5.49294951e-01 8.35624094e-01 -2.72576420e-03 3.31820931e+01] [ 4.92346633e-03 2.54851056e-05 9.99987879e-01 4.29772495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.070281693 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:121.86, Y:33.20, Z:0.43 [[ 8.34351531e-01 -5.51217485e-01 -4.09967272e-03 1.21855649e+02] [ 5.51210742e-01 8.34361603e-01 -2.72650930e-03 3.31965074e+01] [ 4.92350910e-03 1.50835686e-05 9.99987879e-01 4.33657909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.100281693 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:121.88, Y:33.21, Z:0.43 [[ 8.33937007e-01 -5.51844421e-01 -4.09933534e-03 1.21879844e+02] [ 5.51837683e-01 8.33947082e-01 -2.72701646e-03 3.32110064e+01] [ 4.92351756e-03 1.19922330e-05 9.99987879e-01 4.33307876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.130281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:121.90, Y:33.22, Z:0.43 [[ 8.33730298e-01 -5.52156672e-01 -4.09884671e-03 1.21903991e+02] [ 5.52149934e-01 8.33740373e-01 -2.72775070e-03 3.32228778e+01] [ 4.92351973e-03 1.10304617e-05 9.99987879e-01 4.32000107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.160281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:121.93, Y:33.24, Z:0.43 [[ 8.33801207e-01 -5.52049589e-01 -4.09851334e-03 1.21928138e+02] [ 5.52042848e-01 8.33811280e-01 -2.72825150e-03 3.32377117e+01] [ 4.92351678e-03 1.22644148e-05 9.99987879e-01 4.32184244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.190281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:121.95, Y:33.25, Z:0.43 [[ 8.33999251e-01 -5.51750357e-01 -4.09802541e-03 1.21951076e+02] [ 5.51743608e-01 8.34009319e-01 -2.72898422e-03 3.32516511e+01] [ 4.92350939e-03 1.49114690e-05 9.99987879e-01 4.32052643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.220281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:121.98, Y:33.27, Z:0.43 [[ 8.34281350e-01 -5.51323715e-01 -4.09769292e-03 1.21975038e+02] [ 5.51316959e-01 8.34291413e-01 -2.72948338e-03 3.32655247e+01] [ 4.92349893e-03 1.80294799e-05 9.99987879e-01 4.31684652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.250281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:122.00, Y:33.28, Z:0.43 [[ 8.36020052e-01 -5.48683594e-01 -4.09718822e-03 1.21999412e+02] [ 5.48676802e-01 8.36030091e-01 -2.73024076e-03 3.32775506e+01] [ 4.92341095e-03 3.45038856e-05 9.99987879e-01 4.29166972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.280281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:122.02, Y:33.29, Z:0.43 [[ 8.37193952e-01 -5.46890759e-01 -4.09696985e-03 1.22023165e+02] [ 5.46883944e-01 8.37203975e-01 -2.73056841e-03 3.32926902e+01] [ 4.92332207e-03 4.54483327e-05 9.99987879e-01 4.29177226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.310281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:122.05, Y:33.31, Z:0.43 [[ 8.39965658e-01 -5.42624099e-01 -4.09647566e-03 1.22046465e+02] [ 5.42617230e-01 8.39975644e-01 -2.73130960e-03 3.33072396e+01] [ 4.92301419e-03 7.13879862e-05 9.99987879e-01 4.31467214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.340281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:122.07, Y:33.32, Z:0.43 [[ 8.41096174e-01 -5.40870083e-01 -4.09625997e-03 1.22069831e+02] [ 5.40863191e-01 8.41106145e-01 -2.73163305e-03 3.33223322e+01] [ 4.92284802e-03 8.20498679e-05 9.99987879e-01 4.33372359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.370281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:122.09, Y:33.34, Z:0.44 [[ 8.41983974e-01 -5.39486990e-01 -4.09577044e-03 1.22092136e+02] [ 5.39480078e-01 8.41993931e-01 -2.73236685e-03 3.33366242e+01] [ 4.92269021e-03 9.10225423e-05 9.99987879e-01 4.35244565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.400281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:122.11, Y:33.35, Z:0.44 [[ 8.42989133e-01 -5.37915000e-01 -4.09555752e-03 1.22114864e+02] [ 5.37908068e-01 8.42999076e-01 -2.73268595e-03 3.33520979e+01] [ 4.92250397e-03 1.00591122e-04 9.99987879e-01 4.35248373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.430281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:122.14, Y:33.37, Z:0.43 [[ 8.42941603e-01 -5.37989483e-01 -4.09507004e-03 1.22137453e+02] [ 5.37982549e-01 8.42951544e-01 -2.73341627e-03 3.33686481e+01] [ 4.92249482e-03 1.01034073e-04 9.99987879e-01 4.33676557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.460281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:122.16, Y:33.39, Z:0.43 [[ 8.42760909e-01 -5.38272501e-01 -4.09458450e-03 1.22160392e+02] [ 5.38265566e-01 8.42770850e-01 -2.73414340e-03 3.33851438e+01] [ 4.92251066e-03 1.00255340e-04 9.99987879e-01 4.32313845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.490281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:122.18, Y:33.40, Z:0.43 [[ 8.41337056e-01 -5.40495325e-01 -4.09409931e-03 1.22183599e+02] [ 5.40488413e-01 8.41347013e-01 -2.73486973e-03 3.34008702e+01] [ 4.92274253e-03 8.81340044e-05 9.99987879e-01 4.33949556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.520281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:122.21, Y:33.42, Z:0.43 [[ 8.39863124e-01 -5.42782808e-01 -4.09359980e-03 1.22207321e+02] [ 5.42775919e-01 8.39873096e-01 -2.73561721e-03 3.34157773e+01] [ 4.92295032e-03 7.56366193e-05 9.99987879e-01 4.34819723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.550281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:122.23, Y:33.43, Z:0.43 [[ 8.36436174e-01 -5.48049061e-01 -4.09307602e-03 1.22231492e+02] [ 5.48042231e-01 8.36446188e-01 -2.73640067e-03 3.34277263e+01] [ 4.92331965e-03 4.56459903e-05 9.99987879e-01 4.32376878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.580281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:122.26, Y:33.44, Z:0.43 [[ 8.36334796e-01 -5.48203756e-01 -4.09284793e-03 1.22255049e+02] [ 5.48196926e-01 8.36344809e-01 -2.73674178e-03 3.34437140e+01] [ 4.92332424e-03 4.51457247e-05 9.99987879e-01 4.32517079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.610281693 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:122.28, Y:33.46, Z:0.43 [[ 8.34409779e-01 -5.51129362e-01 -4.09234161e-03 1.22278761e+02] [ 5.51122564e-01 8.34419814e-01 -2.73749868e-03 3.34567989e+01] [ 4.92344683e-03 2.88138705e-05 9.99987879e-01 4.30451127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.640281693 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:122.30, Y:33.47, Z:0.43 [[ 8.32523757e-01 -5.53974231e-01 -4.09212156e-03 1.22303381e+02] [ 5.53967466e-01 8.32533814e-01 -2.73782759e-03 3.34707043e+01] [ 4.92351550e-03 1.24042960e-05 9.99987879e-01 4.29435978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.670281693 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:122.33, Y:33.48, Z:0.43 [[ 8.29664703e-01 -5.58247023e-01 -4.09158868e-03 1.22328066e+02] [ 5.58240306e-01 8.29674792e-01 -2.73862373e-03 3.34819967e+01] [ 4.92351653e-03 -1.19502745e-05 9.99987879e-01 4.27613681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.700281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:122.35, Y:33.50, Z:0.43 [[ 8.28798746e-01 -5.59531857e-01 -4.09135724e-03 1.22352476e+02] [ 5.59525154e-01 8.28808844e-01 -2.73896943e-03 3.34959811e+01] [ 4.92349372e-03 -1.91628589e-05 9.99987879e-01 4.30208085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.730281693 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:122.38, Y:33.51, Z:0.43 [[ 8.28767196e-01 -5.59578591e-01 -4.09084241e-03 1.22375792e+02] [ 5.59571884e-01 8.28777292e-01 -2.73973816e-03 3.35093264e+01] [ 4.92349611e-03 -1.85152867e-05 9.99987879e-01 4.31089503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.760281693 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:122.40, Y:33.52, Z:0.43 [[ 8.29197361e-01 -5.58940965e-01 -4.09061944e-03 1.22399670e+02] [ 5.58934249e-01 8.29207451e-01 -2.74007103e-03 3.35226969e+01] [ 4.92351006e-03 -1.43276413e-05 9.99987879e-01 4.31231746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.790281693 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:122.42, Y:33.54, Z:0.43 [[ 8.30855175e-01 -5.56473671e-01 -4.09035357e-03 1.22424933e+02] [ 5.56466923e-01 8.30865244e-01 -2.74046787e-03 3.35353167e+01] [ 4.92353083e-03 7.85446196e-07 9.99987879e-01 4.32516377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.820281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:122.45, Y:33.55, Z:0.43 [[ 8.31793682e-01 -5.55069854e-01 -4.08984233e-03 1.22447960e+02] [ 5.55063085e-01 8.31803737e-01 -2.74123062e-03 3.35505218e+01] [ 4.92352061e-03 1.00178090e-05 9.99987879e-01 4.33055705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.850281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:122.47, Y:33.57, Z:0.43 [[ 8.33147608e-01 -5.53035569e-01 -4.08933074e-03 1.22470352e+02] [ 5.53028772e-01 8.33157643e-01 -2.74199358e-03 3.35654360e+01] [ 4.92347715e-03 2.29678332e-05 9.99987879e-01 4.30312325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.880281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:122.49, Y:33.58, Z:0.43 [[ 8.33298959e-01 -5.52807492e-01 -4.08910780e-03 1.22493760e+02] [ 5.52800691e-01 8.33308992e-01 -2.74232601e-03 3.35804513e+01] [ 4.92346866e-03 2.47157920e-05 9.99987879e-01 4.29312907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.910281693 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:122.52, Y:33.60, Z:0.43 [[ 8.33074566e-01 -5.53145597e-01 -4.08862019e-03 1.22517078e+02] [ 5.53138796e-01 8.33084598e-01 -2.74305282e-03 3.35957622e+01] [ 4.92347409e-03 2.35930857e-05 9.99987879e-01 4.29770482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.940281693 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:122.54, Y:33.61, Z:0.43 [[ 8.32389052e-01 -5.54176644e-01 -4.08810107e-03 1.22539338e+02] [ 5.54169852e-01 8.32399091e-01 -2.74382627e-03 3.36113572e+01] [ 4.92349605e-03 1.84285815e-05 9.99987879e-01 4.33290325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.970281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:122.56, Y:33.63, Z:0.44 [[ 8.32075461e-01 -5.54647382e-01 -4.08774917e-03 1.22561579e+02] [ 5.54640593e-01 8.32085501e-01 -2.74435042e-03 3.36262099e+01] [ 4.92350360e-03 1.62750132e-05 9.99987879e-01 4.35799759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.000281693 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:122.58, Y:33.64, Z:0.44 [[ 8.31599438e-01 -5.55360844e-01 -4.08752511e-03 1.22584173e+02] [ 5.55354062e-01 8.31609483e-01 -2.74468411e-03 3.36404052e+01] [ 4.92351473e-03 1.24540880e-05 9.99987879e-01 4.36322656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.030281693 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:122.61, Y:33.65, Z:0.43 [[ 8.30498029e-01 -5.57006569e-01 -4.08730411e-03 1.22609302e+02] [ 5.56999805e-01 8.30508087e-01 -2.74501318e-03 3.36528899e+01] [ 4.92352949e-03 3.10044477e-06 9.99987879e-01 4.31873211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.060281693 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:122.63, Y:33.67, Z:0.43 [[ 8.30080061e-01 -5.57629259e-01 -4.08680298e-03 1.22632893e+02] [ 5.57622499e-01 8.30090121e-01 -2.74575906e-03 3.36680589e+01] [ 4.92353037e-03 3.06554440e-07 9.99987879e-01 4.29169857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.090281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:122.66, Y:33.68, Z:0.43 [[ 8.30440874e-01 -5.57091784e-01 -4.08629698e-03 1.22655747e+02] [ 5.57085014e-01 8.30450928e-01 -2.74651188e-03 3.36829296e+01] [ 4.92352833e-03 4.40091808e-06 9.99987879e-01 4.27480394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.120281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:122.68, Y:33.70, Z:0.43 [[ 8.30864615e-01 -5.56459610e-01 -4.08579586e-03 1.22679182e+02] [ 5.56452829e-01 8.30874661e-01 -2.74725717e-03 3.36982637e+01] [ 4.92352190e-03 9.04610579e-06 9.99987879e-01 4.29272509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.150281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:122.70, Y:33.71, Z:0.43 [[ 8.31471528e-01 -5.55552346e-01 -4.08530192e-03 1.22703112e+02] [ 5.55545549e-01 8.31481564e-01 -2.74799149e-03 3.37137227e+01] [ 4.92350635e-03 1.53053839e-05 9.99987879e-01 4.33159504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.180281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:122.73, Y:33.73, Z:0.44 [[ 8.32592478e-01 -5.53870996e-01 -4.08486875e-03 1.22727063e+02] [ 5.53864176e-01 8.32602498e-01 -2.74863524e-03 3.37287364e+01] [ 4.92346126e-03 2.60305541e-05 9.99987879e-01 4.40385239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.210281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:122.75, Y:33.74, Z:0.44 [[ 8.32803461e-01 -5.53553713e-01 -4.08437001e-03 1.22749770e+02] [ 5.53546886e-01 8.32813476e-01 -2.74937615e-03 3.37435657e+01] [ 4.92344576e-03 2.87996768e-05 9.99987879e-01 4.41066457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.240281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:122.77, Y:33.76, Z:0.44 [[ 8.32721890e-01 -5.53676416e-01 -4.08415320e-03 1.22772962e+02] [ 5.53669589e-01 8.32731905e-01 -2.74969818e-03 3.37580970e+01] [ 4.92344771e-03 2.84624360e-05 9.99987879e-01 4.41005521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.270281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:122.80, Y:33.77, Z:0.44 [[ 8.32309169e-01 -5.54296643e-01 -4.08388560e-03 1.22798011e+02] [ 5.54289821e-01 8.32319188e-01 -2.75009557e-03 3.37714431e+01] [ 4.92346509e-03 2.52735408e-05 9.99987879e-01 4.38757351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.300281693 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:122.82, Y:33.79, Z:0.44 [[ 8.32074167e-01 -5.54649354e-01 -4.08339982e-03 1.22821924e+02] [ 5.54642533e-01 8.32084186e-01 -2.75081667e-03 3.37862066e+01] [ 4.92347111e-03 2.40562618e-05 9.99987879e-01 4.36995022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.330281693 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:122.84, Y:33.80, Z:0.44 [[ 8.31813610e-01 -5.55040043e-01 -4.08287488e-03 1.22844574e+02] [ 5.55033223e-01 8.31823629e-01 -2.75159559e-03 3.38000700e+01] [ 4.92347753e-03 2.26834543e-05 9.99987879e-01 4.35449218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.360281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:122.87, Y:33.81, Z:0.44 [[ 8.30732226e-01 -5.56657257e-01 -4.08264650e-03 1.22870008e+02] [ 5.56650454e-01 8.30742258e-01 -2.75193440e-03 3.38120927e+01] [ 4.92351123e-03 1.35135640e-05 9.99987879e-01 4.35144962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.390281693 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:122.89, Y:33.82, Z:0.44 [[ 8.30009637e-01 -5.57734111e-01 -4.08216662e-03 1.22894508e+02] [ 5.57727318e-01 8.30019675e-01 -2.75264606e-03 3.38249839e+01] [ 4.92352322e-03 7.98691617e-06 9.99987879e-01 4.36112485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.420281693 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:122.92, Y:33.83, Z:0.44 [[ 8.29141522e-01 -5.59023860e-01 -4.08166770e-03 1.22920761e+02] [ 5.59017079e-01 8.29151569e-01 -2.75338567e-03 3.38336908e+01] [ 4.92352946e-03 1.22443342e-06 9.99987879e-01 4.36468744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.450281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:122.95, Y:33.85, Z:0.44 [[ 8.29057076e-01 -5.59149092e-01 -4.08139558e-03 1.22945377e+02] [ 5.59142311e-01 8.29067122e-01 -2.75378898e-03 3.38460151e+01] [ 4.92352950e-03 9.67283628e-07 9.99987879e-01 4.35795863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.480281693 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:122.97, Y:33.86, Z:0.44 [[ 8.29100953e-01 -5.59084031e-01 -4.08112481e-03 1.22970113e+02] [ 5.59077247e-01 8.29110998e-01 -2.75419021e-03 3.38590845e+01] [ 4.92352922e-03 1.83770677e-06 9.99987879e-01 4.35144779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.510281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:122.99, Y:33.87, Z:0.43 [[ 8.29379881e-01 -5.58670172e-01 -4.08063020e-03 1.22993957e+02] [ 5.58663379e-01 8.29389920e-01 -2.75492283e-03 3.38711581e+01] [ 4.92352676e-03 5.17891366e-06 9.99987879e-01 4.33622145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.540281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:123.02, Y:33.88, Z:0.43 [[ 8.29391447e-01 -5.58653003e-01 -4.08036108e-03 1.23021047e+02] [ 5.58646209e-01 8.29401484e-01 -2.75532137e-03 3.38807003e+01] [ 4.92352609e-03 5.76173035e-06 9.99987879e-01 4.33102050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.570281693 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:123.05, Y:33.89, Z:0.43 [[ 8.29285149e-01 -5.58810787e-01 -4.07990381e-03 1.23046408e+02] [ 5.58803991e-01 8.29295185e-01 -2.75599830e-03 3.38939613e+01] [ 4.92352616e-03 5.64192707e-06 9.99987879e-01 4.32769395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.600281693 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:123.07, Y:33.90, Z:0.43 [[ 8.29683636e-01 -5.58218973e-01 -4.07941118e-03 1.23072631e+02] [ 5.58212166e-01 8.29693665e-01 -2.75672730e-03 3.39036521e+01] [ 4.92351909e-03 1.00345753e-05 9.99987879e-01 4.31281543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.630281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:123.10, Y:33.92, Z:0.43 [[ 8.29948484e-01 -5.57825130e-01 -4.07907582e-03 1.23097257e+02] [ 5.57818315e-01 8.29958508e-01 -2.75722342e-03 3.39164719e+01] [ 4.92351220e-03 1.29701954e-05 9.99987879e-01 4.31832160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.660281693 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:123.12, Y:33.93, Z:0.43 [[ 8.30376845e-01 -5.57187276e-01 -4.07857768e-03 1.23120951e+02] [ 5.57180451e-01 8.30386861e-01 -2.75796010e-03 3.39292040e+01] [ 4.92349759e-03 1.76424526e-05 9.99987879e-01 4.32838701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.690281693 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:123.15, Y:33.94, Z:0.43 [[ 8.31957447e-01 -5.54824453e-01 -4.07823721e-03 1.23145985e+02] [ 5.54817597e-01 8.31967442e-01 -2.75846347e-03 3.39426774e+01] [ 4.92342356e-03 3.22464590e-05 9.99987879e-01 4.32754276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.720281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:123.17, Y:33.96, Z:0.43 [[ 8.33010800e-01 -5.53241700e-01 -4.07774505e-03 1.23169443e+02] [ 5.53234821e-01 8.33020780e-01 -2.75919081e-03 3.39564719e+01] [ 4.92334578e-03 4.24851953e-05 9.99987879e-01 4.32040356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.750281693 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:123.19, Y:33.97, Z:0.43 [[ 8.33893044e-01 -5.51911013e-01 -4.07747552e-03 1.23193928e+02] [ 5.51904116e-01 8.33903011e-01 -2.75958907e-03 3.39696720e+01] [ 4.92326671e-03 5.08266060e-05 9.99987879e-01 4.32495577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.780281693 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:123.22, Y:33.98, Z:0.44 [[ 8.35374467e-01 -5.49666152e-01 -4.07700081e-03 1.23220212e+02] [ 5.49659225e-01 8.35384413e-01 -2.76029022e-03 3.39815931e+01] [ 4.92310103e-03 6.49148716e-05 9.99987879e-01 4.35556991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.810281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:123.24, Y:34.00, Z:0.43 [[ 8.35775582e-01 -5.49056062e-01 -4.07651632e-03 1.23244064e+02] [ 5.49049124e-01 8.35785520e-01 -2.76100555e-03 3.39967617e+01] [ 4.92304015e-03 6.93733033e-05 9.99987879e-01 4.34878039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.840281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:123.27, Y:34.01, Z:0.43 [[ 8.35801583e-01 -5.49016484e-01 -4.07603566e-03 1.23267770e+02] [ 5.49009542e-01 8.35811519e-01 -2.76171496e-03 3.40103980e+01] [ 4.92302459e-03 7.04632583e-05 9.99987879e-01 4.32839261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.870281693 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:123.29, Y:34.03, Z:0.43 [[ 8.35407122e-01 -5.49616529e-01 -4.07570801e-03 1.23291894e+02] [ 5.49609592e-01 8.35417062e-01 -2.76219842e-03 3.40254157e+01] [ 4.92306592e-03 6.75120223e-05 9.99987879e-01 4.32824159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.900281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:123.31, Y:34.04, Z:0.43 [[ 8.35009996e-01 -5.50219682e-01 -4.07522043e-03 1.23314769e+02] [ 5.50212749e-01 8.35019938e-01 -2.76291758e-03 3.40403629e+01] [ 4.92310195e-03 6.48255614e-05 9.99987879e-01 4.33251086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.930281693 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:123.34, Y:34.06, Z:0.44 [[ 8.34500400e-01 -5.50992266e-01 -4.07495536e-03 1.23337196e+02] [ 5.50985340e-01 8.34510347e-01 -2.76330847e-03 3.40563465e+01] [ 4.92315401e-03 6.07413538e-05 9.99987879e-01 4.35346534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.960281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:123.36, Y:34.07, Z:0.44 [[ 8.34511981e-01 -5.50974730e-01 -4.07442337e-03 1.23359590e+02] [ 5.50967800e-01 8.34521925e-01 -2.76409266e-03 3.40715516e+01] [ 4.92314084e-03 6.17923608e-05 9.99987879e-01 4.35986007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.990281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:123.38, Y:34.09, Z:0.44 [[ 8.34572594e-01 -5.50882915e-01 -4.07419128e-03 1.23382344e+02] [ 5.50875982e-01 8.34582536e-01 -2.76443471e-03 3.40870311e+01] [ 4.92312874e-03 6.27473194e-05 9.99987879e-01 4.37396765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.020281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:123.40, Y:34.10, Z:0.44 [[ 8.35049350e-01 -5.50159965e-01 -4.07367390e-03 1.23404198e+02] [ 5.50153020e-01 8.35059284e-01 -2.76519691e-03 3.41040908e+01] [ 4.92305985e-03 6.79318829e-05 9.99987879e-01 4.38326247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.050281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:123.43, Y:34.12, Z:0.44 [[ 8.35326785e-01 -5.49738640e-01 -4.07315051e-03 1.23425510e+02] [ 5.49731686e-01 8.35336712e-01 -2.76596766e-03 3.41199890e+01] [ 4.92301145e-03 7.13469731e-05 9.99987879e-01 4.38764366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.080281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:123.45, Y:34.14, Z:0.44 [[ 8.35269754e-01 -5.49825290e-01 -4.07292312e-03 1.23447418e+02] [ 5.49818336e-01 8.35279681e-01 -2.76630245e-03 3.41380956e+01] [ 4.92301297e-03 7.12409551e-05 9.99987879e-01 4.38096687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.110281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:123.47, Y:34.16, Z:0.44 [[ 8.35073136e-01 -5.50123871e-01 -4.07245089e-03 1.23470009e+02] [ 5.50116916e-01 8.35083063e-01 -2.76699747e-03 3.41550968e+01] [ 4.92302612e-03 7.03211334e-05 9.99987879e-01 4.36782072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.140281693 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:123.49, Y:34.17, Z:0.44 [[ 8.34391899e-01 -5.51156583e-01 -4.07195873e-03 1.23492355e+02] [ 5.51149637e-01 8.34401832e-01 -2.76772155e-03 3.41725433e+01] [ 4.92309778e-03 6.51058563e-05 9.99987879e-01 4.35394958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.170281693 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:123.52, Y:34.19, Z:0.44 [[ 8.33621659e-01 -5.52320879e-01 -4.07143615e-03 1.23515000e+02] [ 5.52313944e-01 8.33631599e-01 -2.76849007e-03 3.41890405e+01] [ 4.92317270e-03 5.91623269e-05 9.99987879e-01 4.36132782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.200281693 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:123.54, Y:34.21, Z:0.44 [[ 8.32701596e-01 -5.53707035e-01 -4.07091552e-03 1.23537832e+02] [ 5.53700112e-01 8.32711545e-01 -2.76925543e-03 3.42055191e+01] [ 4.92325456e-03 5.18970357e-05 9.99987879e-01 4.36933048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.230281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:123.56, Y:34.22, Z:0.44 [[ 8.31663426e-01 -5.55265142e-01 -4.07038771e-03 1.23559204e+02] [ 5.55258234e-01 8.31673386e-01 -2.77003100e-03 3.42212549e+01] [ 4.92333479e-03 4.36171788e-05 9.99987879e-01 4.36874706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.260281693 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:123.58, Y:34.24, Z:0.44 [[ 8.29614831e-01 -5.58321293e-01 -4.07015835e-03 1.23581303e+02] [ 5.58314420e-01 8.29624815e-01 -2.77036798e-03 3.42384920e+01] [ 4.92345980e-03 2.59102696e-05 9.99987879e-01 4.38779250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.290281693 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:123.60, Y:34.25, Z:0.44 [[ 8.28656415e-01 -5.59742784e-01 -4.06964032e-03 1.23603363e+02] [ 5.59735924e-01 8.28666408e-01 -2.77112875e-03 3.42548844e+01] [ 4.92349355e-03 1.83897332e-05 9.99987879e-01 4.39896839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.320281693 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:123.63, Y:34.27, Z:0.44 [[ 8.27697655e-01 -5.61159543e-01 -4.06935755e-03 1.23625894e+02] [ 5.61152699e-01 8.27707658e-01 -2.77154393e-03 3.42710124e+01] [ 4.92351673e-03 1.04694417e-05 9.99987879e-01 4.41462778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.350281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:123.65, Y:34.29, Z:0.44 [[ 8.26226977e-01 -5.63322667e-01 -4.06884068e-03 1.23649233e+02] [ 5.63315845e-01 8.26236996e-01 -2.77230252e-03 3.42864145e+01] [ 4.92352755e-03 -1.49129876e-06 9.99987879e-01 4.40845054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.380281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:123.67, Y:34.30, Z:0.44 [[ 8.25428753e-01 -5.64491650e-01 -4.06832267e-03 1.23672751e+02] [ 5.64484839e-01 8.25438779e-01 -2.77306249e-03 3.43019801e+01] [ 4.92352192e-03 -7.54095530e-06 9.99987879e-01 4.39149857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.410281693 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:123.70, Y:34.32, Z:0.44 [[ 8.24717499e-01 -5.65530282e-01 -4.06780296e-03 1.23696354e+02] [ 5.65523480e-01 8.24727531e-01 -2.77382465e-03 3.43168102e+01] [ 4.92351092e-03 -1.28163549e-05 9.99987879e-01 4.37217116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.440281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:123.72, Y:34.33, Z:0.44 [[ 8.23130759e-01 -5.67837310e-01 -4.06728335e-03 1.23719524e+02] [ 5.67830532e-01 8.23140807e-01 -2.77458634e-03 3.43304583e+01] [ 4.92346055e-03 -2.56803133e-05 9.99987879e-01 4.38008831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.470281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:123.74, Y:34.35, Z:0.44 [[ 8.22340106e-01 -5.68981731e-01 -4.06699964e-03 1.23742751e+02] [ 5.68974965e-01 8.22350162e-01 -2.77500214e-03 3.43456431e+01] [ 4.92342334e-03 -3.20254238e-05 9.99987879e-01 4.40075783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.500281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:123.77, Y:34.36, Z:0.44 [[ 8.22234201e-01 -5.69134766e-01 -4.06648297e-03 1.23766168e+02] [ 5.69127998e-01 8.22244256e-01 -2.77575907e-03 3.43618661e+01] [ 4.92342325e-03 -3.20252738e-05 9.99987879e-01 4.40216020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.530281693 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:123.79, Y:34.38, Z:0.44 [[ 8.21451605e-01 -5.70263736e-01 -4.06596624e-03 1.23790437e+02] [ 5.70256978e-01 8.21461666e-01 -2.77651577e-03 3.43766900e+01] [ 4.92338166e-03 -3.78722872e-05 9.99987879e-01 4.42216926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.560281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:123.81, Y:34.39, Z:0.44 [[ 8.21414069e-01 -5.70317806e-01 -4.06544753e-03 1.23813326e+02] [ 5.70311045e-01 8.21424129e-01 -2.77727508e-03 3.43910011e+01] [ 4.92338612e-03 -3.72768031e-05 9.99987879e-01 4.41840246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.590281693 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:123.84, Y:34.41, Z:0.44 [[ 8.21567007e-01 -5.70097472e-01 -4.06509449e-03 1.23836049e+02] [ 5.70090706e-01 8.21577063e-01 -2.77779173e-03 3.44056401e+01] [ 4.92340043e-03 -3.53305511e-05 9.99987879e-01 4.41898997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.620281693 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:123.86, Y:34.42, Z:0.44 [[ 8.22191033e-01 -5.69197139e-01 -4.06474447e-03 1.23859495e+02] [ 5.69190359e-01 8.22201080e-01 -2.77830381e-03 3.44203531e+01] [ 4.92343987e-03 -2.93168873e-05 9.99987879e-01 4.41382871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.650281693 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:123.88, Y:34.43, Z:0.44 [[ 8.22764255e-01 -5.68368246e-01 -4.06421380e-03 1.23882458e+02] [ 5.68361452e-01 8.22774293e-01 -2.77907988e-03 3.44347611e+01] [ 4.92347139e-03 -2.34148757e-05 9.99987879e-01 4.41779774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.680281693 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:123.91, Y:34.45, Z:0.44 [[ 8.23419657e-01 -5.67418323e-01 -4.06392285e-03 1.23905483e+02] [ 5.67411515e-01 8.23429685e-01 -2.77950527e-03 3.44490629e+01] [ 4.92349694e-03 -1.72173447e-05 9.99987879e-01 4.42050975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.710281693 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:123.93, Y:34.46, Z:0.44 [[ 8.24295935e-01 -5.66144600e-01 -4.06250140e-03 1.23930292e+02] [ 5.66137766e-01 8.24305946e-01 -2.78158286e-03 3.44634970e+01] [ 4.92352218e-03 -7.08802700e-06 9.99987879e-01 4.42396219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.740281693 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:123.95, Y:34.48, Z:0.44 [[ 8.24843731e-01 -5.65346185e-01 -4.06325428e-03 1.23953581e+02] [ 5.65339348e-01 8.24853739e-01 -2.78048265e-03 3.44782970e+01] [ 4.92352574e-03 -3.65383938e-06 9.99987879e-01 4.40356200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.770281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:123.98, Y:34.49, Z:0.44 [[ 8.25131791e-01 -5.64925673e-01 -4.06342420e-03 1.23978015e+02] [ 5.64918832e-01 8.25141796e-01 -2.78023437e-03 3.44925755e+01] [ 4.92352692e-03 -1.44508843e-06 9.99987879e-01 4.38627448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.800281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:124.00, Y:34.51, Z:0.44 [[ 8.25294775e-01 -5.64687550e-01 -4.06257899e-03 1.24001566e+02] [ 5.64680700e-01 8.25304774e-01 -2.78146887e-03 3.45077326e+01] [ 4.92352668e-03 1.47177957e-06 9.99987879e-01 4.38953702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.830281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:124.03, Y:34.52, Z:0.44 [[ 8.26311973e-01 -5.63198031e-01 -4.06206312e-03 1.24025521e+02] [ 5.63191159e-01 8.26321958e-01 -2.78222205e-03 3.45229245e+01] [ 4.92351393e-03 1.12653587e-05 9.99987879e-01 4.39462803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.860281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:124.05, Y:34.54, Z:0.44 [[ 8.26914658e-01 -5.62312771e-01 -4.06152779e-03 1.24047853e+02] [ 5.62305884e-01 8.26924632e-01 -2.78300330e-03 3.45376077e+01] [ 4.92349568e-03 1.74852499e-05 9.99987879e-01 4.39505985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.890281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:124.07, Y:34.55, Z:0.44 [[ 8.26931138e-01 -5.62288537e-01 -4.06123595e-03 1.24070852e+02] [ 5.62281648e-01 8.26941111e-01 -2.78342912e-03 3.45536024e+01] [ 4.92349326e-03 1.81457646e-05 9.99987879e-01 4.40132558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.920281693 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:124.09, Y:34.57, Z:0.44 [[ 8.26545983e-01 -5.62854553e-01 -4.06075013e-03 1.24093828e+02] [ 5.62847668e-01 8.26555958e-01 -2.78413771e-03 3.45690882e+01] [ 4.92350180e-03 1.56340964e-05 9.99987879e-01 4.41576467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.950281693 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:124.12, Y:34.58, Z:0.44 [[ 8.24631579e-01 -5.65655614e-01 -4.06020185e-03 1.24116237e+02] [ 5.65648758e-01 8.24641575e-01 -2.78493706e-03 3.45841943e+01] [ 4.92352653e-03 -1.01087291e-07 9.99987879e-01 4.43203735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.980281693 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:124.14, Y:34.60, Z:0.44 [[ 8.23199288e-01 -5.67738010e-01 -4.05996460e-03 1.24139797e+02] [ 5.67731178e-01 8.23209300e-01 -2.78528289e-03 3.45999727e+01] [ 4.92351158e-03 -1.21255937e-05 9.99987879e-01 4.42194647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.010281693 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:124.16, Y:34.61, Z:0.44 [[ 8.20697370e-01 -5.71348710e-01 -4.05943356e-03 1.24164440e+02] [ 5.71341918e-01 8.20707409e-01 -2.78605663e-03 3.46136007e+01] [ 4.92341706e-03 -3.28152099e-05 9.99987879e-01 4.38815392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.040281693 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:124.19, Y:34.63, Z:0.44 [[ 8.19888629e-01 -5.72508656e-01 -4.05889602e-03 1.24187504e+02] [ 5.72501874e-01 8.19898675e-01 -2.78683954e-03 3.46274362e+01] [ 4.92337323e-03 -3.88275315e-05 9.99987879e-01 4.38132264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.070281693 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:124.21, Y:34.64, Z:0.44 [[ 8.19020229e-01 -5.73750287e-01 -4.05860491e-03 1.24210770e+02] [ 5.73743519e-01 8.19030284e-01 -2.78726343e-03 3.46421323e+01] [ 4.92331352e-03 -4.57731260e-05 9.99987879e-01 4.37873854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.100281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:124.23, Y:34.66, Z:0.44 [[ 8.17273630e-01 -5.76235496e-01 -4.05806551e-03 1.24233544e+02] [ 5.76228754e-01 8.17283702e-01 -2.78804854e-03 3.46560790e+01] [ 4.92316333e-03 -5.97754839e-05 9.99987879e-01 4.36750928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.130281693 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:124.26, Y:34.67, Z:0.44 [[ 8.16172454e-01 -5.77794133e-01 -4.05777444e-03 1.24256978e+02] [ 5.77787408e-01 8.16182538e-01 -2.78847210e-03 3.46708802e+01] [ 4.92304746e-03 -6.86568580e-05 9.99987879e-01 4.37466171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.160281693 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:124.28, Y:34.68, Z:0.44 [[ 8.14147771e-01 -5.80643562e-01 -4.05727215e-03 1.24281991e+02] [ 5.80636869e-01 8.14157876e-01 -2.78920275e-03 3.46823016e+01] [ 4.92279269e-03 -8.49785894e-05 9.99987879e-01 4.38322911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.190281693 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:124.31, Y:34.70, Z:0.44 [[ 8.13380195e-01 -5.81718317e-01 -4.05681967e-03 1.24306717e+02] [ 5.81711634e-01 8.13390307e-01 -2.78986071e-03 3.46953679e+01] [ 4.92269088e-03 -9.06817549e-05 9.99987879e-01 4.39095271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.220281693 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:124.33, Y:34.71, Z:0.44 [[ 8.13088276e-01 -5.82126276e-01 -4.05629188e-03 1.24331131e+02] [ 5.82119595e-01 8.13098389e-01 -2.79062788e-03 3.47083397e+01] [ 4.92266221e-03 -9.22201666e-05 9.99987879e-01 4.38902195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.250281693 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:124.36, Y:34.72, Z:0.44 [[ 8.13595922e-01 -5.81416567e-01 -4.05600385e-03 1.24357369e+02] [ 5.81409874e-01 8.13606028e-01 -2.79104645e-03 3.47189525e+01] [ 4.92274982e-03 -8.74166825e-05 9.99987879e-01 4.40692080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.280281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:124.38, Y:34.73, Z:0.44 [[ 8.14171198e-01 -5.80610725e-01 -4.05548390e-03 1.24381435e+02] [ 5.80604018e-01 8.14181294e-01 -2.79180175e-03 3.47325244e+01] [ 4.92284917e-03 -8.16256763e-05 9.99987879e-01 4.43343576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.310281693 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:124.41, Y:34.75, Z:0.45 [[ 8.14929801e-01 -5.79545491e-01 -4.05496008e-03 1.24405445e+02] [ 5.79538768e-01 8.14939886e-01 -2.79256236e-03 3.47460871e+01] [ 4.92296563e-03 -7.42642780e-05 9.99987879e-01 4.46353576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.340281693 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:124.43, Y:34.76, Z:0.45 [[ 8.16490410e-01 -5.77344758e-01 -4.05467784e-03 1.24431496e+02] [ 5.77338006e-01 8.16500476e-01 -2.79297211e-03 3.47576233e+01] [ 4.92315419e-03 -6.04846764e-05 9.99987879e-01 4.47151101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.370281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:124.46, Y:34.77, Z:0.44 [[ 8.18172161e-01 -5.74959023e-01 -4.05415127e-03 1.24457777e+02] [ 5.74952238e-01 8.18182204e-01 -2.79373624e-03 3.47680572e+01] [ 4.92331828e-03 -4.51861231e-05 9.99987879e-01 4.43021230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.400281693 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:124.48, Y:34.78, Z:0.44 [[ 8.19071752e-01 -5.73676767e-01 -4.05362597e-03 1.24481933e+02] [ 5.73669962e-01 8.19081782e-01 -2.79449822e-03 3.47811374e+01] [ 4.92338989e-03 -3.65488984e-05 9.99987879e-01 4.41151147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.430281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:124.51, Y:34.79, Z:0.44 [[ 8.19158829e-01 -5.73552425e-01 -4.05326642e-03 1.24506589e+02] [ 5.73545616e-01 8.19168856e-01 -2.79501965e-03 3.47945998e+01] [ 4.92339991e-03 -3.51681648e-05 9.99987879e-01 4.40476670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.460281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:124.53, Y:34.81, Z:0.44 [[ 8.18967244e-01 -5.73825956e-01 -4.05274229e-03 1.24530381e+02] [ 5.73819147e-01 8.18977271e-01 -2.79577941e-03 3.48080122e+01] [ 4.92339462e-03 -3.58893596e-05 9.99987879e-01 4.41191556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.490281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:124.56, Y:34.82, Z:0.44 [[ 8.18531395e-01 -5.74447503e-01 -4.05238431e-03 1.24555527e+02] [ 5.74440698e-01 8.18541425e-01 -2.79629819e-03 3.48216687e+01] [ 4.92337095e-03 -3.89966156e-05 9.99987879e-01 4.44050827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.520281693 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:124.58, Y:34.84, Z:0.44 [[ 8.18771358e-01 -5.74105430e-01 -4.05186135e-03 1.24579194e+02] [ 5.74098618e-01 8.18781383e-01 -2.79705576e-03 3.48366734e+01] [ 4.92339355e-03 -3.60188565e-05 9.99987879e-01 4.44711884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.550281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:124.60, Y:34.85, Z:0.44 [[ 8.21260826e-01 -5.70538555e-01 -4.05133124e-03 1.24602772e+02] [ 5.70531695e-01 8.21270818e-01 -2.79782339e-03 3.48496933e+01] [ 4.92350623e-03 -1.36701328e-05 9.99987879e-01 4.41894052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.580281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:124.63, Y:34.87, Z:0.44 [[ 8.22612696e-01 -5.68587672e-01 -4.05103947e-03 1.24625615e+02] [ 5.68580787e-01 8.22622671e-01 -2.79824578e-03 3.48656624e+01] [ 4.92352496e-03 -1.47070222e-06 9.99987879e-01 4.42317904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.610281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:124.65, Y:34.88, Z:0.44 [[ 8.23808823e-01 -5.66853258e-01 -4.05051994e-03 1.24648162e+02] [ 5.66846348e-01 8.23818781e-01 -2.79899761e-03 3.48825602e+01] [ 4.92351531e-03 9.81648805e-06 9.99987879e-01 4.44219223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.640281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:124.67, Y:34.90, Z:0.45 [[ 8.25830154e-01 -5.63904384e-01 -4.05000048e-03 1.24669771e+02] [ 5.63897434e-01 8.25840085e-01 -2.79974904e-03 3.48992477e+01] [ 4.92344349e-03 2.83322988e-05 9.99987879e-01 4.46137976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.670281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:124.69, Y:34.92, Z:0.44 [[ 8.26323670e-01 -5.63180959e-01 -4.04971934e-03 1.24692111e+02] [ 5.63173999e-01 8.26333593e-01 -2.80015563e-03 3.49155723e+01] [ 4.92341347e-03 3.31382394e-05 9.99987879e-01 4.44695287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.700281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:124.71, Y:34.93, Z:0.44 [[ 8.26962275e-01 -5.62242830e-01 -4.04919301e-03 1.24713161e+02] [ 5.62235855e-01 8.26972187e-01 -2.80091653e-03 3.49323890e+01] [ 4.92336524e-03 3.96508050e-05 9.99987879e-01 4.44058449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.730281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:124.74, Y:34.95, Z:0.44 [[ 8.26811507e-01 -5.62464521e-01 -4.04890385e-03 1.24735410e+02] [ 5.62457547e-01 8.26821420e-01 -2.80133447e-03 3.49495660e+01] [ 4.92337168e-03 3.88390519e-05 9.99987879e-01 4.44141507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.760281693 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:124.76, Y:34.97, Z:0.44 [[ 8.26413692e-01 -5.63048862e-01 -4.04838404e-03 1.24757596e+02] [ 5.63041891e-01 8.26423607e-01 -2.80208548e-03 3.49664698e+01] [ 4.92339118e-03 3.62720024e-05 9.99987879e-01 4.44489114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.790281693 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:124.78, Y:34.98, Z:0.44 [[ 8.24885860e-01 -5.65284825e-01 -4.04784049e-03 1.24779116e+02] [ 5.65277876e-01 8.24895791e-01 -2.80287046e-03 3.49837434e+01] [ 4.92346672e-03 2.38935327e-05 9.99987879e-01 4.43560428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.820281693 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:124.80, Y:35.00, Z:0.44 [[ 8.24044528e-01 -5.66510578e-01 -4.04729110e-03 1.24800716e+02] [ 5.66503641e-01 8.24054467e-01 -2.80366354e-03 3.50006131e+01] [ 4.92349337e-03 1.75384583e-05 9.99987879e-01 4.44810387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.850281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:124.82, Y:35.02, Z:0.45 [[ 8.23263986e-01 -5.67644282e-01 -4.04699028e-03 1.24822557e+02] [ 5.67637356e-01 8.23273933e-01 -2.80409771e-03 3.50179017e+01] [ 4.92351163e-03 1.12897927e-05 9.99987879e-01 4.46354235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.880281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:124.84, Y:35.04, Z:0.45 [[ 8.22825112e-01 -5.68280267e-01 -4.04647087e-03 1.24844290e+02] [ 5.68273345e-01 8.22835061e-01 -2.80484703e-03 3.50354483e+01] [ 4.92351733e-03 8.39703385e-06 9.99987879e-01 4.48401635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.910281693 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:124.87, Y:35.05, Z:0.45 [[ 8.22990791e-01 -5.68040305e-01 -4.04593228e-03 1.24866146e+02] [ 5.68033377e-01 8.23000736e-01 -2.80562373e-03 3.50515654e+01] [ 4.92351260e-03 1.07779174e-05 9.99987879e-01 4.48262723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.940281693 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:124.89, Y:35.07, Z:0.45 [[ 8.23574712e-01 -5.67193377e-01 -4.04563960e-03 1.24887399e+02] [ 5.67186436e-01 8.23584648e-01 -2.80604570e-03 3.50705349e+01] [ 4.92349720e-03 1.63563667e-05 9.99987879e-01 4.49200019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.970281693 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:124.91, Y:35.09, Z:0.45 [[ 8.23696414e-01 -5.67016626e-01 -4.04510979e-03 1.24909968e+02] [ 5.67009679e-01 8.23706347e-01 -2.80680925e-03 3.50879433e+01] [ 4.92349012e-03 1.83423117e-05 9.99987879e-01 4.48758745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.000281693 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:124.93, Y:35.10, Z:0.45 [[ 8.23477066e-01 -5.67335142e-01 -4.04456961e-03 1.24931910e+02] [ 5.67328195e-01 8.23486998e-01 -2.80758743e-03 3.51043170e+01] [ 4.92349350e-03 1.73854864e-05 9.99987879e-01 4.47192015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.030281693 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:124.95, Y:35.12, Z:0.44 [[ 8.22356776e-01 -5.68957799e-01 -4.04426720e-03 1.24954714e+02] [ 5.68950870e-01 8.22366720e-01 -2.80802297e-03 3.51213331e+01] [ 4.92351733e-03 8.20737697e-06 9.99987879e-01 4.44958724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.060281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:124.98, Y:35.14, Z:0.45 [[ 8.21412268e-01 -5.70320554e-01 -4.04374046e-03 1.24977198e+02] [ 5.70313638e-01 8.21422221e-01 -2.80878130e-03 3.51384898e+01] [ 4.92352398e-03 9.67085087e-07 9.99987879e-01 4.45753047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.090281693 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:125.00, Y:35.15, Z:0.45 [[ 8.20677857e-01 -5.71376852e-01 -4.04320659e-03 1.24998393e+02] [ 5.71369945e-01 8.20687817e-01 -2.80954960e-03 3.51546244e+01] [ 4.92352200e-03 -4.43158058e-06 9.99987879e-01 4.47741430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.120281693 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:125.02, Y:35.17, Z:0.45 [[ 8.19583743e-01 -5.72945149e-01 -4.04284273e-03 1.25020878e+02] [ 5.72938258e-01 8.19593714e-01 -2.81007308e-03 3.51712802e+01] [ 4.92350623e-03 -1.32090613e-05 9.99987879e-01 4.50351887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.150281693 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:125.04, Y:35.19, Z:0.45 [[ 8.19094368e-01 -5.73644556e-01 -4.04231523e-03 1.25042898e+02] [ 5.73637669e-01 8.19104342e-01 -2.81083170e-03 3.51870741e+01] [ 4.92349626e-03 -1.64878717e-05 9.99987879e-01 4.49597552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.180281693 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:125.07, Y:35.20, Z:0.45 [[ 8.18354938e-01 -5.74698928e-01 -4.04202238e-03 1.25065248e+02] [ 5.74692053e-01 8.18364919e-01 -2.81125276e-03 3.52047546e+01] [ 4.92347326e-03 -2.23155590e-05 9.99987879e-01 4.46245965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.210281693 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:125.09, Y:35.22, Z:0.45 [[ 8.18342317e-01 -5.74716903e-01 -4.04148550e-03 1.25087125e+02] [ 5.74710024e-01 8.18352297e-01 -2.81202436e-03 3.52218592e+01] [ 4.92347687e-03 -2.14836990e-05 9.99987879e-01 4.45819644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.240281693 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:125.11, Y:35.24, Z:0.45 [[ 8.18430150e-01 -5.74591820e-01 -4.04094154e-03 1.25108797e+02] [ 5.74584936e-01 8.18440126e-01 -2.81280583e-03 3.52388525e+01] [ 4.92348392e-03 -1.97790386e-05 9.99987879e-01 4.46551369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.270281693 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:125.13, Y:35.26, Z:0.45 [[ 8.18565389e-01 -5.74399144e-01 -4.04064523e-03 1.25130028e+02] [ 5.74392255e-01 8.18575362e-01 -2.81323143e-03 3.52556804e+01] [ 4.92349035e-03 -1.81014477e-05 9.99987879e-01 4.47124925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.300281693 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:125.15, Y:35.27, Z:0.45 [[ 8.18687560e-01 -5.74225004e-01 -4.04035715e-03 1.25151905e+02] [ 5.74218110e-01 8.18697530e-01 -2.81364510e-03 3.52719701e+01] [ 4.92349578e-03 -1.65500099e-05 9.99987879e-01 4.47384073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.330281693 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:125.17, Y:35.29, Z:0.45 [[ 8.18947091e-01 -5.73854807e-01 -4.04007303e-03 1.25173634e+02] [ 5.73847908e-01 8.18957056e-01 -2.81405301e-03 3.52875376e+01] [ 4.92350416e-03 -1.38269285e-05 9.99987879e-01 4.46840894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.360281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:125.20, Y:35.30, Z:0.45 [[ 8.18926599e-01 -5.73884054e-01 -4.03961083e-03 1.25196587e+02] [ 5.73877152e-01 8.18936562e-01 -2.81471634e-03 3.53038626e+01] [ 4.92350583e-03 -1.31942786e-05 9.99987879e-01 4.47161666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.390281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:125.22, Y:35.32, Z:0.45 [[ 8.18820297e-01 -5.74035720e-01 -4.03909147e-03 1.25219849e+02] [ 5.74028815e-01 8.18830259e-01 -2.81546142e-03 3.53203246e+01] [ 4.92350574e-03 -1.31979334e-05 9.99987879e-01 4.47301905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.420281693 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:125.24, Y:35.34, Z:0.45 [[ 8.18425590e-01 -5.74598332e-01 -4.03856988e-03 1.25242655e+02] [ 5.74591431e-01 8.18435554e-01 -2.81620941e-03 3.53363902e+01] [ 4.92349841e-03 -1.56698005e-05 9.99987879e-01 4.47894208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.450281693 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:125.27, Y:35.35, Z:0.45 [[ 8.17284602e-01 -5.76220074e-01 -4.03803215e-03 1.25265624e+02] [ 5.76213189e-01 8.17294577e-01 -2.81698022e-03 3.53513783e+01] [ 4.92346233e-03 -2.44928252e-05 9.99987879e-01 4.50297526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.480281693 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:125.29, Y:35.37, Z:0.45 [[ 8.16681230e-01 -5.77074923e-01 -4.03766583e-03 1.25289662e+02] [ 5.77068045e-01 8.16691210e-01 -2.81750518e-03 3.53665030e+01] [ 4.92343778e-03 -2.90043382e-05 9.99987879e-01 4.51263972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.510281693 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:125.31, Y:35.38, Z:0.45 [[ 8.16146578e-01 -5.77830828e-01 -4.03714227e-03 1.25314387e+02] [ 5.77823956e-01 8.16156562e-01 -2.81825518e-03 3.53798837e+01] [ 4.92341488e-03 -3.26481920e-05 9.99987879e-01 4.50897310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.540281693 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:125.34, Y:35.40, Z:0.45 [[ 8.16401509e-01 -5.77470589e-01 -4.03661417e-03 1.25338334e+02] [ 5.77463709e-01 8.16411488e-01 -2.81901138e-03 3.53952596e+01] [ 4.92343434e-03 -2.95530493e-05 9.99987879e-01 4.49089188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.570281693 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:125.36, Y:35.41, Z:0.45 [[ 8.16824363e-01 -5.76872316e-01 -4.03608585e-03 1.25360630e+02] [ 5.76865425e-01 8.16834335e-01 -2.81976759e-03 3.54098225e+01] [ 4.92345936e-03 -2.50235099e-05 9.99987879e-01 4.48404778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.600281693 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:125.38, Y:35.42, Z:0.45 [[ 8.18473269e-01 -5.74530436e-01 -4.03572509e-03 1.25384262e+02] [ 5.74523514e-01 8.18483218e-01 -2.82028382e-03 3.54229945e+01] [ 4.92351215e-03 -1.02920427e-05 9.99987879e-01 4.51179189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.630281693 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:125.41, Y:35.44, Z:0.45 [[ 8.19393626e-01 -5.73217064e-01 -4.03525610e-03 1.25408139e+02] [ 5.73210123e-01 8.19403562e-01 -2.82095470e-03 3.54375660e+01] [ 4.92352259e-03 -1.57734588e-06 9.99987879e-01 4.51472707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.660281693 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:125.43, Y:35.45, Z:0.45 [[ 8.21290080e-01 -5.70496560e-01 -4.03473450e-03 1.25431050e+02] [ 5.70489582e-01 8.21299990e-01 -2.82170053e-03 3.54516191e+01] [ 4.92349785e-03 1.56606568e-05 9.99987879e-01 4.50755184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.690281693 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:125.45, Y:35.47, Z:0.45 [[ 8.22212149e-01 -5.69166853e-01 -4.03426516e-03 1.25454215e+02] [ 5.69159856e-01 8.22222046e-01 -2.82237140e-03 3.54676216e+01] [ 4.92346200e-03 2.44462741e-05 9.99987879e-01 4.49254961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.720281693 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:125.48, Y:35.48, Z:0.45 [[ 8.23203799e-01 -5.67731656e-01 -4.03374967e-03 1.25476718e+02] [ 5.67724638e-01 8.23213681e-01 -2.82310795e-03 3.54828774e+01] [ 4.92340567e-03 3.39341149e-05 9.99987879e-01 4.48313085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.750281693 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:125.50, Y:35.50, Z:0.45 [[ 8.24920575e-01 -5.65234267e-01 -4.03328579e-03 1.25499270e+02] [ 5.65227216e-01 8.24930434e-01 -2.82377052e-03 3.54981250e+01] [ 4.92327206e-03 4.96635012e-05 9.99987879e-01 4.49024874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.780281693 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:125.52, Y:35.51, Z:0.45 [[ 8.25567173e-01 -5.64289445e-01 -4.03293720e-03 1.25522132e+02] [ 5.64282380e-01 8.25577022e-01 -2.82426830e-03 3.55149160e+01] [ 4.92320507e-03 5.59077971e-05 9.99987879e-01 4.48640080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.810281693 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:125.54, Y:35.53, Z:0.45 [[ 8.26045534e-01 -5.63588960e-01 -4.03242722e-03 1.25544463e+02] [ 5.63581883e-01 8.26055374e-01 -2.82499624e-03 3.55319268e+01] [ 4.92314487e-03 6.09726008e-05 9.99987879e-01 4.47202660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.840281693 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:125.57, Y:35.55, Z:0.45 [[ 8.26017909e-01 -5.63629451e-01 -4.03191939e-03 1.25566086e+02] [ 5.63622371e-01 8.26027747e-01 -2.82572085e-03 3.55486835e+01] [ 4.92313678e-03 6.16160650e-05 9.99987879e-01 4.46101455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.870281693 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:125.59, Y:35.56, Z:0.45 [[ 8.24955551e-01 -5.65183232e-01 -4.03164161e-03 1.25587617e+02] [ 5.65176168e-01 8.24965401e-01 -2.82611712e-03 3.55646160e+01] [ 4.92323884e-03 5.28332528e-05 9.99987879e-01 4.45184828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.900281693 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:125.61, Y:35.58, Z:0.45 [[ 8.24039632e-01 -5.66517814e-01 -4.03119428e-03 1.25610292e+02] [ 5.66510764e-01 8.24049491e-01 -2.82675505e-03 3.55814278e+01] [ 4.92331069e-03 4.56432430e-05 9.99987879e-01 4.46846627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.930281693 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:125.63, Y:35.60, Z:0.45 [[ 8.22310594e-01 -5.69024640e-01 -4.03069639e-03 1.25632406e+02] [ 5.69017616e-01 8.22320472e-01 -2.82746483e-03 3.55990997e+01] [ 4.92342131e-03 3.15170327e-05 9.99987879e-01 4.48350711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.960281693 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:125.66, Y:35.62, Z:0.45 [[ 8.21403642e-01 -5.70333074e-01 -4.03018415e-03 1.25655307e+02] [ 5.70326062e-01 8.21413528e-01 -2.82819476e-03 3.56159439e+01] [ 4.92346079e-03 2.45704236e-05 9.99987879e-01 4.47567867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.990281693 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:125.68, Y:35.63, Z:0.45 [[ 8.19911695e-01 -5.72475828e-01 -4.02965324e-03 1.25677472e+02] [ 5.72468838e-01 8.19921597e-01 -2.82895100e-03 3.56313108e+01] [ 4.92350579e-03 1.26391021e-05 9.99987879e-01 4.46083212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.020281693 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:125.70, Y:35.65, Z:0.45 [[ 8.18485296e-01 -5.74513345e-01 -4.02935706e-03 1.25699354e+02] [ 5.74506378e-01 8.18495214e-01 -2.82937280e-03 3.56471781e+01] [ 4.92352191e-03 9.08702597e-07 9.99987879e-01 4.46182605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.050281693 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:125.72, Y:35.66, Z:0.45 [[ 8.16986167e-01 -5.76643192e-01 -4.02890639e-03 1.25721726e+02] [ 5.76636248e-01 8.16996101e-01 -2.83001439e-03 3.56631398e+01] [ 4.92350935e-03 -1.11308519e-05 9.99987879e-01 4.47227788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.080281693 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:125.75, Y:35.68, Z:0.45 [[ 8.15276186e-01 -5.79058297e-01 -4.02846736e-03 1.25746977e+02] [ 5.79051379e-01 8.15286139e-01 -2.83063920e-03 3.56802230e+01] [ 4.92345872e-03 -2.49368500e-05 9.99987879e-01 4.47397366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.110281693 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:125.77, Y:35.69, Z:0.45 [[ 8.13644262e-01 -5.81349039e-01 -4.03854964e-03 1.25769027e+02] [ 5.81342220e-01 8.13654282e-01 -2.81629053e-03 3.56915122e+01] [ 4.92323101e-03 -5.63207901e-05 9.99987879e-01 4.47826074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.140281693 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:125.79, Y:35.71, Z:0.45 [[ 8.12859768e-01 -5.82445512e-01 -4.02780680e-03 1.25792504e+02] [ 5.82438631e-01 8.12869746e-01 -2.83157184e-03 3.57065709e+01] [ 4.92331859e-03 -4.42794529e-05 9.99987879e-01 4.48354801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.170281693 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:125.82, Y:35.72, Z:0.45 [[ 8.12368868e-01 -5.83130005e-01 -4.02728453e-03 1.25815495e+02] [ 5.83123128e-01 8.12378850e-01 -2.83231445e-03 3.57200158e+01] [ 4.92328831e-03 -4.75186747e-05 9.99987879e-01 4.49433227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.200281693 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:125.84, Y:35.73, Z:0.45 [[ 8.12418542e-01 -5.83060801e-01 -4.02681715e-03 1.25839449e+02] [ 5.83053921e-01 8.12428520e-01 -2.83297878e-03 3.57343752e+01] [ 4.92329998e-03 -4.62870369e-05 9.99987879e-01 4.48643581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.230281693 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:125.86, Y:35.75, Z:0.45 [[ 8.12568329e-01 -5.82852040e-01 -4.02628505e-03 1.25862728e+02] [ 5.82845153e-01 8.12578303e-01 -2.83373482e-03 3.57480607e+01] [ 4.92331999e-03 -4.40975537e-05 9.99987879e-01 4.48745916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.260281693 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:125.89, Y:35.76, Z:0.45 [[ 8.14099671e-01 -5.80711217e-01 -4.02580739e-03 1.25887623e+02] [ 5.80704301e-01 8.14109625e-01 -2.83441326e-03 3.57612748e+01] [ 4.92342411e-03 -3.03087615e-05 9.99987879e-01 4.48179828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.290281693 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:125.91, Y:35.78, Z:0.45 [[ 8.15198293e-01 -5.79167973e-01 -4.02529373e-03 1.25910541e+02] [ 5.79161034e-01 8.15208231e-01 -2.83514254e-03 3.57765646e+01] [ 4.92347634e-03 -2.00899163e-05 9.99987879e-01 4.47524629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.320281693 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:125.93, Y:35.79, Z:0.45 [[ 8.18499914e-01 -5.74492552e-01 -4.02478295e-03 1.25933131e+02] [ 5.74485553e-01 8.18509809e-01 -2.83586746e-03 3.57913924e+01] [ 4.92350906e-03 8.97761152e-06 9.99987879e-01 4.45906740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.350281693 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:125.96, Y:35.81, Z:0.45 [[ 8.20377986e-01 -5.71807454e-01 -4.02432456e-03 1.25955438e+02] [ 5.71800419e-01 8.20387856e-01 -2.83651780e-03 3.58074326e+01] [ 4.92344902e-03 2.59062947e-05 9.99987879e-01 4.45513060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.380281693 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:125.98, Y:35.82, Z:0.45 [[ 8.22358930e-01 -5.68954830e-01 -4.02398082e-03 1.25977867e+02] [ 5.68947758e-01 8.22368773e-01 -2.83700536e-03 3.58245097e+01] [ 4.92332407e-03 4.36018221e-05 9.99987879e-01 4.45165898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.410281693 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:126.00, Y:35.84, Z:0.45 [[ 8.26442234e-01 -5.63007145e-01 -4.02348188e-03 1.25998150e+02] [ 5.62999999e-01 8.26452024e-01 -2.83771278e-03 3.58440363e+01] [ 4.92286732e-03 7.99853954e-05 9.99987879e-01 4.46952517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.440281693 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:126.02, Y:35.86, Z:0.45 [[ 8.28175851e-01 -5.60453902e-01 -4.02295410e-03 1.26019647e+02] [ 5.60446722e-01 8.28185616e-01 -2.83846082e-03 3.58617187e+01] [ 4.92257916e-03 9.60932634e-05 9.99987879e-01 4.48007215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.470281693 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:126.04, Y:35.88, Z:0.45 [[ 8.29227601e-01 -5.58896598e-01 -4.02241790e-03 1.26041308e+02] [ 5.58889396e-01 8.29237350e-01 -2.83922047e-03 3.58798643e+01] [ 4.92236982e-03 1.06273265e-04 9.99987879e-01 4.49323809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.500281693 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:126.06, Y:35.90, Z:0.45 [[ 8.29877911e-01 -5.57930531e-01 -4.02187659e-03 1.26061514e+02] [ 5.57923315e-01 8.29887649e-01 -2.83998705e-03 3.58993328e+01] [ 4.92222119e-03 1.12943806e-04 9.99987879e-01 4.53479935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.530281693 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:126.08, Y:35.92, Z:0.46 [[ 8.29439074e-01 -5.58582715e-01 -4.02159101e-03 1.26081769e+02] [ 5.58575504e-01 8.29448816e-01 -2.84039139e-03 3.59168245e+01] [ 4.92229743e-03 1.09569379e-04 9.99987879e-01 4.55440592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.560281693 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:126.10, Y:35.93, Z:0.46 [[ 8.28624366e-01 -5.59790576e-01 -4.02132467e-03 1.26102965e+02] [ 5.59783378e-01 8.28634117e-01 -2.84076841e-03 3.59348736e+01] [ 4.92244220e-03 1.02859212e-04 9.99987879e-01 4.55329775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.590281693 meters Centerline goodness : 0.998318 Centerline is valid? [True, True] Translation: X:126.12, Y:35.96, Z:0.46 [[ 8.26809229e-01 -5.62468071e-01 -4.02084084e-03 1.26122953e+02] [ 5.62460901e-01 8.26819001e-01 -2.84145305e-03 3.59550492e+01] [ 4.92273423e-03 8.77738456e-05 9.99987879e-01 4.55075199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.620281693 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:126.14, Y:35.97, Z:0.45 [[ 8.25978742e-01 -5.63686931e-01 -4.02031142e-03 1.26142963e+02] [ 5.63679771e-01 8.25988522e-01 -2.84220193e-03 3.59727559e+01] [ 4.92284317e-03 8.14301511e-05 9.99987879e-01 4.54677496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.650281693 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:126.16, Y:35.99, Z:0.45 [[ 8.24498751e-01 -5.65849493e-01 -4.02001075e-03 1.26164212e+02] [ 5.65842357e-01 8.24508549e-01 -2.84262714e-03 3.59934905e+01] [ 4.92303235e-03 6.90501715e-05 9.99987879e-01 4.50584180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.680281693 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:126.19, Y:36.01, Z:0.45 [[ 8.23588465e-01 -5.67173592e-01 -4.01954954e-03 1.26185416e+02] [ 5.67166469e-01 8.23598271e-01 -2.84327915e-03 3.60110391e+01] [ 4.92312690e-03 6.19381923e-05 9.99987879e-01 4.49453556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.710281693 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:126.21, Y:36.03, Z:0.45 [[ 8.22436066e-01 -5.68843356e-01 -4.01918898e-03 1.26207102e+02] [ 5.68836250e-01 8.22445885e-01 -2.84378873e-03 3.60290337e+01] [ 4.92323576e-03 5.25740298e-05 9.99987879e-01 4.48616514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.740281693 meters Centerline goodness : 0.998501 Centerline is valid? [True, True] Translation: X:126.23, Y:36.05, Z:0.45 [[ 8.19921946e-01 -5.72461224e-01 -4.01866053e-03 1.26227103e+02] [ 5.72454158e-01 8.19931793e-01 -2.84453531e-03 3.60475613e+01] [ 4.92341370e-03 3.17979942e-05 9.99987879e-01 4.49076133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.770281693 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:126.25, Y:36.06, Z:0.45 [[ 8.18814438e-01 -5.74044222e-01 -4.01830125e-03 1.26248049e+02] [ 5.74037172e-01 8.18824298e-01 -2.84504275e-03 3.60641862e+01] [ 4.92346305e-03 2.29077931e-05 9.99987879e-01 4.47861219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.800281693 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:126.27, Y:36.08, Z:0.45 [[ 8.17445544e-01 -5.75991873e-01 -4.01801442e-03 1.26270328e+02] [ 5.75984844e-01 8.17455419e-01 -2.84544778e-03 3.60807995e+01] [ 4.92350246e-03 1.16831934e-05 9.99987879e-01 4.45114260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.830281693 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:126.29, Y:36.10, Z:0.45 [[ 8.16897283e-01 -5.76769181e-01 -4.01747201e-03 1.26292935e+02] [ 5.76762159e-01 8.16907162e-01 -2.84621339e-03 3.60971743e+01] [ 4.92350983e-03 7.93815865e-06 9.99987879e-01 4.45027926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.860281693 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:126.31, Y:36.11, Z:0.44 [[ 8.16597991e-01 -5.77192850e-01 -4.01692315e-03 1.26314497e+02] [ 5.77185828e-01 8.16607871e-01 -2.84698781e-03 3.61135746e+01] [ 4.92351207e-03 6.33341234e-06 9.99987879e-01 4.44138649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.890281693 meters Centerline goodness : 0.998276 Centerline is valid? [True, True] Translation: X:126.34, Y:36.13, Z:0.44 [[ 8.16447481e-01 -5.77405731e-01 -4.01654893e-03 1.26335737e+02] [ 5.77398709e-01 8.16457361e-01 -2.84751566e-03 3.61318417e+01] [ 4.92351280e-03 5.69681262e-06 9.99987879e-01 4.41906106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.920281693 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:126.36, Y:36.15, Z:0.44 [[ 8.16386756e-01 -5.77491590e-01 -4.01599027e-03 1.26357663e+02] [ 5.77484566e-01 8.16396634e-01 -2.84830334e-03 3.61478220e+01] [ 4.92351217e-03 6.14472609e-06 9.99987879e-01 4.40692408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.950281693 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:126.38, Y:36.16, Z:0.44 [[ 8.16199798e-01 -5.77755800e-01 -4.01568645e-03 1.26381059e+02] [ 5.77748776e-01 8.16209677e-01 -2.84873162e-03 3.61637470e+01] [ 4.92351336e-03 5.07624146e-06 9.99987879e-01 4.41920481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.980281693 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:126.40, Y:36.18, Z:0.44 [[ 8.16225638e-01 -5.77719297e-01 -4.01512889e-03 1.26403386e+02] [ 5.77712270e-01 8.16235513e-01 -2.84951727e-03 3.61780681e+01] [ 4.92351190e-03 6.25982607e-06 9.99987879e-01 4.42409374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.010281693 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:126.43, Y:36.19, Z:0.44 [[ 8.16320885e-01 -5.77584707e-01 -4.01485128e-03 1.26425703e+02] [ 5.77577676e-01 8.16330758e-01 -2.84990834e-03 3.61935380e+01] [ 4.92351007e-03 7.55122635e-06 9.99987879e-01 4.42930962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.040281693 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:126.45, Y:36.21, Z:0.44 [[ 8.16501482e-01 -5.77329380e-01 -4.01455749e-03 1.26448533e+02] [ 5.77322344e-01 8.16511351e-01 -2.85032214e-03 3.62093622e+01] [ 4.92350647e-03 9.59851463e-06 9.99987879e-01 4.44266187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.070281693 meters Centerline goodness : 0.998417 Centerline is valid? [True, True] Translation: X:126.47, Y:36.22, Z:0.45 [[ 8.17088490e-01 -5.76498298e-01 -4.01402671e-03 1.26472666e+02] [ 5.76491248e-01 8.17098349e-01 -2.85106942e-03 3.62243231e+01] [ 4.92349127e-03 1.55247402e-05 9.99987879e-01 4.46494622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.100281693 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:126.49, Y:36.24, Z:0.45 [[ 8.17382728e-01 -5.76081043e-01 -4.01346849e-03 1.26494564e+02] [ 5.76073985e-01 8.17392581e-01 -2.85185501e-03 3.62395402e+01] [ 4.92347898e-03 1.90022404e-05 9.99987879e-01 4.46515307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.130281693 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:126.52, Y:36.25, Z:0.45 [[ 8.17633040e-01 -5.75725721e-01 -4.01316468e-03 1.26516752e+02] [ 5.75718656e-01 8.17642889e-01 -2.85228248e-03 3.62543846e+01] [ 4.92346795e-03 2.16666147e-05 9.99987879e-01 4.46988300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.160281693 meters Centerline goodness : 0.998498 Centerline is valid? [True, True] Translation: X:126.54, Y:36.27, Z:0.45 [[ 8.16976595e-01 -5.76656865e-01 -4.01287070e-03 1.26541174e+02] [ 5.76649810e-01 8.16986450e-01 -2.85269601e-03 3.62685326e+01] [ 4.92348773e-03 1.65647502e-05 9.99987879e-01 4.46175796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.190281693 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:126.57, Y:36.28, Z:0.44 [[ 8.16197309e-01 -5.77759339e-01 -4.01237573e-03 1.26565489e+02] [ 5.77752293e-01 8.16207171e-01 -2.85339203e-03 3.62833528e+01] [ 4.92350374e-03 1.07716125e-05 9.99987879e-01 4.44884839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.220281693 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:126.59, Y:36.30, Z:0.44 [[ 8.15117098e-01 -5.79282333e-01 -4.01184869e-03 1.26589801e+02] [ 5.79275302e-01 8.15126971e-01 -2.85413286e-03 3.62977416e+01] [ 4.92351481e-03 2.48762955e-06 9.99987879e-01 4.44083148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.250281693 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:126.61, Y:36.31, Z:0.44 [[ 8.12034644e-01 -5.83595447e-01 -4.01130944e-03 1.26614911e+02] [ 5.83588464e-01 8.12044552e-01 -2.85489053e-03 3.63099054e+01] [ 4.92346310e-03 -2.26838994e-05 9.99987879e-01 4.44063780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.280281693 meters Centerline goodness : 0.998336 Centerline is valid? [True, True] Translation: X:126.64, Y:36.32, Z:0.44 [[ 8.10270761e-01 -5.86041985e-01 -4.01076926e-03 1.26638580e+02] [ 5.86035029e-01 8.10280686e-01 -2.85564923e-03 3.63237892e+01] [ 4.92337921e-03 -3.66022083e-05 9.99987879e-01 4.43160582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.310281693 meters Centerline goodness : 0.998336 Centerline is valid? [True, True] Translation: X:126.66, Y:36.34, Z:0.44 [[ 8.10167879e-01 -5.86184206e-01 -4.01047400e-03 1.26661681e+02] [ 5.86177250e-01 8.10177805e-01 -2.85606383e-03 3.63404778e+01] [ 4.92337653e-03 -3.69574390e-05 9.99987879e-01 4.43300852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.340281693 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:126.69, Y:36.35, Z:0.44 [[ 8.07175763e-01 -5.90297559e-01 -4.00997254e-03 1.26687643e+02] [ 5.90290649e-01 8.07185721e-01 -2.85676772e-03 3.63523740e+01] [ 4.92313558e-03 -6.11356323e-05 9.99987879e-01 4.43900119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.370281693 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:126.71, Y:36.37, Z:0.45 [[ 8.06491546e-01 -5.91232027e-01 -4.00942407e-03 1.26710848e+02] [ 5.91225126e-01 8.06501510e-01 -2.85753728e-03 3.63670989e+01] [ 4.92307412e-03 -6.58925919e-05 9.99987879e-01 4.46807395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.400281693 meters Centerline goodness : 0.998493 Centerline is valid? [True, True] Translation: X:126.73, Y:36.38, Z:0.45 [[ 8.06587665e-01 -5.91100893e-01 -4.00912699e-03 1.26732735e+02] [ 5.91093988e-01 8.06597626e-01 -2.85795401e-03 3.63821089e+01] [ 4.92309148e-03 -6.45804071e-05 9.99987879e-01 4.49649799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.430281693 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:126.76, Y:36.40, Z:0.45 [[ 8.09221118e-01 -5.87490522e-01 -4.00864942e-03 1.26755990e+02] [ 5.87483569e-01 8.09231045e-01 -2.85862371e-03 3.63977900e+01] [ 4.92333790e-03 -4.17569977e-05 9.99987879e-01 4.53731791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.460281693 meters Centerline goodness : 0.998308 Centerline is valid? [True, True] Translation: X:126.78, Y:36.41, Z:0.45 [[ 8.10814714e-01 -5.85289189e-01 -4.00812069e-03 1.26777596e+02] [ 5.85282205e-01 8.10824620e-01 -2.85936486e-03 3.64134138e+01] [ 4.92343828e-03 -2.74666087e-05 9.99987879e-01 4.53908996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.490281693 meters Centerline goodness : 0.998403 Centerline is valid? [True, True] Translation: X:126.80, Y:36.43, Z:0.45 [[ 8.13846164e-01 -5.81066571e-01 -4.00764385e-03 1.26799207e+02] [ 5.81059533e-01 8.13856031e-01 -2.86003304e-03 3.64307972e+01] [ 4.92351471e-03 -1.05274466e-06 9.99987879e-01 4.51805299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.520281693 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:126.82, Y:36.45, Z:0.45 [[ 8.14632919e-01 -5.79963060e-01 -4.00711727e-03 1.26821511e+02] [ 5.79956004e-01 8.14642774e-01 -2.86077063e-03 3.64477735e+01] [ 4.92351041e-03 6.52621022e-06 9.99987879e-01 4.51853075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.550281693 meters Centerline goodness : 0.998250 Centerline is valid? [True, True] Translation: X:126.84, Y:36.46, Z:0.45 [[ 8.14884706e-01 -5.79609233e-01 -4.00658848e-03 1.26844052e+02] [ 5.79602170e-01 8.14894556e-01 -2.86151102e-03 3.64635511e+01] [ 4.92350535e-03 9.57419267e-06 9.99987879e-01 4.51102963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.580281693 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:126.87, Y:36.48, Z:0.45 [[ 8.13838070e-01 -5.81077918e-01 -4.00605656e-03 1.26868128e+02] [ 5.81070868e-01 8.13847930e-01 -2.86225550e-03 3.64778418e+01] [ 4.92351431e-03 1.60972420e-06 9.99987879e-01 4.49028318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.610281693 meters Centerline goodness : 0.998350 Centerline is valid? [True, True] Translation: X:126.89, Y:36.49, Z:0.45 [[ 8.12848836e-01 -5.82460922e-01 -4.00551733e-03 1.26891145e+02] [ 5.82453886e-01 8.12858705e-01 -2.86300991e-03 3.64936833e+01] [ 4.92351102e-03 -5.83486126e-06 9.99987879e-01 4.46826673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.640281693 meters Centerline goodness : 0.998222 Centerline is valid? [True, True] Translation: X:126.91, Y:36.51, Z:0.45 [[ 8.11834968e-01 -5.83873226e-01 -4.00496042e-03 1.26913265e+02] [ 5.83866203e-01 8.11844847e-01 -2.86378874e-03 3.65098950e+01] [ 4.92349605e-03 -1.34371980e-05 9.99987879e-01 4.45331568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.670281693 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:126.94, Y:36.53, Z:0.44 [[ 8.10853968e-01 -5.85234830e-01 -4.00458212e-03 1.26935178e+02] [ 5.85227821e-01 8.10863856e-01 -2.86431764e-03 3.65250918e+01] [ 4.92346935e-03 -2.10495422e-05 9.99987879e-01 4.43916154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.700281693 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:126.96, Y:36.54, Z:0.44 [[ 8.10904329e-01 -5.85165050e-01 -4.00411802e-03 1.26958096e+02] [ 5.85158037e-01 8.10914215e-01 -2.86496628e-03 3.65404935e+01] [ 4.92347435e-03 -1.98282835e-05 9.99987879e-01 4.44733461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.730281693 meters Centerline goodness : 0.998292 Centerline is valid? [True, True] Translation: X:126.98, Y:36.56, Z:0.45 [[ 8.11743036e-01 -5.84001040e-01 -4.00357739e-03 1.26981900e+02] [ 5.83994009e-01 8.11752909e-01 -2.86572156e-03 3.65554837e+01] [ 4.92349997e-03 -1.18356911e-05 9.99987879e-01 4.46329929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.760281693 meters Centerline goodness : 0.998190 Centerline is valid? [True, True] Translation: X:127.00, Y:36.57, Z:0.45 [[ 8.12190156e-01 -5.83379059e-01 -4.00303140e-03 1.27004337e+02] [ 5.83372017e-01 8.12200020e-01 -2.86648405e-03 3.65705281e+01] [ 4.92350895e-03 -7.12637578e-06 9.99987879e-01 4.46329803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.790281693 meters Centerline goodness : 0.998160 Centerline is valid? [True, True] Translation: X:127.03, Y:36.59, Z:0.45 [[ 8.12458172e-01 -5.83005743e-01 -4.00273367e-03 1.27027864e+02] [ 5.82998694e-01 8.12468032e-01 -2.86689973e-03 3.65865232e+01] [ 4.92351215e-03 -4.35239061e-06 9.99987879e-01 4.46158970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.820281693 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:127.05, Y:36.60, Z:0.44 [[ 8.13248497e-01 -5.81902796e-01 -4.00219161e-03 1.27052691e+02] [ 5.81895730e-01 8.13258345e-01 -2.86765624e-03 3.66003734e+01] [ 4.92351291e-03 3.25891665e-06 9.99987879e-01 4.43566960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.850281693 meters Centerline goodness : 0.998391 Centerline is valid? [True, True] Translation: X:127.08, Y:36.62, Z:0.44 [[ 8.13280106e-01 -5.81858622e-01 -4.00165128e-03 1.27075603e+02] [ 5.81851551e-01 8.13289951e-01 -2.86841005e-03 3.66153860e+01] [ 4.92351189e-03 4.45382676e-06 9.99987879e-01 4.43358182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.880281693 meters Centerline goodness : 0.998260 Centerline is valid? [True, True] Translation: X:127.10, Y:36.63, Z:0.44 [[ 8.13424866e-01 -5.81656236e-01 -4.00128370e-03 1.27098701e+02] [ 5.81649161e-01 8.13434707e-01 -2.86892270e-03 3.66298351e+01] [ 4.92350982e-03 6.30975287e-06 9.99987879e-01 4.43683454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.910281693 meters Centerline goodness : 0.998123 Centerline is valid? [True, True] Translation: X:127.12, Y:36.64, Z:0.44 [[ 8.13581733e-01 -5.81436804e-01 -4.00080242e-03 1.27122341e+02] [ 5.81429723e-01 8.13591570e-01 -2.86959372e-03 3.66446713e+01] [ 4.92350652e-03 8.46358603e-06 9.99987879e-01 4.43424300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.940281693 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:127.15, Y:36.66, Z:0.44 [[ 8.13619505e-01 -5.81383952e-01 -4.00026736e-03 1.27145408e+02] [ 5.81376866e-01 8.13629339e-01 -2.87033940e-03 3.66587891e+01] [ 4.92350415e-03 9.70121607e-06 9.99987879e-01 4.43793029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.970281693 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:127.17, Y:36.67, Z:0.45 [[ 8.14265353e-01 -5.80479058e-01 -3.99978727e-03 1.27170572e+02] [ 5.80471958e-01 8.14275177e-01 -2.87100824e-03 3.66709965e+01] [ 4.92348765e-03 1.59981921e-05 9.99987879e-01 4.47383905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.000281693 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:127.19, Y:36.69, Z:0.45 [[ 8.14636054e-01 -5.79958709e-01 -3.99926534e-03 1.27194379e+02] [ 5.79951600e-01 8.14645871e-01 -2.87173509e-03 3.66856695e+01] [ 4.92347278e-03 2.00386120e-05 9.99987879e-01 4.50829450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.030281693 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:127.22, Y:36.70, Z:0.45 [[ 8.15030231e-01 -5.79404637e-01 -3.99873529e-03 1.27218567e+02] [ 5.79397517e-01 8.15040040e-01 -2.87247297e-03 3.67004504e+01] [ 4.92345353e-03 2.42950085e-05 9.99987879e-01 4.54431615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.060281693 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:127.24, Y:36.71, Z:0.46 [[ 8.15114402e-01 -5.79286221e-01 -3.99820558e-03 1.27242551e+02] [ 5.79279096e-01 8.15124207e-01 -2.87321010e-03 3.67128077e+01] [ 4.92344517e-03 2.59180190e-05 9.99987879e-01 4.55191499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.090281693 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:127.27, Y:36.73, Z:0.45 [[ 8.14645794e-01 -5.79945038e-01 -3.99784555e-03 1.27266915e+02] [ 5.79937919e-01 8.14655604e-01 -2.87371096e-03 3.67273111e+01] [ 4.92346169e-03 2.25543256e-05 9.99987879e-01 4.52918416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.120281693 meters Centerline goodness : 0.998250 Centerline is valid? [True, True] Translation: X:127.29, Y:36.74, Z:0.45 [[ 8.14026360e-01 -5.80814176e-01 -3.99731801e-03 1.27290312e+02] [ 5.80807064e-01 8.14036174e-01 -2.87444458e-03 3.67408323e+01] [ 4.92347962e-03 1.82031244e-05 9.99987879e-01 4.51056892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.150281693 meters Centerline goodness : 0.998540 Centerline is valid? [True, True] Translation: X:127.32, Y:36.75, Z:0.45 [[ 8.12280808e-01 -5.83252873e-01 -3.99683753e-03 1.27317232e+02] [ 5.83245786e-01 8.12290642e-01 -2.87511252e-03 3.67517925e+01] [ 4.92351136e-03 4.26007230e-06 9.99987879e-01 4.47034344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.180281693 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:127.34, Y:36.77, Z:0.45 [[ 8.11408194e-01 -5.84466228e-01 -3.99632282e-03 1.27341628e+02] [ 5.84459153e-01 8.11418035e-01 -2.87582778e-03 3.67651930e+01] [ 4.92351262e-03 -2.21722757e-06 9.99987879e-01 4.46497492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.210281693 meters Centerline goodness : 0.998297 Centerline is valid? [True, True] Translation: X:127.37, Y:36.78, Z:0.45 [[ 8.11326958e-01 -5.84578994e-01 -3.99579039e-03 1.27365875e+02] [ 5.84571917e-01 8.11336798e-01 -2.87656736e-03 3.67785442e+01] [ 4.92351263e-03 -1.99020632e-06 9.99987879e-01 4.47133140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.240281693 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:127.39, Y:36.79, Z:0.45 [[ 8.12914690e-01 -5.82369079e-01 -3.99531089e-03 1.27391015e+02] [ 5.82361971e-01 8.12924508e-01 -2.87723319e-03 3.67907206e+01] [ 4.92349778e-03 1.22279955e-05 9.99987879e-01 4.49587754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.270281693 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:127.41, Y:36.81, Z:0.45 [[ 8.14174461e-01 -5.80606569e-01 -3.99478161e-03 1.27414300e+02] [ 5.80599437e-01 8.14184261e-01 -2.87796786e-03 3.68065404e+01] [ 4.92345536e-03 2.37999813e-05 9.99987879e-01 4.49351400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.300281693 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:127.44, Y:36.82, Z:0.45 [[ 8.15658348e-01 -5.78520099e-01 -3.99425476e-03 1.27437187e+02] [ 5.78512938e-01 8.15668127e-01 -2.87869888e-03 3.68230841e+01] [ 4.92337146e-03 3.73067142e-05 9.99987879e-01 4.48638509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.330281693 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:127.46, Y:36.84, Z:0.45 [[ 8.19581335e-01 -5.72948937e-01 -3.99372483e-03 1.27459554e+02] [ 5.72941706e-01 8.19591063e-01 -2.87943389e-03 3.68400170e+01] [ 4.92298976e-03 7.17587531e-05 9.99987879e-01 4.49080959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.360281693 meters Centerline goodness : 0.998403 Centerline is valid? [True, True] Translation: X:127.48, Y:36.86, Z:0.45 [[ 8.21555756e-01 -5.70114193e-01 -3.99319327e-03 1.27481516e+02] [ 5.70106925e-01 8.21565456e-01 -2.88017086e-03 3.68562717e+01] [ 4.92269594e-03 8.96738130e-05 9.99987879e-01 4.49001141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.390281693 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:127.50, Y:36.87, Z:0.45 [[ 8.23389807e-01 -5.67462143e-01 -3.99272053e-03 1.27503351e+02] [ 5.67454840e-01 8.23399481e-01 -2.88082606e-03 3.68726252e+01] [ 4.92236374e-03 1.06354223e-04 9.99987879e-01 4.49184369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.420281693 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:127.53, Y:36.89, Z:0.45 [[ 8.25770716e-01 -5.63991832e-01 -3.99225323e-03 1.27525051e+02] [ 5.63984486e-01 8.25780356e-01 -2.88147350e-03 3.68898115e+01] [ 4.92185181e-03 1.27867555e-04 9.99987879e-01 4.49654280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.450281693 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:127.55, Y:36.91, Z:0.45 [[ 8.25923796e-01 -5.63767638e-01 -3.99174234e-03 1.27547522e+02] [ 5.63760286e-01 8.25933432e-01 -2.88218107e-03 3.69065630e+01] [ 4.92179386e-03 1.30076127e-04 9.99987879e-01 4.49808864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.480281693 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:127.57, Y:36.92, Z:0.45 [[ 8.25721533e-01 -5.64063844e-01 -3.99122019e-03 1.27570249e+02] [ 5.64056492e-01 8.25731169e-01 -2.88290395e-03 3.69237035e+01] [ 4.92181680e-03 1.29202205e-04 9.99987879e-01 4.49251337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.510281693 meters Centerline goodness : 0.998495 Centerline is valid? [True, True] Translation: X:127.59, Y:36.94, Z:0.45 [[ 8.25143990e-01 -5.64908374e-01 -3.99068257e-03 1.27590697e+02] [ 5.64901027e-01 8.25153630e-01 -2.88364796e-03 3.69409332e+01] [ 4.92192309e-03 1.25084102e-04 9.99987879e-01 4.49142269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.540281693 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:127.61, Y:36.96, Z:0.45 [[ 8.24563773e-01 -5.65754948e-01 -3.99038804e-03 1.27612000e+02] [ 5.65747610e-01 8.24573419e-01 -2.88405548e-03 3.69587641e+01] [ 4.92203657e-03 1.20535163e-04 9.99987879e-01 4.49557529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.570281693 meters Centerline goodness : 0.998366 Centerline is valid? [True, True] Translation: X:127.63, Y:36.98, Z:0.45 [[ 8.23639536e-01 -5.67099634e-01 -3.98987409e-03 1.27632933e+02] [ 5.67092309e-01 8.23649192e-01 -2.88476632e-03 3.69772263e+01] [ 4.92220649e-03 1.13380685e-04 9.99987879e-01 4.50076853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.600281693 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:127.65, Y:36.99, Z:0.45 [[ 8.23381356e-01 -5.67474428e-01 -3.98934767e-03 1.27654895e+02] [ 5.67467103e-01 8.23391013e-01 -2.88549413e-03 3.69939676e+01] [ 4.92223715e-03 1.12038503e-04 9.99987879e-01 4.49793799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.630281693 meters Centerline goodness : 0.998520 Centerline is valid? [True, True] Translation: X:127.68, Y:37.01, Z:0.45 [[ 8.23359078e-01 -5.67506756e-01 -3.98882011e-03 1.27676327e+02] [ 5.67499427e-01 8.23368733e-01 -2.88622322e-03 3.70108116e+01] [ 4.92222093e-03 1.12744967e-04 9.99987879e-01 4.49750367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.660281693 meters Centerline goodness : 0.998307 Centerline is valid? [True, True] Translation: X:127.70, Y:37.03, Z:0.45 [[ 8.24605343e-01 -5.65694370e-01 -3.98846072e-03 1.27695786e+02] [ 5.65687018e-01 8.24614979e-01 -2.88671977e-03 3.70310402e+01] [ 4.92194558e-03 1.24184093e-04 9.99987879e-01 4.47915456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.690281693 meters Centerline goodness : 0.998181 Centerline is valid? [True, True] Translation: X:127.72, Y:37.05, Z:0.45 [[ 8.25404899e-01 -5.64527103e-01 -3.98794796e-03 1.27715759e+02] [ 5.64519734e-01 8.25414522e-01 -2.88742797e-03 3.70503510e+01] [ 4.92174150e-03 1.32021874e-04 9.99987879e-01 4.47393564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.720281693 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:127.73, Y:37.07, Z:0.45 [[ 8.26762376e-01 -5.62537175e-01 -3.98748687e-03 1.27733427e+02] [ 5.62529780e-01 8.26771979e-01 -2.88806459e-03 3.70721293e+01] [ 4.92138610e-03 1.44663027e-04 9.99987879e-01 4.49791212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.750281693 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:127.75, Y:37.09, Z:0.45 [[ 8.26920502e-01 -5.62304710e-01 -3.98704629e-03 1.27753268e+02] [ 5.62297309e-01 8.26930101e-01 -2.88867268e-03 3.70916709e+01] [ 4.92132285e-03 1.46797265e-04 9.99987879e-01 4.52622335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.780281693 meters Centerline goodness : 0.997797 Centerline is valid? [True, True] Translation: X:127.77, Y:37.11, Z:0.46 [[ 8.26769798e-01 -5.62526273e-01 -3.98651987e-03 1.27772775e+02] [ 5.62518872e-01 8.26779396e-01 -2.88939899e-03 3.71111409e+01] [ 4.92133534e-03 1.46375165e-04 9.99987879e-01 4.55646535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.810281693 meters Centerline goodness : 0.998073 Centerline is valid? [True, True] Translation: X:127.79, Y:37.13, Z:0.45 [[ 8.26417572e-01 -5.63043610e-01 -3.98616122e-03 1.27793718e+02] [ 5.63036212e-01 8.26427173e-01 -2.88989370e-03 3.71305556e+01] [ 4.92140813e-03 1.43905820e-04 9.99987879e-01 4.53704872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.840281693 meters Centerline goodness : 0.997817 Centerline is valid? [True, True] Translation: X:127.81, Y:37.15, Z:0.45 [[ 8.25200440e-01 -5.64825945e-01 -3.98564001e-03 1.27812538e+02] [ 5.64818564e-01 8.25210054e-01 -2.89061235e-03 3.71514283e+01] [ 4.92168306e-03 1.34171110e-04 9.99987879e-01 4.47402110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.870281693 meters Centerline goodness : 0.997642 Centerline is valid? [True, True] Translation: X:127.83, Y:37.17, Z:0.45 [[ 8.22624339e-01 -5.68571293e-01 -3.98518548e-03 1.27832340e+02] [ 5.68563953e-01 8.22633985e-01 -2.89123886e-03 3.71712917e+01] [ 4.92222443e-03 1.12570644e-04 9.99987879e-01 4.46141162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.900281693 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:127.85, Y:37.19, Z:0.45 [[ 8.20907681e-01 -5.71047023e-01 -3.98466655e-03 1.27854633e+02] [ 5.71039709e-01 8.20917345e-01 -2.89195386e-03 3.71886513e+01] [ 4.92252353e-03 9.86243094e-05 9.99987879e-01 4.48186303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.930281693 meters Centerline goodness : 0.997522 Centerline is valid? [True, True] Translation: X:127.88, Y:37.21, Z:0.45 [[ 8.19420587e-01 -5.73178879e-01 -3.98414999e-03 1.27875839e+02] [ 5.73171586e-01 8.19430269e-01 -2.89266534e-03 3.72051874e+01] [ 4.92274777e-03 8.67079617e-05 9.99987879e-01 4.49383728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.960281693 meters Centerline goodness : 0.997588 Centerline is valid? [True, True] Translation: X:127.90, Y:37.22, Z:0.45 [[ 8.18267343e-01 -5.74824047e-01 -3.98368605e-03 1.27897461e+02] [ 5.74816771e-01 8.18277037e-01 -2.89330412e-03 3.72227961e+01] [ 4.92289960e-03 7.76067253e-05 9.99987879e-01 4.49581614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.990281693 meters Centerline goodness : 0.997795 Centerline is valid? [True, True] Translation: X:127.92, Y:37.24, Z:0.45 [[ 8.17268152e-01 -5.76243787e-01 -3.98317116e-03 1.27917277e+02] [ 5.76236524e-01 8.17277856e-01 -2.89401279e-03 3.72436055e+01] [ 4.92301447e-03 6.99357779e-05 9.99987879e-01 4.46007744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.020281693 meters Centerline goodness : 0.997239 Centerline is valid? [True, True] Translation: X:127.94, Y:37.26, Z:0.44 [[ 8.16888070e-01 -5.76782471e-01 -3.98265379e-03 1.27938319e+02] [ 5.76775211e-01 8.16897776e-01 -2.89472460e-03 3.72627397e+01] [ 4.92304743e-03 6.75700163e-05 9.99987879e-01 4.42984309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.050281693 meters Centerline goodness : 0.997470 Centerline is valid? [True, True] Translation: X:127.96, Y:37.28, Z:0.44 [[ 8.16403075e-01 -5.77468754e-01 -3.98213253e-03 1.27957903e+02] [ 5.77461498e-01 8.16412784e-01 -2.89544150e-03 3.72819814e+01] [ 4.92309090e-03 6.43191263e-05 9.99987879e-01 4.40225014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.080281693 meters Centerline goodness : 0.997572 Centerline is valid? [True, True] Translation: X:127.98, Y:37.30, Z:0.44 [[ 8.15483774e-01 -5.78766240e-01 -3.98177730e-03 1.27978925e+02] [ 5.78758997e-01 8.15493493e-01 -2.89592992e-03 3.72991430e+01] [ 4.92317995e-03 5.70944183e-05 9.99987879e-01 4.41366110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.110281693 meters Centerline goodness : 0.997540 Centerline is valid? [True, True] Translation: X:128.00, Y:37.32, Z:0.44 [[ 8.14080057e-01 -5.80739020e-01 -3.98130940e-03 1.28000921e+02] [ 5.80731799e-01 8.14089791e-01 -2.89657305e-03 3.73165728e+01] [ 4.92329633e-03 4.59693840e-05 9.99987879e-01 4.43000407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.140281693 meters Centerline goodness : 0.997362 Centerline is valid? [True, True] Translation: X:128.02, Y:37.33, Z:0.45 [[ 8.09814522e-01 -5.86672475e-01 -3.98078951e-03 1.28023011e+02] [ 5.86665321e-01 8.09824306e-01 -2.89728736e-03 3.73335894e+01] [ 4.92349885e-03 1.08742179e-05 9.99987879e-01 4.45445146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.170281693 meters Centerline goodness : 0.997621 Centerline is valid? [True, True] Translation: X:128.05, Y:37.35, Z:0.45 [[ 8.07115828e-01 -5.90379706e-01 -3.98025199e-03 1.28046395e+02] [ 5.90372594e-01 8.07125642e-01 -2.89802561e-03 3.73497021e+01] [ 4.92349895e-03 -1.07893554e-05 9.99987879e-01 4.46350145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.200281693 meters Centerline goodness : 0.997621 Centerline is valid? [True, True] Translation: X:128.07, Y:37.37, Z:0.45 [[ 8.06998561e-01 -5.90539994e-01 -3.97967761e-03 1.28069322e+02] [ 5.90532879e-01 8.07008374e-01 -2.89881416e-03 3.73666297e+01] [ 4.92349885e-03 -1.07916214e-05 9.99987879e-01 4.46490382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.230281693 meters Centerline goodness : 0.997523 Centerline is valid? [True, True] Translation: X:128.09, Y:37.38, Z:0.45 [[ 8.04194814e-01 -5.94352477e-01 -3.97910173e-03 1.28091649e+02] [ 5.94345405e-01 8.04204658e-01 -2.89960443e-03 3.73815173e+01] [ 4.92339922e-03 -3.31139837e-05 9.99987879e-01 4.46794043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.260281693 meters Centerline goodness : 0.997511 Centerline is valid? [True, True] Translation: X:128.12, Y:37.40, Z:0.45 [[ 7.99906342e-01 -6.00111667e-01 -3.97870954e-03 1.28116292e+02] [ 6.00104663e-01 7.99916234e-01 -2.90014248e-03 3.73953001e+01] [ 4.92304369e-03 -6.77997833e-05 9.99987879e-01 4.49864397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.290281693 meters Centerline goodness : 0.997221 Centerline is valid? [True, True] Translation: X:128.14, Y:37.41, Z:0.45 [[ 7.98943653e-01 -6.01392729e-01 -3.97816892e-03 1.28138895e+02] [ 6.01385737e-01 7.98953553e-01 -2.90088387e-03 3.74100579e+01] [ 4.92294266e-03 -7.47712929e-05 9.99987879e-01 4.51532745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.320281693 meters Centerline goodness : 0.997180 Centerline is valid? [True, True] Translation: X:128.16, Y:37.42, Z:0.45 [[ 7.98918178e-01 -6.01426573e-01 -3.97768566e-03 1.28163334e+02] [ 6.01419578e-01 7.98928077e-01 -2.90154636e-03 3.74240974e+01] [ 4.92295184e-03 -7.41599021e-05 9.99987879e-01 4.52418758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.350281693 meters Centerline goodness : 0.997457 Centerline is valid? [True, True] Translation: X:128.19, Y:37.44, Z:0.45 [[ 7.99348838e-01 -6.00854073e-01 -3.97715216e-03 1.28187190e+02] [ 6.00847068e-01 7.99358729e-01 -2.90227744e-03 3.74391840e+01] [ 4.92301652e-03 -6.97281190e-05 9.99987879e-01 4.51139129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.380281693 meters Centerline goodness : 0.997372 Centerline is valid? [True, True] Translation: X:128.21, Y:37.45, Z:0.45 [[ 8.00201295e-01 -5.99718329e-01 -3.97661437e-03 1.28211265e+02] [ 5.99711306e-01 8.00211174e-01 -2.90301412e-03 3.74539990e+01] [ 4.92312203e-03 -6.18249385e-05 9.99987879e-01 4.49618160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.410281693 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:128.24, Y:37.47, Z:0.45 [[ 8.02347423e-01 -5.96844037e-01 -3.97607596e-03 1.28235575e+02] [ 5.96836975e-01 8.02357273e-01 -2.90375135e-03 3.74666180e+01] [ 4.92332015e-03 -4.32517349e-05 9.99987879e-01 4.46974898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.440281693 meters Centerline goodness : 0.997334 Centerline is valid? [True, True] Translation: X:128.26, Y:37.48, Z:0.45 [[ 8.03457173e-01 -5.95349279e-01 -3.97570803e-03 1.28259090e+02] [ 5.95342197e-01 8.03467009e-01 -2.90425502e-03 3.74816352e+01] [ 4.92339638e-03 -3.34622207e-05 9.99987879e-01 4.46890889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.470281693 meters Centerline goodness : 0.997572 Centerline is valid? [True, True] Translation: X:128.28, Y:37.50, Z:0.45 [[ 8.04591082e-01 -5.93815956e-01 -3.97516116e-03 1.28281186e+02] [ 5.93808851e-01 8.04600901e-01 -2.90500335e-03 3.74965514e+01] [ 4.92345559e-03 -2.31460909e-05 9.99987879e-01 4.46616274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.500281693 meters Centerline goodness : 0.997433 Centerline is valid? [True, True] Translation: X:128.30, Y:37.51, Z:0.45 [[ 8.06493498e-01 -5.91229599e-01 -3.97478678e-03 1.28304531e+02] [ 5.91222460e-01 8.06503293e-01 -2.90551551e-03 3.75120157e+01] [ 4.92350540e-03 -6.70385235e-06 9.99987879e-01 4.48976866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.530281693 meters Centerline goodness : 0.997396 Centerline is valid? [True, True] Translation: X:128.33, Y:37.53, Z:0.45 [[ 8.07309198e-01 -5.90115298e-01 -3.97423007e-03 1.28327130e+02] [ 5.90108141e-01 8.07318980e-01 -2.90627679e-03 3.75276006e+01] [ 4.92350976e-03 1.03846039e-06 9.99987879e-01 4.50916245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.560281693 meters Centerline goodness : 0.997584 Centerline is valid? [True, True] Translation: X:128.35, Y:37.54, Z:0.45 [[ 8.09093330e-01 -5.87666735e-01 -3.97385215e-03 1.28350077e+02] [ 5.87659546e-01 8.09103089e-01 -2.90679345e-03 3.75439738e+01] [ 4.92348186e-03 1.65950435e-05 9.99987879e-01 4.51372711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.590281693 meters Centerline goodness : 0.997471 Centerline is valid? [True, True] Translation: X:128.37, Y:37.56, Z:0.45 [[ 8.09743298e-01 -5.86770827e-01 -3.97330529e-03 1.28371829e+02] [ 5.86763624e-01 8.09753046e-01 -2.90754076e-03 3.75595735e+01] [ 4.92345616e-03 2.29706312e-05 9.99987879e-01 4.50376686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.620281693 meters Centerline goodness : 0.997535 Centerline is valid? [True, True] Translation: X:128.39, Y:37.58, Z:0.45 [[ 8.10297557e-01 -5.86005193e-01 -3.97281684e-03 1.28394677e+02] [ 5.85997978e-01 8.10307295e-01 -2.90820801e-03 3.75754215e+01] [ 4.92342747e-03 2.84512078e-05 9.99987879e-01 4.49436530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.650281693 meters Centerline goodness : 0.997666 Centerline is valid? [True, True] Translation: X:128.42, Y:37.59, Z:0.45 [[ 8.10659704e-01 -5.85504113e-01 -3.97228724e-03 1.28418610e+02] [ 5.85496887e-01 8.10669435e-01 -2.90893121e-03 3.75902684e+01] [ 4.92340304e-03 3.23915018e-05 9.99987879e-01 4.48499309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.680281693 meters Centerline goodness : 0.997611 Centerline is valid? [True, True] Translation: X:128.44, Y:37.61, Z:0.45 [[ 8.10693311e-01 -5.85457583e-01 -3.97175796e-03 1.28440478e+02] [ 5.85450353e-01 8.10703039e-01 -2.90965369e-03 3.76053582e+01] [ 4.92339506e-03 3.35696845e-05 9.99987879e-01 4.47382094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.710281693 meters Centerline goodness : 0.997385 Centerline is valid? [True, True] Translation: X:128.46, Y:37.62, Z:0.45 [[ 8.10784006e-01 -5.85331977e-01 -3.97139820e-03 1.28463079e+02] [ 5.85324744e-01 8.10793732e-01 -2.91014464e-03 3.76220542e+01] [ 4.92338549e-03 3.49410966e-05 9.99987879e-01 4.46169406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.740281693 meters Centerline goodness : 0.997157 Centerline is valid? [True, True] Translation: X:128.49, Y:37.64, Z:0.45 [[ 8.11412942e-01 -5.84459810e-01 -3.97087669e-03 1.28485437e+02] [ 5.84452563e-01 8.11422657e-01 -2.91085606e-03 3.76384518e+01] [ 4.92333770e-03 4.11172225e-05 9.99987879e-01 4.45660894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.770281693 meters Centerline goodness : 0.997390 Centerline is valid? [True, True] Translation: X:128.51, Y:37.66, Z:0.45 [[ 8.11910381e-01 -5.83768592e-01 -3.97035461e-03 1.28507874e+02] [ 5.83761333e-01 8.11920088e-01 -2.91156800e-03 3.76554006e+01] [ 4.92329262e-03 4.61927881e-05 9.99987879e-01 4.47983592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.800281693 meters Centerline goodness : 0.997327 Centerline is valid? [True, True] Translation: X:128.53, Y:37.67, Z:0.45 [[ 8.13146895e-01 -5.82044987e-01 -3.96982051e-03 1.28528333e+02] [ 5.82037704e-01 8.13156584e-01 -2.91229605e-03 3.76740334e+01] [ 4.92317300e-03 5.75392823e-05 9.99987879e-01 4.52903890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.830281693 meters Centerline goodness : 0.997591 Centerline is valid? [True, True] Translation: X:128.55, Y:37.69, Z:0.45 [[ 8.14005955e-01 -5.80842965e-01 -3.96926878e-03 1.28548881e+02] [ 5.80835663e-01 8.14015630e-01 -2.91304782e-03 3.76914244e+01] [ 4.92307016e-03 6.57454099e-05 9.99987879e-01 4.52771800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.860281693 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:128.57, Y:37.71, Z:0.45 [[ 8.14657336e-01 -5.79929024e-01 -3.96896865e-03 1.28570249e+02] [ 5.79921710e-01 8.14667001e-01 -2.91345669e-03 3.77091827e+01] [ 4.92298588e-03 7.17777809e-05 9.99987879e-01 4.51688168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.890281693 meters Centerline goodness : 0.997263 Centerline is valid? [True, True] Translation: X:128.59, Y:37.73, Z:0.45 [[ 8.15545293e-01 -5.78679641e-01 -3.96843800e-03 1.28591295e+02] [ 5.78672309e-01 8.15554944e-01 -2.91417931e-03 3.77284743e+01] [ 4.92285547e-03 8.02200351e-05 9.99987879e-01 4.49470134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.920281693 meters Centerline goodness : 0.997375 Centerline is valid? [True, True] Translation: X:128.61, Y:37.75, Z:0.45 [[ 8.15942799e-01 -5.78119022e-01 -3.96788940e-03 1.28611977e+02] [ 5.78111680e-01 8.15952443e-01 -2.91492609e-03 3.77464515e+01] [ 4.92278327e-03 8.45297491e-05 9.99987879e-01 4.47805973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.950281693 meters Centerline goodness : 0.997059 Centerline is valid? [True, True] Translation: X:128.63, Y:37.77, Z:0.45 [[ 8.16012678e-01 -5.78020387e-01 -3.96759524e-03 1.28633410e+02] [ 5.78013041e-01 8.16022319e-01 -2.91532641e-03 3.77654099e+01] [ 4.92276437e-03 8.56215196e-05 9.99987879e-01 4.46839745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.980281693 meters Centerline goodness : 0.997512 Centerline is valid? [True, True] Translation: X:128.65, Y:37.79, Z:0.45 [[ 8.15937624e-01 -5.78126333e-01 -3.96707272e-03 1.28654127e+02] [ 5.78118985e-01 8.15947263e-01 -2.91603727e-03 3.77852633e+01] [ 4.92276006e-03 8.58644620e-05 9.99987879e-01 4.47342550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.010281693 meters Centerline goodness : 0.996958 Centerline is valid? [True, True] Translation: X:128.67, Y:37.80, Z:0.45 [[ 8.15831280e-01 -5.78276396e-01 -3.96653420e-03 1.28674677e+02] [ 5.78269046e-01 8.15840918e-01 -2.91676961e-03 3.78025245e+01] [ 4.92275992e-03 8.58679349e-05 9.99987879e-01 4.46440050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.040281693 meters Centerline goodness : 0.996691 Centerline is valid? [True, True] Translation: X:128.69, Y:37.82, Z:0.44 [[ 8.14967757e-01 -5.79492730e-01 -3.96624437e-03 1.28694905e+02] [ 5.79485393e-01 8.14977405e-01 -2.91716366e-03 3.78229086e+01] [ 4.92287468e-03 7.90136514e-05 9.99987879e-01 4.41815343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.070281693 meters Centerline goodness : 0.996445 Centerline is valid? [True, True] Translation: X:128.72, Y:37.84, Z:0.44 [[ 8.14279997e-01 -5.80458749e-01 -3.96577854e-03 1.28715436e+02] [ 5.80451421e-01 8.14289650e-01 -2.91779681e-03 3.78402815e+01] [ 4.92295311e-03 7.39617892e-05 9.99987879e-01 4.40739637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.100281693 meters Centerline goodness : 0.996837 Centerline is valid? [True, True] Translation: X:128.74, Y:37.86, Z:0.44 [[ 8.13747832e-01 -5.81204561e-01 -3.96531062e-03 1.28737561e+02] [ 5.81197238e-01 8.13757490e-01 -2.91843257e-03 3.78579896e+01] [ 4.92300754e-03 7.02405943e-05 9.99987879e-01 4.42312037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.130281693 meters Centerline goodness : 0.997196 Centerline is valid? [True, True] Translation: X:128.76, Y:37.88, Z:0.45 [[ 8.13362998e-01 -5.81742997e-01 -3.96477713e-03 1.28758986e+02] [ 5.81735677e-01 8.13372658e-01 -2.91915716e-03 3.78750051e+01] [ 4.92304055e-03 6.78821107e-05 9.99987879e-01 4.45039039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.160281693 meters Centerline goodness : 0.997268 Centerline is valid? [True, True] Translation: X:128.78, Y:37.90, Z:0.45 [[ 8.12997732e-01 -5.82253357e-01 -3.96429470e-03 1.28779060e+02] [ 5.82246039e-01 8.13007395e-01 -2.91981217e-03 3.78950879e+01] [ 4.92307134e-03 6.56057810e-05 9.99987879e-01 4.49588188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.190281693 meters Centerline goodness : 0.996898 Centerline is valid? [True, True] Translation: X:128.80, Y:37.91, Z:0.45 [[ 8.12928331e-01 -5.82350254e-01 -3.96377187e-03 1.28799621e+02] [ 5.82342934e-01 8.12937991e-01 -2.92052175e-03 3.79146894e+01] [ 4.92306733e-03 6.59003302e-05 9.99987879e-01 4.50585187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.220281693 meters Centerline goodness : 0.997221 Centerline is valid? [True, True] Translation: X:128.82, Y:37.94, Z:0.45 [[ 8.13153689e-01 -5.82035541e-01 -3.96322095e-03 1.28816675e+02] [ 5.82028214e-01 8.13163344e-01 -2.92126918e-03 3.79363174e+01] [ 4.92302849e-03 6.87343960e-05 9.99987879e-01 4.50682304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.250281693 meters Centerline goodness : 0.997668 Centerline is valid? [True, True] Translation: X:128.84, Y:37.96, Z:0.45 [[ 8.13377191e-01 -5.81723164e-01 -3.96291915e-03 1.28836361e+02] [ 5.81715832e-01 8.13386842e-01 -2.92167853e-03 3.79561027e+01] [ 4.92299438e-03 7.11338698e-05 9.99987879e-01 4.51589269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.280281693 meters Centerline goodness : 0.997255 Centerline is valid? [True, True] Translation: X:128.86, Y:37.98, Z:0.45 [[ 8.13741902e-01 -5.81212884e-01 -3.96243223e-03 1.28855767e+02] [ 5.81205542e-01 8.13751545e-01 -2.92233876e-03 3.79757003e+01] [ 4.92293629e-03 7.50419301e-05 9.99987879e-01 4.51121116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.310281693 meters Centerline goodness : 0.997262 Centerline is valid? [True, True] Translation: X:128.87, Y:38.00, Z:0.45 [[ 8.13674864e-01 -5.81306733e-01 -3.96196394e-03 1.28874317e+02] [ 5.81299389e-01 8.13684507e-01 -2.92297351e-03 3.79968129e+01] [ 4.92293285e-03 7.52628548e-05 9.99987879e-01 4.50847348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.340281693 meters Centerline goodness : 0.997572 Centerline is valid? [True, True] Translation: X:128.90, Y:38.01, Z:0.45 [[ 8.12774807e-01 -5.82564520e-01 -3.96161241e-03 1.28895563e+02] [ 5.82557188e-01 8.12784458e-01 -2.92344986e-03 3.80145859e+01] [ 4.92303516e-03 6.82406055e-05 9.99987879e-01 4.50786264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.370281693 meters Centerline goodness : 0.997559 Centerline is valid? [True, True] Translation: X:128.92, Y:38.03, Z:0.45 [[ 8.11296400e-01 -5.84621640e-01 -3.96109914e-03 1.28917548e+02] [ 5.84614330e-01 8.11306067e-01 -2.92414515e-03 3.80324929e+01] [ 4.92318230e-03 5.66331094e-05 9.99987879e-01 4.51838770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.400281693 meters Centerline goodness : 0.997900 Centerline is valid? [True, True] Translation: X:128.94, Y:38.05, Z:0.45 [[ 8.07108612e-01 -5.90389704e-01 -3.96055237e-03 1.28938599e+02] [ 5.90382459e-01 8.07118329e-01 -2.92488552e-03 3.80504771e+01] [ 4.92345671e-03 2.24596437e-05 9.99987879e-01 4.52715920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.430281693 meters Centerline goodness : 0.997483 Centerline is valid? [True, True] Translation: X:128.96, Y:38.07, Z:0.45 [[ 8.05120409e-01 -5.93098176e-01 -3.96000112e-03 1.28960493e+02] [ 5.93090960e-01 8.05130147e-01 -2.92563167e-03 3.80668774e+01] [ 4.92350309e-03 6.84489592e-06 9.99987879e-01 4.52344946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.460281693 meters Centerline goodness : 0.997861 Centerline is valid? [True, True] Translation: X:128.98, Y:38.08, Z:0.45 [[ 8.03100670e-01 -5.95830207e-01 -3.95969855e-03 1.28982747e+02] [ 5.95823022e-01 8.03110431e-01 -2.92604112e-03 3.80836240e+01] [ 4.92349890e-03 -9.37397292e-06 9.99987879e-01 4.51203903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.490281693 meters Centerline goodness : 0.997649 Centerline is valid? [True, True] Translation: X:129.00, Y:38.10, Z:0.45 [[ 8.02942362e-01 -5.96043529e-01 -3.95912396e-03 1.29004714e+02] [ 5.96036343e-01 8.02952123e-01 -2.92681839e-03 3.80998645e+01] [ 4.92349814e-03 -9.71529506e-06 9.99987879e-01 4.50386659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.520281693 meters Centerline goodness : 0.997365 Centerline is valid? [True, True] Translation: X:129.03, Y:38.12, Z:0.45 [[ 8.03028396e-01 -5.95927615e-01 -3.95881178e-03 1.29027176e+02] [ 5.95920426e-01 8.03038154e-01 -2.92724058e-03 3.81170691e+01] [ 4.92350040e-03 -8.47949217e-06 9.99987879e-01 4.50271530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.550281693 meters Centerline goodness : 0.997017 Centerline is valid? [True, True] Translation: X:129.05, Y:38.13, Z:0.45 [[ 8.03696965e-01 -5.95025648e-01 -3.95828064e-03 1.29049342e+02] [ 5.95018444e-01 8.03706712e-01 -2.92795862e-03 3.81335861e+01] [ 4.92350719e-03 -2.05852842e-06 9.99987879e-01 4.46930766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.580281693 meters Centerline goodness : 0.997232 Centerline is valid? [True, True] Translation: X:129.07, Y:38.15, Z:0.45 [[ 8.03790167e-01 -5.94899742e-01 -3.95775041e-03 1.29072969e+02] [ 5.94892534e-01 8.03799911e-01 -2.92867516e-03 3.81493674e+01] [ 4.92350752e-03 -3.95871203e-07 9.99987879e-01 4.46856960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.610281693 meters Centerline goodness : 0.996964 Centerline is valid? [True, True] Translation: X:129.10, Y:38.16, Z:0.45 [[ 8.04117053e-01 -5.94457825e-01 -3.95718522e-03 1.29095891e+02] [ 5.94450606e-01 8.04126790e-01 -2.92943863e-03 3.81634540e+01] [ 4.92350637e-03 3.26040761e-06 9.99987879e-01 4.46626440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.640281693 meters Centerline goodness : 0.997441 Centerline is valid? [True, True] Translation: X:129.12, Y:38.18, Z:0.45 [[ 8.03882543e-01 -5.94774915e-01 -3.95687756e-03 1.29121077e+02] [ 5.94767699e-01 8.03892281e-01 -2.92985414e-03 3.81769118e+01] [ 4.92350708e-03 1.83563594e-06 9.99987879e-01 4.52139202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.670281693 meters Centerline goodness : 0.997642 Centerline is valid? [True, True] Translation: X:129.14, Y:38.19, Z:0.45 [[ 8.03533238e-01 -5.95246742e-01 -3.95633389e-03 1.29143707e+02] [ 5.95239528e-01 8.03542977e-01 -2.93058810e-03 3.81926090e+01] [ 4.92350733e-03 -1.41369121e-07 9.99987879e-01 4.54538858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.700281693 meters Centerline goodness : 0.997733 Centerline is valid? [True, True] Translation: X:129.17, Y:38.21, Z:0.45 [[ 8.03406581e-01 -5.95417683e-01 -3.95577554e-03 1.29167043e+02] [ 5.95410467e-01 8.03416320e-01 -2.93134159e-03 3.82067215e+01] [ 4.92350724e-03 -2.51038754e-07 9.99987879e-01 4.54026286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.730281693 meters Centerline goodness : 0.997834 Centerline is valid? [True, True] Translation: X:129.19, Y:38.22, Z:0.45 [[ 8.03641425e-01 -5.95100676e-01 -3.95547113e-03 1.29190865e+02] [ 5.95093455e-01 8.03651159e-01 -2.93175229e-03 3.82220580e+01] [ 4.92350673e-03 2.20260337e-06 9.99987879e-01 4.53278749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.760281693 meters Centerline goodness : 0.997774 Centerline is valid? [True, True] Translation: X:129.21, Y:38.24, Z:0.45 [[ 8.04036839e-01 -5.94566330e-01 -3.95492048e-03 1.29213080e+02] [ 5.94559098e-01 8.04046565e-01 -2.93249492e-03 3.82367167e+01] [ 4.92350297e-03 6.39999272e-06 9.99987879e-01 4.51662765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.790281693 meters Centerline goodness : 0.997551 Centerline is valid? [True, True] Translation: X:129.24, Y:38.25, Z:0.45 [[ 8.04923542e-01 -5.93365363e-01 -3.95442792e-03 1.29236894e+02] [ 5.93358114e-01 8.04933255e-01 -2.93315898e-03 3.82524136e+01] [ 4.92348549e-03 1.45768267e-05 9.99987879e-01 4.51180756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.820281693 meters Centerline goodness : 0.997434 Centerline is valid? [True, True] Translation: X:129.26, Y:38.27, Z:0.45 [[ 8.05262521e-01 -5.92905253e-01 -3.95388164e-03 1.29258601e+02] [ 5.92897994e-01 8.05272228e-01 -2.93389519e-03 3.82685031e+01] [ 4.92347294e-03 1.83073443e-05 9.99987879e-01 4.50928594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.850281693 meters Centerline goodness : 0.997219 Centerline is valid? [True, True] Translation: X:129.28, Y:38.29, Z:0.45 [[ 8.06024746e-01 -5.91868634e-01 -3.95338969e-03 1.29280281e+02] [ 5.91861359e-01 8.06034441e-01 -2.93455793e-03 3.82863687e+01] [ 4.92344104e-03 2.54677144e-05 9.99987879e-01 4.50888781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.880281693 meters Centerline goodness : 0.997301 Centerline is valid? [True, True] Translation: X:129.30, Y:38.30, Z:0.45 [[ 8.06644155e-01 -5.91024181e-01 -3.95283334e-03 1.29301445e+02] [ 5.91016893e-01 8.06653839e-01 -2.93530714e-03 3.83038853e+01] [ 4.92340569e-03 3.15570663e-05 9.99987879e-01 4.48936623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.910281693 meters Centerline goodness : 0.997249 Centerline is valid? [True, True] Translation: X:129.32, Y:38.32, Z:0.45 [[ 8.07334749e-01 -5.90080486e-01 -3.95255954e-03 1.29321986e+02] [ 5.90073185e-01 8.07344424e-01 -2.93567578e-03 3.83207290e+01] [ 4.92336190e-03 3.77736755e-05 9.99987879e-01 4.47558415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.940281693 meters Centerline goodness : 0.997313 Centerline is valid? [True, True] Translation: X:129.34, Y:38.34, Z:0.45 [[ 8.08282617e-01 -5.88781446e-01 -3.95206764e-03 1.29343049e+02] [ 5.88774126e-01 8.08292278e-01 -2.93633784e-03 3.83373909e+01] [ 4.92328699e-03 4.65156630e-05 9.99987879e-01 4.48631088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.970281693 meters Centerline goodness : 0.997371 Centerline is valid? [True, True] Translation: X:129.37, Y:38.35, Z:0.45 [[ 8.07982178e-01 -5.89193673e-01 -3.95157474e-03 1.29365439e+02] [ 5.89186355e-01 8.07991840e-01 -2.93700100e-03 3.83544596e+01] [ 4.92330256e-03 4.48305471e-05 9.99987879e-01 4.50044645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.000281693 meters Centerline goodness : 0.997736 Centerline is valid? [True, True] Translation: X:129.39, Y:38.37, Z:0.45 [[ 8.07295974e-01 -5.90133543e-01 -3.95104814e-03 1.29387141e+02] [ 5.90126233e-01 8.07305642e-01 -2.93770926e-03 3.83716185e+01] [ 4.92334423e-03 3.99837039e-05 9.99987879e-01 4.51115133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.030281693 meters Centerline goodness : 0.997470 Centerline is valid? [True, True] Translation: X:129.41, Y:38.39, Z:0.45 [[ 8.06605288e-01 -5.91077240e-01 -3.95049825e-03 1.29408085e+02] [ 5.91069937e-01 8.06614961e-01 -2.93844853e-03 3.83882166e+01] [ 4.92338104e-03 3.51473746e-05 9.99987879e-01 4.49929798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.060281693 meters Centerline goodness : 0.997662 Centerline is valid? [True, True] Translation: X:129.43, Y:38.41, Z:0.45 [[ 8.06406093e-01 -5.91348975e-01 -3.95000928e-03 1.29428791e+02] [ 5.91341672e-01 8.06415766e-01 -2.93910568e-03 3.84058930e+01] [ 4.92338690e-03 3.43076361e-05 9.99987879e-01 4.48456727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.090281693 meters Centerline goodness : 0.997145 Centerline is valid? [True, True] Translation: X:129.45, Y:38.42, Z:0.45 [[ 8.06778605e-01 -5.90840658e-01 -3.94964014e-03 1.29450151e+02] [ 5.90833346e-01 8.06788272e-01 -2.93960166e-03 3.84235096e+01] [ 4.92335952e-03 3.80286252e-05 9.99987879e-01 4.50044840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.120281693 meters Centerline goodness : 0.997145 Centerline is valid? [True, True] Translation: X:129.47, Y:38.44, Z:0.45 [[ 8.06668633e-01 -5.90990796e-01 -3.94909186e-03 1.29472888e+02] [ 5.90983483e-01 8.06678298e-01 -2.94033804e-03 3.84406838e+01] [ 4.92335942e-03 3.80304059e-05 9.99987879e-01 4.50185074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.150281693 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:129.49, Y:38.46, Z:0.45 [[ 8.08465044e-01 -5.88530953e-01 -3.94854451e-03 1.29492326e+02] [ 5.88523606e-01 8.08474684e-01 -2.94107289e-03 3.84598692e+01] [ 4.92321070e-03 5.39429725e-05 9.99987879e-01 4.48192919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.180281693 meters Centerline goodness : 0.997307 Centerline is valid? [True, True] Translation: X:129.51, Y:38.48, Z:0.45 [[ 8.09529497e-01 -5.87065930e-01 -3.94806156e-03 1.29513801e+02] [ 5.87058563e-01 8.09539122e-01 -2.94172106e-03 3.84786603e+01] [ 4.92309449e-03 6.36666235e-05 9.99987879e-01 4.46811775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.210281693 meters Centerline goodness : 0.997175 Centerline is valid? [True, True] Translation: X:129.53, Y:38.50, Z:0.45 [[ 8.10817030e-01 -5.85286392e-01 -3.94751571e-03 1.29534449e+02] [ 5.85279000e-01 8.10826636e-01 -2.94245335e-03 3.84963347e+01] [ 4.92292879e-03 7.53932440e-05 9.99987879e-01 4.46296745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.240281693 meters Centerline goodness : 0.996862 Centerline is valid? [True, True] Translation: X:129.55, Y:38.52, Z:0.45 [[ 8.12563536e-01 -5.82859262e-01 -3.94722651e-03 1.29553192e+02] [ 5.82851840e-01 8.12573118e-01 -2.94284125e-03 3.85164919e+01] [ 4.92267243e-03 9.05972567e-05 9.99987879e-01 4.46782591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.270281693 meters Centerline goodness : 0.996934 Centerline is valid? [True, True] Translation: X:129.57, Y:38.54, Z:0.45 [[ 8.12920106e-01 -5.82361849e-01 -3.94692967e-03 1.29574087e+02] [ 5.82354419e-01 8.12929682e-01 -2.94323932e-03 3.85356287e+01] [ 4.92260657e-03 9.41064817e-05 9.99987879e-01 4.48719067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.300281693 meters Centerline goodness : 0.997374 Centerline is valid? [True, True] Translation: X:129.60, Y:38.55, Z:0.45 [[ 8.12849028e-01 -5.82461057e-01 -3.94640587e-03 1.29595277e+02] [ 5.82453625e-01 8.12858602e-01 -2.94394149e-03 3.85544869e+01] [ 4.92260123e-03 9.43815731e-05 9.99987879e-01 4.51602847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.330281693 meters Centerline goodness : 0.997438 Centerline is valid? [True, True] Translation: X:129.61, Y:38.58, Z:0.45 [[ 8.13198383e-01 -5.81973212e-01 -3.94590295e-03 1.29613772e+02] [ 5.81965771e-01 8.13207951e-01 -2.94461542e-03 3.85757965e+01] [ 4.92252694e-03 9.81760528e-05 9.99987879e-01 4.53283771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.360281693 meters Centerline goodness : 0.997344 Centerline is valid? [True, True] Translation: X:129.63, Y:38.60, Z:0.45 [[ 8.13586682e-01 -5.81430256e-01 -3.94560802e-03 1.29633505e+02] [ 5.81422806e-01 8.13596243e-01 -2.94501056e-03 3.85957668e+01] [ 4.92245010e-03 1.01954885e-04 9.99987879e-01 4.53932975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.390281693 meters Centerline goodness : 0.997110 Centerline is valid? [True, True] Translation: X:129.65, Y:38.62, Z:0.45 [[ 8.14673948e-01 -5.79905850e-01 -3.94505238e-03 1.29650218e+02] [ 5.79898379e-01 8.14683492e-01 -2.94575468e-03 3.86179246e+01] [ 4.92222942e-03 1.12100112e-04 9.99987879e-01 4.52155927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.420281693 meters Centerline goodness : 0.997150 Centerline is valid? [True, True] Translation: X:129.67, Y:38.64, Z:0.45 [[ 8.14978011e-01 -5.79478455e-01 -3.94475540e-03 1.29669790e+02] [ 5.79470978e-01 8.14987550e-01 -2.94615233e-03 3.86363122e+01] [ 4.92215834e-03 1.15178099e-04 9.99987879e-01 4.52144956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.450281693 meters Centerline goodness : 0.997196 Centerline is valid? [True, True] Translation: X:129.69, Y:38.66, Z:0.45 [[ 8.14859160e-01 -5.79645573e-01 -3.94445203e-03 1.29690105e+02] [ 5.79638095e-01 8.14868699e-01 -2.94655844e-03 3.86552720e+01] [ 4.92217005e-03 1.14675472e-04 9.99987879e-01 4.53968358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.480281693 meters Centerline goodness : 0.997760 Centerline is valid? [True, True] Translation: X:129.71, Y:38.68, Z:0.46 [[ 8.13661937e-01 -5.81324950e-01 -3.94390049e-03 1.29707465e+02] [ 5.81317488e-01 8.13671489e-01 -2.94729648e-03 3.86772530e+01] [ 4.92237636e-03 1.05444640e-04 9.99987879e-01 4.57068457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.510281693 meters Centerline goodness : 0.997514 Centerline is valid? [True, True] Translation: X:129.73, Y:38.70, Z:0.46 [[ 8.12085181e-01 -5.83525584e-01 -3.94358813e-03 1.29727973e+02] [ 5.83518146e-01 8.12094751e-01 -2.94771437e-03 3.86967649e+01] [ 4.92263396e-03 9.26399262e-05 9.99987879e-01 4.57613095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.540281693 meters Centerline goodness : 0.997552 Centerline is valid? [True, True] Translation: X:129.75, Y:38.72, Z:0.46 [[ 8.10407742e-01 -5.85853005e-01 -3.94304117e-03 1.29749377e+02] [ 5.85845591e-01 8.10417331e-01 -2.94844584e-03 3.87156921e+01] [ 4.92286475e-03 7.94300493e-05 9.99987879e-01 4.56128149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.570281693 meters Centerline goodness : 0.997363 Centerline is valid? [True, True] Translation: X:129.77, Y:38.73, Z:0.45 [[ 8.07418650e-01 -5.89965746e-01 -3.94249591e-03 1.29770041e+02] [ 5.89958377e-01 8.07428273e-01 -2.94917474e-03 3.87348299e+01] [ 4.92319474e-03 5.53101935e-05 9.99987879e-01 4.54813077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.600281693 meters Centerline goodness : 0.997778 Centerline is valid? [True, True] Translation: X:129.79, Y:38.75, Z:0.46 [[ 8.06149790e-01 -5.91698383e-01 -3.94193821e-03 1.29790961e+02] [ 5.91691031e-01 8.06159427e-01 -2.94991998e-03 3.87538224e+01] [ 4.92329353e-03 4.56678875e-05 9.99987879e-01 4.56783937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.630281693 meters Centerline goodness : 0.997875 Centerline is valid? [True, True] Translation: X:129.81, Y:38.77, Z:0.46 [[ 8.04374486e-01 -5.94109545e-01 -3.94137996e-03 1.29808478e+02] [ 5.94102218e-01 8.04384142e-01 -2.95066567e-03 3.87746680e+01] [ 4.92340218e-03 3.18576031e-05 9.99987879e-01 4.61253565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.660281693 meters Centerline goodness : 0.997511 Centerline is valid? [True, True] Translation: X:129.83, Y:38.79, Z:0.46 [[ 8.03756138e-01 -5.94945828e-01 -3.94106913e-03 1.29829860e+02] [ 5.94938510e-01 8.03765800e-01 -2.95108077e-03 3.87928090e+01] [ 4.92342978e-03 2.72554883e-05 9.99987879e-01 4.61196030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.690281693 meters Centerline goodness : 0.997456 Centerline is valid? [True, True] Translation: X:129.85, Y:38.81, Z:0.46 [[ 8.02935809e-01 -5.96052480e-01 -3.94053146e-03 1.29851580e+02] [ 5.96045172e-01 8.02945478e-01 -2.95179854e-03 3.88103288e+01] [ 4.92345876e-03 2.13699929e-05 9.99987879e-01 4.59097055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.720281693 meters Centerline goodness : 0.997952 Centerline is valid? [True, True] Translation: X:129.87, Y:38.83, Z:0.46 [[ 8.00530009e-01 -5.99279719e-01 -3.93999179e-03 1.29871678e+02] [ 5.99272446e-01 8.00539704e-01 -2.95251871e-03 3.88278942e+01] [ 4.92350444e-03 2.45131567e-06 9.99987879e-01 4.56331751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.750281693 meters Centerline goodness : 0.997913 Centerline is valid? [True, True] Translation: X:129.89, Y:38.85, Z:0.46 [[ 7.99230310e-01 -6.01011973e-01 -3.93951002e-03 1.29893454e+02] [ 6.01004718e-01 7.99240019e-01 -2.95316139e-03 3.88454848e+01] [ 4.92349942e-03 -7.40801324e-06 9.99987879e-01 4.55870330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.780281693 meters Centerline goodness : 0.997389 Centerline is valid? [True, True] Translation: X:129.92, Y:38.86, Z:0.45 [[ 7.96483825e-01 -6.04647005e-01 -3.93895367e-03 1.29915187e+02] [ 6.04639790e-01 7.96493565e-01 -2.95390327e-03 3.88613337e+01] [ 4.92342001e-03 -2.89119449e-05 9.99987879e-01 4.53490468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.810281693 meters Centerline goodness : 0.997636 Centerline is valid? [True, True] Translation: X:129.94, Y:38.88, Z:0.45 [[ 7.95021554e-01 -6.06568393e-01 -3.93857484e-03 1.29937412e+02] [ 6.06561199e-01 7.95031309e-01 -2.95440829e-03 3.88780732e+01] [ 4.92334100e-03 -4.01684035e-05 9.99987879e-01 4.53613113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.840281693 meters Centerline goodness : 0.997626 Centerline is valid? [True, True] Translation: X:129.96, Y:38.89, Z:0.45 [[ 7.93868086e-01 -6.08077260e-01 -3.93803644e-03 1.29959215e+02] [ 6.08070081e-01 7.93877852e-01 -2.95512577e-03 3.88947757e+01] [ 4.92326469e-03 -4.86220982e-05 9.99987879e-01 4.53908085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.870281693 meters Centerline goodness : 0.997513 Centerline is valid? [True, True] Translation: X:129.98, Y:38.91, Z:0.46 [[ 7.92709768e-01 -6.09586515e-01 -3.93755264e-03 1.29981737e+02] [ 6.09579352e-01 7.92719545e-01 -2.95577026e-03 3.89113350e+01] [ 4.92317264e-03 -5.71828258e-05 9.99987879e-01 4.55370003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.900281693 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:130.00, Y:38.93, Z:0.46 [[ 7.92742923e-01 -6.09543401e-01 -3.93700095e-03 1.30004738e+02] [ 6.09536234e-01 7.92752697e-01 -2.95650493e-03 3.89263852e+01] [ 4.92318619e-03 -5.59963701e-05 9.99987879e-01 4.56556592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.930281693 meters Centerline goodness : 0.997810 Centerline is valid? [True, True] Translation: X:130.03, Y:38.94, Z:0.46 [[ 7.92938794e-01 -6.09288578e-01 -3.93669320e-03 1.30027863e+02] [ 6.09281405e-01 7.92948564e-01 -2.95691464e-03 3.89413784e+01] [ 4.92320954e-03 -5.39016419e-05 9.99987879e-01 4.58351421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.960281693 meters Centerline goodness : 0.998218 Centerline is valid? [True, True] Translation: X:130.05, Y:38.96, Z:0.46 [[ 7.93044520e-01 -6.09150963e-01 -3.93615983e-03 1.30051983e+02] [ 6.09143785e-01 7.93054287e-01 -2.95762448e-03 3.89551498e+01] [ 4.92322823e-03 -5.21594132e-05 9.99987879e-01 4.59742972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.990281693 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:130.07, Y:38.97, Z:0.46 [[ 7.93236977e-01 -6.08900328e-01 -3.93562339e-03 1.30074822e+02] [ 6.08893144e-01 7.93246738e-01 -2.95833813e-03 3.89703792e+01] [ 4.92325348e-03 -4.97109042e-05 9.99987879e-01 4.59837432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.020281693 meters Centerline goodness : 0.998153 Centerline is valid? [True, True] Translation: X:130.10, Y:38.98, Z:0.46 [[ 7.94093638e-01 -6.07782699e-01 -3.93525647e-03 1.30099323e+02] [ 6.07775498e-01 7.94103387e-01 -2.95882614e-03 3.89830006e+01] [ 4.92332383e-03 -4.21674530e-05 9.99987879e-01 4.60684740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.050281693 meters Centerline goodness : 0.998443 Centerline is valid? [True, True] Translation: X:130.12, Y:39.00, Z:0.46 [[ 7.94448104e-01 -6.07319296e-01 -3.93478137e-03 1.30122994e+02] [ 6.07312087e-01 7.94457847e-01 -2.95945782e-03 3.89980296e+01] [ 4.92335377e-03 -3.85046326e-05 9.99987879e-01 4.62047476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.080281693 meters Centerline goodness : 0.998186 Centerline is valid? [True, True] Translation: X:130.15, Y:39.01, Z:0.46 [[ 7.94856829e-01 -6.06784265e-01 -3.93423086e-03 1.30145286e+02] [ 6.06777045e-01 7.94866564e-01 -2.96018947e-03 3.90127320e+01] [ 4.92338496e-03 -3.42741564e-05 9.99987879e-01 4.63763578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.110281693 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:130.17, Y:39.03, Z:0.46 [[ 7.95687697e-01 -6.05694323e-01 -3.93393259e-03 1.30168090e+02] [ 6.05687088e-01 7.95697421e-01 -2.96058579e-03 3.90277111e+01] [ 4.92343003e-03 -2.70304867e-05 9.99987879e-01 4.63851735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.140281693 meters Centerline goodness : 0.998095 Centerline is valid? [True, True] Translation: X:130.19, Y:39.04, Z:0.46 [[ 7.97729561e-01 -6.03002549e-01 -3.93357272e-03 1.30193432e+02] [ 6.02995279e-01 7.97739259e-01 -2.96106386e-03 3.90410005e+01] [ 4.92349444e-03 -9.79760641e-06 9.99987879e-01 4.62497866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.170281693 meters Centerline goodness : 0.998539 Centerline is valid? [True, True] Translation: X:130.22, Y:39.05, Z:0.46 [[ 7.99347731e-01 -6.00855836e-01 -3.93305356e-03 1.30215443e+02] [ 6.00848537e-01 7.99357407e-01 -2.96175328e-03 3.90545432e+01] [ 4.92350224e-03 4.30128824e-06 9.99987879e-01 4.61686186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.200281693 meters Centerline goodness : 0.998324 Centerline is valid? [True, True] Translation: X:130.24, Y:39.07, Z:0.46 [[ 8.01372202e-01 -5.98153150e-01 -3.92460505e-03 1.30240412e+02] [ 5.98145763e-01 8.01381811e-01 -2.97296785e-03 3.90699700e+01] [ 4.92339719e-03 3.49679106e-05 9.99987879e-01 4.64732224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.230281693 meters Centerline goodness : 0.998350 Centerline is valid? [True, True] Translation: X:130.26, Y:39.09, Z:0.46 [[ 8.02450622e-01 -5.96705569e-01 -3.93230713e-03 1.30263928e+02] [ 5.96698215e-01 8.02460256e-01 -2.96274525e-03 3.90855237e+01] [ 4.92340678e-03 3.10561206e-05 9.99987879e-01 4.64422658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.260281693 meters Centerline goodness : 0.998133 Centerline is valid? [True, True] Translation: X:130.29, Y:39.10, Z:0.46 [[ 8.03840254e-01 -5.94832234e-01 -3.93175981e-03 1.30288362e+02] [ 5.94824853e-01 8.03849869e-01 -2.96347141e-03 3.90980339e+01] [ 4.92331292e-03 4.34491573e-05 9.99987879e-01 4.60614253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.290281693 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:130.31, Y:39.11, Z:0.46 [[ 8.03812133e-01 -5.94870239e-01 -3.93126788e-03 1.30311934e+02] [ 5.94862855e-01 8.03821745e-01 -2.96412384e-03 3.91129754e+01] [ 4.92330767e-03 4.40334676e-05 9.99987879e-01 4.58690869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.320281693 meters Centerline goodness : 0.998195 Centerline is valid? [True, True] Translation: X:130.34, Y:39.13, Z:0.46 [[ 8.03557965e-01 -5.95213530e-01 -3.93076216e-03 1.30335294e+02] [ 5.95206148e-01 8.03567577e-01 -2.96479434e-03 3.91283152e+01] [ 4.92331873e-03 4.27703046e-05 9.99987879e-01 4.57850819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.350281693 meters Centerline goodness : 0.998190 Centerline is valid? [True, True] Translation: X:130.36, Y:39.14, Z:0.46 [[ 8.03298166e-01 -5.95564111e-01 -3.93022534e-03 1.30358023e+02] [ 5.95556729e-01 8.03307779e-01 -2.96550578e-03 3.91437140e+01] [ 4.92332941e-03 4.15132056e-05 9.99987879e-01 4.58176957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.380281693 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:130.38, Y:39.16, Z:0.46 [[ 8.03079868e-01 -5.95858442e-01 -3.92974420e-03 1.30381906e+02] [ 5.95851061e-01 8.03089482e-01 -2.96614324e-03 3.91582738e+01] [ 4.92333772e-03 4.05076702e-05 9.99987879e-01 4.63505056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.410281693 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:130.40, Y:39.17, Z:0.47 [[ 8.03194604e-01 -5.95703776e-01 -3.92920786e-03 1.30404563e+02] [ 5.95696390e-01 8.03204214e-01 -2.96685354e-03 3.91740435e+01] [ 4.92332217e-03 4.23458215e-05 9.99987879e-01 4.66200959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.440281693 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:130.43, Y:39.19, Z:0.47 [[ 8.04182037e-01 -5.94370101e-01 -3.92867106e-03 1.30426258e+02] [ 5.94362695e-01 8.04191631e-01 -2.96756421e-03 3.91894245e+01] [ 4.92323582e-03 5.14063073e-05 9.99987879e-01 4.66313227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.470281693 meters Centerline goodness : 0.998521 Centerline is valid? [True, True] Translation: X:130.45, Y:39.21, Z:0.46 [[ 8.04693864e-01 -5.93676978e-01 -3.92819029e-03 1.30448413e+02] [ 5.93669561e-01 8.04703450e-01 -2.96820047e-03 3.92064478e+01] [ 4.92318056e-03 5.64457024e-05 9.99987879e-01 4.63907753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.500281693 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:130.47, Y:39.22, Z:0.46 [[ 8.05144267e-01 -5.93066002e-01 -3.92766056e-03 1.30470994e+02] [ 5.93058574e-01 8.05153845e-01 -2.96890126e-03 3.92237632e+01] [ 4.92312540e-03 6.10610595e-05 9.99987879e-01 4.61885594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.530281693 meters Centerline goodness : 0.998495 Centerline is valid? [True, True] Translation: X:130.49, Y:39.24, Z:0.46 [[ 8.05867860e-01 -5.92082402e-01 -3.92713104e-03 1.30492269e+02] [ 5.92074958e-01 8.05877426e-01 -2.96960152e-03 3.92414370e+01] [ 4.92303505e-03 6.79504743e-05 9.99987879e-01 4.62084214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.560281693 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:130.51, Y:39.26, Z:0.46 [[ 8.06309539e-01 -5.91480776e-01 -3.92659513e-03 1.30513846e+02] [ 5.91473322e-01 8.06319097e-01 -2.97030997e-03 3.92590258e+01] [ 4.92296988e-03 7.25129985e-05 9.99987879e-01 4.63785805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.590281693 meters Centerline goodness : 0.998448 Centerline is valid? [True, True] Translation: X:130.53, Y:39.28, Z:0.47 [[ 8.06455597e-01 -5.91281622e-01 -3.92605524e-03 1.30534390e+02] [ 5.91274162e-01 8.06465150e-01 -2.97102340e-03 3.92762111e+01] [ 4.92293827e-03 7.46234285e-05 9.99987879e-01 4.65157552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.620281693 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:130.55, Y:39.30, Z:0.46 [[ 8.06691695e-01 -5.90959474e-01 -3.92557218e-03 1.30554590e+02] [ 5.90952007e-01 8.06701242e-01 -2.97166153e-03 3.92956172e+01] [ 4.92289549e-03 7.73899201e-05 9.99987879e-01 4.64486336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.650281693 meters Centerline goodness : 0.998354 Centerline is valid? [True, True] Translation: X:130.58, Y:39.31, Z:0.46 [[ 8.06436525e-01 -5.91307640e-01 -3.92504200e-03 1.30576014e+02] [ 5.91300174e-01 8.06446074e-01 -2.97236164e-03 3.93139050e+01] [ 4.92291485e-03 7.61429762e-05 9.99987879e-01 4.63528225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.680281693 meters Centerline goodness : 0.998376 Centerline is valid? [True, True] Translation: X:130.60, Y:39.33, Z:0.46 [[ 8.03838416e-01 -5.94834766e-01 -3.92451062e-03 1.30595970e+02] [ 5.94827339e-01 8.03847994e-01 -2.97306307e-03 3.93315636e+01] [ 4.92319127e-03 5.54560942e-05 9.99987879e-01 4.63098298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.710281693 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:130.62, Y:39.35, Z:0.46 [[ 8.01707330e-01 -5.97703906e-01 -3.92403265e-03 1.30618295e+02] [ 5.97696510e-01 8.01716932e-01 -2.97369379e-03 3.93484083e+01] [ 4.92335181e-03 3.86514893e-05 9.99987879e-01 4.64628703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.740281693 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:130.64, Y:39.36, Z:0.47 [[ 7.99531663e-01 -6.00611128e-01 -3.92347702e-03 1.30640682e+02] [ 6.00603763e-01 7.99541289e-01 -2.97442670e-03 3.93645481e+01] [ 4.92345565e-03 2.16932647e-05 9.99987879e-01 4.65980308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.770281693 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:130.66, Y:39.38, Z:0.47 [[ 7.96276940e-01 -6.04919536e-01 -3.92295039e-03 1.30662712e+02] [ 6.04912220e-01 7.96286603e-01 -2.97512112e-03 3.93802731e+01] [ 4.92350173e-03 -4.02028798e-06 9.99987879e-01 4.68656645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.800281693 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:130.68, Y:39.40, Z:0.47 [[ 7.95480630e-01 -6.05966320e-01 -3.92264584e-03 1.30684658e+02] [ 6.05959014e-01 7.95490301e-01 -2.97552261e-03 3.93977316e+01] [ 4.92349320e-03 -9.99200729e-06 9.99987879e-01 4.68957315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.830281693 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:130.70, Y:39.42, Z:0.47 [[ 7.95152953e-01 -6.06396239e-01 -3.92208678e-03 1.30704951e+02] [ 6.06388935e-01 7.95162626e-01 -2.97625932e-03 3.94153983e+01] [ 4.92348928e-03 -1.17286400e-05 9.99987879e-01 4.69450782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.860281693 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:130.72, Y:39.43, Z:0.47 [[ 7.95868352e-01 -6.05457007e-01 -3.92158517e-03 1.30724965e+02] [ 6.05449689e-01 7.95878013e-01 -2.97692011e-03 3.94347532e+01] [ 4.92350056e-03 -5.08601984e-06 9.99987879e-01 4.71580436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.890281693 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:130.75, Y:39.45, Z:0.47 [[ 7.96225951e-01 -6.04986662e-01 -3.92102200e-03 1.30745476e+02] [ 6.04979334e-01 7.96235605e-01 -2.97766170e-03 3.94517446e+01] [ 4.92350294e-03 -1.24575730e-06 9.99987879e-01 4.72123602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.920281693 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:130.77, Y:39.47, Z:0.47 [[ 7.95673170e-01 -6.05713493e-01 -3.92063857e-03 1.30766551e+02] [ 6.05706172e-01 7.95682829e-01 -2.97816647e-03 3.94699680e+01] [ 4.92350041e-03 -5.10782394e-06 9.99987879e-01 4.66579456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.950281693 meters Centerline goodness : 0.998642 Centerline is valid? [True, True] Translation: X:130.79, Y:39.49, Z:0.46 [[ 7.95063823e-01 -6.06513108e-01 -3.92008955e-03 1.30787493e+02] [ 6.06505793e-01 7.95073487e-01 -2.97888896e-03 3.94863498e+01] [ 4.92349447e-03 -9.15018005e-06 9.99987879e-01 4.63758159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.980281693 meters Centerline goodness : 0.998491 Centerline is valid? [True, True] Translation: X:130.81, Y:39.50, Z:0.46 [[ 7.94349167e-01 -6.07448795e-01 -3.91958799e-03 1.30809901e+02] [ 6.07441488e-01 7.94358837e-01 -2.97954876e-03 3.95034631e+01] [ 4.92348266e-03 -1.41182807e-05 9.99987879e-01 4.62295567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.010281693 meters Centerline goodness : 0.998491 Centerline is valid? [True, True] Translation: X:130.83, Y:39.52, Z:0.46 [[ 7.94237609e-01 -6.07594652e-01 -3.91904015e-03 1.30832454e+02] [ 6.07587343e-01 7.94247278e-01 -2.98026916e-03 3.95208687e+01] [ 4.92348258e-03 -1.41173414e-05 9.99987879e-01 4.62435803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.040281693 meters Centerline goodness : 0.998399 Centerline is valid? [True, True] Translation: X:130.85, Y:39.54, Z:0.46 [[ 7.93383473e-01 -6.08709545e-01 -3.91849276e-03 1.30853946e+02] [ 6.08702246e-01 7.93393149e-01 -2.98098871e-03 3.95368136e+01] [ 4.92346159e-03 -2.01281659e-05 9.99987879e-01 4.62119079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.070281693 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:130.88, Y:39.55, Z:0.46 [[ 7.91366617e-01 -6.11329310e-01 -3.91811982e-03 1.30876069e+02] [ 6.11322041e-01 7.91376316e-01 -2.98147881e-03 3.95544184e+01] [ 4.92337261e-03 -3.57901994e-05 9.99987879e-01 4.62431763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.100281693 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:130.90, Y:39.57, Z:0.46 [[ 7.90775574e-01 -6.12093656e-01 -3.91756083e-03 1.30896946e+02] [ 6.12086393e-01 7.90785277e-01 -2.98221312e-03 3.95717271e+01] [ 4.92334316e-03 -3.96243862e-05 9.99987879e-01 4.62620948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.130281693 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:130.92, Y:39.59, Z:0.46 [[ 7.91003370e-01 -6.11799252e-01 -3.91706058e-03 1.30917386e+02] [ 6.11791982e-01 7.91013068e-01 -2.98287005e-03 3.95916209e+01] [ 4.92336377e-03 -3.69659942e-05 9.99987879e-01 4.62519544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.160281693 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:130.94, Y:39.61, Z:0.46 [[ 7.91553776e-01 -6.11086966e-01 -3.91671521e-03 1.30938848e+02] [ 6.11079684e-01 7.91563465e-01 -2.98332347e-03 3.96098686e+01] [ 4.92339875e-03 -3.19641352e-05 9.99987879e-01 4.62752439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.190281693 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:130.96, Y:39.63, Z:0.46 [[ 7.92307738e-01 -6.10109099e-01 -3.91615547e-03 1.30960738e+02] [ 6.10101802e-01 7.92317415e-01 -2.98405805e-03 3.96270353e+01] [ 4.92343915e-03 -2.49612259e-05 9.99987879e-01 4.62059457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.220281693 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:130.98, Y:39.64, Z:0.46 [[ 7.93342560e-01 -6.08762885e-01 -3.91559840e-03 1.30982843e+02] [ 6.08755568e-01 7.93352223e-01 -2.98478884e-03 3.96445395e+01] [ 4.92347736e-03 -1.56823094e-05 9.99987879e-01 4.62107514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.250281693 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:131.00, Y:39.66, Z:0.46 [[ 7.93815220e-01 -6.08146421e-01 -3.91503637e-03 1.31004902e+02] [ 6.08139093e-01 7.93824874e-01 -2.98552585e-03 3.96621720e+01] [ 4.92349012e-03 -1.09308138e-05 9.99987879e-01 4.62869975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.280281693 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:131.03, Y:39.68, Z:0.46 [[ 7.94335455e-01 -6.07466758e-01 -3.91447663e-03 1.31026407e+02] [ 6.07459418e-01 7.94345100e-01 -2.98625957e-03 3.96809327e+01] [ 4.92349875e-03 -5.79383582e-06 9.99987879e-01 4.63044670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.310281693 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:131.05, Y:39.70, Z:0.46 [[ 7.94780911e-01 -6.06883831e-01 -3.91391515e-03 1.31046729e+02] [ 6.06876481e-01 7.94790548e-01 -2.98699529e-03 3.96981038e+01] [ 4.92350192e-03 -1.25621151e-06 9.99987879e-01 4.63967089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.340281693 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:131.07, Y:39.72, Z:0.47 [[ 7.97081084e-01 -6.03859612e-01 -3.91341234e-03 1.31066412e+02] [ 6.03852221e-01 7.97090691e-01 -2.98765390e-03 3.97170720e+01] [ 4.92346807e-03 1.82796751e-05 9.99987879e-01 4.65863787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.370281693 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:131.09, Y:39.74, Z:0.47 [[ 7.98169094e-01 -6.02420771e-01 -3.91291206e-03 1.31087559e+02] [ 6.02413360e-01 7.98178685e-01 -2.98830898e-03 3.97362265e+01] [ 4.92342240e-03 2.79853692e-05 9.99987879e-01 4.65702703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.400281693 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:131.11, Y:39.76, Z:0.47 [[ 7.98872855e-01 -6.01487203e-01 -3.91235402e-03 1.31108751e+02] [ 6.01479777e-01 7.98882434e-01 -2.98903940e-03 3.97550530e+01] [ 4.92337985e-03 3.46606165e-05 9.99987879e-01 4.65529776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.430281693 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:131.13, Y:39.77, Z:0.47 [[ 7.99168163e-01 -6.01094789e-01 -3.91178599e-03 1.31129249e+02] [ 6.01087355e-01 7.99177736e-01 -2.98978260e-03 3.97720099e+01] [ 4.92335501e-03 3.80139756e-05 9.99987879e-01 4.65920546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.460281693 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:131.15, Y:39.79, Z:0.47 [[ 7.97703537e-01 -6.03037120e-01 -3.91147542e-03 1.31151605e+02] [ 6.03029707e-01 7.97713126e-01 -2.99018885e-03 3.97893213e+01] [ 4.92343016e-03 2.65483463e-05 9.99987879e-01 4.66023050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.490281693 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:131.17, Y:39.81, Z:0.47 [[ 7.95851314e-01 -6.05479472e-01 -3.91091178e-03 1.31173151e+02] [ 6.05472084e-01 7.95860923e-01 -2.99092587e-03 3.98060958e+01] [ 4.92348607e-03 1.23843775e-05 9.99987879e-01 4.66486013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.520281693 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:131.19, Y:39.82, Z:0.47 [[ 7.93692836e-01 -6.08306164e-01 -3.91060445e-03 1.31194332e+02] [ 6.08298809e-01 7.93702470e-01 -2.99132764e-03 3.98221076e+01] [ 4.92349945e-03 -4.62070925e-06 9.99987879e-01 4.67367246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.550281693 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:131.22, Y:39.84, Z:0.47 [[ 7.89452908e-01 -6.13798678e-01 -3.91010961e-03 1.31217761e+02] [ 6.13791387e-01 7.89462590e-01 -2.99197434e-03 3.98360948e+01] [ 4.92335515e-03 -3.79687599e-05 9.99987879e-01 4.68022368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.580281693 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:131.24, Y:39.85, Z:0.47 [[ 7.87607531e-01 -6.16164825e-01 -3.90961879e-03 1.31241653e+02] [ 6.16157560e-01 7.87617233e-01 -2.99261555e-03 3.98510050e+01] [ 4.92322757e-03 -5.19346226e-05 9.99987879e-01 4.67773834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.610281693 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:131.26, Y:39.86, Z:0.47 [[ 7.85890357e-01 -6.18353512e-01 -3.90906390e-03 1.31264802e+02] [ 6.18346271e-01 7.85900076e-01 -2.99334019e-03 3.98649779e+01] [ 4.92307604e-03 -6.47178915e-05 9.99987879e-01 4.66045990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.640281693 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:131.29, Y:39.88, Z:0.46 [[ 7.83682339e-01 -6.21149510e-01 -3.90856557e-03 1.31290825e+02] [ 6.21142300e-01 7.83692082e-01 -2.99399074e-03 3.98761529e+01] [ 4.92282777e-03 -8.14377420e-05 9.99987879e-01 4.61227842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.670281693 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:131.32, Y:39.89, Z:0.46 [[ 7.82761464e-01 -6.22309582e-01 -3.90819481e-03 1.31315053e+02] [ 6.22302384e-01 7.82771216e-01 -2.99447463e-03 3.98897799e+01] [ 4.92271266e-03 -8.81196022e-05 9.99987879e-01 4.60841003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.700281693 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:131.34, Y:39.90, Z:0.46 [[ 7.82376070e-01 -6.22794040e-01 -3.90765957e-03 1.31339466e+02] [ 6.22786844e-01 7.82385823e-01 -2.99517294e-03 3.99041717e+01] [ 4.92267330e-03 -9.02873428e-05 9.99987879e-01 4.61201892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.730281693 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:131.36, Y:39.92, Z:0.46 [[ 7.82651390e-01 -6.22448019e-01 -3.90712582e-03 1.31364218e+02] [ 6.22440816e-01 7.82661137e-01 -2.99586904e-03 3.99158292e+01] [ 4.92272829e-03 -8.72335195e-05 9.99987879e-01 4.62099534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.760281693 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:131.39, Y:39.93, Z:0.46 [[ 7.83382708e-01 -6.21527369e-01 -3.90664480e-03 1.31388175e+02] [ 6.21520151e-01 7.83392445e-01 -2.99649617e-03 3.99311789e+01] [ 4.92284040e-03 -8.06551798e-05 9.99987879e-01 4.61596663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.790281693 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:131.41, Y:39.95, Z:0.46 [[ 7.84536258e-01 -6.20070643e-01 -3.90611192e-03 1.31411745e+02] [ 6.20063403e-01 7.84545979e-01 -2.99719064e-03 3.99469579e+01] [ 4.92299433e-03 -7.06323218e-05 9.99987879e-01 4.61725739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.820281693 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:131.43, Y:39.96, Z:0.46 [[ 7.87801521e-01 -6.15916804e-01 -3.90555430e-03 1.31434977e+02] [ 6.15909510e-01 7.87811201e-01 -2.99791708e-03 3.99630929e+01] [ 4.92330694e-03 -4.37043969e-05 9.99987879e-01 4.60420825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.850281693 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:131.46, Y:39.98, Z:0.46 [[ 7.89484326e-01 -6.13758299e-01 -3.90499969e-03 1.31457325e+02] [ 6.13750974e-01 7.89493983e-01 -2.99863934e-03 3.99791718e+01] [ 4.92341354e-03 -2.93186028e-05 9.99987879e-01 4.61223258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.880281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:131.48, Y:40.00, Z:0.46 [[ 7.90726056e-01 -6.12157708e-01 -3.90443949e-03 1.31480300e+02] [ 6.12150361e-01 7.90735695e-01 -2.99936857e-03 3.99959395e+01] [ 4.92346627e-03 -1.84251600e-05 9.99987879e-01 4.62822314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.910281693 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:131.50, Y:40.01, Z:0.46 [[ 7.91744749e-01 -6.10839596e-01 -3.90387615e-03 1.31502269e+02] [ 6.10832228e-01 7.91754374e-01 -3.00010163e-03 4.00112068e+01] [ 4.92349188e-03 -9.29865412e-06 9.99987879e-01 4.64069502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.940281693 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:131.52, Y:40.03, Z:0.47 [[ 7.92937121e-01 -6.09290969e-01 -3.90336996e-03 1.31524919e+02] [ 6.09283580e-01 7.92946729e-01 -3.00076007e-03 4.00270919e+01] [ 4.92350045e-03 1.15483345e-06 9.99987879e-01 4.65149677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.970281693 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:131.55, Y:40.04, Z:0.47 [[ 7.93470210e-01 -6.08596577e-01 -3.90281814e-03 1.31546198e+02] [ 6.08589176e-01 7.93479808e-01 -3.00147761e-03 4.00429551e+01] [ 4.92349638e-03 6.37019346e-06 9.99987879e-01 4.65723401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.000281693 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:131.57, Y:40.06, Z:0.47 [[ 7.94603232e-01 -6.07116524e-01 -3.90244352e-03 1.31568303e+02] [ 6.07109103e-01 7.94612815e-01 -3.00196459e-03 4.00602173e+01] [ 4.92347394e-03 1.61617844e-05 9.99987879e-01 4.66173966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.030281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:131.59, Y:40.08, Z:0.47 [[ 7.95306302e-01 -6.06195233e-01 -3.90190015e-03 1.31589994e+02] [ 6.06187797e-01 7.95315874e-01 -3.00267068e-03 4.00773798e+01] [ 4.92344779e-03 2.27586609e-05 9.99987879e-01 4.65451097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.060281693 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:131.61, Y:40.09, Z:0.46 [[ 7.96098151e-01 -6.05154949e-01 -3.90135789e-03 1.31611692e+02] [ 6.05147497e-01 7.96107710e-01 -3.00337508e-03 4.00943319e+01] [ 4.92340839e-03 3.00843819e-05 9.99987879e-01 4.64453871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.090281693 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:131.63, Y:40.11, Z:0.46 [[ 7.96805014e-01 -6.04223926e-01 -3.90080528e-03 1.31633319e+02] [ 6.04216459e-01 7.96814562e-01 -3.00409264e-03 4.01105922e+01] [ 4.92336310e-03 3.67453203e-05 9.99987879e-01 4.62851951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.120281693 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:131.66, Y:40.13, Z:0.46 [[ 7.97586040e-01 -6.03192586e-01 -3.90042916e-03 1.31656332e+02] [ 6.03185104e-01 7.97595576e-01 -3.00458091e-03 4.01269962e+01] [ 4.92330597e-03 4.37310212e-05 9.99987879e-01 4.64709581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.150281693 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:131.68, Y:40.14, Z:0.47 [[ 7.97797726e-01 -6.02912580e-01 -3.89988617e-03 1.31678423e+02] [ 6.02905092e-01 7.97807257e-01 -3.00528553e-03 4.01441850e+01] [ 4.92328194e-03 4.63487347e-05 9.99987879e-01 4.67106142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.180281693 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:131.70, Y:40.16, Z:0.47 [[ 7.98045683e-01 -6.02584338e-01 -3.89931111e-03 1.31700624e+02] [ 6.02576842e-01 7.98055207e-01 -3.00603147e-03 4.01611915e+01] [ 4.92325302e-03 4.93158625e-05 9.99987880e-01 4.68207164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.210281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:131.72, Y:40.18, Z:0.47 [[ 7.99177049e-01 -6.01083059e-01 -3.89874089e-03 1.31722493e+02] [ 6.01075542e-01 7.99186557e-01 -3.00677085e-03 4.01764126e+01] [ 4.92314033e-03 5.95044629e-05 9.99987880e-01 4.67083259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.240281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:131.74, Y:40.19, Z:0.47 [[ 7.99900789e-01 -6.00119597e-01 -3.89835245e-03 1.31744372e+02] [ 6.00112066e-01 7.99910286e-01 -3.00727439e-03 4.01934653e+01] [ 4.92305652e-03 6.60728148e-05 9.99987880e-01 4.67088784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.270281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:131.76, Y:40.21, Z:0.47 [[ 8.02050500e-01 -5.97243504e-01 -3.89778712e-03 1.31764682e+02] [ 5.97235935e-01 8.02059966e-01 -3.00800696e-03 4.02108033e+01] [ 4.92277162e-03 8.46749489e-05 9.99987880e-01 4.66442844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.300281693 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:131.79, Y:40.23, Z:0.47 [[ 8.03210567e-01 -5.95682463e-01 -3.89728351e-03 1.31786739e+02] [ 5.95674872e-01 8.03220016e-01 -3.00865930e-03 4.02288454e+01] [ 4.92258171e-03 9.50730840e-05 9.99987880e-01 4.66614072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.330281693 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:131.81, Y:40.25, Z:0.47 [[ 8.04110376e-01 -5.94467256e-01 -3.89671966e-03 1.31807420e+02] [ 5.94459648e-01 8.04119811e-01 -3.00938941e-03 4.02464349e+01] [ 4.92241294e-03 1.03438651e-04 9.99987880e-01 4.65513535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.360281693 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:131.83, Y:40.26, Z:0.46 [[ 8.04343502e-01 -5.94151790e-01 -3.89633558e-03 1.31828147e+02] [ 5.94144175e-01 8.04352932e-01 -3.00988660e-03 4.02638180e+01] [ 4.92235846e-03 1.05997637e-04 9.99987880e-01 4.63702997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.390281693 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:131.85, Y:40.28, Z:0.46 [[ 8.02687383e-01 -5.96387278e-01 -3.89606417e-03 1.31848842e+02] [ 5.96379688e-01 8.02696833e-01 -3.01023788e-03 4.02814554e+01] [ 4.92262595e-03 9.27464305e-05 9.99987880e-01 4.62681298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.420281693 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:131.87, Y:40.30, Z:0.47 [[ 8.01193046e-01 -5.98393289e-01 -3.89556840e-03 1.31870786e+02] [ 5.98385720e-01 8.01202512e-01 -3.01087932e-03 4.02989984e+01] [ 4.92282917e-03 8.12430700e-05 9.99987880e-01 4.65383273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.450281693 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:131.89, Y:40.32, Z:0.47 [[ 7.99656513e-01 -6.00445076e-01 -3.89502194e-03 1.31892097e+02] [ 6.00437528e-01 7.99665996e-01 -3.01158609e-03 4.03163441e+01] [ 4.92300864e-03 6.95170907e-05 9.99987880e-01 4.68584784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.480281693 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:131.91, Y:40.33, Z:0.47 [[ 7.97172126e-01 -6.03739541e-01 -3.89452045e-03 1.31912835e+02] [ 6.03732029e-01 7.97181638e-01 -3.01223446e-03 4.03339682e+01] [ 4.92324524e-03 5.00226165e-05 9.99987880e-01 4.72594131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.510281693 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:131.93, Y:40.35, Z:0.47 [[ 7.96326043e-01 -6.04855081e-01 -3.89402474e-03 1.31934275e+02] [ 6.04847579e-01 7.96335563e-01 -3.01287515e-03 4.03515717e+01] [ 4.92330323e-03 4.39395148e-05 9.99987880e-01 4.71700827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.540281693 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:131.96, Y:40.37, Z:0.47 [[ 7.95910386e-01 -6.05401931e-01 -3.89347828e-03 1.31955845e+02] [ 6.05394432e-01 7.95919908e-01 -3.01358116e-03 4.03698774e+01] [ 4.92332473e-03 4.14504763e-05 9.99987880e-01 4.69495656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.570281693 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:131.98, Y:40.39, Z:0.46 [[ 7.95681025e-01 -6.05703353e-01 -3.89293349e-03 1.31975628e+02] [ 6.05695854e-01 7.95690547e-01 -3.01428475e-03 4.03886422e+01] [ 4.92333276e-03 4.04755042e-05 9.99987880e-01 4.62601836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.600281693 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:132.00, Y:40.41, Z:0.46 [[ 7.95482752e-01 -6.05963728e-01 -3.89248189e-03 1.31996897e+02] [ 6.05956229e-01 7.95492275e-01 -3.01486782e-03 4.04061922e+01] [ 4.92333981e-03 3.96017062e-05 9.99987880e-01 4.61845807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.630281693 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:132.02, Y:40.42, Z:0.46 [[ 7.94997873e-01 -6.06599732e-01 -3.89194233e-03 1.32017902e+02] [ 6.06592237e-01 7.95007399e-01 -3.01556418e-03 4.04232078e+01] [ 4.92336337e-03 3.65450992e-05 9.99987880e-01 4.63609199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.660281693 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:132.04, Y:40.44, Z:0.47 [[ 7.94506880e-01 -6.07242682e-01 -3.89145331e-03 1.32039305e+02] [ 6.07235192e-01 7.94516409e-01 -3.01619510e-03 4.04405509e+01] [ 4.92338592e-03 3.33603605e-05 9.99987880e-01 4.65561990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.690281693 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:132.06, Y:40.46, Z:0.47 [[ 7.93627714e-01 -6.08391250e-01 -3.89092056e-03 1.32060953e+02] [ 6.08383770e-01 7.93637251e-01 -3.01688221e-03 4.04581207e+01] [ 4.92342423e-03 2.71084132e-05 9.99987880e-01 4.67669962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.720281693 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:132.08, Y:40.47, Z:0.47 [[ 7.92857336e-01 -6.09394871e-01 -3.89034983e-03 1.32082486e+02] [ 6.09387400e-01 7.92866880e-01 -3.01761800e-03 4.04746014e+01] [ 4.92345047e-03 2.18104009e-05 9.99987880e-01 4.68885684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.750281693 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:132.10, Y:40.49, Z:0.47 [[ 7.91378476e-01 -6.11314139e-01 -3.88983287e-03 1.32104483e+02] [ 6.11306688e-01 7.91388036e-01 -3.01828424e-03 4.04905985e+01] [ 4.92348702e-03 1.07243323e-05 9.99987880e-01 4.70264649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.780281693 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:132.13, Y:40.51, Z:0.47 [[ 7.90916152e-01 -6.11912177e-01 -3.88934643e-03 1.32125661e+02] [ 6.11904730e-01 7.90925715e-01 -3.01891093e-03 4.05074487e+01] [ 4.92349247e-03 7.79594295e-06 9.99987880e-01 4.69631606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.810281693 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:132.15, Y:40.53, Z:0.47 [[ 7.90643678e-01 -6.12264200e-01 -3.88886918e-03 1.32147803e+02] [ 6.12256754e-01 7.90653242e-01 -3.01952559e-03 4.05253896e+01] [ 4.92349444e-03 6.38239553e-06 9.99987880e-01 4.69349899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.840281693 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:132.17, Y:40.54, Z:0.47 [[ 7.90549790e-01 -6.12385427e-01 -3.88831747e-03 1.32169552e+02] [ 6.12377979e-01 7.90559352e-01 -3.02023586e-03 4.05414085e+01] [ 4.92349417e-03 6.52682776e-06 9.99987880e-01 4.70851872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.870281693 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:132.19, Y:40.56, Z:0.47 [[ 7.91002780e-01 -6.11800202e-01 -3.88782074e-03 1.32191650e+02] [ 6.11792744e-01 7.91012334e-01 -3.02087515e-03 4.05580804e+01] [ 4.92348618e-03 1.09801202e-05 9.99987880e-01 4.73247681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.900281693 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:132.21, Y:40.58, Z:0.48 [[ 7.92098649e-01 -6.10380717e-01 -3.88727652e-03 1.32212663e+02] [ 6.10373239e-01 7.92108187e-01 -3.02157530e-03 4.05750302e+01] [ 4.92345485e-03 2.06961522e-05 9.99987880e-01 4.76069944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.930281693 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:132.24, Y:40.59, Z:0.48 [[ 7.91993540e-01 -6.10517097e-01 -3.88678838e-03 1.32235020e+02] [ 6.10509617e-01 7.92003077e-01 -3.02220307e-03 4.05926922e+01] [ 4.92345501e-03 2.06436196e-05 9.99987880e-01 4.76210183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.960281693 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:132.26, Y:40.61, Z:0.48 [[ 7.93527364e-01 -6.08522161e-01 -3.88626789e-03 1.32256465e+02] [ 6.08514653e-01 7.93536879e-01 -3.02287223e-03 4.06105924e+01] [ 4.92338163e-03 3.38808710e-05 9.99987880e-01 4.76592070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.990281693 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:132.28, Y:40.63, Z:0.47 [[ 7.97023960e-01 -6.03935185e-01 -3.88571715e-03 1.32275637e+02] [ 6.03927620e-01 7.97033430e-01 -3.02358001e-03 4.06293275e+01] [ 4.92309282e-03 6.31738049e-05 9.99987880e-01 4.74932941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.020281693 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:132.30, Y:40.65, Z:0.47 [[ 7.98867078e-01 -6.01495052e-01 -3.88522270e-03 1.32296667e+02] [ 6.01487454e-01 7.98876521e-01 -3.02421522e-03 4.06477137e+01] [ 4.92286369e-03 7.90332664e-05 9.99987880e-01 4.74065121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.050281693 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:132.32, Y:40.67, Z:0.47 [[ 8.00297709e-01 -5.99590266e-01 -3.88468122e-03 1.32317834e+02] [ 5.99582642e-01 8.00307132e-01 -3.02491061e-03 4.06667985e+01] [ 4.92264504e-03 9.16415981e-05 9.99987880e-01 4.73065592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.080281693 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:132.34, Y:40.69, Z:0.47 [[ 8.02475527e-01 -5.96672391e-01 -3.88413615e-03 1.32335078e+02] [ 5.96664730e-01 8.02484920e-01 -3.02561035e-03 4.06878226e+01] [ 4.92225885e-03 1.10451220e-04 9.99987880e-01 4.71434739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.110281693 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:132.36, Y:40.71, Z:0.47 [[ 8.03090395e-01 -5.95844556e-01 -3.88364934e-03 1.32355161e+02] [ 5.95836883e-01 8.03099777e-01 -3.02623508e-03 4.07074164e+01] [ 4.92212362e-03 1.16318810e-04 9.99987880e-01 4.71409505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.140281693 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:132.38, Y:40.73, Z:0.47 [[ 8.03455337e-01 -5.95352368e-01 -3.88311234e-03 1.32375206e+02] [ 5.95344686e-01 8.03464712e-01 -3.02692398e-03 4.07265946e+01] [ 4.92203010e-03 1.20207927e-04 9.99987880e-01 4.72213379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.170281693 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:132.40, Y:40.75, Z:0.47 [[ 8.03338943e-01 -5.95509419e-01 -3.88257769e-03 1.32396231e+02] [ 5.95501734e-01 8.03348317e-01 -3.02760961e-03 4.07456895e+01] [ 4.92203229e-03 1.20114955e-04 9.99987880e-01 4.72339369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.200281693 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:132.41, Y:40.77, Z:0.47 [[ 8.02311469e-01 -5.96892986e-01 -3.88203991e-03 1.32414982e+02] [ 5.96885315e-01 8.02320853e-01 -3.02829900e-03 4.07665574e+01] [ 4.92221200e-03 1.12506407e-04 9.99987880e-01 4.72214393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.230281693 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:132.43, Y:40.79, Z:0.47 [[ 8.01524499e-01 -5.97949339e-01 -3.88147819e-03 1.32434372e+02] [ 5.97941677e-01 8.01533890e-01 -3.02901881e-03 4.07856759e+01] [ 4.92233610e-03 1.06935210e-04 9.99987880e-01 4.71605265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.260281693 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:132.45, Y:40.81, Z:0.47 [[ 7.99995360e-01 -5.99993634e-01 -3.88109408e-03 1.32452445e+02] [ 5.99985993e-01 8.00004769e-01 -3.02951089e-03 4.08070359e+01] [ 4.92258102e-03 9.49925709e-05 9.99987880e-01 4.71708518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.290281693 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:132.47, Y:40.83, Z:0.47 [[ 7.98955844e-01 -6.01377169e-01 -3.88072009e-03 1.32473040e+02] [ 6.01369543e-01 7.98965264e-01 -3.02998988e-03 4.08268635e+01] [ 4.92272729e-03 8.70812567e-05 9.99987880e-01 4.71164563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.320281693 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:132.49, Y:40.85, Z:0.47 [[ 7.97813495e-01 -6.02891841e-01 -3.88017728e-03 1.32493660e+02] [ 6.02884229e-01 7.97822926e-01 -3.03068484e-03 4.08463665e+01] [ 4.92286956e-03 7.86235724e-05 9.99987880e-01 4.70591788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.350281693 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:132.51, Y:40.87, Z:0.47 [[ 7.96536786e-01 -6.04577619e-01 -3.87962690e-03 1.32514350e+02] [ 6.04570023e-01 7.96546231e-01 -3.03138922e-03 4.08650172e+01] [ 4.92301227e-03 6.91068977e-05 9.99987880e-01 4.70489567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.380281693 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:132.54, Y:40.88, Z:0.47 [[ 7.94531583e-01 -6.07210439e-01 -3.87905949e-03 1.32535228e+02] [ 6.07202871e-01 7.94541050e-01 -3.03211513e-03 4.08828519e+01] [ 4.92320396e-03 5.37351750e-05 9.99987880e-01 4.70477216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.410281693 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:132.56, Y:40.90, Z:0.47 [[ 7.93740327e-01 -6.08244398e-01 -3.87874912e-03 1.32556046e+02] [ 6.08236841e-01 7.93749803e-01 -3.03251211e-03 4.09012182e+01] [ 4.92326485e-03 4.78290490e-05 9.99987880e-01 4.71355058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.440281693 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:132.57, Y:40.92, Z:0.47 [[ 7.92745759e-01 -6.09540089e-01 -3.87817449e-03 1.32574540e+02] [ 6.09532544e-01 7.92755245e-01 -3.03324681e-03 4.09220183e+01] [ 4.92332870e-03 4.07199828e-05 9.99987880e-01 4.68724927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.470281693 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:132.60, Y:40.94, Z:0.47 [[ 7.92013193e-01 -6.10491658e-01 -3.87786897e-03 1.32595563e+02] [ 6.10484122e-01 7.92022685e-01 -3.03363735e-03 4.09399347e+01] [ 4.92337049e-03 3.53033714e-05 9.99987880e-01 4.66708932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.500281693 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:132.62, Y:40.96, Z:0.47 [[ 7.91076686e-01 -6.11704703e-01 -3.87730224e-03 1.32616523e+02] [ 6.11697178e-01 7.91086187e-01 -3.03436152e-03 4.09571083e+01] [ 4.92341346e-03 2.86778172e-05 9.99987880e-01 4.65547649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.530281693 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:132.64, Y:40.97, Z:0.47 [[ 7.89819926e-01 -6.13326549e-01 -3.87679390e-03 1.32638196e+02] [ 6.13319040e-01 7.89829440e-01 -3.03501085e-03 4.09744715e+01] [ 4.92345868e-03 1.94005368e-05 9.99987880e-01 4.67335772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.560281693 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:132.66, Y:40.99, Z:0.47 [[ 7.86969846e-01 -6.16979283e-01 -3.87626504e-03 1.32660226e+02] [ 6.16971815e-01 7.86979392e-01 -3.03568615e-03 4.09921933e+01] [ 4.92349617e-03 -2.55280844e-06 9.99987880e-01 4.72440528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.590281693 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:132.68, Y:41.01, Z:0.47 [[ 7.85585479e-01 -6.18741008e-01 -3.87570253e-03 1.32681812e+02] [ 6.18733557e-01 7.85595039e-01 -3.03640414e-03 4.10079566e+01] [ 4.92348044e-03 -1.26722113e-05 9.99987880e-01 4.71788454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.620281693 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:132.70, Y:41.02, Z:0.47 [[ 7.84239145e-01 -6.20446570e-01 -3.87520050e-03 1.32704673e+02] [ 6.20439137e-01 7.84248719e-01 -3.03704472e-03 4.10237397e+01] [ 4.92344501e-03 -2.25567059e-05 9.99987880e-01 4.70681122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.650281693 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:132.73, Y:41.04, Z:0.47 [[ 7.83143117e-01 -6.21829434e-01 -3.87464330e-03 1.32726970e+02] [ 6.21822015e-01 7.83152701e-01 -3.03775543e-03 4.10382712e+01] [ 4.92340311e-03 -3.03412516e-05 9.99987880e-01 4.69727489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.680281693 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:132.75, Y:41.05, Z:0.47 [[ 7.81673720e-01 -6.23675546e-01 -3.87414394e-03 1.32749547e+02] [ 6.23668146e-01 7.81683319e-01 -3.03839215e-03 4.10527361e+01] [ 4.92332457e-03 -4.11488728e-05 9.99987880e-01 4.70816047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.710281693 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:132.77, Y:41.07, Z:0.47 [[ 7.81638809e-01 -6.23719301e-01 -3.87364588e-03 1.32770895e+02] [ 6.23711899e-01 7.81648407e-01 -3.03902698e-03 4.10687481e+01] [ 4.92332892e-03 -4.06175989e-05 9.99987880e-01 4.72609053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.740281693 meters Centerline goodness : 0.998562 Centerline is valid? [True, True] Translation: X:132.79, Y:41.08, Z:0.48 [[ 7.82699447e-01 -6.22387800e-01 -3.87315301e-03 1.32794488e+02] [ 6.22380379e-01 7.82709030e-01 -3.03965500e-03 4.10845075e+01] [ 4.92339603e-03 -3.14381505e-05 9.99987880e-01 4.77347122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.770281693 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:132.82, Y:41.10, Z:0.48 [[ 7.83579716e-01 -6.21279189e-01 -3.87261025e-03 1.32816919e+02] [ 6.21271750e-01 7.83589286e-01 -3.04034634e-03 4.11005755e+01] [ 4.92343981e-03 -2.35896207e-05 9.99987880e-01 4.78933481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.800281693 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:132.84, Y:41.12, Z:0.48 [[ 7.84411495e-01 -6.20228678e-01 -3.87206857e-03 1.32838408e+02] [ 6.20221223e-01 7.84421052e-01 -3.04103604e-03 4.11165706e+01] [ 4.92346987e-03 -1.61154772e-05 9.99987880e-01 4.77498304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.830281693 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:132.86, Y:41.13, Z:0.48 [[ 7.85305256e-01 -6.19096653e-01 -3.87158101e-03 1.32860548e+02] [ 6.19089181e-01 7.85314800e-01 -3.04165664e-03 4.11339199e+01] [ 4.92348931e-03 -8.22496959e-06 9.99987880e-01 4.75130833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.860281693 meters Centerline goodness : 0.998587 Centerline is valid? [True, True] Translation: X:132.88, Y:41.15, Z:0.47 [[ 7.87327471e-01 -6.16522885e-01 -3.87104128e-03 1.32883009e+02] [ 6.16515379e-01 7.87336988e-01 -3.04234339e-03 4.11513449e+01] [ 4.92348830e-03 8.76404953e-06 9.99987880e-01 4.72779576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.890281693 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:132.90, Y:41.17, Z:0.47 [[ 7.88630180e-01 -6.14855640e-01 -3.87049849e-03 1.32904594e+02] [ 6.14848110e-01 7.88639678e-01 -3.04303377e-03 4.11686644e+01] [ 4.92345516e-03 2.00595855e-05 9.99987880e-01 4.73999744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.920281693 meters Centerline goodness : 0.998411 Centerline is valid? [True, True] Translation: X:132.93, Y:41.19, Z:0.48 [[ 7.90237406e-01 -6.12788598e-01 -3.86995789e-03 1.32925889e+02] [ 6.12781039e-01 7.90246881e-01 -3.04372112e-03 4.11872869e+01] [ 4.92337975e-03 3.38254671e-05 9.99987880e-01 4.75228315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.950281693 meters Centerline goodness : 0.998521 Centerline is valid? [True, True] Translation: X:132.94, Y:41.21, Z:0.48 [[ 7.93547830e-01 -6.08495578e-01 -3.86941771e-03 1.32944387e+02] [ 6.08487966e-01 7.93557262e-01 -3.04440769e-03 4.12075601e+01] [ 4.92311314e-03 6.13890105e-05 9.99987880e-01 4.76069620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.980281693 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:132.97, Y:41.23, Z:0.48 [[ 7.94279495e-01 -6.07540216e-01 -3.86893223e-03 1.32965179e+02] [ 6.07532589e-01 7.94288915e-01 -3.04502452e-03 4.12268495e+01] [ 4.92302484e-03 6.80981219e-05 9.99987880e-01 4.75597785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.010281693 meters Centerline goodness : 0.998336 Centerline is valid? [True, True] Translation: X:132.98, Y:41.24, Z:0.48 [[ 7.94459814e-01 -6.07304404e-01 -3.86839628e-03 1.32984835e+02] [ 6.07296771e-01 7.94469229e-01 -3.04570525e-03 4.12449954e+01] [ 4.92299202e-03 7.04258559e-05 9.99987880e-01 4.75065875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.040281693 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:133.00, Y:41.27, Z:0.48 [[ 7.93339411e-01 -6.08767294e-01 -3.86791663e-03 1.33002253e+02] [ 6.08759675e-01 7.93348838e-01 -3.04631426e-03 4.12661163e+01] [ 4.92310365e-03 6.21294880e-05 9.99987880e-01 4.76608047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.070281693 meters Centerline goodness : 0.998205 Centerline is valid? [True, True] Translation: X:133.02, Y:41.29, Z:0.48 [[ 7.92536785e-01 -6.09811846e-01 -3.86743945e-03 1.33021945e+02] [ 6.09804237e-01 7.92546219e-01 -3.04691993e-03 4.12856517e+01] [ 4.92317239e-03 5.64151627e-05 9.99987880e-01 4.77036058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.100281693 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:133.04, Y:41.31, Z:0.48 [[ 7.91606602e-01 -6.11018850e-01 -3.86691290e-03 1.33042418e+02] [ 6.11011252e-01 7.91616045e-01 -3.04758805e-03 4.13055450e+01] [ 4.92324404e-03 4.97635276e-05 9.99987880e-01 4.77329440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.130281693 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:133.06, Y:41.33, Z:0.48 [[ 7.89944630e-01 -6.13165990e-01 -3.86638718e-03 1.33061536e+02] [ 6.13158415e-01 7.89954092e-01 -3.04825487e-03 4.13259592e+01] [ 4.92335459e-03 3.72447371e-05 9.99987880e-01 4.76159714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.160281693 meters Centerline goodness : 0.998043 Centerline is valid? [True, True] Translation: X:133.08, Y:41.34, Z:0.47 [[ 7.89179454e-01 -6.14150506e-01 -3.86586357e-03 1.33081192e+02] [ 6.14142939e-01 7.89188922e-01 -3.04891877e-03 4.13439621e+01] [ 4.92339171e-03 3.19512328e-05 9.99987880e-01 4.74912423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.190281693 meters Centerline goodness : 0.998222 Centerline is valid? [True, True] Translation: X:133.10, Y:41.36, Z:0.47 [[ 7.88270321e-01 -6.15316959e-01 -3.86539501e-03 1.33101238e+02] [ 6.15309403e-01 7.88279798e-01 -3.04951270e-03 4.13637864e+01] [ 4.92342968e-03 2.54264607e-05 9.99987880e-01 4.73262594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.220281693 meters Centerline goodness : 0.998344 Centerline is valid? [True, True] Translation: X:133.12, Y:41.39, Z:0.47 [[ 7.86593377e-01 -6.17459248e-01 -3.86484352e-03 1.33118173e+02] [ 6.17451714e-01 7.86602871e-01 -3.05021148e-03 4.13856357e+01] [ 4.92347829e-03 1.29218968e-05 9.99987880e-01 4.68428009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.250281693 meters Centerline goodness : 0.998123 Centerline is valid? [True, True] Translation: X:133.14, Y:41.40, Z:0.47 [[ 7.84945025e-01 -6.19553366e-01 -3.86436744e-03 1.33138302e+02] [ 6.19545855e-01 7.84954538e-01 -3.05081451e-03 4.14045850e+01] [ 4.92349516e-03 5.68838538e-07 9.99987880e-01 4.69076422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.280281693 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:133.16, Y:41.42, Z:0.47 [[ 7.83001277e-01 -6.22008096e-01 -3.86385284e-03 1.33158961e+02] [ 6.22000611e-01 7.83010810e-01 -3.05146612e-03 4.14228401e+01] [ 4.92347517e-03 -1.40169605e-05 9.99987880e-01 4.71838650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.310281693 meters Centerline goodness : 0.998113 Centerline is valid? [True, True] Translation: X:133.18, Y:41.44, Z:0.47 [[ 7.78561575e-01 -6.27556331e-01 -3.86331065e-03 1.33179763e+02] [ 6.27548911e-01 7.78571159e-01 -3.05215240e-03 4.14403116e+01] [ 4.92325981e-03 -4.81278122e-05 9.99987880e-01 4.72559190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.340281693 meters Centerline goodness : 0.998202 Centerline is valid? [True, True] Translation: X:133.20, Y:41.46, Z:0.47 [[ 7.75715245e-01 -6.31071260e-01 -3.86294192e-03 1.33201823e+02] [ 6.31063881e-01 7.75724861e-01 -3.05261901e-03 4.14579159e+01] [ 4.92300021e-03 -6.98000119e-05 9.99987880e-01 4.70843314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.370281693 meters Centerline goodness : 0.998353 Centerline is valid? [True, True] Translation: X:133.22, Y:41.47, Z:0.47 [[ 7.72734021e-01 -6.34718217e-01 -3.86237609e-03 1.33223245e+02] [ 6.34710880e-01 7.72743668e-01 -3.05333476e-03 4.14749317e+01] [ 4.92263387e-03 -9.20764778e-05 9.99987880e-01 4.66014618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.400281693 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:133.25, Y:41.49, Z:0.46 [[ 7.69931258e-01 -6.38115149e-01 -3.86189298e-03 1.33246531e+02] [ 6.38107851e-01 7.69940935e-01 -3.05394569e-03 4.14912913e+01] [ 4.92219850e-03 -1.12975977e-04 9.99987880e-01 4.64582775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.430281693 meters Centerline goodness : 0.997834 Centerline is valid? [True, True] Translation: X:133.27, Y:41.50, Z:0.47 [[ 7.65899242e-01 -6.42949019e-01 -3.86135392e-03 1.33271396e+02] [ 6.42941779e-01 7.65908962e-01 -3.05462711e-03 4.15045938e+01] [ 4.92141508e-03 -1.43089174e-04 9.99987880e-01 4.66678572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.460281693 meters Centerline goodness : 0.998387 Centerline is valid? [True, True] Translation: X:133.29, Y:41.52, Z:0.47 [[ 7.65155241e-01 -6.43834257e-01 -3.86080857e-03 1.33293403e+02] [ 6.43827025e-01 7.65164967e-01 -3.05531624e-03 4.15200739e+01] [ 4.92127272e-03 -1.47901663e-04 9.99987880e-01 4.68392854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.490281693 meters Centerline goodness : 0.998251 Centerline is valid? [True, True] Translation: X:133.32, Y:41.54, Z:0.47 [[ 7.65067296e-01 -6.43938763e-01 -3.86031493e-03 1.33316283e+02] [ 6.43931528e-01 7.65077021e-01 -3.05593981e-03 4.15365099e+01] [ 4.92127635e-03 -1.47778889e-04 9.99987880e-01 4.70454664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.520281693 meters Centerline goodness : 0.998209 Centerline is valid? [True, True] Translation: X:133.34, Y:41.55, Z:0.47 [[ 7.65604533e-01 -6.43299931e-01 -3.85977479e-03 1.33338897e+02] [ 6.43292686e-01 7.65614249e-01 -3.05662188e-03 4.15519086e+01] [ 4.92142322e-03 -1.42801320e-04 9.99987880e-01 4.71044138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.550281693 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:133.36, Y:41.57, Z:0.47 [[ 7.67744151e-01 -6.40744898e-01 -3.85929077e-03 1.33364372e+02] [ 6.40737617e-01 7.67753841e-01 -3.05723288e-03 4.15652923e+01] [ 4.92189168e-03 -1.25620102e-04 9.99987880e-01 4.73059130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.580281693 meters Centerline goodness : 0.998124 Centerline is valid? [True, True] Translation: X:133.39, Y:41.58, Z:0.48 [[ 7.68887716e-01 -6.39372185e-01 -3.85874034e-03 1.33387620e+02] [ 6.39364883e-01 7.68897390e-01 -3.05792746e-03 4.15808600e+01] [ 4.92212913e-03 -1.15940209e-04 9.99987880e-01 4.75238870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.610281693 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:133.41, Y:41.60, Z:0.48 [[ 7.70103089e-01 -6.37907789e-01 -3.85816754e-03 1.33410208e+02] [ 6.37900465e-01 7.70112746e-01 -3.05864998e-03 4.15965139e+01] [ 4.92236065e-03 -1.05651071e-04 9.99987880e-01 4.77469018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.640281693 meters Centerline goodness : 0.998007 Centerline is valid? [True, True] Translation: X:133.44, Y:41.61, Z:0.48 [[ 7.72034811e-01 -6.35568540e-01 -3.85777749e-03 1.33435227e+02] [ 6.35561184e-01 7.72044444e-01 -3.05914186e-03 4.16094484e+01] [ 4.92267000e-03 -9.00896258e-05 9.99987880e-01 4.81350724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.670281693 meters Centerline goodness : 0.997929 Centerline is valid? [True, True] Translation: X:133.46, Y:41.62, Z:0.48 [[ 7.72693580e-01 -6.34767480e-01 -3.85723218e-03 1.33458729e+02] [ 6.34760111e-01 7.72703203e-01 -3.05982928e-03 4.16235309e+01] [ 4.92277578e-03 -8.41066820e-05 9.99987880e-01 4.81158322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.700281693 meters Centerline goodness : 0.998103 Centerline is valid? [True, True] Translation: X:133.48, Y:41.64, Z:0.48 [[ 7.73856277e-01 -6.33349499e-01 -3.85674374e-03 1.33484971e+02] [ 6.33342109e-01 7.73865884e-01 -3.06044481e-03 4.16357530e+01] [ 4.92293359e-03 -7.42937883e-05 9.99987880e-01 4.81896791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.730281693 meters Centerline goodness : 0.998299 Centerline is valid? [True, True] Translation: X:133.51, Y:41.65, Z:0.48 [[ 7.74568333e-01 -6.32478480e-01 -3.85620134e-03 1.33508553e+02] [ 6.32471076e-01 7.74577929e-01 -3.06112809e-03 4.16503517e+01] [ 4.92302609e-03 -6.78829308e-05 9.99987880e-01 4.83061657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.760281693 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:133.53, Y:41.66, Z:0.48 [[ 7.75199119e-01 -6.31705201e-01 -3.85564137e-03 1.33532233e+02] [ 6.31697783e-01 7.75208705e-01 -3.06183323e-03 4.16648473e+01] [ 4.92310273e-03 -6.20696845e-05 9.99987880e-01 4.83703105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.790281693 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:133.56, Y:41.68, Z:0.48 [[ 7.76187455e-01 -6.30490423e-01 -3.85507634e-03 1.33558110e+02] [ 6.30482987e-01 7.76197026e-01 -3.06254449e-03 4.16777933e+01] [ 4.92320376e-03 -5.34514368e-05 9.99987880e-01 4.79685157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.820281693 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:133.58, Y:41.70, Z:0.48 [[ 7.76069580e-01 -6.30635512e-01 -3.85450625e-03 1.33580290e+02] [ 6.30628075e-01 7.76079150e-01 -3.06326184e-03 4.16956693e+01] [ 4.92320363e-03 -5.34555250e-05 9.99987880e-01 4.79825393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.850281693 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:133.60, Y:41.71, Z:0.48 [[ 7.76480493e-01 -6.30129504e-01 -3.85393347e-03 1.33603066e+02] [ 6.30122057e-01 7.76490055e-01 -3.06398228e-03 4.17102466e+01] [ 4.92324665e-03 -4.93260141e-05 9.99987880e-01 4.78593189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.880281693 meters Centerline goodness : 0.998121 Centerline is valid? [True, True] Translation: X:133.63, Y:41.73, Z:0.48 [[ 7.76694658e-01 -6.29865509e-01 -3.85342099e-03 1.33625890e+02] [ 6.29858055e-01 7.76704216e-01 -3.06462667e-03 4.17250938e+01] [ 4.92327096e-03 -4.68290840e-05 9.99987880e-01 4.77856266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.910281693 meters Centerline goodness : 0.998288 Centerline is valid? [True, True] Translation: X:133.65, Y:41.74, Z:0.48 [[ 7.76960688e-01 -6.29537325e-01 -3.85292801e-03 1.33648113e+02] [ 6.29529865e-01 7.76970240e-01 -3.06524632e-03 4.17397497e+01] [ 4.92329738e-03 -4.39573581e-05 9.99987880e-01 4.78516791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.940281693 meters Centerline goodness : 0.997877 Centerline is valid? [True, True] Translation: X:133.67, Y:41.75, Z:0.48 [[ 7.77673528e-01 -6.28656538e-01 -3.85243874e-03 1.33672034e+02] [ 6.28649063e-01 7.77683069e-01 -3.06586113e-03 4.17547878e+01] [ 4.92335003e-03 -3.75929600e-05 9.99987880e-01 4.79064802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.970281693 meters Centerline goodness : 0.997965 Centerline is valid? [True, True] Translation: X:133.69, Y:41.77, Z:0.48 [[ 7.77938298e-01 -6.28328869e-01 -3.85186107e-03 1.33694301e+02] [ 6.28321386e-01 7.77947834e-01 -3.06658673e-03 4.17709085e+01] [ 4.92337194e-03 -3.45914238e-05 9.99987880e-01 4.77831169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.000281693 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:133.72, Y:41.79, Z:0.48 [[ 7.78007103e-01 -6.28243675e-01 -3.85134460e-03 1.33717263e+02] [ 6.28236188e-01 7.78016635e-01 -3.06723523e-03 4.17877188e+01] [ 4.92338129e-03 -3.32232575e-05 9.99987880e-01 4.76785235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.030281693 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:133.74, Y:41.80, Z:0.48 [[ 7.78227817e-01 -6.27970251e-01 -3.85077857e-03 1.33740874e+02] [ 6.27962757e-01 7.78237344e-01 -3.06794568e-03 4.18037505e+01] [ 4.92339831e-03 -3.05848556e-05 9.99987880e-01 4.76149212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.060281693 meters Centerline goodness : 0.997754 Centerline is valid? [True, True] Translation: X:133.76, Y:41.82, Z:0.48 [[ 7.78225719e-01 -6.27972854e-01 -3.85021160e-03 1.33762421e+02] [ 6.27965357e-01 7.78235243e-01 -3.06865706e-03 4.18198660e+01] [ 4.92340369e-03 -2.96916500e-05 9.99987880e-01 4.75572838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.090281693 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:133.79, Y:41.84, Z:0.47 [[ 7.77874433e-01 -6.28407946e-01 -3.84970284e-03 1.33785750e+02] [ 6.28400451e-01 7.77883958e-01 -3.06929517e-03 4.18357395e+01] [ 4.92339156e-03 -3.16287581e-05 9.99987880e-01 4.74380324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.120281693 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:133.81, Y:41.85, Z:0.47 [[ 7.77531022e-01 -6.28832803e-01 -3.84914245e-03 1.33807983e+02] [ 6.28825310e-01 7.77540549e-01 -3.06999779e-03 4.18528201e+01] [ 4.92337965e-03 -3.34196745e-05 9.99987880e-01 4.74702233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.150281693 meters Centerline goodness : 0.997906 Centerline is valid? [True, True] Translation: X:133.83, Y:41.87, Z:0.48 [[ 7.77393638e-01 -6.29002639e-01 -3.84856177e-03 1.33829751e+02] [ 6.28995144e-01 7.77403164e-01 -3.07072556e-03 4.18702839e+01] [ 4.92337858e-03 -3.35641549e-05 9.99987880e-01 4.76030130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.180281693 meters Centerline goodness : 0.998001 Centerline is valid? [True, True] Translation: X:133.85, Y:41.89, Z:0.48 [[ 7.78247619e-01 -6.27945727e-01 -3.84798139e-03 1.33850679e+02] [ 6.27938216e-01 7.78257132e-01 -3.07145268e-03 4.18872259e+01] [ 4.92342454e-03 -2.59438305e-05 9.99987880e-01 4.76211766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.210281693 meters Centerline goodness : 0.997724 Centerline is valid? [True, True] Translation: X:133.87, Y:41.91, Z:0.48 [[ 7.78841357e-01 -6.27209165e-01 -3.84758524e-03 1.33871579e+02] [ 6.27201642e-01 7.78850861e-01 -3.07194885e-03 4.19054926e+01] [ 4.92344955e-03 -2.06509697e-05 9.99987880e-01 4.75912279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.240281693 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:133.89, Y:41.92, Z:0.47 [[ 7.79197690e-01 -6.26766433e-01 -3.84700538e-03 1.33891397e+02] [ 6.26758901e-01 7.79207186e-01 -3.07267484e-03 4.19237100e+01] [ 4.92346368e-03 -1.69237319e-05 9.99987880e-01 4.74752016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.270281693 meters Centerline goodness : 0.998207 Centerline is valid? [True, True] Translation: X:133.91, Y:41.94, Z:0.47 [[ 7.79200774e-01 -6.26762602e-01 -3.84648637e-03 1.33910687e+02] [ 6.26755067e-01 7.79210268e-01 -3.07332442e-03 4.19423022e+01] [ 4.92346648e-03 -1.60680543e-05 9.99987880e-01 4.73331755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.300281693 meters Centerline goodness : 0.997928 Centerline is valid? [True, True] Translation: X:133.93, Y:41.96, Z:0.47 [[ 7.78204316e-01 -6.27999403e-01 -3.84609539e-03 1.33929521e+02] [ 6.27991881e-01 7.78213819e-01 -3.07381362e-03 4.19613671e+01] [ 4.92343771e-03 -2.32616527e-05 9.99987880e-01 4.73926171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.330281693 meters Centerline goodness : 0.997916 Centerline is valid? [True, True] Translation: X:133.95, Y:41.98, Z:0.48 [[ 7.77214859e-01 -6.29223549e-01 -3.84559792e-03 1.33950781e+02] [ 6.29216039e-01 7.77224372e-01 -3.07443588e-03 4.19793331e+01] [ 4.92339988e-03 -3.02146377e-05 9.99987880e-01 4.75415563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.360281693 meters Centerline goodness : 0.997655 Centerline is valid? [True, True] Translation: X:133.97, Y:42.00, Z:0.48 [[ 7.76137758e-01 -6.30551661e-01 -3.84504126e-03 1.33972119e+02] [ 6.30544163e-01 7.76147281e-01 -3.07513190e-03 4.19971778e+01] [ 4.92334785e-03 -3.77423420e-05 9.99987880e-01 4.77627877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.390281693 meters Centerline goodness : 0.998144 Centerline is valid? [True, True] Translation: X:133.99, Y:42.02, Z:0.48 [[ 7.73874300e-01 -6.33327551e-01 -3.84447940e-03 1.33993051e+02] [ 6.33320085e-01 7.73883848e-01 -3.07583417e-03 4.20164028e+01] [ 4.92319103e-03 -5.44770051e-05 9.99987880e-01 4.79370594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.420281693 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:134.01, Y:42.03, Z:0.48 [[ 7.72961246e-01 -6.34441594e-01 -3.84389919e-03 1.34013966e+02] [ 6.34434138e-01 7.72970801e-01 -3.07655909e-03 4.20340833e+01] [ 4.92311889e-03 -6.06399214e-05 9.99987880e-01 4.77409764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.450281693 meters Centerline goodness : 0.997994 Centerline is valid? [True, True] Translation: X:134.04, Y:42.05, Z:0.48 [[ 7.72308882e-01 -6.35235562e-01 -3.84338465e-03 1.34035084e+02] [ 6.35228112e-01 7.72318442e-01 -3.07720175e-03 4.20509864e+01] [ 4.92306483e-03 -6.48757266e-05 9.99987880e-01 4.75647796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.480281693 meters Centerline goodness : 0.998152 Centerline is valid? [True, True] Translation: X:134.06, Y:42.07, Z:0.48 [[ 7.72599529e-01 -6.34882036e-01 -3.84290200e-03 1.34057018e+02] [ 6.34874579e-01 7.72609084e-01 -3.07780438e-03 4.20687376e+01] [ 4.92310370e-03 -6.18505701e-05 9.99987880e-01 4.76559190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.510281693 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:134.08, Y:42.09, Z:0.48 [[ 7.73597947e-01 -6.33665095e-01 -3.84233059e-03 1.34078106e+02] [ 6.33657619e-01 7.73607487e-01 -3.07851757e-03 4.20862521e+01] [ 4.92320484e-03 -5.31871823e-05 9.99987880e-01 4.79199799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.540281693 meters Centerline goodness : 0.997921 Centerline is valid? [True, True] Translation: X:134.10, Y:42.10, Z:0.48 [[ 7.77626900e-01 -6.28714279e-01 -3.84180989e-03 1.34100523e+02] [ 6.28706739e-01 7.77636390e-01 -3.07916722e-03 4.21030225e+01] [ 4.92344758e-03 -2.09285048e-05 9.99987880e-01 4.83891244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.570281693 meters Centerline goodness : 0.998240 Centerline is valid? [True, True] Translation: X:134.12, Y:42.12, Z:0.48 [[ 7.79902158e-01 -6.25889663e-01 -3.84122565e-03 1.34122262e+02] [ 6.25882085e-01 7.79911617e-01 -3.07989589e-03 4.21196210e+01] [ 4.92349151e-03 -2.13687138e-06 9.99987880e-01 4.84382409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.600281693 meters Centerline goodness : 0.998267 Centerline is valid? [True, True] Translation: X:134.14, Y:42.14, Z:0.48 [[ 7.81884860e-01 -6.23411032e-01 -3.84069428e-03 1.34144044e+02] [ 6.23403421e-01 7.81894293e-01 -3.08055838e-03 4.21373530e+01] [ 4.92347101e-03 1.43400072e-05 9.99987880e-01 4.84746916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.630281693 meters Centerline goodness : 0.998153 Centerline is valid? [True, True] Translation: X:134.17, Y:42.16, Z:0.48 [[ 7.83374273e-01 -6.21538415e-01 -3.84014262e-03 1.34165471e+02] [ 6.21530778e-01 7.83383685e-01 -3.08124590e-03 4.21550878e+01] [ 4.92341777e-03 2.70019352e-05 9.99987880e-01 4.83945253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.660281693 meters Centerline goodness : 0.998018 Centerline is valid? [True, True] Translation: X:134.19, Y:42.17, Z:0.48 [[ 7.85090777e-01 -6.19368816e-01 -3.83958271e-03 1.34188847e+02] [ 6.19361149e-01 7.85100165e-01 -3.08194346e-03 4.21698810e+01] [ 4.92331669e-03 4.15170225e-05 9.99987880e-01 4.82233972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.690281693 meters Centerline goodness : 0.998216 Centerline is valid? [True, True] Translation: X:134.21, Y:42.19, Z:0.48 [[ 7.85581151e-01 -6.18746731e-01 -3.83908046e-03 1.34212290e+02] [ 6.18739054e-01 7.85590530e-01 -3.08256897e-03 4.21855332e+01] [ 4.92327473e-03 4.62190619e-05 9.99987880e-01 4.82488284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.720281693 meters Centerline goodness : 0.998130 Centerline is valid? [True, True] Translation: X:134.24, Y:42.20, Z:0.48 [[ 7.86023027e-01 -6.18185301e-01 -3.83852347e-03 1.34235378e+02] [ 6.18177614e-01 7.86032398e-01 -3.08326239e-03 4.22020336e+01] [ 4.92323130e-03 5.06259564e-05 9.99987880e-01 4.81174946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.750281693 meters Centerline goodness : 0.998118 Centerline is valid? [True, True] Translation: X:134.26, Y:42.22, Z:0.48 [[ 7.87998945e-01 -6.15664627e-01 -3.83795906e-03 1.34256560e+02] [ 6.15656907e-01 7.88008288e-01 -3.08396480e-03 4.22182902e+01] [ 4.92303159e-03 6.72950094e-05 9.99987880e-01 4.75407591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.780281693 meters Centerline goodness : 0.998402 Centerline is valid? [True, True] Translation: X:134.28, Y:42.23, Z:0.47 [[ 7.89295635e-01 -6.14001363e-01 -3.83750618e-03 1.34277736e+02] [ 6.13993620e-01 7.89304960e-01 -3.08452824e-03 4.22344329e+01] [ 4.92286720e-03 7.84003653e-05 9.99987880e-01 4.74065571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.810281693 meters Centerline goodness : 0.997927 Centerline is valid? [True, True] Translation: X:134.30, Y:42.25, Z:0.48 [[ 7.90714715e-01 -6.12172784e-01 -3.83701584e-03 1.34300103e+02] [ 6.12165017e-01 7.90724019e-01 -3.08513807e-03 4.22509159e+01] [ 4.92265815e-03 9.05772038e-05 9.99987880e-01 4.75931171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.840281693 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:134.32, Y:42.27, Z:0.48 [[ 7.92402846e-01 -6.09986074e-01 -3.83646970e-03 1.34322489e+02] [ 6.09978278e-01 7.92412127e-01 -3.08581707e-03 4.22677962e+01] [ 4.92237055e-03 1.05047050e-04 9.99987880e-01 4.77565777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.870281693 meters Centerline goodness : 0.998344 Centerline is valid? [True, True] Translation: X:134.34, Y:42.29, Z:0.48 [[ 7.96003464e-01 -6.05279911e-01 -3.83592619e-03 1.34342308e+02] [ 6.05272057e-01 7.96012695e-01 -3.08649255e-03 4.22856629e+01] [ 4.92163788e-03 1.35079823e-04 9.99987880e-01 4.78139721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.900281693 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:134.36, Y:42.30, Z:0.48 [[ 7.97708071e-01 -6.03031610e-01 -3.83543495e-03 1.34362951e+02] [ 6.03023727e-01 7.97717277e-01 -3.08710286e-03 4.23042888e+01] [ 4.92121334e-03 1.49748591e-04 9.99987880e-01 4.78908900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.930281693 meters Centerline goodness : 0.997823 Centerline is valid? [True, True] Translation: X:134.38, Y:42.32, Z:0.48 [[ 7.98844169e-01 -6.01525799e-01 -3.83488892e-03 1.34383543e+02] [ 6.01517895e-01 7.98853358e-01 -3.08778101e-03 4.23227319e+01] [ 4.92089383e-03 1.59901542e-04 9.99987880e-01 4.79438871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.960281693 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:134.40, Y:42.34, Z:0.48 [[ 7.99278579e-01 -6.00948460e-01 -3.83433300e-03 1.34403328e+02] [ 6.00940546e-01 7.99287759e-01 -3.08847119e-03 4.23413591e+01] [ 4.92074743e-03 1.64342695e-04 9.99987880e-01 4.80092808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.990281693 meters Centerline goodness : 0.998177 Centerline is valid? [True, True] Translation: X:134.42, Y:42.36, Z:0.48 [[ 7.98657397e-01 -6.01773765e-01 -3.83383105e-03 1.34424178e+02] [ 6.01765858e-01 7.98666583e-01 -3.08909415e-03 4.23603721e+01] [ 4.92088856e-03 1.60059267e-04 9.99987880e-01 4.80907163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.020281693 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:134.44, Y:42.38, Z:0.48 [[ 7.96985092e-01 -6.03986812e-01 -3.83327692e-03 1.34443202e+02] [ 6.03978927e-01 7.96994297e-01 -3.08978162e-03 4.23800132e+01] [ 4.92128719e-03 1.47291409e-04 9.99987880e-01 4.81384558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.050281693 meters Centerline goodness : 0.998186 Centerline is valid? [True, True] Translation: X:134.46, Y:42.40, Z:0.48 [[ 7.96334290e-01 -6.04844615e-01 -3.83277966e-03 1.34464456e+02] [ 6.04836737e-01 7.96343501e-01 -3.09039833e-03 4.23985968e+01] [ 4.92141996e-03 1.42784210e-04 9.99987880e-01 4.82295140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.080281693 meters Centerline goodness : 0.998396 Centerline is valid? [True, True] Translation: X:134.49, Y:42.42, Z:0.48 [[ 7.95821671e-01 -6.05518936e-01 -3.83223664e-03 1.34485827e+02] [ 6.05511063e-01 7.95830885e-01 -3.09107156e-03 4.24173923e+01] [ 4.92151464e-03 1.39480053e-04 9.99987880e-01 4.83333082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.110281693 meters Centerline goodness : 0.998309 Centerline is valid? [True, True] Translation: X:134.51, Y:42.44, Z:0.48 [[ 7.94368909e-01 -6.07423538e-01 -3.83168003e-03 1.34505177e+02] [ 6.07415683e-01 7.94378140e-01 -3.09176137e-03 4.24384155e+01] [ 4.92181149e-03 1.28576562e-04 9.99987880e-01 4.84318497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.140281693 meters Centerline goodness : 0.998107 Centerline is valid? [True, True] Translation: X:134.53, Y:42.46, Z:0.48 [[ 7.93578709e-01 -6.08455550e-01 -3.83112608e-03 1.34525236e+02] [ 6.08447703e-01 7.93587947e-01 -3.09244764e-03 4.24588727e+01] [ 4.92195241e-03 1.23060745e-04 9.99987880e-01 4.84800803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.170281693 meters Centerline goodness : 0.998081 Centerline is valid? [True, True] Translation: X:134.54, Y:42.48, Z:0.48 [[ 7.93096795e-01 -6.09083574e-01 -3.83055370e-03 1.34543921e+02] [ 6.09075732e-01 7.93106036e-01 -3.09315648e-03 4.24780634e+01] [ 4.92202606e-03 1.20075188e-04 9.99987880e-01 4.84414594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.200281693 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:134.56, Y:42.50, Z:0.48 [[ 7.92087318e-01 -6.10395782e-01 -3.83016427e-03 1.34561554e+02] [ 6.10387952e-01 7.92096570e-01 -3.09363862e-03 4.24988741e+01] [ 4.92220395e-03 1.12545792e-04 9.99987880e-01 4.82520329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.230281693 meters Centerline goodness : 0.997867 Centerline is valid? [True, True] Translation: X:134.58, Y:42.52, Z:0.48 [[ 7.91198171e-01 -6.11547862e-01 -3.82967495e-03 1.34582313e+02] [ 6.11540043e-01 7.91207433e-01 -3.09424424e-03 4.25176261e+01] [ 4.92234573e-03 1.06160799e-04 9.99987880e-01 4.82884543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.260281693 meters Centerline goodness : 0.998344 Centerline is valid? [True, True] Translation: X:134.60, Y:42.54, Z:0.48 [[ 7.90336921e-01 -6.12660501e-01 -3.82907852e-03 1.34602812e+02] [ 6.12652692e-01 7.90346190e-01 -3.09498214e-03 4.25354496e+01] [ 4.92247093e-03 1.00183388e-04 9.99987880e-01 4.79974179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.290281693 meters Centerline goodness : 0.998316 Centerline is valid? [True, True] Translation: X:134.62, Y:42.55, Z:0.48 [[ 7.87733732e-01 -6.16003984e-01 -3.82876622e-03 1.34624175e+02] [ 6.15996212e-01 7.87743033e-01 -3.09536843e-03 4.25536538e+01] [ 4.92284320e-03 7.98206318e-05 9.99987880e-01 4.82821202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.320281693 meters Centerline goodness : 0.998316 Centerline is valid? [True, True] Translation: X:134.65, Y:42.57, Z:0.48 [[ 7.85984506e-01 -6.18234342e-01 -3.82818443e-03 1.34645537e+02] [ 6.18226593e-01 7.85993826e-01 -3.09608779e-03 4.25706462e+01] [ 4.92303712e-03 6.67916182e-05 9.99987880e-01 4.84075967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.350281693 meters Centerline goodness : 0.997954 Centerline is valid? [True, True] Translation: X:134.67, Y:42.59, Z:0.48 [[ 7.81934592e-01 -6.23348733e-01 -3.82778672e-03 1.34668404e+02] [ 6.23341042e-01 7.81943960e-01 -3.09657941e-03 4.25869078e+01] [ 4.92336356e-03 3.53059899e-05 9.99987880e-01 4.84839946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.380281693 meters Centerline goodness : 0.998204 Centerline is valid? [True, True] Translation: X:134.69, Y:42.60, Z:0.48 [[ 7.80101300e-01 -6.25641523e-01 -3.82719710e-03 1.34690230e+02] [ 6.25633856e-01 7.80110687e-01 -3.09730798e-03 4.26034014e+01] [ 4.92344184e-03 2.17899027e-05 9.99987880e-01 4.83153352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.410281693 meters Centerline goodness : 0.998130 Centerline is valid? [True, True] Translation: X:134.71, Y:42.62, Z:0.48 [[ 7.78749222e-01 -6.27323686e-01 -3.82666828e-03 1.34712257e+02] [ 6.27316036e-01 7.78758623e-01 -3.09796119e-03 4.26205095e+01] [ 4.92347535e-03 1.20044911e-05 9.99987880e-01 4.82836297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.440281693 meters Centerline goodness : 0.998007 Centerline is valid? [True, True] Translation: X:134.73, Y:42.64, Z:0.48 [[ 7.77848794e-01 -6.28439826e-01 -3.82608231e-03 1.34734090e+02] [ 6.28432186e-01 7.77858204e-01 -3.09868471e-03 4.26381111e+01] [ 4.92348639e-03 5.87489044e-06 9.99987880e-01 4.83603184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.470281693 meters Centerline goodness : 0.998138 Centerline is valid? [True, True] Translation: X:134.76, Y:42.65, Z:0.48 [[ 7.77111314e-01 -6.29351549e-01 -3.82549316e-03 1.34756483e+02] [ 6.29343917e-01 7.77120730e-01 -3.09941188e-03 4.26545248e+01] [ 4.92348970e-03 1.03718610e-06 9.99987880e-01 4.82930200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.500281693 meters Centerline goodness : 0.997591 Centerline is valid? [True, True] Translation: X:134.78, Y:42.67, Z:0.48 [[ 7.77227516e-01 -6.29208041e-01 -3.82490373e-03 1.34778769e+02] [ 6.29200404e-01 7.77236927e-01 -3.10013911e-03 4.26711838e+01] [ 4.92348888e-03 2.88244746e-06 9.99987880e-01 4.81854288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.530281693 meters Centerline goodness : 0.997951 Centerline is valid? [True, True] Translation: X:134.80, Y:42.69, Z:0.48 [[ 7.78803290e-01 -6.27256574e-01 -3.82431653e-03 1.34800688e+02] [ 6.27248910e-01 7.78812680e-01 -3.10086331e-03 4.26873864e+01] [ 4.92346310e-03 1.61641716e-05 9.99987880e-01 4.81821352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.560281693 meters Centerline goodness : 0.998048 Centerline is valid? [True, True] Translation: X:134.82, Y:42.71, Z:0.48 [[ 7.79674216e-01 -6.26173694e-01 -3.82378886e-03 1.34822127e+02] [ 6.26166013e-01 7.79683592e-01 -3.10151386e-03 4.27054617e+01] [ 4.92343183e-03 2.38437667e-05 9.99987880e-01 4.82210673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.590281693 meters Centerline goodness : 0.997808 Centerline is valid? [True, True] Translation: X:134.84, Y:42.72, Z:0.48 [[ 7.80688216e-01 -6.24909027e-01 -3.82318568e-03 1.34842768e+02] [ 6.24901327e-01 7.80697577e-01 -3.10225721e-03 4.27227493e+01] [ 4.92338033e-03 3.27818470e-05 9.99987880e-01 4.81161534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.620281693 meters Centerline goodness : 0.997861 Centerline is valid? [True, True] Translation: X:134.86, Y:42.74, Z:0.48 [[ 7.82552766e-01 -6.22572530e-01 -3.82264579e-03 1.34863246e+02] [ 6.22564800e-01 7.82562101e-01 -3.10292234e-03 4.27418818e+01] [ 4.92325193e-03 4.83557498e-05 9.99987880e-01 4.83229254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.650281693 meters Centerline goodness : 0.998032 Centerline is valid? [True, True] Translation: X:134.88, Y:42.76, Z:0.48 [[ 7.83775970e-01 -6.21031900e-01 -3.82206479e-03 1.34883638e+02] [ 6.21024147e-01 7.83785287e-01 -3.10363781e-03 4.27606866e+01] [ 4.92313624e-03 5.89622094e-05 9.99987880e-01 4.84485982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.680281693 meters Centerline goodness : 0.998146 Centerline is valid? [True, True] Translation: X:134.90, Y:42.78, Z:0.49 [[ 7.84993932e-01 -6.19491664e-01 -3.82148757e-03 1.34904070e+02] [ 6.19483890e-01 7.85003231e-01 -3.10434839e-03 4.27800630e+01] [ 4.92299804e-03 6.95446645e-05 9.99987880e-01 4.85316050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.710281693 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:134.92, Y:42.80, Z:0.48 [[ 7.87485153e-01 -6.16321779e-01 -3.82090692e-03 1.34921798e+02] [ 6.16313964e-01 7.87494417e-01 -3.10506289e-03 4.28011863e+01] [ 4.92266076e-03 9.03126358e-05 9.99987880e-01 4.84515292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.740281693 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:134.94, Y:42.82, Z:0.48 [[ 7.87373339e-01 -6.16464622e-01 -3.82038729e-03 1.34943774e+02] [ 6.16456805e-01 7.87382602e-01 -3.10570211e-03 4.28193105e+01] [ 4.92266196e-03 9.02432982e-05 9.99987880e-01 4.84655527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.770281693 meters Centerline goodness : 0.997771 Centerline is valid? [True, True] Translation: X:134.96, Y:42.84, Z:0.49 [[ 7.88418483e-01 -6.15127389e-01 -3.81982378e-03 1.34963678e+02] [ 6.15119553e-01 7.88427730e-01 -3.10639503e-03 4.28386516e+01] [ 4.92248366e-03 9.94909640e-05 9.99987880e-01 4.85362120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.800281693 meters Centerline goodness : 0.998369 Centerline is valid? [True, True] Translation: X:134.98, Y:42.86, Z:0.49 [[ 7.88814131e-01 -6.14619948e-01 -3.81925841e-03 1.34983690e+02] [ 6.14612103e-01 7.88823370e-01 -3.10709000e-03 4.28581020e+01] [ 4.92239978e-03 1.03554053e-04 9.99987880e-01 4.86235191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.830281693 meters Centerline goodness : 0.998309 Centerline is valid? [True, True] Translation: X:135.00, Y:42.88, Z:0.49 [[ 7.88494813e-01 -6.15029550e-01 -3.81867909e-03 1.35001070e+02] [ 6.15021707e-01 7.88504053e-01 -3.10780183e-03 4.28796241e+01] [ 4.92243390e-03 1.01915090e-04 9.99987880e-01 4.88207593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.860281693 meters Centerline goodness : 0.998367 Centerline is valid? [True, True] Translation: X:135.02, Y:42.90, Z:0.49 [[ 7.87752111e-01 -6.15980546e-01 -3.81815187e-03 1.35020265e+02] [ 6.15972711e-01 7.87761358e-01 -3.10844941e-03 4.28994271e+01] [ 4.92253687e-03 9.68102247e-05 9.99987880e-01 4.87656496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.890281693 meters Centerline goodness : 0.998158 Centerline is valid? [True, True] Translation: X:135.04, Y:42.92, Z:0.49 [[ 7.85090774e-01 -6.19368955e-01 -3.81763784e-03 1.35039871e+02] [ 6.19361157e-01 7.85100052e-01 -3.10908059e-03 4.29196005e+01] [ 4.92289566e-03 7.64138945e-05 9.99987880e-01 4.88353685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.920281693 meters Centerline goodness : 0.998249 Centerline is valid? [True, True] Translation: X:135.06, Y:42.94, Z:0.49 [[ 7.83588891e-01 -6.21267962e-01 -3.81707216e-03 1.35061723e+02] [ 6.21260182e-01 7.83598185e-01 -3.10977493e-03 4.29372446e+01] [ 4.92305435e-03 6.53901413e-05 9.99987880e-01 4.87233176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.950281693 meters Centerline goodness : 0.998171 Centerline is valid? [True, True] Translation: X:135.08, Y:42.96, Z:0.49 [[ 7.81923027e-01 -6.23363308e-01 -3.81650617e-03 1.35083329e+02] [ 6.23355550e-01 7.81932340e-01 -3.11046939e-03 4.29550326e+01] [ 4.92320209e-03 5.31073374e-05 9.99987880e-01 4.87489415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.980281693 meters Centerline goodness : 0.998448 Centerline is valid? [True, True] Translation: X:135.10, Y:42.97, Z:0.49 [[ 7.80519949e-01 -6.25119227e-01 -3.81591454e-03 1.35103917e+02] [ 6.25111487e-01 7.80529275e-01 -3.11119503e-03 4.29728486e+01] [ 4.92330085e-03 4.29777773e-05 9.99987880e-01 4.87193524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.010281693 meters Centerline goodness : 0.998411 Centerline is valid? [True, True] Translation: X:135.12, Y:42.99, Z:0.49 [[ 7.78863510e-01 -6.27181852e-01 -3.81551064e-03 1.35124274e+02] [ 6.27174133e-01 7.78872855e-01 -3.11169029e-03 4.29927610e+01] [ 4.92339334e-03 3.05924464e-05 9.99987880e-01 4.90390093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.040281693 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:135.14, Y:43.01, Z:0.49 [[ 7.78214985e-01 -6.27986371e-01 -3.81492673e-03 1.35144954e+02] [ 6.27978659e-01 7.78224336e-01 -3.11240600e-03 4.30099087e+01] [ 4.92341737e-03 2.64284217e-05 9.99987880e-01 4.91353622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.070281693 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:135.17, Y:43.03, Z:0.49 [[ 7.77942026e-01 -6.28324482e-01 -3.81440163e-03 1.35166461e+02] [ 6.28316771e-01 7.77951377e-01 -3.11304940e-03 4.30284580e+01] [ 4.92342415e-03 2.51194450e-05 9.99987880e-01 4.92780923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.100281693 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:135.19, Y:43.05, Z:0.49 [[ 7.78238439e-01 -6.27957313e-01 -3.81384010e-03 1.35186362e+02] [ 6.27949594e-01 7.78247783e-01 -3.11373718e-03 4.30486199e+01] [ 4.92340664e-03 2.83306209e-05 9.99987880e-01 4.90048750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.130281693 meters Centerline goodness : 0.998151 Centerline is valid? [True, True] Translation: X:135.21, Y:43.07, Z:0.49 [[ 7.78559070e-01 -6.27559745e-01 -3.81325874e-03 1.35206483e+02] [ 6.27552018e-01 7.78568408e-01 -3.11444899e-03 4.30667777e+01] [ 4.92338560e-03 3.17642889e-05 9.99987880e-01 4.86960306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.160281693 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:135.23, Y:43.08, Z:0.48 [[ 7.78791538e-01 -6.27271236e-01 -3.81274838e-03 1.35227211e+02] [ 6.27263502e-01 7.78800870e-01 -3.11507365e-03 4.30844882e+01] [ 4.92336786e-03 3.43950925e-05 9.99987880e-01 4.83906480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.190281693 meters Centerline goodness : 0.998493 Centerline is valid? [True, True] Translation: X:135.25, Y:43.10, Z:0.48 [[ 7.78153076e-01 -6.28063100e-01 -3.81223540e-03 1.35248821e+02] [ 6.28055373e-01 7.78162413e-01 -3.11570132e-03 4.31018702e+01] [ 4.92339533e-03 3.01976425e-05 9.99987880e-01 4.84632883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.220281693 meters Centerline goodness : 0.998223 Centerline is valid? [True, True] Translation: X:135.27, Y:43.12, Z:0.48 [[ 7.77498776e-01 -6.28872900e-01 -3.81167118e-03 1.35270096e+02] [ 6.28865178e-01 7.77508119e-01 -3.11639141e-03 4.31200218e+01] [ 4.92341940e-03 2.59632313e-05 9.99987880e-01 4.84994864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.250281693 meters Centerline goodness : 0.998299 Centerline is valid? [True, True] Translation: X:135.29, Y:43.14, Z:0.49 [[ 7.76856095e-01 -6.29666645e-01 -3.81109852e-03 1.35291242e+02] [ 6.29658930e-01 7.76865443e-01 -3.11709158e-03 4.31381037e+01] [ 4.92343933e-03 2.18393773e-05 9.99987880e-01 4.86641585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.280281693 meters Centerline goodness : 0.998267 Centerline is valid? [True, True] Translation: X:135.31, Y:43.16, Z:0.49 [[ 7.76646902e-01 -6.29924654e-01 -3.81052167e-03 1.35312744e+02] [ 6.29916939e-01 7.76656249e-01 -3.11779659e-03 4.31553497e+01] [ 4.92344241e-03 2.11149128e-05 9.99987880e-01 4.88787106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.310281693 meters Centerline goodness : 0.998518 Centerline is valid? [True, True] Translation: X:135.33, Y:43.17, Z:0.49 [[ 7.76943035e-01 -6.29559374e-01 -3.80993861e-03 1.35333922e+02] [ 6.29551650e-01 7.76952376e-01 -3.11850893e-03 4.31716726e+01] [ 4.92342738e-03 2.43506481e-05 9.99987880e-01 4.90863398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.340281693 meters Centerline goodness : 0.998353 Centerline is valid? [True, True] Translation: X:135.36, Y:43.19, Z:0.49 [[ 7.77415063e-01 -6.28976397e-01 -3.80940939e-03 1.35355524e+02] [ 6.28968664e-01 7.77424396e-01 -3.11915526e-03 4.31888227e+01] [ 4.92340283e-03 2.88791479e-05 9.99987880e-01 4.92046044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.370281693 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:135.38, Y:43.21, Z:0.49 [[ 7.79250547e-01 -6.26700948e-01 -3.80883360e-03 1.35376525e+02] [ 6.26693184e-01 7.79259854e-01 -3.11985821e-03 4.32063598e+01] [ 4.92328921e-03 4.41811588e-05 9.99987880e-01 4.90217632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.400281693 meters Centerline goodness : 0.998074 Centerline is valid? [True, True] Translation: X:135.40, Y:43.22, Z:0.49 [[ 7.80466413e-01 -6.25186112e-01 -3.80831745e-03 1.35397616e+02] [ 6.25178327e-01 7.80475703e-01 -3.12048812e-03 4.32244849e+01] [ 4.92318508e-03 5.45586389e-05 9.99987880e-01 4.88717209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.430281693 meters Centerline goodness : 0.998189 Centerline is valid? [True, True] Translation: X:135.42, Y:43.24, Z:0.49 [[ 7.81759095e-01 -6.23568937e-01 -3.80772935e-03 1.35417728e+02] [ 6.23561129e-01 7.81768365e-01 -3.12120558e-03 4.32422830e+01] [ 4.92304920e-03 6.56788305e-05 9.99987880e-01 4.87665936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.460281693 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:135.44, Y:43.26, Z:0.49 [[ 7.84731942e-01 -6.19823592e-01 -3.80720296e-03 1.35437890e+02] [ 6.19815736e-01 7.84741172e-01 -3.12184754e-03 4.32607578e+01] [ 4.92266366e-03 9.00491751e-05 9.99987880e-01 4.89605902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.490281693 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:135.46, Y:43.28, Z:0.49 [[ 7.85652257e-01 -6.18656640e-01 -3.80680835e-03 1.35458283e+02] [ 6.18648769e-01 7.85661474e-01 -3.12232865e-03 4.32792362e+01] [ 4.92251201e-03 9.79872559e-05 9.99987880e-01 4.91003871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.520281693 meters Centerline goodness : 0.998440 Centerline is valid? [True, True] Translation: X:135.48, Y:43.30, Z:0.49 [[ 7.85706658e-01 -6.18587552e-01 -3.80622244e-03 1.35477592e+02] [ 6.18579676e-01 7.85715871e-01 -3.12304273e-03 4.32982185e+01] [ 4.92248474e-03 9.93436198e-05 9.99987880e-01 4.90778944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.550281693 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:135.50, Y:43.32, Z:0.49 [[ 7.84548573e-01 -6.20055685e-01 -3.80569425e-03 1.35498371e+02] [ 6.20047824e-01 7.84557798e-01 -3.12368624e-03 4.33174892e+01] [ 4.92264652e-03 9.09711404e-05 9.99987880e-01 4.91251504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.580281693 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:135.52, Y:43.34, Z:0.49 [[ 7.82216643e-01 -6.22994899e-01 -3.80513915e-03 1.35516955e+02] [ 6.22987069e-01 7.82225895e-01 -3.12436229e-03 4.33371965e+01] [ 4.92294015e-03 7.33756946e-05 9.99987880e-01 4.92350491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.610281693 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:135.54, Y:43.36, Z:0.49 [[ 7.81024407e-01 -6.24488912e-01 -3.80463826e-03 1.35537178e+02] [ 6.24481096e-01 7.81033671e-01 -3.12497212e-03 4.33558995e+01] [ 4.92306103e-03 6.47548217e-05 9.99987880e-01 4.92358725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.640281693 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:135.56, Y:43.37, Z:0.49 [[ 7.79676042e-01 -6.26171541e-01 -3.80404485e-03 1.35557314e+02] [ 6.26163742e-01 7.79685320e-01 -3.12569432e-03 4.33737167e+01] [ 4.92317876e-03 5.50740114e-05 9.99987880e-01 4.90697125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.670281693 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:135.58, Y:43.39, Z:0.49 [[ 7.78023652e-01 -6.28223470e-01 -3.80364072e-03 1.35578193e+02] [ 6.28215693e-01 7.78032949e-01 -3.12618602e-03 4.33918557e+01] [ 4.92330124e-03 4.27398706e-05 9.99987880e-01 4.90508392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.700281693 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:135.60, Y:43.41, Z:0.49 [[ 7.74949709e-01 -6.32011460e-01 -3.80305766e-03 1.35598110e+02] [ 6.32003725e-01 7.74959040e-01 -3.12689517e-03 4.34104361e+01] [ 4.92344749e-03 1.96398971e-05 9.99987880e-01 4.90118975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.730281693 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:135.62, Y:43.43, Z:0.49 [[ 7.73441232e-01 -6.33856609e-01 -3.80253549e-03 1.35618678e+02] [ 6.33848893e-01 7.73450580e-01 -3.12753004e-03 4.34288478e+01] [ 4.92347886e-03 8.72778132e-06 9.99987880e-01 4.91237048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.760281693 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:135.64, Y:43.45, Z:0.49 [[ 7.71322447e-01 -6.36433208e-01 -3.80196087e-03 1.35638927e+02] [ 6.36425520e-01 7.71331817e-01 -3.12822842e-03 4.34476554e+01] [ 4.92348183e-03 -6.79212023e-06 9.99987880e-01 4.93606107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.790281693 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:135.66, Y:43.47, Z:0.49 [[ 7.70782002e-01 -6.37087635e-01 -3.80137366e-03 1.35659693e+02] [ 6.37079952e-01 7.70791376e-01 -3.12894182e-03 4.34650380e+01] [ 4.92347618e-03 -1.00469088e-05 9.99987880e-01 4.93577342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.820281693 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:135.68, Y:43.48, Z:0.49 [[ 7.70079271e-01 -6.37936886e-01 -3.80084707e-03 1.35680763e+02] [ 6.37929209e-01 7.70088651e-01 -3.12958136e-03 4.34831571e+01] [ 4.92346458e-03 -1.46456273e-05 9.99987880e-01 4.93210173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.850281693 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:135.70, Y:43.50, Z:0.49 [[ 7.68911723e-01 -6.39343664e-01 -3.80028052e-03 1.35701524e+02] [ 6.39336001e-01 7.68921113e-01 -3.13026918e-03 4.35016068e+01] [ 4.92343369e-03 -2.27554874e-05 9.99987880e-01 4.89476828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.880281693 meters Centerline goodness : 0.998645 Centerline is valid? [True, True] Translation: X:135.72, Y:43.52, Z:0.49 [[ 7.68772511e-01 -6.39511054e-01 -3.79970651e-03 1.35721796e+02] [ 6.39503390e-01 7.68781901e-01 -3.13096579e-03 4.35188841e+01] [ 4.92343282e-03 -2.29247608e-05 9.99987880e-01 4.86210063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.910281693 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:135.74, Y:43.54, Z:0.49 [[ 7.68875241e-01 -6.39387542e-01 -3.79920114e-03 1.35743411e+02] [ 6.39379874e-01 7.68884627e-01 -3.13157890e-03 4.35372409e+01] [ 4.92343989e-03 -2.13392591e-05 9.99987880e-01 4.86418905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.940281693 meters Centerline goodness : 0.998498 Centerline is valid? [True, True] Translation: X:135.76, Y:43.56, Z:0.49 [[ 7.69432212e-01 -6.38717184e-01 -3.79864226e-03 1.35764166e+02] [ 6.38709504e-01 7.69441589e-01 -3.13225667e-03 4.35556409e+01] [ 4.92345950e-03 -1.61697330e-05 9.99987880e-01 4.86167130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.970281693 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:135.78, Y:43.57, Z:0.49 [[ 7.69709394e-01 -6.38383133e-01 -3.79805943e-03 1.35784209e+02] [ 6.38375445e-01 7.69718764e-01 -3.13296324e-03 4.35730247e+01] [ 4.92346850e-03 -1.31166442e-05 9.99987880e-01 4.86343532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.000281693 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:135.81, Y:43.59, Z:0.50 [[ 7.71371079e-01 -6.36374290e-01 -3.79753297e-03 1.35806057e+02] [ 6.36366575e-01 7.71380427e-01 -3.13360124e-03 4.35920724e+01] [ 4.92348587e-03 5.46326778e-07 9.99987880e-01 4.95393358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.030281693 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:135.83, Y:43.61, Z:0.50 [[ 7.72355414e-01 -6.35179263e-01 -3.79703174e-03 1.35826617e+02] [ 6.35171531e-01 7.72364748e-01 -3.13420847e-03 4.36105512e+01] [ 4.92347769e-03 8.95641932e-06 9.99987880e-01 4.98092502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.060281693 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:135.85, Y:43.63, Z:0.50 [[ 7.73299866e-01 -6.34029104e-01 -3.79645950e-03 1.35847644e+02] [ 6.34021354e-01 7.73309185e-01 -3.13490147e-03 4.36295384e+01] [ 4.92345577e-03 1.71824933e-05 9.99987880e-01 4.97979730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.090281693 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:135.87, Y:43.65, Z:0.50 [[ 7.74123509e-01 -6.33023209e-01 -3.79588006e-03 1.35867494e+02] [ 6.33015444e-01 7.74132816e-01 -3.13560292e-03 4.36479915e+01] [ 4.92342474e-03 2.44932367e-05 9.99987880e-01 4.96522997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.120281693 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:135.89, Y:43.67, Z:0.50 [[ 7.74895938e-01 -6.32077432e-01 -3.79535996e-03 1.35887210e+02] [ 6.32069652e-01 7.74905232e-01 -3.13623234e-03 4.36672944e+01] [ 4.92338597e-03 3.13218539e-05 9.99987880e-01 4.95965744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.150281693 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:135.91, Y:43.69, Z:0.50 [[ 7.75000782e-01 -6.31948881e-01 -3.79476539e-03 1.35907070e+02] [ 6.31941096e-01 7.75010071e-01 -3.13695159e-03 4.36854741e+01] [ 4.92337444e-03 3.30717361e-05 9.99987880e-01 4.95510571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.180281693 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:135.93, Y:43.70, Z:0.50 [[ 7.75086878e-01 -6.31843283e-01 -3.79435980e-03 1.35927421e+02] [ 6.31835495e-01 7.75096165e-01 -3.13744209e-03 4.37043495e+01] [ 4.92336544e-03 3.43789926e-05 9.99987880e-01 4.95314455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.210281693 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:135.95, Y:43.72, Z:0.50 [[ 7.73619979e-01 -6.33638490e-01 -3.79378041e-03 1.35946526e+02] [ 6.33630719e-01 7.73629281e-01 -3.13814254e-03 4.37228931e+01] [ 4.92342751e-03 2.38739574e-05 9.99987880e-01 4.98202855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.240281693 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:135.97, Y:43.74, Z:0.50 [[ 7.72373892e-01 -6.35156817e-01 -3.79325459e-03 1.35968263e+02] [ 6.35149061e-01 7.72383207e-01 -3.13877800e-03 4.37405954e+01] [ 4.92346238e-03 1.50280900e-05 9.99987880e-01 5.00220790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.270281693 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:135.99, Y:43.76, Z:0.50 [[ 7.70995137e-01 -6.36829737e-01 -3.79269239e-03 1.35990316e+02] [ 6.36821999e-01 7.71004465e-01 -3.13945718e-03 4.37580407e+01] [ 4.92348246e-03 5.23627175e-06 9.99987880e-01 5.01079812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.300281693 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:136.01, Y:43.77, Z:0.50 [[ 7.68526790e-01 -6.39806371e-01 -3.79209740e-03 1.36012704e+02] [ 6.39798665e-01 7.68536146e-01 -3.14017568e-03 4.37748486e+01] [ 4.92346833e-03 -1.28697170e-05 9.99987880e-01 5.00348532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.330281693 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:136.03, Y:43.79, Z:0.50 [[ 7.67613022e-01 -6.40902389e-01 -3.79150252e-03 1.36034006e+02] [ 6.40894693e-01 7.67622386e-01 -3.14089379e-03 4.37922393e+01] [ 4.92344855e-03 -1.89628771e-05 9.99987880e-01 4.98654970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.360281693 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:136.06, Y:43.81, Z:0.49 [[ 7.66387962e-01 -6.42366812e-01 -3.79091029e-03 1.36056524e+02] [ 6.42359130e-01 7.66397337e-01 -3.14160842e-03 4.38079497e+01] [ 4.92340854e-03 -2.74349585e-05 9.99987880e-01 4.93805731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.390281693 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:136.08, Y:43.82, Z:0.49 [[ 7.65508628e-01 -6.43414464e-01 -3.79051893e-03 1.36078906e+02] [ 6.43406792e-01 7.65518012e-01 -3.14208054e-03 4.38238264e+01] [ 4.92337059e-03 -3.35558608e-05 9.99987880e-01 4.90705468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.420281693 meters Centerline goodness : 0.998502 Centerline is valid? [True, True] Translation: X:136.10, Y:43.84, Z:0.49 [[ 7.64872124e-01 -6.44170995e-01 -3.79000477e-03 1.36101636e+02] [ 6.44163330e-01 7.64881512e-01 -3.14270062e-03 4.38399549e+01] [ 4.92334116e-03 -3.76179960e-05 9.99987880e-01 4.90300996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.450281693 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:136.12, Y:43.86, Z:0.49 [[ 7.64363184e-01 -6.44774816e-01 -3.78943741e-03 1.36124321e+02] [ 6.44767155e-01 7.64372576e-01 -3.14338458e-03 4.38557761e+01] [ 4.92331725e-03 -4.06173270e-05 9.99987880e-01 4.93243311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.480281693 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:136.15, Y:43.87, Z:0.49 [[ 7.64479392e-01 -6.44637033e-01 -3.78885321e-03 1.36145742e+02] [ 6.44629367e-01 7.64488780e-01 -3.14408858e-03 4.38716520e+01] [ 4.92333170e-03 -3.88151231e-05 9.99987880e-01 4.93365690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.510281693 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:136.17, Y:43.89, Z:0.49 [[ 7.64579122e-01 -6.44518746e-01 -3.78845547e-03 1.36168766e+02] [ 6.44511076e-01 7.64588506e-01 -3.14456776e-03 4.38881719e+01] [ 4.92334238e-03 -3.74306606e-05 9.99987880e-01 4.94067803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.540281693 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:136.19, Y:43.90, Z:0.49 [[ 7.64364686e-01 -6.44773044e-01 -3.78787671e-03 1.36190327e+02] [ 6.44765374e-01 7.64374071e-01 -3.14526477e-03 4.39037937e+01] [ 4.92333668e-03 -3.81624243e-05 9.99987880e-01 4.93795320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.570281693 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:136.21, Y:43.92, Z:0.49 [[ 7.62080314e-01 -6.47471428e-01 -3.78748166e-03 1.36214042e+02] [ 6.47463788e-01 7.62089724e-01 -3.14574041e-03 4.39185230e+01] [ 4.92317789e-03 -5.49503837e-05 9.99987880e-01 4.94379842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.600281693 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:136.24, Y:43.93, Z:0.49 [[ 7.60307884e-01 -6.49551830e-01 -3.78690691e-03 1.36237020e+02] [ 6.49544213e-01 7.60317312e-01 -3.14643216e-03 4.39332741e+01] [ 4.92302165e-03 -6.75062915e-05 9.99987880e-01 4.93447909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.630281693 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:136.26, Y:43.95, Z:0.49 [[ 7.60191617e-01 -6.49687901e-01 -3.78639335e-03 1.36258795e+02] [ 6.49680282e-01 7.60201044e-01 -3.14705005e-03 4.39516316e+01] [ 4.92302052e-03 -6.75840252e-05 9.99987880e-01 4.93588143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.660281693 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:136.28, Y:43.96, Z:0.49 [[ 7.55823137e-01 -6.54764884e-01 -3.78582997e-03 1.36284874e+02] [ 6.54757325e-01 7.55832612e-01 -3.14772764e-03 4.39626240e+01] [ 4.92247527e-03 -9.96745242e-05 9.99987880e-01 4.89509643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.690281693 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:136.31, Y:43.98, Z:0.49 [[ 7.53634548e-01 -6.57282770e-01 -3.78536796e-03 1.36308826e+02] [ 6.57275240e-01 7.53644046e-01 -3.14828313e-03 4.39777169e+01] [ 4.92213228e-03 -1.15373702e-04 9.99987880e-01 4.89728290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.720281693 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:136.33, Y:43.99, Z:0.49 [[ 7.51986677e-01 -6.59167433e-01 -3.78599340e-03 1.36332105e+02] [ 6.59159931e-01 7.51996196e-01 -3.14753126e-03 4.39921652e+01] [ 4.92180274e-03 -1.28673580e-04 9.99987880e-01 4.88869235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.750281693 meters Centerline goodness : 0.998642 Centerline is valid? [True, True] Translation: X:136.36, Y:44.00, Z:0.49 [[ 7.50805390e-01 -6.60512637e-01 -3.78458590e-03 1.36359141e+02] [ 6.60505143e-01 7.50814916e-01 -3.14922273e-03 4.40029691e+01] [ 4.92162495e-03 -1.35285050e-04 9.99987880e-01 4.91117842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.780281693 meters Centerline goodness : 0.998594 Centerline is valid? [True, True] Translation: X:136.38, Y:44.02, Z:0.49 [[ 7.51310350e-01 -6.59938209e-01 -3.78401892e-03 1.36382651e+02] [ 6.59930705e-01 7.51319867e-01 -3.14990385e-03 4.40165377e+01] [ 4.92175050e-03 -1.30634909e-04 9.99987880e-01 4.92396214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.810281693 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:136.41, Y:44.03, Z:0.49 [[ 7.52268410e-01 -6.58845904e-01 -3.78341842e-03 1.36406025e+02] [ 6.58838382e-01 7.52277914e-01 -3.15062496e-03 4.40311327e+01] [ 4.92195847e-03 -1.22545644e-04 9.99987880e-01 4.90977918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.840281693 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:136.43, Y:44.04, Z:0.49 [[ 7.55435275e-01 -6.55212358e-01 -3.78300581e-03 1.36431525e+02] [ 6.55204788e-01 7.55444741e-01 -3.15112030e-03 4.40440176e+01] [ 4.92250481e-03 -9.81760849e-05 9.99987880e-01 4.89361197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.870281693 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:136.46, Y:44.06, Z:0.49 [[ 7.57302504e-01 -6.53053298e-01 -3.78244961e-03 1.36455130e+02] [ 6.53045697e-01 7.57311946e-01 -3.15178780e-03 4.40596193e+01] [ 4.92277969e-03 -8.32556559e-05 9.99987880e-01 4.90389350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.900281693 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:136.48, Y:44.08, Z:0.49 [[ 7.59197241e-01 -6.50849634e-01 -3.78188922e-03 1.36478397e+02] [ 6.50842003e-01 7.59206658e-01 -3.15246009e-03 4.40760227e+01] [ 4.92301296e-03 -6.80733511e-05 9.99987880e-01 4.92164833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.930281693 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:136.50, Y:44.09, Z:0.50 [[ 7.61151756e-01 -6.48562800e-01 -3.78132952e-03 1.36500675e+02] [ 6.48555137e-01 7.61161147e-01 -3.15313129e-03 4.40926761e+01] [ 4.92320477e-03 -5.23892693e-05 9.99987880e-01 4.95594816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.960281693 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:136.52, Y:44.11, Z:0.50 [[ 7.64835925e-01 -6.44214028e-01 -3.78075632e-03 1.36523083e+02] [ 6.44206309e-01 7.64845269e-01 -3.15381843e-03 4.41075694e+01] [ 4.92342766e-03 -2.34334369e-05 9.99987880e-01 4.98236880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.990281693 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:136.54, Y:44.12, Z:0.50 [[ 7.66120235e-01 -6.42686154e-01 -3.78048792e-03 1.36544222e+02] [ 6.42678415e-01 7.66129563e-01 -3.15414013e-03 4.41238383e+01] [ 4.92346575e-03 -1.31874007e-05 9.99987880e-01 4.97350061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.020281693 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:136.57, Y:44.14, Z:0.49 [[ 7.68488599e-01 -6.39852315e-01 -3.77996887e-03 1.36565633e+02] [ 6.39844538e-01 7.68497895e-01 -3.15476205e-03 4.41407213e+01] [ 4.92347992e-03 5.80623172e-06 9.99987880e-01 4.92878783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.050281693 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:136.59, Y:44.16, Z:0.49 [[ 7.69604656e-01 -6.38509506e-01 -3.77954841e-03 1.36586558e+02] [ 6.38501710e-01 7.69613936e-01 -3.15526570e-03 4.41588958e+01] [ 4.92346027e-03 1.50590493e-05 9.99987880e-01 4.91508809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.080281693 meters Centerline goodness : 0.998442 Centerline is valid? [True, True] Translation: X:136.61, Y:44.18, Z:0.49 [[ 7.70838900e-01 -6.37018923e-01 -3.77899706e-03 1.36607420e+02] [ 6.37011106e-01 7.70848163e-01 -3.15592590e-03 4.41769053e+01] [ 4.92341746e-03 2.54473568e-05 9.99987880e-01 4.92326195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.110281693 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:136.63, Y:44.20, Z:0.50 [[ 7.73770960e-01 -6.33454202e-01 -3.77840644e-03 1.36627669e+02] [ 6.33446338e-01 7.73780183e-01 -3.15663286e-03 4.41957149e+01] [ 4.92323837e-03 4.90931159e-05 9.99987880e-01 4.95177620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.140281693 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:136.65, Y:44.21, Z:0.50 [[ 7.75349274e-01 -6.31521362e-01 -3.77786088e-03 1.36647633e+02] [ 6.31513472e-01 7.75358476e-01 -3.15728565e-03 4.42135853e+01] [ 4.92308979e-03 6.22290935e-05 9.99987880e-01 4.96066457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.170281693 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:136.67, Y:44.23, Z:0.50 [[ 7.76921399e-01 -6.29586268e-01 -3.77758686e-03 1.36667906e+02] [ 6.29578354e-01 7.76930580e-01 -3.15761347e-03 4.42323872e+01] [ 4.92291283e-03 7.49305515e-05 9.99987880e-01 4.98894562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.200281693 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:136.69, Y:44.25, Z:0.50 [[ 7.78312486e-01 -6.27865757e-01 -3.77699318e-03 1.36688096e+02] [ 6.27857819e-01 7.78321645e-01 -3.15832345e-03 4.42506366e+01] [ 4.92271869e-03 8.67478723e-05 9.99987880e-01 4.97030648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.230281693 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:136.71, Y:44.27, Z:0.50 [[ 7.78788032e-01 -6.27275808e-01 -3.77646218e-03 1.36706605e+02] [ 6.27267861e-01 7.78797183e-01 -3.15895824e-03 4.42700070e+01] [ 4.92263619e-03 9.13055218e-05 9.99987880e-01 4.95527249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.260281693 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:136.73, Y:44.29, Z:0.50 [[ 7.77950613e-01 -6.28314082e-01 -3.77606371e-03 1.36726455e+02] [ 6.28306144e-01 7.77959772e-01 -3.15943448e-03 4.42892782e+01] [ 4.92274284e-03 8.53599556e-05 9.99987880e-01 4.97709920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.290281693 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:136.75, Y:44.31, Z:0.50 [[ 7.75438347e-01 -6.31412001e-01 -3.77548687e-03 1.36746863e+02] [ 6.31404096e-01 7.75447536e-01 -3.16012365e-03 4.43088761e+01] [ 4.92303199e-03 6.66231851e-05 9.99987880e-01 4.98150895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.320281693 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:136.77, Y:44.33, Z:0.50 [[ 7.73961007e-01 -6.33222007e-01 -3.77490728e-03 1.36767396e+02] [ 6.33214121e-01 7.73970210e-01 -3.16081584e-03 4.43258822e+01] [ 4.92316393e-03 5.60236160e-05 9.99987880e-01 4.96812641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.350281693 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:136.79, Y:44.34, Z:0.50 [[ 7.72370829e-01 -6.35160653e-01 -3.77451154e-03 1.36789096e+02] [ 6.35152788e-01 7.72380051e-01 -3.16128835e-03 4.43435264e+01] [ 4.92328339e-03 4.42953824e-05 9.99987880e-01 4.95033996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.380281693 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:136.81, Y:44.36, Z:0.49 [[ 7.69936291e-01 -6.38109603e-01 -3.77392525e-03 1.36809250e+02] [ 6.38101770e-01 7.69945539e-01 -3.16198811e-03 4.43615399e+01] [ 4.92341189e-03 2.63810137e-05 9.99987880e-01 4.93697369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.410281693 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:136.83, Y:44.38, Z:0.50 [[ 7.69422183e-01 -6.38729415e-01 -3.77343117e-03 1.36829194e+02] [ 6.38721586e-01 7.69431435e-01 -3.16257761e-03 4.43802484e+01] [ 4.92342791e-03 2.31854256e-05 9.99987880e-01 4.95632934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.440281693 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:136.85, Y:44.40, Z:0.50 [[ 7.69824192e-01 -6.38244843e-01 -3.77291148e-03 1.36848247e+02] [ 6.38237005e-01 7.69833437e-01 -3.16319748e-03 4.43998330e+01] [ 4.92340789e-03 2.70942223e-05 9.99987880e-01 4.99955824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.470281693 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:136.87, Y:44.42, Z:0.50 [[ 7.70263805e-01 -6.37714231e-01 -3.77230854e-03 1.36868179e+02] [ 6.37706383e-01 7.70273042e-01 -3.16391635e-03 4.44180061e+01] [ 4.92338206e-03 3.14250105e-05 9.99987880e-01 5.01027437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.500281693 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:136.89, Y:44.44, Z:0.50 [[ 7.70532810e-01 -6.37389178e-01 -3.77170948e-03 1.36889195e+02] [ 6.37381322e-01 7.70542040e-01 -3.16463033e-03 4.44371651e+01] [ 4.92336184e-03 3.44343281e-05 9.99987880e-01 5.00882280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.530281693 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:136.91, Y:44.46, Z:0.50 [[ 7.70686391e-01 -6.37203473e-01 -3.77114264e-03 1.36910417e+02] [ 6.37195612e-01 7.70695616e-01 -3.16530566e-03 4.44555447e+01] [ 4.92334686e-03 3.65024530e-05 9.99987880e-01 5.00205275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.560281693 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:136.93, Y:44.47, Z:0.50 [[ 7.70876500e-01 -6.36973473e-01 -3.77057210e-03 1.36931122e+02] [ 6.36965606e-01 7.70885720e-01 -3.16598516e-03 4.44734592e+01] [ 4.92332875e-03 3.88588188e-05 9.99987880e-01 4.97183501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.590281693 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:136.95, Y:44.49, Z:0.50 [[ 7.70588298e-01 -6.37322102e-01 -3.76997480e-03 1.36951881e+02] [ 6.37314236e-01 7.70597519e-01 -3.16669625e-03 4.44922213e+01] [ 4.92333874e-03 3.75604710e-05 9.99987880e-01 4.95486034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.620281693 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:136.97, Y:44.51, Z:0.49 [[ 7.69593200e-01 -6.38523374e-01 -3.76940719e-03 1.36973226e+02] [ 6.38515518e-01 7.69602430e-01 -3.16737174e-03 4.45111357e+01] [ 4.92338583e-03 3.07627668e-05 9.99987880e-01 4.92181064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.650281693 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:137.00, Y:44.53, Z:0.49 [[ 7.68592577e-01 -6.39727478e-01 -3.76887610e-03 1.36995138e+02] [ 6.39719634e-01 7.68601817e-01 -3.16800357e-03 4.45282879e+01] [ 4.92342395e-03 2.38799857e-05 9.99987880e-01 4.93158898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.680281693 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:137.02, Y:44.54, Z:0.50 [[ 7.67677376e-01 -6.40825441e-01 -3.76830210e-03 1.37017586e+02] [ 6.40817607e-01 7.67686625e-01 -3.16868619e-03 4.45447115e+01] [ 4.92344984e-03 1.77343670e-05 9.99987880e-01 4.96994375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.710281693 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:137.04, Y:44.56, Z:0.50 [[ 7.66515784e-01 -6.42214416e-01 -3.76773329e-03 1.37040457e+02] [ 6.42206596e-01 7.66525044e-01 -3.16936239e-03 4.45604416e+01] [ 4.92347214e-03 9.70313052e-06 9.99987880e-01 5.00086892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.740281693 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:137.06, Y:44.58, Z:0.50 [[ 7.66165240e-01 -6.42632580e-01 -3.76721736e-03 1.37062449e+02] [ 6.42624761e-01 7.66174502e-01 -3.16997552e-03 4.45774510e+01] [ 4.92347543e-03 7.81789871e-06 9.99987880e-01 5.00858623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.770281693 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:137.08, Y:44.59, Z:0.50 [[ 7.65935040e-01 -6.42906935e-01 -3.76664001e-03 1.37084505e+02] [ 6.42899116e-01 7.65944302e-01 -3.17066139e-03 4.45933291e+01] [ 4.92347665e-03 6.95112489e-06 9.99987880e-01 5.00641255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.800281693 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:137.11, Y:44.61, Z:0.50 [[ 7.65754942e-01 -6.43121439e-01 -3.76603033e-03 1.37107727e+02] [ 6.43113620e-01 7.65764203e-01 -3.17138539e-03 4.46094924e+01] [ 4.92347715e-03 6.51863551e-06 9.99987880e-01 5.01100754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.830281693 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:137.13, Y:44.62, Z:0.50 [[ 7.65766195e-01 -6.43108043e-01 -3.76545689e-03 1.37131700e+02] [ 6.43100220e-01 7.65775453e-01 -3.17206610e-03 4.46242278e+01] [ 4.92347568e-03 7.49483272e-06 9.99987880e-01 5.01984130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.860281693 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:137.15, Y:44.64, Z:0.50 [[ 7.66426136e-01 -6.42321418e-01 -3.76486369e-03 1.37153133e+02] [ 6.42313582e-01 7.66435383e-01 -3.17277001e-03 4.46402706e+01] [ 4.92346287e-03 1.34707804e-05 9.99987880e-01 5.02015750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.890281693 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:137.18, Y:44.66, Z:0.50 [[ 7.68466464e-01 -6.39878991e-01 -3.76432962e-03 1.37176735e+02] [ 6.39871123e-01 7.68475683e-01 -3.17340353e-03 4.46564793e+01] [ 4.92339002e-03 2.99683688e-05 9.99987880e-01 5.02349151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.920281693 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:137.20, Y:44.67, Z:0.50 [[ 7.69262338e-01 -6.38921973e-01 -3.76395792e-03 1.37199337e+02] [ 6.38914091e-01 7.69271546e-01 -3.17384434e-03 4.46732352e+01] [ 4.92334461e-03 3.66731635e-05 9.99987880e-01 5.02013677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.950281693 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:137.22, Y:44.69, Z:0.50 [[ 7.69472201e-01 -6.38669217e-01 -3.76336074e-03 1.37222931e+02] [ 6.38661329e-01 7.69481403e-01 -3.17455227e-03 4.46878277e+01] [ 4.92332492e-03 3.92167523e-05 9.99987880e-01 5.01776701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.980281693 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:137.24, Y:44.70, Z:0.50 [[ 7.68721364e-01 -6.39572753e-01 -3.76282474e-03 1.37244969e+02] [ 6.39564872e-01 7.68730572e-01 -3.17518748e-03 4.47037621e+01] [ 4.92336181e-03 3.42639312e-05 9.99987880e-01 5.01113427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.010281693 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:137.27, Y:44.72, Z:0.50 [[ 7.67553862e-01 -6.40973412e-01 -3.76230283e-03 1.37266724e+02] [ 6.40965545e-01 7.67563082e-01 -3.17580577e-03 4.47193605e+01] [ 4.92341182e-03 2.60954932e-05 9.99987880e-01 4.99531698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.040281693 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:137.29, Y:44.74, Z:0.50 [[ 7.66167877e-01 -6.42629468e-01 -3.76169038e-03 1.37288520e+02] [ 6.42621617e-01 7.66177112e-01 -3.17653105e-03 4.47350428e+01] [ 4.92345353e-03 1.64124943e-05 9.99987880e-01 4.97180514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.070281693 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:137.31, Y:44.75, Z:0.49 [[ 7.64146245e-01 -6.45032069e-01 -3.76108609e-03 1.37312033e+02] [ 6.45024244e-01 7.64155501e-01 -3.17724638e-03 4.47507086e+01] [ 4.92348043e-03 1.88918128e-06 9.99987880e-01 4.94651135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.100281693 meters Centerline goodness : 0.998541 Centerline is valid? [True, True] Translation: X:137.33, Y:44.77, Z:0.49 [[ 7.64220742e-01 -6.44943809e-01 -3.76051249e-03 1.37333767e+02] [ 6.44935979e-01 7.64229994e-01 -3.17792513e-03 4.47681392e+01] [ 4.92347957e-03 3.34649060e-06 9.99987880e-01 4.92570721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.130281693 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:137.35, Y:44.79, Z:0.49 [[ 7.64712129e-01 -6.44361096e-01 -3.75994035e-03 1.37354533e+02] [ 6.44353256e-01 7.64721373e-01 -3.17860191e-03 4.47857989e+01] [ 4.92347416e-03 7.98563052e-06 9.99987880e-01 4.92685366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.160281693 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:137.38, Y:44.81, Z:0.50 [[ 7.66182546e-01 -6.42611993e-01 -3.75933542e-03 1.37375290e+02] [ 6.42604128e-01 7.66191769e-01 -3.17931721e-03 4.48056670e+01] [ 4.92343922e-03 2.01728939e-05 9.99987880e-01 5.00242936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.190281693 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:137.40, Y:44.83, Z:0.50 [[ 7.66428830e-01 -6.42318239e-01 -3.75878289e-03 1.37395934e+02] [ 6.42310368e-01 7.66438047e-01 -3.17997030e-03 4.48250198e+01] [ 4.92342714e-03 2.29156967e-05 9.99987880e-01 5.03802092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.220281693 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:137.42, Y:44.84, Z:0.50 [[ 7.65914501e-01 -6.42931453e-01 -3.75820307e-03 1.37416913e+02] [ 6.42923585e-01 7.65923721e-01 -3.18065541e-03 4.48424063e+01] [ 4.92344028e-03 1.98727069e-05 9.99987880e-01 5.04976191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.250281693 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:137.44, Y:44.86, Z:0.50 [[ 7.64981117e-01 -6.44041746e-01 -3.75765658e-03 1.37439087e+02] [ 6.44033889e-01 7.64990346e-01 -3.18130090e-03 4.48596904e+01] [ 4.92346159e-03 1.35769373e-05 9.99987880e-01 5.03583845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.280281693 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:137.46, Y:44.88, Z:0.50 [[ 7.64003299e-01 -6.45201398e-01 -3.75706629e-03 1.37459982e+02] [ 6.45193551e-01 7.64012537e-01 -3.18199787e-03 4.48760937e+01] [ 4.92347522e-03 7.02192362e-06 9.99987880e-01 5.01173069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.310281693 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:137.48, Y:44.89, Z:0.50 [[ 7.62120963e-01 -6.47423761e-01 -3.75654425e-03 1.37481963e+02] [ 6.47415939e-01 7.62130221e-01 -3.18261405e-03 4.48931084e+01] [ 4.92347586e-03 -6.50973972e-06 9.99987880e-01 4.95415872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.340281693 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:137.50, Y:44.91, Z:0.49 [[ 7.61276134e-01 -6.48416949e-01 -3.75598838e-03 1.37503393e+02] [ 6.48409135e-01 7.61285400e-01 -3.18326993e-03 4.49106073e+01] [ 4.92346529e-03 -1.20697458e-05 9.99987880e-01 4.94412924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.370281693 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:137.53, Y:44.93, Z:0.50 [[ 7.59819919e-01 -6.50122748e-01 -3.75541379e-03 1.37525792e+02] [ 6.50114952e-01 7.59829199e-01 -3.18394765e-03 4.49275074e+01] [ 4.92342985e-03 -2.22238074e-05 9.99987880e-01 4.97912933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.400281693 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:137.55, Y:44.95, Z:0.50 [[ 7.59487989e-01 -6.50510488e-01 -3.75483545e-03 1.37547885e+02] [ 6.50502693e-01 7.59497271e-01 -3.18462954e-03 4.49450816e+01] [ 4.92342220e-03 -2.38426899e-05 9.99987880e-01 5.01874909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.430281693 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:137.57, Y:44.96, Z:0.50 [[ 7.59391022e-01 -6.50623686e-01 -3.75422735e-03 1.37568781e+02] [ 6.50615889e-01 7.59400302e-01 -3.18534625e-03 4.49621750e+01] [ 4.92342310e-03 -2.36366231e-05 9.99987880e-01 5.02926978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.460281693 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:137.59, Y:44.98, Z:0.50 [[ 7.59550594e-01 -6.50437395e-01 -3.75365719e-03 1.37590317e+02] [ 6.50429592e-01 7.59559869e-01 -3.18601799e-03 4.49805543e+01] [ 4.92343261e-03 -2.15478561e-05 9.99987880e-01 5.04974319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.490281693 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:137.61, Y:45.00, Z:0.50 [[ 7.59807441e-01 -6.50137344e-01 -3.75305674e-03 1.37610280e+02] [ 6.50129535e-01 7.59816710e-01 -3.18672514e-03 4.49988367e+01] [ 4.92344425e-03 -1.86755578e-05 9.99987880e-01 5.04873464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.520281693 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:137.63, Y:45.02, Z:0.51 [[ 7.59689474e-01 -6.50275190e-01 -3.75242261e-03 1.37631862e+02] [ 6.50267378e-01 7.59698741e-01 -3.18747168e-03 4.50174426e+01] [ 4.92344448e-03 -1.85893321e-05 9.99987880e-01 5.05013693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.550281693 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:137.65, Y:45.04, Z:0.51 [[ 7.59722260e-01 -6.50236889e-01 -3.75184417e-03 1.37651914e+02] [ 6.50229073e-01 7.59731524e-01 -3.18815239e-03 4.50368971e+01] [ 4.92344858e-03 -1.74478230e-05 9.99987880e-01 5.07007582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.580281693 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:137.67, Y:45.06, Z:0.51 [[ 7.60262177e-01 -6.49605535e-01 -3.75123701e-03 1.37670764e+02] [ 6.49597708e-01 7.60271431e-01 -3.18886662e-03 4.50569424e+01] [ 4.92346374e-03 -1.24202901e-05 9.99987880e-01 5.10387265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.610281693 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:137.69, Y:45.08, Z:0.51 [[ 7.60370346e-01 -6.49478921e-01 -3.75068718e-03 1.37690323e+02] [ 6.49471089e-01 7.60379597e-01 -3.18951320e-03 4.50764676e+01] [ 4.92346759e-03 -1.07516328e-05 9.99987880e-01 5.12491211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.640281693 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:137.71, Y:45.10, Z:0.51 [[ 7.60268396e-01 -6.49598262e-01 -3.75007840e-03 1.37707984e+02] [ 6.49590428e-01 7.60277645e-01 -3.19022880e-03 4.50978151e+01] [ 4.92346786e-03 -1.05849021e-05 9.99987880e-01 5.10929604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.670281693 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:137.73, Y:45.12, Z:0.51 [[ 7.59702734e-01 -6.50259715e-01 -3.74953371e-03 1.37727347e+02] [ 6.50251886e-01 7.59711987e-01 -3.19086886e-03 4.51176856e+01] [ 4.92345918e-03 -1.40295725e-05 9.99987880e-01 5.08153422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.700281693 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:137.75, Y:45.14, Z:0.51 [[ 7.59066148e-01 -6.51002710e-01 -3.74892734e-03 1.37746014e+02] [ 6.50994887e-01 7.59075405e-01 -3.19158112e-03 4.51367559e+01] [ 4.92344650e-03 -1.79113474e-05 9.99987880e-01 5.05466438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.730281693 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:137.77, Y:45.16, Z:0.51 [[ 7.58068298e-01 -6.52164401e-01 -3.74839752e-03 1.37765777e+02] [ 6.52156589e-01 7.58077564e-01 -3.19220325e-03 4.51573600e+01] [ 4.92341738e-03 -2.46340604e-05 9.99987880e-01 5.05608664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.760281693 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:137.78, Y:45.18, Z:0.51 [[ 7.56373130e-01 -6.54129683e-01 -3.74780697e-03 1.37783271e+02] [ 6.54121892e-01 7.56382414e-01 -3.19289644e-03 4.51779137e+01] [ 4.92334362e-03 -3.65015145e-05 9.99987880e-01 5.09049846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.790281693 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:137.80, Y:45.20, Z:0.51 [[ 7.55167065e-01 -6.55521671e-01 -3.74737658e-03 1.37802799e+02] [ 6.55513895e-01 7.55176361e-01 -3.19340149e-03 4.51975523e+01] [ 4.92327409e-03 -4.49057918e-05 9.99987880e-01 5.10036853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.820281693 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:137.82, Y:45.22, Z:0.51 [[ 7.53876497e-01 -6.57005471e-01 -3.74678425e-03 1.37822502e+02] [ 6.56997709e-01 7.53885806e-01 -3.19409632e-03 4.52168347e+01] [ 4.92318622e-03 -5.36745186e-05 9.99987880e-01 5.08057671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.850281693 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:137.84, Y:45.24, Z:0.51 [[ 7.51241321e-01 -6.60017003e-01 -3.74619519e-03 1.37840806e+02] [ 6.60009275e-01 7.51250658e-01 -3.19478704e-03 4.52382412e+01] [ 4.92294537e-03 -7.24675315e-05 9.99987880e-01 5.05815250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.880281693 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:137.86, Y:45.26, Z:0.51 [[ 7.50391963e-01 -6.60982505e-01 -3.74560154e-03 1.37861177e+02] [ 6.60974785e-01 7.50401307e-01 -3.19548289e-03 4.52580915e+01] [ 4.92286258e-03 -7.78834941e-05 9.99987880e-01 5.05388093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.910281693 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:137.88, Y:45.28, Z:0.51 [[ 7.50520392e-01 -6.60836679e-01 -3.74500182e-03 1.37880020e+02] [ 6.60828954e-01 7.50529731e-01 -3.19618560e-03 4.52775721e+01] [ 4.92289188e-03 -7.60031673e-05 9.99987880e-01 5.05082027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.940281693 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:137.90, Y:45.30, Z:0.51 [[ 7.50586572e-01 -6.60761513e-01 -3.74446522e-03 1.37900379e+02] [ 6.60753784e-01 7.50595908e-01 -3.19681412e-03 4.52966700e+01] [ 4.92291201e-03 -7.46838111e-05 9.99987880e-01 5.07653989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.970281693 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:137.92, Y:45.32, Z:0.51 [[ 7.50369009e-01 -6.61008573e-01 -3.74387153e-03 1.37920588e+02] [ 6.61000843e-01 7.50378345e-01 -3.19750925e-03 4.53153359e+01] [ 4.92290115e-03 -7.53903886e-05 9.99987880e-01 5.08419007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.000281693 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:137.94, Y:45.33, Z:0.51 [[ 7.49222026e-01 -6.62308344e-01 -3.74333658e-03 1.37940346e+02] [ 6.62300628e-01 7.49231373e-01 -3.19813540e-03 4.53335727e+01] [ 4.92277696e-03 -8.31006816e-05 9.99987880e-01 5.05308293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.030281693 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:137.96, Y:45.35, Z:0.50 [[ 7.48380093e-01 -6.63259548e-01 -3.74271673e-03 1.37961862e+02] [ 6.63251840e-01 7.48389447e-01 -3.19886063e-03 4.53509556e+01] [ 4.92268456e-03 -8.84001420e-05 9.99987880e-01 5.04887026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.060281693 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:137.98, Y:45.37, Z:0.51 [[ 7.47674021e-01 -6.64055385e-01 -3.74213471e-03 1.37984012e+02] [ 6.64047683e-01 7.47683380e-01 -3.19954135e-03 4.53685969e+01] [ 4.92260459e-03 -9.27419413e-05 9.99987880e-01 5.05630219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.090281693 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:138.01, Y:45.38, Z:0.51 [[ 7.47852980e-01 -6.63853840e-01 -3.74154766e-03 1.38005681e+02] [ 6.63846133e-01 7.47862334e-01 -3.20022770e-03 4.53849138e+01] [ 4.92264602e-03 -9.05121220e-05 9.99987880e-01 5.07733180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.120281693 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:138.03, Y:45.40, Z:0.51 [[ 7.48560598e-01 -6.63055831e-01 -3.74111995e-03 1.38027415e+02] [ 6.63048111e-01 7.48569942e-01 -3.20072762e-03 4.54033384e+01] [ 4.92275106e-03 -8.46039405e-05 9.99987880e-01 5.06900575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.150281693 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:138.05, Y:45.42, Z:0.51 [[ 7.49596328e-01 -6.61884698e-01 -3.74058389e-03 1.38049345e+02] [ 6.61876960e-01 7.49605657e-01 -3.20135398e-03 4.54214092e+01] [ 4.92289005e-03 -7.60831079e-05 9.99987880e-01 5.07559938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.180281693 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:138.07, Y:45.44, Z:0.51 [[ 7.53048155e-01 -6.57954777e-01 -3.74001137e-03 1.38071821e+02] [ 6.57946987e-01 7.53057441e-01 -3.20202269e-03 4.54387635e+01] [ 4.92322952e-03 -4.94519278e-05 9.99987880e-01 5.11454032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.210281693 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:138.09, Y:45.46, Z:0.51 [[ 7.55273948e-01 -6.55398566e-01 -3.73943248e-03 1.38093085e+02] [ 6.55390741e-01 7.55283205e-01 -3.20269859e-03 4.54559904e+01] [ 4.92337461e-03 -3.18746136e-05 9.99987880e-01 5.13085066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.240281693 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:138.11, Y:45.47, Z:0.51 [[ 7.59938286e-01 -6.49984479e-01 -3.73881824e-03 1.38114063e+02] [ 6.49976585e-01 7.59947483e-01 -3.20341550e-03 4.54740606e+01] [ 4.92347586e-03 4.25377551e-06 9.99987880e-01 5.13845841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.270281693 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:138.14, Y:45.49, Z:0.51 [[ 7.61589855e-01 -6.48048546e-01 -3.73823438e-03 1.38135228e+02] [ 6.48040625e-01 7.61599029e-01 -3.20409669e-03 4.54929155e+01] [ 4.92344588e-03 1.76797909e-05 9.99987880e-01 5.13694505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.300281693 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:138.16, Y:45.51, Z:0.51 [[ 7.62957282e-01 -6.46438100e-01 -3.73761848e-03 1.38155844e+02] [ 6.46430156e-01 7.62966436e-01 -3.20481498e-03 4.55106931e+01] [ 4.92339196e-03 2.90276265e-05 9.99987880e-01 5.12459854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.330281693 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:138.18, Y:45.53, Z:0.51 [[ 7.63681429e-01 -6.45582457e-01 -3.73719760e-03 1.38176413e+02] [ 6.45574501e-01 7.63690572e-01 -3.20530571e-03 4.55288136e+01] [ 4.92335170e-03 3.51929680e-05 9.99987880e-01 5.10946051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.360281693 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:138.20, Y:45.55, Z:0.51 [[ 7.64635950e-01 -6.44451628e-01 -3.73665382e-03 1.38196714e+02] [ 6.44443655e-01 7.64645079e-01 -3.20593951e-03 4.55480905e+01] [ 4.92328689e-03 4.33137580e-05 9.99987880e-01 5.11114016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.390281693 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:138.22, Y:45.57, Z:0.51 [[ 7.64758586e-01 -6.44306097e-01 -3.73605311e-03 1.38217058e+02] [ 6.44298119e-01 7.64767711e-01 -3.20663939e-03 4.55665798e+01] [ 4.92327009e-03 4.51730222e-05 9.99987880e-01 5.11254295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.420281693 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:138.24, Y:45.58, Z:0.51 [[ 7.64249874e-01 -6.44909432e-01 -3.73551400e-03 1.38237987e+02] [ 6.44901458e-01 7.64259002e-01 -3.20726729e-03 4.55846423e+01] [ 4.92329713e-03 4.21151958e-05 9.99987880e-01 5.09840056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.450281693 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:138.26, Y:45.60, Z:0.51 [[ 7.63591633e-01 -6.45688677e-01 -3.73488889e-03 1.38258919e+02] [ 6.45680709e-01 7.63600766e-01 -3.20799507e-03 4.56016947e+01] [ 4.92333011e-03 3.80524898e-05 9.99987880e-01 5.07521057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.480281693 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:138.28, Y:45.62, Z:0.51 [[ 7.62675385e-01 -6.46770679e-01 -3.73433254e-03 1.38279458e+02] [ 6.46762721e-01 7.62684527e-01 -3.20864257e-03 4.56193068e+01] [ 4.92337358e-03 3.19256323e-05 9.99987880e-01 5.06924639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.510281693 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:138.30, Y:45.64, Z:0.51 [[ 7.60536201e-01 -6.49284796e-01 -3.73379598e-03 1.38299072e+02] [ 6.49276865e-01 7.60545366e-01 -3.20926682e-03 4.56373258e+01] [ 4.92344939e-03 1.64962460e-05 9.99987880e-01 5.08802521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.540281693 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:138.32, Y:45.66, Z:0.51 [[ 7.59280694e-01 -6.50752557e-01 -3.73325815e-03 1.38319735e+02] [ 6.50744640e-01 7.59289872e-01 -3.20989234e-03 4.56553890e+01] [ 4.92347076e-03 7.81155241e-06 9.99987880e-01 5.09759523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.570281693 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:138.34, Y:45.67, Z:0.51 [[ 7.57909843e-01 -6.52348632e-01 -3.73263480e-03 1.38341418e+02] [ 6.52340731e-01 7.57919035e-01 -3.21061705e-03 4.56733379e+01] [ 4.92347660e-03 -1.59145371e-06 9.99987880e-01 5.10037764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.600281693 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:138.36, Y:45.69, Z:0.51 [[ 7.56494956e-01 -6.53988878e-01 -3.73203980e-03 1.38363308e+02] [ 6.53980994e-01 7.56504162e-01 -3.21130853e-03 4.56898395e+01] [ 4.92346371e-03 -1.13443917e-05 9.99987880e-01 5.10603619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.630281693 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:138.38, Y:45.71, Z:0.51 [[ 7.56599691e-01 -6.53867712e-01 -3.73140902e-03 1.38384621e+02] [ 6.53859822e-01 7.56608892e-01 -3.21204131e-03 4.57084729e+01] [ 4.92346734e-03 -9.58897790e-06 9.99987880e-01 5.10067954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.660281693 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:138.41, Y:45.73, Z:0.51 [[ 7.57524416e-01 -6.52796170e-01 -3.73083387e-03 1.38405580e+02] [ 6.52788264e-01 7.57533604e-01 -3.21270921e-03 4.57265239e+01] [ 4.92347630e-03 -1.73890215e-06 9.99987880e-01 5.09030109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.690281693 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:138.43, Y:45.74, Z:0.51 [[ 7.57385335e-01 -6.52957533e-01 -3.73025306e-03 1.38427246e+02] [ 6.52949626e-01 7.57394521e-01 -3.21338345e-03 4.57438915e+01] [ 4.92347616e-03 -1.89783928e-06 9.99987880e-01 5.10202620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.720281693 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:138.45, Y:45.76, Z:0.51 [[ 7.56699593e-01 -6.53752105e-01 -3.72964790e-03 1.38449439e+02] [ 6.53744205e-01 7.56708785e-01 -3.21408568e-03 4.57617499e+01] [ 4.92347261e-03 -6.13837782e-06 9.99987880e-01 5.11912844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.750281693 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:138.47, Y:45.78, Z:0.51 [[ 7.55235847e-01 -6.55442530e-01 -3.72903535e-03 1.38470435e+02] [ 6.55434646e-01 7.55245053e-01 -3.21479621e-03 4.57783500e+01] [ 4.92344966e-03 -1.62096327e-05 9.99987880e-01 5.13269099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.780281693 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:138.49, Y:45.80, Z:0.51 [[ 7.54888596e-01 -6.55842439e-01 -3.72861663e-03 1.38492063e+02] [ 6.55834557e-01 7.54897805e-01 -3.21528178e-03 4.57960696e+01] [ 4.92344275e-03 -1.81760880e-05 9.99987880e-01 5.12784540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.810281693 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:138.51, Y:45.81, Z:0.51 [[ 7.54674883e-01 -6.56088349e-01 -3.72802023e-03 1.38513787e+02] [ 6.56080468e-01 7.54684091e-01 -3.21597314e-03 4.58135629e+01] [ 4.92344007e-03 -1.88671003e-05 9.99987880e-01 5.11720642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.840281693 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:138.53, Y:45.83, Z:0.51 [[ 7.54692261e-01 -6.56068363e-01 -3.72742317e-03 1.38534508e+02] [ 6.56060478e-01 7.54701466e-01 -3.21666500e-03 4.58304260e+01] [ 4.92344387e-03 -1.78228399e-05 9.99987880e-01 5.11882843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.870281693 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:138.56, Y:45.85, Z:0.51 [[ 7.55391673e-01 -6.55262948e-01 -3.72678931e-03 1.38555135e+02] [ 6.55255049e-01 7.55400866e-01 -3.21739922e-03 4.58495954e+01] [ 4.92346237e-03 -1.16009377e-05 9.99987880e-01 5.14629955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.900281693 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:138.57, Y:45.87, Z:0.52 [[ 7.57873907e-01 -6.52390417e-01 -3.72617760e-03 1.38573621e+02] [ 6.52382480e-01 7.57883067e-01 -3.21810751e-03 4.58696371e+01] [ 4.92346941e-03 8.02672979e-06 9.99987880e-01 5.17961021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.930281693 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:138.59, Y:45.89, Z:0.52 [[ 7.59229877e-01 -6.50811888e-01 -3.72562510e-03 1.38594140e+02] [ 6.50803929e-01 7.59239018e-01 -3.21874701e-03 4.58881456e+01] [ 4.92343876e-03 1.91174484e-05 9.99987880e-01 5.18827261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.960281693 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:138.61, Y:45.91, Z:0.52 [[ 7.60212778e-01 -6.49663495e-01 -3.72501379e-03 1.38614779e+02] [ 6.49655519e-01 7.60221903e-01 -3.21945432e-03 4.59059606e+01] [ 4.92339902e-03 2.74945507e-05 9.99987880e-01 5.19581561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.990281693 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:138.63, Y:45.92, Z:0.52 [[ 7.60557050e-01 -6.49260426e-01 -3.72459754e-03 1.38634698e+02] [ 6.49252442e-01 7.60566170e-01 -3.21993581e-03 4.59245545e+01] [ 4.92337978e-03 3.07408324e-05 9.99987880e-01 5.22850642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.020281693 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:138.66, Y:45.94, Z:0.52 [[ 7.60254713e-01 -6.49614426e-01 -3.72405729e-03 1.38655290e+02] [ 6.49606443e-01 7.60263834e-01 -3.22056051e-03 4.59436792e+01] [ 4.92338864e-03 2.92746962e-05 9.99987880e-01 5.23352632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.050281693 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:138.68, Y:45.96, Z:0.52 [[ 7.59838778e-01 -6.50100890e-01 -3.72345522e-03 1.38675564e+02] [ 6.50092910e-01 7.59847901e-01 -3.22125645e-03 4.59619981e+01] [ 4.92340132e-03 2.70437300e-05 9.99987880e-01 5.22300676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.080281693 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:138.70, Y:45.98, Z:0.52 [[ 7.59645341e-01 -6.50326915e-01 -3.72291425e-03 1.38696280e+02] [ 6.50318934e-01 7.59654463e-01 -3.22188155e-03 4.59810196e+01] [ 4.92340471e-03 2.64056813e-05 9.99987880e-01 5.16059060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.110281693 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:138.72, Y:46.00, Z:0.51 [[ 7.59790845e-01 -6.50156917e-01 -3.72232083e-03 1.38716238e+02] [ 6.50148931e-01 7.59799962e-01 -3.22256700e-03 4.59992054e+01] [ 4.92339345e-03 2.84139944e-05 9.99987880e-01 5.14685587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.140281693 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:138.74, Y:46.02, Z:0.52 [[ 7.61230126e-01 -6.48471158e-01 -3.72188537e-03 1.38735762e+02] [ 6.48463150e-01 7.61239223e-01 -3.22306985e-03 4.60182827e+01] [ 4.92331297e-03 3.99923522e-05 9.99987880e-01 5.16836167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.170281693 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:138.76, Y:46.04, Z:0.52 [[ 7.62241065e-01 -6.47282559e-01 -3.72126925e-03 1.38757279e+02] [ 6.47274533e-01 7.62250147e-01 -3.22378105e-03 4.60363139e+01] [ 4.92323528e-03 4.86154877e-05 9.99987880e-01 5.16549466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.200281693 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:138.78, Y:46.05, Z:0.52 [[ 7.63458358e-01 -6.45846338e-01 -3.72065784e-03 1.38778261e+02] [ 6.45838292e-01 7.63467422e-01 -3.22448654e-03 4.60532967e+01] [ 4.92312387e-03 5.88179003e-05 9.99987880e-01 5.15203996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.230281693 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:138.80, Y:46.07, Z:0.51 [[ 7.64376707e-01 -6.44759187e-01 -3.72024094e-03 1.38799193e+02] [ 6.44751125e-01 7.64385758e-01 -3.22496747e-03 4.60717255e+01] [ 4.92302659e-03 6.64604822e-05 9.99987880e-01 5.14812113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.260281693 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:138.82, Y:46.09, Z:0.52 [[ 7.65109273e-01 -6.43889714e-01 -3.71965722e-03 1.38819869e+02] [ 6.43881639e-01 7.65118311e-01 -3.22564059e-03 4.60908252e+01] [ 4.92293464e-03 7.29485403e-05 9.99987880e-01 5.17503744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.290281693 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:138.84, Y:46.11, Z:0.52 [[ 7.64958399e-01 -6.44068954e-01 -3.71904368e-03 1.38841759e+02] [ 6.44060877e-01 7.64967436e-01 -3.22634781e-03 4.61088333e+01] [ 4.92293777e-03 7.27313168e-05 9.99987880e-01 5.18899762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.320281693 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:138.86, Y:46.12, Z:0.52 [[ 7.64709795e-01 -6.44364107e-01 -3.71843335e-03 1.38864067e+02] [ 6.44356030e-01 7.64718833e-01 -3.22705109e-03 4.61247126e+01] [ 4.92295190e-03 7.17626277e-05 9.99987880e-01 5.17695442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.350281693 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:138.88, Y:46.14, Z:0.52 [[ 7.65063212e-01 -6.43944453e-01 -3.71788594e-03 1.38884516e+02] [ 6.43936368e-01 7.65072242e-01 -3.22768163e-03 4.61422025e+01] [ 4.92289901e-03 7.52985059e-05 9.99987880e-01 5.15702683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.380281693 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:138.91, Y:46.16, Z:0.51 [[ 7.66442733e-01 -6.42301890e-01 -3.71734449e-03 1.38905174e+02] [ 6.42293783e-01 7.66451743e-01 -3.22830510e-03 4.61610496e+01] [ 4.92271163e-03 8.66837358e-05 9.99987880e-01 5.12685906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.410281693 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:138.93, Y:46.18, Z:0.51 [[ 7.67230143e-01 -6.41361126e-01 -3.71674746e-03 1.38925393e+02] [ 6.41353004e-01 7.67239140e-01 -3.22899231e-03 4.61791504e+01] [ 4.92258427e-03 9.36330816e-05 9.99987880e-01 5.12444197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.440281693 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:138.95, Y:46.20, Z:0.51 [[ 7.67111659e-01 -6.41502839e-01 -3.71620836e-03 1.38946768e+02] [ 6.41494716e-01 7.67120655e-01 -3.22961264e-03 4.61979862e+01] [ 4.92258587e-03 9.35454859e-05 9.99987880e-01 5.12584436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.470281693 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:138.97, Y:46.22, Z:0.51 [[ 7.67841576e-01 -6.40628995e-01 -3.71561166e-03 1.38966654e+02] [ 6.40620858e-01 7.67850559e-01 -3.23029899e-03 4.62157756e+01] [ 4.92245768e-03 1.00059535e-04 9.99987880e-01 5.13249795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.500281693 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:138.99, Y:46.23, Z:0.52 [[ 7.68308545e-01 -6.40068886e-01 -3.71507361e-03 1.38987388e+02] [ 6.40060740e-01 7.68317519e-01 -3.23091767e-03 4.62344138e+01] [ 4.92236601e-03 1.04468890e-04 9.99987880e-01 5.16956296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.530281693 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:139.01, Y:46.25, Z:0.52 [[ 7.68250018e-01 -6.40139135e-01 -3.71448540e-03 1.39007675e+02] [ 6.40130987e-01 7.68258991e-01 -3.23159377e-03 4.62523844e+01] [ 4.92235644e-03 1.04914768e-04 9.99987880e-01 5.18137252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.560281693 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:139.03, Y:46.27, Z:0.52 [[ 7.67209819e-01 -6.41385454e-01 -3.71394697e-03 1.39028232e+02] [ 6.41377317e-01 7.67218802e-01 -3.23221245e-03 4.62706907e+01] [ 4.92250399e-03 9.77437918e-05 9.99987880e-01 5.19433139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.590281693 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:139.05, Y:46.29, Z:0.52 [[ 7.66502657e-01 -6.42230401e-01 -3.71336336e-03 1.39049100e+02] [ 6.42222270e-01 7.66511646e-01 -3.23288279e-03 4.62895623e+01] [ 4.92259187e-03 9.32086052e-05 9.99987880e-01 5.19193985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.620281693 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:139.07, Y:46.31, Z:0.52 [[ 7.65754464e-01 -6.43122318e-01 -3.71277995e-03 1.39069668e+02] [ 6.43114195e-01 7.65763460e-01 -3.23355267e-03 4.63090436e+01] [ 4.92268111e-03 8.83658989e-05 9.99987880e-01 5.19804610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.650281693 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:139.09, Y:46.33, Z:0.52 [[ 7.65201241e-01 -6.43780460e-01 -3.71217740e-03 1.39089385e+02] [ 6.43772342e-01 7.65210240e-01 -3.23424426e-03 4.63275956e+01] [ 4.92273942e-03 8.50505793e-05 9.99987880e-01 5.20791330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.680281693 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:139.11, Y:46.35, Z:0.52 [[ 7.64359016e-01 -6.44780209e-01 -3.71163597e-03 1.39111067e+02] [ 6.44772099e-01 7.64368024e-01 -3.23486548e-03 4.63459498e+01] [ 4.92283310e-03 7.94392820e-05 9.99987880e-01 5.19787145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.710281693 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:139.13, Y:46.36, Z:0.52 [[ 7.63535655e-01 -6.45755009e-01 -3.71103754e-03 1.39132387e+02] [ 6.45746907e-01 7.63544670e-01 -3.23555186e-03 4.63630174e+01] [ 4.92291675e-03 7.40681989e-05 9.99987880e-01 5.17555963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.740281693 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:139.15, Y:46.38, Z:0.51 [[ 7.62544759e-01 -6.46924820e-01 -3.71050227e-03 1.39152404e+02] [ 6.46916729e-01 7.62553784e-01 -3.23616558e-03 4.63804962e+01] [ 4.92301338e-03 6.73351118e-05 9.99987880e-01 5.14646831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.770281693 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:139.17, Y:46.40, Z:0.52 [[ 7.62746504e-01 -6.46686947e-01 -3.70988052e-03 1.39172863e+02] [ 6.46678850e-01 7.62755523e-01 -3.23687819e-03 4.63998541e+01] [ 4.92297873e-03 6.98162498e-05 9.99987880e-01 5.17057198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.800281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:139.19, Y:46.42, Z:0.52 [[ 7.63231901e-01 -6.46114004e-01 -3.70927594e-03 1.39192639e+02] [ 6.46105897e-01 7.63240911e-01 -3.23757086e-03 4.64188065e+01] [ 4.92291102e-03 7.44323078e-05 9.99987880e-01 5.19410978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.830281693 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:139.21, Y:46.44, Z:0.52 [[ 7.63754496e-01 -6.45496178e-01 -3.70872968e-03 1.39211511e+02] [ 6.45488061e-01 7.63763496e-01 -3.23819650e-03 4.64404561e+01] [ 4.92283581e-03 7.92464029e-05 9.99987880e-01 5.21038328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.860281693 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:139.23, Y:46.46, Z:0.52 [[ 7.64199466e-01 -6.44969322e-01 -3.70811095e-03 1.39229888e+02] [ 6.44961195e-01 7.64208457e-01 -3.23890486e-03 4.64602553e+01] [ 4.92276402e-03 8.35816892e-05 9.99987880e-01 5.18883347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.890281693 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:139.25, Y:46.48, Z:0.52 [[ 7.64428280e-01 -6.44698113e-01 -3.70768909e-03 1.39249022e+02] [ 6.44689981e-01 7.64437267e-01 -3.23938770e-03 4.64800888e+01] [ 4.92272286e-03 8.59695638e-05 9.99987880e-01 5.16156015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.920281693 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:139.27, Y:46.50, Z:0.52 [[ 7.63730863e-01 -6.45524148e-01 -3.70714108e-03 1.39267678e+02] [ 6.45516022e-01 7.63739856e-01 -3.24001472e-03 4.65001311e+01] [ 4.92279914e-03 8.14802709e-05 9.99987880e-01 5.16853770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.950281693 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:139.29, Y:46.52, Z:0.52 [[ 7.62417749e-01 -6.47074523e-01 -3.70653788e-03 1.39287498e+02] [ 6.47066412e-01 7.62426755e-01 -3.24070463e-03 4.65194140e+01] [ 4.92294105e-03 7.23945586e-05 9.99987880e-01 5.19837959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.980281693 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:139.31, Y:46.54, Z:0.52 [[ 7.58471357e-01 -6.51695839e-01 -3.70595224e-03 1.39306659e+02] [ 6.51687779e-01 7.58480409e-01 -3.24137421e-03 4.65397778e+01] [ 4.92328226e-03 4.33657087e-05 9.99987880e-01 5.20460874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.010281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:139.33, Y:46.56, Z:0.52 [[ 7.56152571e-01 -6.54384871e-01 -3.70534271e-03 1.39327279e+02] [ 6.54376840e-01 7.56161649e-01 -3.24207084e-03 4.65567318e+01] [ 4.92340016e-03 2.68097424e-05 9.99987880e-01 5.17377681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.040281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:139.35, Y:46.57, Z:0.52 [[ 7.53491695e-01 -6.57446986e-01 -3.70479781e-03 1.39349270e+02] [ 6.57438989e-01 7.53500803e-01 -3.24269338e-03 4.65734680e+01] [ 4.92346712e-03 7.66400572e-06 9.99987880e-01 5.15034069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.070281693 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:139.37, Y:46.59, Z:0.51 [[ 7.49057922e-01 -6.62494157e-01 -3.70418769e-03 1.39371109e+02] [ 6.62486218e-01 7.49067081e-01 -3.24339019e-03 4.65904931e+01] [ 4.92341211e-03 -2.44861763e-05 9.99987880e-01 5.11263936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.100281693 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:139.39, Y:46.61, Z:0.51 [[ 7.47572164e-01 -6.64170266e-01 -3.70359330e-03 1.39391893e+02] [ 6.64162345e-01 7.47581337e-01 -3.24406877e-03 4.66094311e+01] [ 4.92335125e-03 -3.46116963e-05 9.99987880e-01 5.11340149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.130281693 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:139.41, Y:46.63, Z:0.51 [[ 7.46653197e-01 -6.65203195e-01 -3.70299694e-03 1.39413590e+02] [ 6.65195282e-01 7.46662379e-01 -3.24474936e-03 4.66276783e+01] [ 4.92330614e-03 -4.05136124e-05 9.99987880e-01 5.12303252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.160281693 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:139.43, Y:46.65, Z:0.51 [[ 7.46752152e-01 -6.65092111e-01 -3.70240503e-03 1.39434276e+02] [ 6.65084194e-01 7.46761329e-01 -3.24542461e-03 4.66452727e+01] [ 4.92331921e-03 -3.88832588e-05 9.99987880e-01 5.12665171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.190281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:139.45, Y:46.66, Z:0.51 [[ 7.48914291e-01 -6.62656534e-01 -3.70177828e-03 1.39453392e+02] [ 6.62648583e-01 7.48923439e-01 -3.24613934e-03 4.66642430e+01] [ 4.92342396e-03 -2.18979905e-05 9.99987880e-01 5.13727360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.220281693 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:139.47, Y:46.68, Z:0.51 [[ 7.50129802e-01 -6.61280259e-01 -3.70115442e-03 1.39472912e+02] [ 6.61272289e-01 7.50138933e-01 -3.24685048e-03 4.66839928e+01] [ 4.92345816e-03 -1.19115481e-05 9.99987880e-01 5.14059087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.250281693 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:139.49, Y:46.70, Z:0.51 [[ 7.51170141e-01 -6.60098270e-01 -3.70054441e-03 1.39492959e+02] [ 6.60090281e-01 7.51179256e-01 -3.24754558e-03 4.67040079e+01] [ 4.92347142e-03 -3.23413127e-06 9.99987880e-01 5.13150328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.280281693 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:139.51, Y:46.72, Z:0.51 [[ 7.51770981e-01 -6.59413909e-01 -3.69993665e-03 1.39512503e+02] [ 6.59405908e-01 7.51780085e-01 -3.24823786e-03 4.67233251e+01] [ 4.92347192e-03 2.17086903e-06 9.99987880e-01 5.12840806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.310281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:139.53, Y:46.74, Z:0.52 [[ 7.52090850e-01 -6.59049064e-01 -3.69938831e-03 1.39530967e+02] [ 6.59041056e-01 7.52099948e-01 -3.24886224e-03 4.67427813e+01] [ 4.92346937e-03 5.39077901e-06 9.99987880e-01 5.17065185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.340281693 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:139.55, Y:46.76, Z:0.52 [[ 7.51572855e-01 -6.59639722e-01 -3.69877044e-03 1.39551787e+02] [ 6.59631718e-01 7.51581957e-01 -3.24956552e-03 4.67613773e+01] [ 4.92347162e-03 2.45893281e-06 9.99987880e-01 5.18929423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.370281693 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:139.57, Y:46.78, Z:0.52 [[ 7.49581918e-01 -6.61901255e-01 -3.69819819e-03 1.39572127e+02] [ 6.61893275e-01 7.49591041e-01 -3.25021665e-03 4.67793222e+01] [ 4.92345871e-03 -1.15088816e-05 9.99987880e-01 5.17566733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.400281693 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:139.59, Y:46.80, Z:0.52 [[ 7.48685501e-01 -6.62915039e-01 -3.69759289e-03 1.39592383e+02] [ 6.62907068e-01 7.48694631e-01 -3.25090511e-03 4.67985036e+01] [ 4.92344184e-03 -1.72549429e-05 9.99987880e-01 5.16511125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.430281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:139.61, Y:46.82, Z:0.52 [[ 7.48435839e-01 -6.63196899e-01 -3.69702698e-03 1.39612275e+02] [ 6.63188928e-01 7.48444970e-01 -3.25154856e-03 4.68181364e+01] [ 4.92343817e-03 -1.82518855e-05 9.99987880e-01 5.17505888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.460281693 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:139.63, Y:46.84, Z:0.52 [[ 7.50008036e-01 -6.61418387e-01 -3.69642766e-03 1.39631226e+02] [ 6.61410391e-01 7.50017145e-01 -3.25222973e-03 4.68375202e+01] [ 4.92346866e-03 -5.65723443e-06 9.99987880e-01 5.19694576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.490281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:139.65, Y:46.86, Z:0.52 [[ 7.51302297e-01 -6.59947876e-01 -3.69579476e-03 1.39652026e+02] [ 6.59939859e-01 7.51311387e-01 -3.25294880e-03 4.68561306e+01] [ 4.92346934e-03 4.94563657e-06 9.99987880e-01 5.21292193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.520281693 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:139.67, Y:46.87, Z:0.52 [[ 7.52276599e-01 -6.58837055e-01 -3.69520215e-03 1.39671425e+02] [ 6.58829021e-01 7.52285674e-01 -3.25362183e-03 4.68742441e+01] [ 4.92345427e-03 1.31171454e-05 9.99987880e-01 5.22865929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.550281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:139.69, Y:46.89, Z:0.52 [[ 7.53013115e-01 -6.57995136e-01 -3.69457501e-03 1.39691541e+02] [ 6.57987088e-01 7.53022178e-01 -3.25433382e-03 4.68941931e+01] [ 4.92343274e-03 1.95733919e-05 9.99987880e-01 5.23051505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.580281693 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:139.71, Y:46.92, Z:0.52 [[ 7.54911197e-01 -6.55816621e-01 -3.69396795e-03 1.39709551e+02] [ 6.55808544e-01 7.54920233e-01 -3.25502274e-03 4.69150695e+01] [ 4.92334916e-03 3.47173692e-05 9.99987880e-01 5.21001987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.610281693 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:139.73, Y:46.93, Z:0.52 [[ 7.56395035e-01 -6.54104663e-01 -3.69342769e-03 1.39728599e+02] [ 6.54096562e-01 7.56404051e-01 -3.25563565e-03 4.69343009e+01] [ 4.92325012e-03 4.66882866e-05 9.99987880e-01 5.21938439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.640281693 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:139.75, Y:46.95, Z:0.52 [[ 7.59096583e-01 -6.50967542e-01 -3.69279930e-03 1.39746331e+02] [ 6.50959401e-01 7.59105563e-01 -3.25634826e-03 4.69545665e+01] [ 4.92300151e-03 6.80204238e-05 9.99987880e-01 5.21217967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.670281693 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:139.76, Y:46.98, Z:0.52 [[ 7.59435348e-01 -6.50572302e-01 -3.69217947e-03 1.39764914e+02] [ 6.50564152e-01 7.59444320e-01 -3.25705089e-03 4.69751148e+01] [ 4.92295183e-03 7.15199683e-05 9.99987880e-01 5.20430395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.700281693 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:139.78, Y:46.99, Z:0.52 [[ 7.59365610e-01 -6.50653704e-01 -3.69156800e-03 1.39782862e+02] [ 6.50645552e-01 7.59374580e-01 -3.25774380e-03 4.69948896e+01] [ 4.92294597e-03 7.19163093e-05 9.99987880e-01 5.19340324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.730281693 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:139.80, Y:47.02, Z:0.52 [[ 7.58914796e-01 -6.51179475e-01 -3.69102232e-03 1.39801587e+02] [ 6.51171327e-01 7.58923768e-01 -3.25836193e-03 4.70161062e+01] [ 4.92298298e-03 6.93311773e-05 9.99987880e-01 5.21111382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.760281693 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:139.82, Y:47.04, Z:0.52 [[ 7.58273795e-01 -6.51925787e-01 -3.69041559e-03 1.39819917e+02] [ 6.51917644e-01 7.58282773e-01 -3.25904897e-03 4.70355362e+01] [ 4.92303663e-03 6.54043905e-05 9.99987880e-01 5.22952762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.790281693 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:139.84, Y:47.06, Z:0.53 [[ 7.57295055e-01 -6.53062466e-01 -3.68986342e-03 1.39838230e+02] [ 6.53054333e-01 7.57304042e-01 -3.25967401e-03 4.70564248e+01] [ 4.92311923e-03 5.88537107e-05 9.99987880e-01 5.25596036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.820281693 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:139.86, Y:47.08, Z:0.53 [[ 7.54049577e-01 -6.56807144e-01 -3.68927045e-03 1.39855794e+02] [ 6.56799053e-01 7.54058601e-01 -3.26034499e-03 4.70785321e+01] [ 4.92334400e-03 3.53524263e-05 9.99987880e-01 5.25815230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.850281693 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:139.88, Y:47.10, Z:0.52 [[ 7.52134471e-01 -6.58999341e-01 -3.68867153e-03 1.39875901e+02] [ 6.58991273e-01 7.52143516e-01 -3.26102245e-03 4.70966713e+01] [ 4.92342202e-03 2.19250474e-05 9.99987880e-01 5.23037296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.880281693 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:139.90, Y:47.12, Z:0.52 [[ 7.48274857e-01 -6.63378577e-01 -3.68814295e-03 1.39897144e+02] [ 6.63370559e-01 7.48283946e-01 -3.26162015e-03 4.71155436e+01] [ 4.92346710e-03 -6.01710137e-06 9.99987880e-01 5.18076641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.910281693 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:139.92, Y:47.13, Z:0.52 [[ 7.46415665e-01 -6.65469801e-01 -3.68755597e-03 1.39917109e+02] [ 6.65461805e-01 7.46424774e-01 -3.26228365e-03 4.71342572e+01] [ 4.92343439e-03 -1.89080312e-05 9.99987880e-01 5.16917714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.940281693 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:139.94, Y:47.15, Z:0.52 [[ 7.44605171e-01 -6.67494978e-01 -3.68694033e-03 1.39938068e+02] [ 6.67487003e-01 7.44614299e-01 -3.26297928e-03 4.71533803e+01] [ 4.92337077e-03 -3.13535033e-05 9.99987880e-01 5.18618398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.970281693 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:139.96, Y:47.17, Z:0.52 [[ 7.41273906e-01 -6.71192525e-01 -3.68655985e-03 1.39959904e+02] [ 6.71184594e-01 7.41283071e-01 -3.26340911e-03 4.71702925e+01] [ 4.92316020e-03 -5.52821558e-05 9.99987880e-01 5.23423535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.000281693 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:139.98, Y:47.19, Z:0.53 [[ 7.39682283e-01 -6.72946158e-01 -3.68617338e-03 1.39982141e+02] [ 6.72938247e-01 7.39691465e-01 -3.26384558e-03 4.71880601e+01] [ 4.92302333e-03 -6.63583004e-05 9.99987880e-01 5.26483047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.030281693 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:140.00, Y:47.21, Z:0.53 [[ 7.38434879e-01 -6.74314723e-01 -3.68559503e-03 1.40004091e+02] [ 6.74306825e-01 7.38444073e-01 -3.26449853e-03 4.72061355e+01] [ 4.92290523e-03 -7.46023018e-05 9.99987880e-01 5.27923424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.060281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:140.03, Y:47.22, Z:0.53 [[ 7.37313001e-01 -6.75541235e-01 -3.68499367e-03 1.40025987e+02] [ 6.75533348e-01 7.37322205e-01 -3.26517721e-03 4.72230874e+01] [ 4.92278950e-03 -8.18785048e-05 9.99987880e-01 5.26607699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.090281693 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:140.05, Y:47.24, Z:0.53 [[ 7.36918795e-01 -6.75971238e-01 -3.68439069e-03 1.40048161e+02] [ 6.75963354e-01 7.36928001e-01 -3.26585746e-03 4.72384992e+01] [ 4.92275638e-03 -8.38413452e-05 9.99987880e-01 5.25914306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.120281693 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:140.07, Y:47.25, Z:0.53 [[ 7.35470630e-01 -6.77546590e-01 -3.68385097e-03 1.40074288e+02] [ 6.77538723e-01 7.35479850e-01 -3.26646615e-03 4.72504283e+01] [ 4.92258116e-03 -9.35617593e-05 9.99987880e-01 5.25918095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.150281693 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:140.10, Y:47.27, Z:0.53 [[ 7.34735818e-01 -6.78343357e-01 -3.68342703e-03 1.40097057e+02] [ 6.78335497e-01 7.34745044e-01 -3.26694413e-03 4.72666812e+01] [ 4.92248961e-03 -9.82584367e-05 9.99987880e-01 5.26049021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.180281693 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:140.12, Y:47.28, Z:0.52 [[ 7.34607492e-01 -6.78482329e-01 -3.68281880e-03 1.40118527e+02] [ 6.78474467e-01 7.34616716e-01 -3.26762964e-03 4.72830875e+01] [ 4.92248923e-03 -9.82733089e-05 9.99987880e-01 5.23948063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.210281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:140.14, Y:47.30, Z:0.53 [[ 7.36778085e-01 -6.76124615e-01 -3.68217881e-03 1.40142526e+02] [ 6.76116721e-01 7.36787281e-01 -3.26835067e-03 4.72981062e+01] [ 4.92279485e-03 -8.15335143e-05 9.99987880e-01 5.26596152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.240281693 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:140.17, Y:47.31, Z:0.53 [[ 7.38450971e-01 -6.74297123e-01 -3.68159372e-03 1.40165407e+02] [ 6.74289202e-01 7.38460145e-01 -3.26900961e-03 4.73146839e+01] [ 4.92299400e-03 -6.84555742e-05 9.99987880e-01 5.29353791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.270281693 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:140.19, Y:47.33, Z:0.53 [[ 7.40083125e-01 -6.72505330e-01 -3.68099904e-03 1.40187368e+02] [ 6.72497384e-01 7.40092277e-01 -3.26967910e-03 4.73320410e+01] [ 4.92315558e-03 -5.56279015e-05 9.99987880e-01 5.30608215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.300281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:140.21, Y:47.35, Z:0.53 [[ 7.43041121e-01 -6.69235644e-01 -3.68040443e-03 1.40207885e+02] [ 6.69227654e-01 7.43050235e-01 -3.27034827e-03 4.73506642e+01] [ 4.92335900e-03 -3.30251779e-05 9.99987880e-01 5.30539387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.330281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:140.23, Y:47.37, Z:0.53 [[ 7.42919074e-01 -6.69371130e-01 -3.67980880e-03 1.40229042e+02] [ 6.69363138e-01 7.42928186e-01 -3.27101833e-03 4.73697394e+01] [ 4.92335891e-03 -3.30264523e-05 9.99987880e-01 5.30679622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.360281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:140.25, Y:47.39, Z:0.53 [[ 7.43716333e-01 -6.68485212e-01 -3.67921219e-03 1.40249934e+02] [ 6.68477207e-01 7.43725433e-01 -3.27168925e-03 4.73872472e+01] [ 4.92339957e-03 -2.62607612e-05 9.99987880e-01 5.29548896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.390281693 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:140.27, Y:47.40, Z:0.53 [[ 7.44160738e-01 -6.67990467e-01 -3.67858146e-03 1.40273539e+02] [ 6.67982452e-01 7.44169830e-01 -3.27239827e-03 4.74033278e+01] [ 4.92342019e-03 -2.20375550e-05 9.99987880e-01 5.29107680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.420281693 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:140.29, Y:47.42, Z:0.53 [[ 7.43899731e-01 -6.68281126e-01 -3.67799069e-03 1.40294403e+02] [ 6.68273111e-01 7.43908823e-01 -3.27306213e-03 4.74223660e+01] [ 4.92341537e-03 -2.30722434e-05 9.99987880e-01 5.30246008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.450281693 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:140.31, Y:47.44, Z:0.53 [[ 7.43771708e-01 -6.68423611e-01 -3.67738250e-03 1.40314307e+02] [ 6.68415594e-01 7.43780798e-01 -3.27374531e-03 4.74427628e+01] [ 4.92341515e-03 -2.31006679e-05 9.99987880e-01 5.30209412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.480281693 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:140.33, Y:47.46, Z:0.53 [[ 7.43886502e-01 -6.68295858e-01 -3.67677428e-03 1.40333332e+02] [ 6.68287836e-01 7.43895588e-01 -3.27442826e-03 4.74625529e+01] [ 4.92342301e-03 -2.13405371e-05 9.99987880e-01 5.27550615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.510281693 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:140.35, Y:47.48, Z:0.52 [[ 7.45032670e-01 -6.67017845e-01 -3.67632919e-03 1.40352438e+02] [ 6.67009806e-01 7.45041740e-01 -3.27492791e-03 4.74826036e+01] [ 4.92345405e-03 -1.22193357e-05 9.99987880e-01 5.22861258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.540281693 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:140.37, Y:47.50, Z:0.53 [[ 7.45506402e-01 -6.66488330e-01 -3.67572759e-03 1.40371672e+02] [ 6.66480280e-01 7.45515463e-01 -3.27560299e-03 4.75026811e+01] [ 4.92346292e-03 -7.81696049e-06 9.99987880e-01 5.25039910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.570281693 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:140.39, Y:47.53, Z:0.53 [[ 7.46897088e-01 -6.64929495e-01 -3.67511274e-03 1.40387081e+02] [ 6.64921424e-01 7.46906129e-01 -3.27629269e-03 4.75262544e+01] [ 4.92346787e-03 3.39227825e-06 9.99987880e-01 5.29630326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.600281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:140.41, Y:47.55, Z:0.53 [[ 7.47780000e-01 -6.63936419e-01 -3.67456788e-03 1.40405234e+02] [ 6.63928332e-01 7.47789029e-01 -3.27690367e-03 4.75471897e+01] [ 4.92345723e-03 1.07533037e-05 9.99987880e-01 5.31172375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.630281693 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:140.42, Y:47.57, Z:0.53 [[ 7.48797132e-01 -6.62789074e-01 -3.67401283e-03 1.40423077e+02] [ 6.62780971e-01 7.48806145e-01 -3.27752586e-03 4.75674032e+01] [ 4.92343172e-03 1.91361722e-05 9.99987880e-01 5.30343648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.660281693 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:140.44, Y:47.59, Z:0.53 [[ 7.49562283e-01 -6.61923627e-01 -3.67359655e-03 1.40439178e+02] [ 6.61915511e-01 7.49571285e-01 -3.27799238e-03 4.75915108e+01] [ 4.92340309e-03 2.54489110e-05 9.99987880e-01 5.29392444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.690281693 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:140.46, Y:47.61, Z:0.53 [[ 7.48413369e-01 -6.63222390e-01 -3.67298917e-03 1.40456264e+02] [ 6.63214286e-01 7.48422381e-01 -3.27867281e-03 4.76123126e+01] [ 4.92343652e-03 1.78236745e-05 9.99987880e-01 5.29934057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.720281693 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:140.47, Y:47.63, Z:0.53 [[ 7.46931802e-01 -6.64890515e-01 -3.67244190e-03 1.40474875e+02] [ 6.64882428e-01 7.46940830e-01 -3.27928569e-03 4.76329380e+01] [ 4.92346275e-03 7.66068241e-06 9.99987880e-01 5.30799656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.750281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:140.49, Y:47.66, Z:0.53 [[ 7.43938067e-01 -6.68238483e-01 -3.67184629e-03 1.40491617e+02] [ 6.68230433e-01 7.43947129e-01 -3.27995247e-03 4.76555609e+01] [ 4.92344996e-03 -1.35579404e-05 9.99987880e-01 5.31298255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.780281693 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:140.51, Y:47.68, Z:0.53 [[ 7.42803724e-01 -6.69499178e-01 -3.67124773e-03 1.40509874e+02] [ 6.69491141e-01 7.42812796e-01 -3.28062230e-03 4.76766181e+01] [ 4.92342372e-03 -2.10093750e-05 9.99987880e-01 5.31221311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.810281693 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:140.53, Y:47.70, Z:0.53 [[ 7.42189988e-01 -6.70179490e-01 -3.67064093e-03 1.40528285e+02] [ 6.70171457e-01 7.42199064e-01 -3.28130109e-03 4.76972256e+01] [ 4.92340696e-03 -2.46099645e-05 9.99987880e-01 5.30765050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.840281693 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:140.55, Y:47.72, Z:0.53 [[ 7.42235654e-01 -6.70128917e-01 -3.67009614e-03 1.40546537e+02] [ 6.70120880e-01 7.42244727e-01 -3.28191033e-03 4.77174330e+01] [ 4.92341252e-03 -2.34572010e-05 9.99987880e-01 5.33267943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.870281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:140.57, Y:47.74, Z:0.54 [[ 7.42181849e-01 -6.70188509e-01 -3.66946921e-03 1.40566982e+02] [ 6.70180470e-01 7.42190920e-01 -3.28261114e-03 4.77359160e+01] [ 4.92341499e-03 -2.29121873e-05 9.99987880e-01 5.35757705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.900281693 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:140.59, Y:47.76, Z:0.54 [[ 7.42038387e-01 -6.70347352e-01 -3.66888524e-03 1.40587326e+02] [ 6.70339312e-01 7.42047456e-01 -3.28326370e-03 4.77555944e+01] [ 4.92341408e-03 -2.30903099e-05 9.99987880e-01 5.36146321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.930281693 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:140.61, Y:47.77, Z:0.54 [[ 7.41930889e-01 -6.70466329e-01 -3.66830314e-03 1.40607486e+02] [ 6.70458287e-01 7.41939958e-01 -3.28391394e-03 4.77743679e+01] [ 4.92341440e-03 -2.30070510e-05 9.99987880e-01 5.35084028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96028169299998 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:140.63, Y:47.79, Z:0.53 [[ 7.41798579e-01 -6.70612717e-01 -3.66769195e-03 1.40627519e+02] [ 6.70604674e-01 7.41807646e-01 -3.28459641e-03 4.77923445e+01] [ 4.92341405e-03 -2.30624157e-05 9.99987880e-01 5.32782580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.990281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:140.65, Y:47.81, Z:0.53 [[ 7.41882620e-01 -6.70519746e-01 -3.66714872e-03 1.40647819e+02] [ 6.70511699e-01 7.41891683e-01 -3.28520280e-03 4.78111825e+01] [ 4.92342048e-03 -2.16312536e-05 9.99987880e-01 5.31816886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.020281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:140.67, Y:47.83, Z:0.53 [[ 7.41684905e-01 -6.70738442e-01 -3.66655878e-03 1.40668192e+02] [ 6.70730394e-01 7.41693968e-01 -3.28586109e-03 4.78301981e+01] [ 4.92341788e-03 -2.21988433e-05 9.99987880e-01 5.31937351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.050281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:140.69, Y:47.85, Z:0.53 [[ 7.41487806e-01 -6.70956328e-01 -3.66594099e-03 1.40688230e+02] [ 6.70948279e-01 7.41496868e-01 -3.28655019e-03 4.78488741e+01] [ 4.92341541e-03 -2.27199056e-05 9.99987880e-01 5.30967889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.080281693 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:140.71, Y:47.87, Z:0.53 [[ 7.41415888e-01 -6.71035801e-01 -3.66539003e-03 1.40708656e+02] [ 6.71027750e-01 7.41424948e-01 -3.28716455e-03 4.78673729e+01] [ 4.92341671e-03 -2.24223991e-05 9.99987880e-01 5.31771280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.110281693 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:140.73, Y:47.89, Z:0.53 [[ 7.41939697e-01 -6.70456602e-01 -3.66477275e-03 1.40728680e+02] [ 6.70448541e-01 7.41948748e-01 -3.28785259e-03 4.78850037e+01] [ 4.92343603e-03 -1.76531861e-05 9.99987880e-01 5.32742592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.140281693 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:140.75, Y:47.90, Z:0.53 [[ 7.42496110e-01 -6.69840354e-01 -3.66421701e-03 1.40748672e+02] [ 6.69832282e-01 7.42505151e-01 -3.28847183e-03 4.79036783e+01] [ 4.92345114e-03 -1.27332965e-05 9.99987880e-01 5.32645550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.170281693 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:140.77, Y:47.92, Z:0.53 [[ 7.43691468e-01 -6.68512960e-01 -3.66366708e-03 1.40768246e+02] [ 6.68504869e-01 7.43700492e-01 -3.28908439e-03 4.79244578e+01] [ 4.92346655e-03 -3.11527558e-06 9.99987880e-01 5.32261603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.200281693 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:140.79, Y:47.94, Z:0.53 [[ 7.43620418e-01 -6.68591995e-01 -3.66304589e-03 1.40787648e+02] [ 6.68583902e-01 7.43629440e-01 -3.28977606e-03 4.79427987e+01] [ 4.92346671e-03 -2.70886641e-06 9.99987880e-01 5.29026246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.230281693 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:140.81, Y:47.96, Z:0.53 [[ 7.43214841e-01 -6.69042813e-01 -3.66250005e-03 1.40808419e+02] [ 6.69034722e-01 7.43223866e-01 -3.29038363e-03 4.79620201e+01] [ 4.92346497e-03 -4.87774966e-06 9.99987880e-01 5.28321857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.260281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:140.83, Y:47.98, Z:0.53 [[ 7.42730278e-01 -6.69580708e-01 -3.66187902e-03 1.40827099e+02] [ 6.69572620e-01 7.42739305e-01 -3.29107463e-03 4.79824773e+01] [ 4.92346156e-03 -7.51315493e-06 9.99987880e-01 5.25270806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.290281693 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:140.85, Y:48.00, Z:0.53 [[ 7.43074063e-01 -6.69199156e-01 -3.66417641e-03 1.40845800e+02] [ 6.69191076e-01 7.43083098e-01 -3.28851890e-03 4.80022607e+01] [ 4.92346163e-03 -8.42105050e-06 9.99987880e-01 5.25188180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.320281693 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:140.87, Y:48.02, Z:0.53 [[ 7.43427912e-01 -6.68806052e-01 -3.66115598e-03 1.40865494e+02] [ 6.68797951e-01 7.43436927e-01 -3.29187816e-03 4.80226062e+01] [ 4.92346659e-03 -1.29951152e-06 9.99987880e-01 5.27194283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.350281693 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:140.88, Y:48.04, Z:0.53 [[ 7.43860402e-01 -6.68324998e-01 -3.66053529e-03 1.40884586e+02] [ 6.68316887e-01 7.43869409e-01 -3.29256822e-03 4.80436751e+01] [ 4.92346587e-03 2.81357210e-06 9.99987880e-01 5.29759059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.380281693 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:140.90, Y:48.06, Z:0.53 [[ 7.43443029e-01 -6.68789255e-01 -3.65993780e-03 1.40903323e+02] [ 6.68781146e-01 7.43452038e-01 -3.29323224e-03 4.80625544e+01] [ 4.92346655e-03 6.33150168e-07 9.99987880e-01 5.30714678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.410281693 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:140.92, Y:48.08, Z:0.53 [[ 7.41817944e-01 -6.70591341e-01 -3.65937530e-03 1.40921755e+02] [ 6.70583252e-01 7.41826970e-01 -3.29385716e-03 4.80831554e+01] [ 4.92345538e-03 -1.04734443e-05 9.99987880e-01 5.34428601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.440281693 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:140.94, Y:48.10, Z:0.54 [[ 7.41008108e-01 -6.71486111e-01 -3.65882227e-03 1.40942134e+02] [ 6.71478029e-01 7.41017140e-01 -3.29447136e-03 4.81027268e+01] [ 4.92344177e-03 -1.55887822e-05 9.99987880e-01 5.35425691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.470281693 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:140.96, Y:48.12, Z:0.54 [[ 7.40308308e-01 -6.72257560e-01 -3.65820377e-03 1.40962231e+02] [ 6.72249485e-01 7.40317346e-01 -3.29515800e-03 4.81205975e+01] [ 4.92342658e-03 -1.97927547e-05 9.99987880e-01 5.35767444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.500281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:140.98, Y:48.14, Z:0.53 [[ 7.39785317e-01 -6.72833044e-01 -3.65764972e-03 1.40982128e+02] [ 6.72824973e-01 7.39794359e-01 -3.29577288e-03 4.81392010e+01] [ 4.92341353e-03 -2.27936872e-05 9.99987880e-01 5.34831845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.530281693 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:141.00, Y:48.16, Z:0.53 [[ 7.39683711e-01 -6.72944747e-01 -3.65710924e-03 1.41001345e+02] [ 6.72936674e-01 7.39692751e-01 -3.29637251e-03 4.81588435e+01] [ 4.92341376e-03 -2.27298799e-05 9.99987880e-01 5.33006143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.560281693 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:141.02, Y:48.18, Z:0.53 [[ 7.40223002e-01 -6.72351498e-01 -3.65647923e-03 1.41021736e+02] [ 6.72343415e-01 7.40232033e-01 -3.29707119e-03 4.81782940e+01] [ 4.92343381e-03 -1.78417975e-05 9.99987880e-01 5.32152827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.590281693 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:141.04, Y:48.20, Z:0.53 [[ 7.42310707e-01 -6.70045855e-01 -3.65588606e-03 1.41041565e+02] [ 6.70037740e-01 7.42319710e-01 -3.29772879e-03 4.81975356e+01] [ 4.92346579e-03 -1.64224487e-06 9.99987880e-01 5.30912200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.620281693 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:141.06, Y:48.22, Z:0.53 [[ 7.43219835e-01 -6.69037306e-01 -3.65528721e-03 1.41061071e+02] [ 6.69029175e-01 7.43228823e-01 -3.29839244e-03 4.82168880e+01] [ 4.92346240e-03 5.93690057e-06 9.99987880e-01 5.31455728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.650281693 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:141.08, Y:48.24, Z:0.54 [[ 7.44746677e-01 -6.67337269e-01 -3.65474716e-03 1.41080998e+02] [ 6.67329115e-01 7.44755644e-01 -3.29899072e-03 4.82368744e+01] [ 4.92343303e-03 1.79931873e-05 9.99987880e-01 5.36529437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.680281693 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:141.10, Y:48.25, Z:0.54 [[ 7.45464720e-01 -6.66535070e-01 -3.65417848e-03 1.41101239e+02] [ 6.66526903e-01 7.45473675e-01 -3.29962051e-03 4.82549026e+01] [ 4.92340665e-03 2.41424088e-05 9.99987880e-01 5.37812133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71028169299998 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:141.12, Y:48.27, Z:0.54 [[ 7.46243472e-01 -6.65663077e-01 -3.65354281e-03 1.41122507e+02] [ 6.65654896e-01 7.46252415e-01 -3.30032421e-03 4.82736120e+01] [ 4.92336912e-03 3.08467348e-05 9.99987880e-01 5.37604870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.740281693 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:141.14, Y:48.29, Z:0.54 [[ 7.48202112e-01 -6.63460816e-01 -3.65295538e-03 1.41144211e+02] [ 6.63452606e-01 7.48211028e-01 -3.30097428e-03 4.82912929e+01] [ 4.92324859e-03 4.62331583e-05 9.99987880e-01 5.37747095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.770281693 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:141.16, Y:48.31, Z:0.54 [[ 7.49019779e-01 -6.62537569e-01 -3.65233196e-03 1.41164970e+02] [ 6.62529345e-01 7.49028682e-01 -3.30166392e-03 4.83085855e+01] [ 4.92317778e-03 5.32344849e-05 9.99987880e-01 5.37809008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.800281693 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:141.19, Y:48.33, Z:0.54 [[ 7.49506928e-01 -6.61986427e-01 -3.65190647e-03 1.41186521e+02] [ 6.61978193e-01 7.49515822e-01 -3.30213447e-03 4.83266399e+01] [ 4.92312988e-03 5.74902135e-05 9.99987880e-01 5.39374308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.830281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:141.21, Y:48.35, Z:0.54 [[ 7.50275478e-01 -6.61115250e-01 -3.65131511e-03 1.41207420e+02] [ 6.61107003e-01 7.50284361e-01 -3.30278824e-03 4.83450796e+01] [ 4.92304829e-03 6.40910362e-05 9.99987880e-01 5.41247540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.860281693 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:141.23, Y:48.36, Z:0.54 [[ 7.50636495e-01 -6.60705323e-01 -3.65072455e-03 1.41227758e+02] [ 6.60697068e-01 7.50645370e-01 -3.30344089e-03 4.83642002e+01] [ 4.92300046e-03 6.76602859e-05 9.99987880e-01 5.41064167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.890281693 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:141.25, Y:48.38, Z:0.54 [[ 7.52215760e-01 -6.58906767e-01 -3.65013022e-03 1.41246666e+02] [ 6.58898488e-01 7.52224611e-01 -3.30409745e-03 4.83829709e+01] [ 4.92280996e-03 8.03288950e-05 9.99987880e-01 5.38163151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.920281693 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:141.27, Y:48.40, Z:0.54 [[ 7.52857346e-01 -6.58173607e-01 -3.64950814e-03 1.41266625e+02] [ 6.58165316e-01 7.52866187e-01 -3.30478442e-03 4.84020683e+01] [ 4.92271316e-03 8.60515540e-05 9.99987880e-01 5.38093242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.950281693 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:141.29, Y:48.42, Z:0.54 [[ 7.53103499e-01 -6.57891941e-01 -3.64888811e-03 1.41287007e+02] [ 6.57883643e-01 7.53112333e-01 -3.30546887e-03 4.84211354e+01] [ 4.92266397e-03 8.88163664e-05 9.99987880e-01 5.37716132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.980281693 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:141.31, Y:48.44, Z:0.54 [[ 7.52743778e-01 -6.58303498e-01 -3.64826224e-03 1.41306949e+02] [ 6.58295201e-01 7.52752613e-01 -3.30615950e-03 4.84387923e+01] [ 4.92269530e-03 8.70574612e-05 9.99987880e-01 5.36247489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.010281693 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:141.33, Y:48.46, Z:0.54 [[ 7.50674166e-01 -6.60662539e-01 -3.64769881e-03 1.41327614e+02] [ 6.60654268e-01 7.50683025e-01 -3.30678102e-03 4.84582698e+01] [ 4.92293192e-03 7.24472952e-05 9.99987880e-01 5.36880970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.040281693 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:141.35, Y:48.48, Z:0.54 [[ 7.49673842e-01 -6.61797423e-01 -3.64707952e-03 1.41347513e+02] [ 6.61789162e-01 7.49682710e-01 -3.30746390e-03 4.84785124e+01] [ 4.92302355e-03 6.59214728e-05 9.99987880e-01 5.37673921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.070281693 meters Centerline goodness : 0.998176 Centerline is valid? [True, True] Translation: X:141.37, Y:48.50, Z:0.55 [[ 7.49354358e-01 -6.62159157e-01 -3.64646110e-03 1.41366714e+02] [ 6.62150897e-01 7.49363227e-01 -3.30814556e-03 4.84986328e+01] [ 4.92304274e-03 6.44658062e-05 9.99987880e-01 5.47004794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.100281693 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:141.39, Y:48.52, Z:0.54 [[ 7.49682140e-01 -6.61788030e-01 -3.64584266e-03 1.41386487e+02] [ 6.61779762e-01 7.49691002e-01 -3.30882700e-03 4.85177031e+01] [ 4.92299754e-03 6.78236180e-05 9.99987880e-01 5.40661346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.130281693 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:141.41, Y:48.54, Z:0.54 [[ 7.49976778e-01 -6.61454114e-01 -3.64528601e-03 1.41406269e+02] [ 6.61445838e-01 7.49985634e-01 -3.30944014e-03 4.85370778e+01] [ 4.92295493e-03 7.08439907e-05 9.99987880e-01 5.40915865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.160281693 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:141.42, Y:48.56, Z:0.54 [[ 7.50502316e-01 -6.60857768e-01 -3.64467841e-03 1.41424650e+02] [ 6.60849482e-01 7.50511162e-01 -3.31010914e-03 4.85595697e+01] [ 4.92288317e-03 7.56607353e-05 9.99987880e-01 5.36980539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.190281693 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:141.44, Y:48.58, Z:0.54 [[ 7.50574040e-01 -6.60776308e-01 -3.64431933e-03 1.41443185e+02] [ 6.60768019e-01 7.50582884e-01 -3.31050443e-03 4.85799235e+01] [ 4.92286661e-03 7.67290176e-05 9.99987880e-01 5.35619978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.220281693 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:141.46, Y:48.60, Z:0.54 [[ 7.50688176e-01 -6.60646641e-01 -3.64379839e-03 1.41462120e+02] [ 6.60638348e-01 7.50697016e-01 -3.31107772e-03 4.85999487e+01] [ 4.92284095e-03 7.83539424e-05 9.99987880e-01 5.37343138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.250281693 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:141.48, Y:48.62, Z:0.54 [[ 7.51007093e-01 -6.60284084e-01 -3.64336356e-03 1.41481280e+02] [ 6.60275785e-01 7.51015927e-01 -3.31155612e-03 4.86187240e+01] [ 4.92279186e-03 8.13774063e-05 9.99987880e-01 5.38435634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.280281693 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:141.50, Y:48.64, Z:0.54 [[ 7.50883339e-01 -6.60424819e-01 -3.64278696e-03 1.41502212e+02] [ 6.60416518e-01 7.50892171e-01 -3.31219027e-03 4.86380235e+01] [ 4.92279287e-03 8.13118091e-05 9.99987880e-01 5.38575863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.310281693 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:141.52, Y:48.66, Z:0.54 [[ 7.50737703e-01 -6.60590369e-01 -3.64216610e-03 1.41521617e+02] [ 6.60582067e-01 7.50746534e-01 -3.31287285e-03 4.86565808e+01] [ 4.92279547e-03 8.11489442e-05 9.99987880e-01 5.38314672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.340281693 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:141.54, Y:48.68, Z:0.54 [[ 7.50349403e-01 -6.61031400e-01 -3.64174330e-03 1.41540795e+02] [ 6.61023101e-01 7.50358236e-01 -3.31333755e-03 4.86764131e+01] [ 4.92283224e-03 7.88844039e-05 9.99987880e-01 5.37510944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.370281693 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:141.56, Y:48.70, Z:0.54 [[ 7.48884212e-01 -6.62690863e-01 -3.64112414e-03 1.41557979e+02] [ 6.62682580e-01 7.48893060e-01 -3.31401783e-03 4.86975121e+01] [ 4.92298193e-03 6.89060958e-05 9.99987880e-01 5.38222149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.400281693 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:141.58, Y:48.72, Z:0.54 [[ 7.47914781e-01 -6.63784774e-01 -3.64056541e-03 1.41577698e+02] [ 6.63776501e-01 7.47923639e-01 -3.31463149e-03 4.87173447e+01] [ 4.92306685e-03 6.25401186e-05 9.99987880e-01 5.40647848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.430281693 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:141.60, Y:48.74, Z:0.54 [[ 7.46406053e-01 -6.65480844e-01 -3.63996634e-03 1.41597018e+02] [ 6.65472588e-01 7.46414927e-01 -3.31528924e-03 4.87383233e+01] [ 4.92318669e-03 5.22541395e-05 9.99987880e-01 5.44693476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46028169299998 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:141.62, Y:48.76, Z:0.55 [[ 7.46073144e-01 -6.65854052e-01 -3.63938074e-03 1.41615527e+02] [ 6.65845798e-01 7.46082019e-01 -3.31593195e-03 4.87586204e+01] [ 4.92320326e-03 5.06614008e-05 9.99987880e-01 5.45101505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.490281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:141.63, Y:48.78, Z:0.55 [[ 7.46121704e-01 -6.65799641e-01 -3.63874731e-03 1.41634304e+02] [ 6.65791383e-01 7.46130575e-01 -3.31662690e-03 4.87799200e+01] [ 4.92318963e-03 5.19607109e-05 9.99987880e-01 5.45505860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.520281693 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:141.65, Y:48.80, Z:0.54 [[ 7.46245225e-01 -6.65661196e-01 -3.63815285e-03 1.41653430e+02] [ 6.65652933e-01 7.46254091e-01 -3.31727887e-03 4.88006169e+01] [ 4.92317027e-03 5.37564051e-05 9.99987880e-01 5.44633991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.550281693 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:141.67, Y:48.82, Z:0.54 [[ 7.45543343e-01 -6.66447216e-01 -3.63752247e-03 1.41671668e+02] [ 6.66438959e-01 7.45552215e-01 -3.31796997e-03 4.88208962e+01] [ 4.92321478e-03 4.95037364e-05 9.99987880e-01 5.41452169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.580281693 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:141.69, Y:48.84, Z:0.54 [[ 7.44350486e-01 -6.67779250e-01 -3.63699215e-03 1.41691787e+02] [ 6.67771005e-01 7.44359370e-01 -3.31855117e-03 4.88405011e+01] [ 4.92328880e-03 4.14872733e-05 9.99987880e-01 5.44158147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.610281693 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:141.71, Y:48.86, Z:0.55 [[ 7.41043960e-01 -6.71446666e-01 -3.63636038e-03 1.41710815e+02] [ 6.71438462e-01 7.41052882e-01 -3.31924330e-03 4.88597081e+01] [ 4.92343019e-03 1.81129796e-05 9.99987880e-01 5.45913384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.640281693 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:141.73, Y:48.88, Z:0.55 [[ 7.39054929e-01 -6.73635356e-01 -3.63578997e-03 1.41731533e+02] [ 6.73627175e-01 7.39063872e-01 -3.31986798e-03 4.88772243e+01] [ 4.92346147e-03 4.39786603e-06 9.99987880e-01 5.45401806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.670281693 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:141.75, Y:48.89, Z:0.55 [[ 7.36373073e-01 -6.76565948e-01 -3.63523154e-03 1.41754845e+02] [ 6.76557800e-01 7.36382046e-01 -3.32047935e-03 4.88938255e+01] [ 4.92344250e-03 -1.43326719e-05 9.99987880e-01 5.45174674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.700281693 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:141.78, Y:48.91, Z:0.55 [[ 7.35903278e-01 -6.77076920e-01 -3.63461190e-03 1.41775659e+02] [ 6.77068774e-01 7.35912253e-01 -3.32115747e-03 4.89119518e+01] [ 4.92343451e-03 -1.68315547e-05 9.99987880e-01 5.45206852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.730281693 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:141.80, Y:48.93, Z:0.55 [[ 7.36335490e-01 -6.76606858e-01 -3.63399513e-03 1.41796414e+02] [ 6.76598704e-01 7.36344457e-01 -3.32183221e-03 4.89313801e+01] [ 4.92344662e-03 -1.27734504e-05 9.99987880e-01 5.46510185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.760281693 meters Centerline goodness : 0.998590 Centerline is valid? [True, True] Translation: X:141.82, Y:48.95, Z:0.55 [[ 7.39126485e-01 -6.73556855e-01 -3.63336755e-03 1.41816862e+02] [ 6.73548661e-01 7.39135416e-01 -3.32251850e-03 4.89510055e+01] [ 4.92345575e-03 8.51156768e-06 9.99987880e-01 5.46445818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.790281693 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:141.84, Y:48.97, Z:0.55 [[ 7.40738655e-01 -6.71783483e-01 -3.63273960e-03 1.41837016e+02] [ 6.71775264e-01 7.40747562e-01 -3.32320494e-03 4.89686561e+01] [ 4.92341719e-03 2.12417578e-05 9.99987880e-01 5.46534460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.820281693 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:141.86, Y:48.99, Z:0.55 [[ 7.42192327e-01 -6.70177108e-01 -3.63230994e-03 1.41856874e+02] [ 6.70168867e-01 7.42201214e-01 -3.32367450e-03 4.89866638e+01] [ 4.92335541e-03 3.25446736e-05 9.99987880e-01 5.46475860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.850281693 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:141.88, Y:49.01, Z:0.55 [[ 7.43297081e-01 -6.68951612e-01 -3.63174946e-03 1.41877685e+02] [ 6.68943354e-01 7.43305952e-01 -3.32428682e-03 4.90057747e+01] [ 4.92328802e-03 4.14980266e-05 9.99987880e-01 5.46526299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.880281693 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:141.90, Y:49.02, Z:0.55 [[ 7.42842979e-01 -6.69455841e-01 -3.63112703e-03 1.41896428e+02] [ 6.69447586e-01 7.42851853e-01 -3.32496655e-03 4.90245152e+01] [ 4.92330773e-03 3.90788329e-05 9.99987880e-01 5.45990217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.910281693 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:141.92, Y:49.04, Z:0.55 [[ 7.41173028e-01 -6.71304224e-01 -3.63051040e-03 1.41917563e+02] [ 6.71295987e-01 7.41181920e-01 -3.32563971e-03 4.90435490e+01] [ 4.92338466e-03 2.77273940e-05 9.99987880e-01 5.45146684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.940281693 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:141.94, Y:49.06, Z:0.54 [[ 7.36106364e-01 -6.76856147e-01 -3.62991054e-03 1.41940559e+02] [ 6.76847974e-01 7.36115314e-01 -3.32629433e-03 4.90602259e+01] [ 4.92345550e-03 -8.39116682e-06 9.99987880e-01 5.41192835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.970281693 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:141.96, Y:49.08, Z:0.54 [[ 7.33016275e-01 -6.80201418e-01 -3.62931448e-03 1.41962449e+02] [ 6.80193282e-01 7.33025259e-01 -3.32694456e-03 4.90779156e+01] [ 4.92337160e-03 -2.99308214e-05 9.99987880e-01 5.40761777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.000281693 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:141.98, Y:49.09, Z:0.54 [[ 7.30032527e-01 -6.83402767e-01 -3.62868937e-03 1.41983085e+02] [ 6.83394668e-01 7.30041543e-01 -3.32762623e-03 4.90949966e+01] [ 4.92320296e-03 -5.05515802e-05 9.99987880e-01 5.37134934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.030281693 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:142.00, Y:49.11, Z:0.54 [[ 7.26862744e-01 -6.86773170e-01 -3.62819472e-03 1.42003950e+02] [ 6.86765110e-01 7.26871796e-01 -3.32816547e-03 4.91124037e+01] [ 4.92292716e-03 -7.25980572e-05 9.99987880e-01 5.35766723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.060281693 meters Centerline goodness : 0.998492 Centerline is valid? [True, True] Translation: X:142.03, Y:49.13, Z:0.54 [[ 7.21400212e-01 -6.92508898e-01 -3.62775040e-03 1.42027710e+02] [ 6.92500907e-01 7.21409325e-01 -3.32864971e-03 4.91268489e+01] [ 4.92221251e-03 -1.10931833e-04 9.99987880e-01 5.38869683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.090281693 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:142.05, Y:49.14, Z:0.54 [[ 7.19154393e-01 -6.94840846e-01 -3.62737778e-03 1.42050425e+02] [ 6.94832883e-01 7.19163530e-01 -3.32905573e-03 4.91433246e+01] [ 4.92184171e-03 -1.26316304e-04 9.99987880e-01 5.42954347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.120281693 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:142.08, Y:49.16, Z:0.55 [[ 7.16043349e-01 -6.98046394e-01 -3.62681823e-03 1.42075479e+02] [ 6.98038469e-01 7.16052519e-01 -3.32966521e-03 4.91575300e+01] [ 4.92125313e-03 -1.47474013e-04 9.99987880e-01 5.50286876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.150281693 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:142.10, Y:49.17, Z:0.55 [[ 7.15037529e-01 -6.99076664e-01 -3.62625429e-03 1.42098173e+02] [ 6.99068749e-01 7.15046708e-01 -3.33027928e-03 4.91742312e+01] [ 4.92106172e-03 -1.53726382e-04 9.99987880e-01 5.52304740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.180281693 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:142.12, Y:49.19, Z:0.55 [[ 7.14589808e-01 -6.99534318e-01 -3.62565770e-03 1.42119342e+02] [ 6.99526405e-01 7.14598988e-01 -3.33092865e-03 4.91906590e+01] [ 4.92099023e-03 -1.55995629e-04 9.99987880e-01 5.53073949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21028169299998 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:142.14, Y:49.21, Z:0.55 [[ 7.15999286e-01 -6.98091599e-01 -3.62502692e-03 1.42141309e+02] [ 6.98083664e-01 7.16008448e-01 -3.33161498e-03 4.92074464e+01] [ 4.92132233e-03 -1.45138128e-04 9.99987880e-01 5.53576149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.240281693 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:142.16, Y:49.23, Z:0.55 [[ 7.16752909e-01 -6.97317812e-01 -3.62442744e-03 1.42162236e+02] [ 6.97309864e-01 7.16762059e-01 -3.33226703e-03 4.92258751e+01] [ 4.92150123e-03 -1.38936919e-04 9.99987880e-01 5.52475016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.270281693 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:142.18, Y:49.24, Z:0.55 [[ 7.16149391e-01 -6.97937617e-01 -3.62382680e-03 1.42184333e+02] [ 6.97929673e-01 7.16158546e-01 -3.33292009e-03 4.92411231e+01] [ 4.92140484e-03 -1.42307562e-04 9.99987880e-01 5.50143305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.300281693 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:142.21, Y:49.26, Z:0.55 [[ 7.14981332e-01 -6.99134156e-01 -3.62319538e-03 1.42206867e+02] [ 6.99126224e-01 7.14990496e-01 -3.33360636e-03 4.92586142e+01] [ 4.92118833e-03 -1.49604597e-04 9.99987880e-01 5.49819825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.330281693 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:142.23, Y:49.28, Z:0.55 [[ 7.13954852e-01 -7.00182366e-01 -3.62260345e-03 1.42228230e+02] [ 7.00174445e-01 7.13964026e-01 -3.33424948e-03 4.92762516e+01] [ 4.92099123e-03 -1.55950760e-04 9.99987880e-01 5.50487611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.360281693 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:142.25, Y:49.29, Z:0.55 [[ 7.13716322e-01 -7.00425508e-01 -3.62201521e-03 1.42248126e+02] [ 7.00417587e-01 7.13725495e-01 -3.33488837e-03 4.92938848e+01] [ 4.92096548e-03 -1.56758886e-04 9.99987880e-01 5.51015736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.390281693 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:142.27, Y:49.31, Z:0.55 [[ 7.14534587e-01 -6.99590743e-01 -3.62158311e-03 1.42269120e+02] [ 6.99582809e-01 7.14543749e-01 -3.33535755e-03 4.93123905e+01] [ 4.92116484e-03 -1.50368950e-04 9.99987880e-01 5.51379635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.420281693 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:142.29, Y:49.33, Z:0.55 [[ 7.15747295e-01 -6.98349983e-01 -3.62097827e-03 1.42289130e+02] [ 6.98342029e-01 7.15756440e-01 -3.33601406e-03 4.93299049e+01] [ 4.92144387e-03 -1.40938275e-04 9.99987880e-01 5.50035922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.450281693 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:142.31, Y:49.35, Z:0.55 [[ 7.19458936e-01 -6.94525545e-01 -3.62033660e-03 1.42309825e+02] [ 6.94517539e-01 7.19468036e-01 -3.33671027e-03 4.93487007e+01] [ 4.92214698e-03 -1.13761240e-04 9.99987880e-01 5.50642268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.480281693 meters Centerline goodness : 0.998520 Centerline is valid? [True, True] Translation: X:142.33, Y:49.37, Z:0.55 [[ 7.21745236e-01 -6.92149342e-01 -3.61979155e-03 1.42329676e+02] [ 6.92141303e-01 7.21754306e-01 -3.33730145e-03 4.93678017e+01] [ 4.92251115e-03 -9.67258169e-05 9.99987880e-01 5.51911224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.510281693 meters Centerline goodness : 0.998401 Centerline is valid? [True, True] Translation: X:142.35, Y:49.39, Z:0.55 [[ 7.23948143e-01 -6.89844901e-01 -3.61919296e-03 1.42349280e+02] [ 6.89836830e-01 7.23957185e-01 -3.33795048e-03 4.93866806e+01] [ 4.92280887e-03 -8.01495507e-05 9.99987880e-01 5.50771905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.540281693 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:142.37, Y:49.40, Z:0.55 [[ 7.26904184e-01 -6.86729359e-01 -3.61875437e-03 1.42370237e+02] [ 6.86721247e-01 7.26913189e-01 -3.33842590e-03 4.94038340e+01] [ 4.92311536e-03 -5.83597546e-05 9.99987880e-01 5.46254837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.570281693 meters Centerline goodness : 0.998244 Centerline is valid? [True, True] Translation: X:142.39, Y:49.42, Z:0.54 [[ 7.27090432e-01 -6.86532163e-01 -3.61831686e-03 1.42391563e+02] [ 6.86524046e-01 7.27099433e-01 -3.33890002e-03 4.94215278e+01] [ 4.92313839e-03 -5.63792655e-05 9.99987880e-01 5.44856239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.600281693 meters Centerline goodness : 0.998325 Centerline is valid? [True, True] Translation: X:142.41, Y:49.44, Z:0.54 [[ 7.26800571e-01 -6.86839022e-01 -3.61772362e-03 1.42413145e+02] [ 6.86830905e-01 7.26809573e-01 -3.33954268e-03 4.94393783e+01] [ 4.92312438e-03 -5.75828615e-05 9.99987880e-01 5.44972705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.630281693 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:142.44, Y:49.45, Z:0.55 [[ 7.25975976e-01 -6.87710549e-01 -3.61713104e-03 1.42435645e+02] [ 6.87702440e-01 7.25984984e-01 -3.34018439e-03 4.94546677e+01] [ 4.92306286e-03 -6.26162176e-05 9.99987880e-01 5.45986431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.660281693 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:142.46, Y:49.47, Z:0.55 [[ 7.25301608e-01 -6.88421744e-01 -3.61650458e-03 1.42457727e+02] [ 6.88413641e-01 7.25310622e-01 -3.34086254e-03 4.94721981e+01] [ 4.92301160e-03 -6.65181120e-05 9.99987880e-01 5.46393501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.690281693 meters Centerline goodness : 0.998450 Centerline is valid? [True, True] Translation: X:142.48, Y:49.49, Z:0.55 [[ 7.23387547e-01 -6.90432750e-01 -3.61592182e-03 1.42480051e+02] [ 6.90424669e-01 7.23396580e-01 -3.34149316e-03 4.94880467e+01] [ 4.92282179e-03 -7.93270880e-05 9.99987880e-01 5.47946572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.720281693 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:142.50, Y:49.51, Z:0.55 [[ 7.22187794e-01 -6.91687589e-01 -3.61530541e-03 1.42501556e+02] [ 6.91679520e-01 7.22196838e-01 -3.34215995e-03 4.95060390e+01] [ 4.92269269e-03 -8.69655882e-05 9.99987880e-01 5.48964917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.750281693 meters Centerline goodness : 0.998503 Centerline is valid? [True, True] Translation: X:142.52, Y:49.52, Z:0.55 [[ 7.21166154e-01 -6.92752707e-01 -3.61472331e-03 1.42522682e+02] [ 6.92744648e-01 7.21175207e-01 -3.34278940e-03 4.95231412e+01] [ 4.92257523e-03 -9.33736456e-05 9.99987880e-01 5.49448256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.780281693 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:142.55, Y:49.54, Z:0.55 [[ 7.19396953e-01 -6.94589780e-01 -3.61410646e-03 1.42545451e+02] [ 6.94581741e-01 7.19406024e-01 -3.34345619e-03 4.95383091e+01] [ 4.92234045e-03 -1.05020162e-04 9.99987880e-01 5.52469544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.810281693 meters Centerline goodness : 0.998504 Centerline is valid? [True, True] Translation: X:142.57, Y:49.55, Z:0.55 [[ 7.18327142e-01 -6.95696097e-01 -3.61346456e-03 1.42566901e+02] [ 6.95688069e-01 7.18336222e-01 -3.34414977e-03 4.95547234e+01] [ 4.92219443e-03 -1.11650634e-04 9.99987880e-01 5.54192610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.840281693 meters Centerline goodness : 0.998388 Centerline is valid? [True, True] Translation: X:142.59, Y:49.57, Z:0.55 [[ 7.16956692e-01 -6.97108349e-01 -3.61282316e-03 1.42587897e+02] [ 6.97100335e-01 7.16965784e-01 -3.34484256e-03 4.95711290e+01] [ 4.92198827e-03 -1.20392982e-04 9.99987880e-01 5.54945120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.870281693 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:142.61, Y:49.59, Z:0.55 [[ 7.14756704e-01 -6.99363859e-01 -3.61215349e-03 1.42611227e+02] [ 6.99355869e-01 7.14765818e-01 -3.34556559e-03 4.95865523e+01] [ 4.92161151e-03 -1.34915312e-04 9.99987880e-01 5.52403679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.900281693 meters Centerline goodness : 0.998589 Centerline is valid? [True, True] Translation: X:142.63, Y:49.60, Z:0.55 [[ 7.14099391e-01 -7.00035012e-01 -3.61151966e-03 1.42632849e+02] [ 7.00027027e-01 7.14108510e-01 -3.34624967e-03 4.96031096e+01] [ 4.92150885e-03 -1.38606527e-04 9.99987880e-01 5.50636817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.930281693 meters Centerline goodness : 0.998437 Centerline is valid? [True, True] Translation: X:142.66, Y:49.62, Z:0.55 [[ 7.13897556e-01 -7.00240845e-01 -3.61088478e-03 1.42655582e+02] [ 7.00232861e-01 7.13906674e-01 -3.34693462e-03 4.96197928e+01] [ 4.92149507e-03 -1.39091740e-04 9.99987880e-01 5.51794168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96028169299998 meters Centerline goodness : 0.998452 Centerline is valid? [True, True] Translation: X:142.68, Y:49.63, Z:0.55 [[ 7.13595533e-01 -7.00548628e-01 -3.61027094e-03 1.42679940e+02] [ 7.00540644e-01 7.13604652e-01 -3.34759663e-03 4.96349808e+01] [ 4.92146036e-03 -1.40311529e-04 9.99987880e-01 5.52729482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.990281693 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:142.70, Y:49.65, Z:0.55 [[ 7.13868471e-01 -7.00270503e-01 -3.60965609e-03 1.42701976e+02] [ 7.00262512e-01 7.13877583e-01 -3.34825947e-03 4.96526917e+01] [ 4.92153991e-03 -1.37489972e-04 9.99987880e-01 5.54265612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.020281693 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:142.72, Y:49.67, Z:0.55 [[ 7.14496170e-01 -6.99630044e-01 -3.60904254e-03 1.42723131e+02] [ 6.99622041e-01 7.14505272e-01 -3.34892068e-03 4.96696816e+01] [ 4.92168545e-03 -1.32174712e-04 9.99987880e-01 5.54511426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.050281693 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:142.75, Y:49.69, Z:0.56 [[ 7.16270132e-01 -6.97813784e-01 -3.60839525e-03 1.42746408e+02] [ 6.97805755e-01 7.16279211e-01 -3.34961799e-03 4.96858961e+01] [ 4.92202810e-03 -1.18727650e-04 9.99987880e-01 5.57660659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.080281693 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:142.77, Y:49.70, Z:0.55 [[ 7.17270971e-01 -6.96785001e-01 -3.60778864e-03 1.42767735e+02] [ 6.96776955e-01 7.17280036e-01 -3.35027122e-03 4.97039278e+01] [ 4.92221350e-03 -1.10771690e-04 9.99987880e-01 5.54873613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.110281693 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:142.79, Y:49.72, Z:0.55 [[ 7.18510654e-01 -6.95506598e-01 -3.60718382e-03 1.42788687e+02] [ 6.95498533e-01 7.18519701e-01 -3.35092229e-03 4.97219504e+01] [ 4.92242121e-03 -1.01117687e-04 9.99987880e-01 5.51618208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.140281693 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:142.81, Y:49.74, Z:0.55 [[ 7.18384891e-01 -6.95636500e-01 -3.60657888e-03 1.42809420e+02] [ 6.95628434e-01 7.18393937e-01 -3.35157326e-03 4.97414866e+01] [ 4.92242109e-03 -1.01119230e-04 9.99987880e-01 5.51758439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.170281693 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:142.83, Y:49.76, Z:0.55 [[ 7.21955584e-01 -6.91930005e-01 -3.60597278e-03 1.42831380e+02] [ 6.91921889e-01 7.21964585e-01 -3.35222524e-03 4.97586147e+01] [ 4.92288987e-03 -7.48937647e-05 9.99987880e-01 5.52669598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.200281693 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:142.85, Y:49.78, Z:0.55 [[ 7.23631219e-01 -6.90177412e-01 -3.60536958e-03 1.42851381e+02] [ 6.90169271e-01 7.23640198e-01 -3.35287386e-03 4.97762317e+01] [ 4.92306816e-03 -6.20710989e-05 9.99987880e-01 5.53383951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.230281693 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:142.87, Y:49.79, Z:0.56 [[ 7.26313488e-01 -6.87354145e-01 -3.60492638e-03 1.42871929e+02] [ 6.87345967e-01 7.26322433e-01 -3.35335031e-03 4.97944765e+01] [ 4.92327814e-03 -4.22480484e-05 9.99987880e-01 5.56608939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.260281693 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:142.89, Y:49.81, Z:0.56 [[ 7.27406919e-01 -6.86196898e-01 -3.60428612e-03 1.42892559e+02] [ 6.86188702e-01 7.27415848e-01 -3.35403834e-03 4.98124633e+01] [ 4.92334555e-03 -3.34697198e-05 9.99987880e-01 5.55524035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.290281693 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:142.91, Y:49.83, Z:0.55 [[ 7.28263514e-01 -6.85287726e-01 -3.60384282e-03 1.42913741e+02] [ 6.85279516e-01 7.28272430e-01 -3.35451459e-03 4.98310148e+01] [ 4.92338704e-03 -2.66690759e-05 9.99987880e-01 5.54731149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.320281693 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:142.93, Y:49.85, Z:0.56 [[ 7.30510824e-01 -6.82891612e-01 -3.60324076e-03 1.42934094e+02] [ 6.82883369e-01 7.30519710e-01 -3.35516116e-03 4.98484626e+01] [ 4.92344981e-03 -9.61164823e-06 9.99987880e-01 5.55102238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.350281693 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:142.95, Y:49.87, Z:0.56 [[ 7.31367366e-01 -6.81974191e-01 -3.60260269e-03 1.42953195e+02] [ 6.81965935e-01 7.31376238e-01 -3.35584616e-03 4.98672926e+01] [ 4.92345847e-03 -2.49594241e-06 9.99987880e-01 5.57147444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.380281693 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:142.97, Y:49.89, Z:0.56 [[ 7.32203409e-01 -6.81076493e-01 -3.60252166e-03 1.42972192e+02] [ 6.81068225e-01 7.32212272e-01 -3.35593311e-03 4.98859412e+01] [ 4.92345772e-03 3.66263138e-06 9.99987880e-01 5.55841131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.410281693 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:142.99, Y:49.90, Z:0.56 [[ 7.32304685e-01 -6.80967605e-01 -3.60133162e-03 1.42991976e+02] [ 6.80959329e-01 7.32313540e-01 -3.35720968e-03 4.99043081e+01] [ 4.92345495e-03 6.14001069e-06 9.99987880e-01 5.55062997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.440281693 meters Centerline goodness : 0.998450 Centerline is valid? [True, True] Translation: X:143.01, Y:49.92, Z:0.55 [[ 7.32276915e-01 -6.80997471e-01 -3.60066750e-03 1.43011381e+02] [ 6.80989192e-01 7.32285767e-01 -3.35792181e-03 4.99220079e+01] [ 4.92345382e-03 6.91297215e-06 9.99987880e-01 5.54027623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.470281693 meters Centerline goodness : 0.998365 Centerline is valid? [True, True] Translation: X:143.03, Y:49.94, Z:0.56 [[ 7.31997319e-01 -6.81298000e-01 -3.60015349e-03 1.43030944e+02] [ 6.81289722e-01 7.32006172e-01 -3.35847281e-03 4.99415336e+01] [ 4.92345538e-03 5.64552017e-06 9.99987880e-01 5.55102149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.500281693 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:143.05, Y:49.96, Z:0.56 [[ 7.31396087e-01 -6.81943405e-01 -3.59953754e-03 1.43050454e+02] [ 6.81935131e-01 7.31404944e-01 -3.35913284e-03 4.99615446e+01] [ 4.92345804e-03 2.20551295e-06 9.99987880e-01 5.56222579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.530281693 meters Centerline goodness : 0.998535 Centerline is valid? [True, True] Translation: X:143.07, Y:49.98, Z:0.56 [[ 7.30411321e-01 -6.82998060e-01 -3.59892414e-03 1.43069765e+02] [ 6.82989797e-01 7.30420187e-01 -3.35978990e-03 4.99813141e+01] [ 4.92345683e-03 -3.99989312e-06 9.99987880e-01 5.58321694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.560281693 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:143.09, Y:50.00, Z:0.56 [[ 7.28142974e-01 -6.85415831e-01 -3.59830499e-03 1.43089446e+02] [ 6.85407593e-01 7.28151865e-01 -3.36045288e-03 4.99991138e+01] [ 4.92342009e-03 -1.94154057e-05 9.99987880e-01 5.60954354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.590281693 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:143.11, Y:50.02, Z:0.56 [[ 7.26677269e-01 -6.86969580e-01 -3.59765138e-03 1.43110053e+02] [ 6.86961358e-01 7.26686174e-01 -3.36115248e-03 5.00181554e+01] [ 4.92337302e-03 -2.89743726e-05 9.99987880e-01 5.62728576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.620281693 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:143.13, Y:50.04, Z:0.56 [[ 7.24116919e-01 -6.89667854e-01 -3.59701793e-03 1.43130184e+02] [ 6.89659662e-01 7.24125852e-01 -3.36183024e-03 5.00370790e+01] [ 4.92323992e-03 -4.63600182e-05 9.99987880e-01 5.62596982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.650281693 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:143.15, Y:50.06, Z:0.56 [[ 7.23236023e-01 -6.90591574e-01 -3.59638071e-03 1.43150201e+02] [ 6.90583389e-01 7.23244963e-01 -3.36251178e-03 5.00555050e+01] [ 4.92318653e-03 -5.17111335e-05 9.99987880e-01 5.62342505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.680281693 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:143.17, Y:50.07, Z:0.56 [[ 7.22556701e-01 -6.91302311e-01 -3.59570679e-03 1.43171065e+02] [ 6.91294132e-01 7.22565646e-01 -3.36323229e-03 5.00741986e+01] [ 4.92314445e-03 -5.55649717e-05 9.99987880e-01 5.63656876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71028169299998 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:143.19, Y:50.09, Z:0.56 [[ 7.21778062e-01 -6.92115240e-01 -3.59506777e-03 1.43191322e+02] [ 6.92107067e-01 7.21787013e-01 -3.36391521e-03 5.00923609e+01] [ 4.92309021e-03 -6.01716118e-05 9.99987880e-01 5.62648879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.740281693 meters Centerline goodness : 0.998519 Centerline is valid? [True, True] Translation: X:143.21, Y:50.11, Z:0.56 [[ 7.20006591e-01 -6.93957916e-01 -3.59439174e-03 1.43211818e+02] [ 6.93949763e-01 7.20015560e-01 -3.36463741e-03 5.01110840e+01] [ 4.92293474e-03 -7.17661847e-05 9.99987880e-01 5.59916190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.770281693 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:143.23, Y:50.13, Z:0.56 [[ 7.19407555e-01 -6.94578904e-01 -3.59377010e-03 1.43232568e+02] [ 6.94570756e-01 7.19416527e-01 -3.36530125e-03 5.01298598e+01] [ 4.92288486e-03 -7.51044729e-05 9.99987880e-01 5.58725827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.800281693 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:143.25, Y:50.15, Z:0.56 [[ 7.19544757e-01 -6.94436773e-01 -3.59315216e-03 1.43253066e+02] [ 6.94428620e-01 7.19553725e-01 -3.36596090e-03 5.01476831e+01] [ 4.92291305e-03 -7.32281732e-05 9.99987880e-01 5.59028930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.830281693 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:143.27, Y:50.17, Z:0.56 [[ 7.19913631e-01 -6.94054361e-01 -3.59269928e-03 1.43273818e+02] [ 6.94046200e-01 7.19922593e-01 -3.36644422e-03 5.01664474e+01] [ 4.92296067e-03 -6.99501991e-05 9.99987880e-01 5.60734478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.860281693 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:143.29, Y:50.19, Z:0.56 [[ 7.20333449e-01 -6.93618641e-01 -3.59207060e-03 1.43294896e+02] [ 6.93610471e-01 7.20342402e-01 -3.36711490e-03 5.01853207e+01] [ 4.92301442e-03 -6.60522879e-05 9.99987880e-01 5.61922936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.890281693 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:143.32, Y:50.20, Z:0.56 [[ 7.22143818e-01 -6.91733625e-01 -3.59143887e-03 1.43315799e+02] [ 6.91725429e-01 7.22152746e-01 -3.36778858e-03 5.02024494e+01] [ 4.92318005e-03 -5.22618906e-05 9.99987880e-01 5.63010316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.920281693 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:143.34, Y:50.22, Z:0.56 [[ 7.23660591e-01 -6.90146691e-01 -3.59077062e-03 1.43335665e+02] [ 6.90138472e-01 7.23669499e-01 -3.36850092e-03 5.02216797e+01] [ 4.92329094e-03 -4.04775833e-05 9.99987880e-01 5.62969414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.950281693 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:143.36, Y:50.24, Z:0.56 [[ 7.25410348e-01 -6.88307299e-01 -3.59018124e-03 1.43355905e+02] [ 6.88299054e-01 7.25419232e-01 -3.36912897e-03 5.02415794e+01] [ 4.92338258e-03 -2.71173342e-05 9.99987880e-01 5.62349420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.980281693 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:143.38, Y:50.26, Z:0.56 [[ 7.29116431e-01 -6.84380263e-01 -3.58954837e-03 1.43376701e+02] [ 6.84371967e-01 7.29125267e-01 -3.36980312e-03 5.02593229e+01] [ 4.92345716e-03 3.92546956e-07 9.99987880e-01 5.60620554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.010281693 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:143.40, Y:50.28, Z:0.56 [[ 7.30245789e-01 -6.83175093e-01 -3.58888379e-03 1.43397886e+02] [ 6.83166779e-01 7.30254607e-01 -3.37051075e-03 5.02776051e+01] [ 4.92344792e-03 9.49509702e-06 9.99987880e-01 5.60276363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.040281693 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:143.42, Y:50.30, Z:0.56 [[ 7.31120572e-01 -6.82238839e-01 -3.58825750e-03 1.43419042e+02] [ 6.82230510e-01 7.31129377e-01 -3.37117737e-03 5.02961218e+01] [ 4.92342861e-03 1.67183838e-05 9.99987880e-01 5.59881993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.070281693 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:143.44, Y:50.31, Z:0.56 [[ 7.32843242e-01 -6.80388060e-01 -3.58763154e-03 1.43439385e+02] [ 6.80379705e-01 7.32852023e-01 -3.37184339e-03 5.03141122e+01] [ 4.92336501e-03 3.00809581e-05 9.99987880e-01 5.60742748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.100281693 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:143.46, Y:50.33, Z:0.56 [[ 7.34015446e-01 -6.79123301e-01 -3.58696957e-03 1.43459438e+02] [ 6.79114928e-01 7.34024209e-01 -3.37254745e-03 5.03325244e+01] [ 4.92329806e-03 3.95373382e-05 9.99987880e-01 5.60876990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.130281693 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:143.48, Y:50.35, Z:0.56 [[ 7.35415729e-01 -6.77606703e-01 -3.58631497e-03 1.43479979e+02] [ 6.77598308e-01 7.35424472e-01 -3.37324339e-03 5.03510752e+01] [ 4.92319613e-03 5.06552918e-05 9.99987880e-01 5.61476087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.160281693 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:143.50, Y:50.37, Z:0.56 [[ 7.38324283e-01 -6.74436354e-01 -3.58569443e-03 1.43499330e+02] [ 6.74427919e-01 7.38332987e-01 -3.37390289e-03 5.03696640e+01] [ 4.92291924e-03 7.27420026e-05 9.99987880e-01 5.60293498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.190281693 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:143.52, Y:50.39, Z:0.56 [[ 7.39825656e-01 -6.72789079e-01 -3.58504162e-03 1.43519637e+02] [ 6.72780622e-01 7.39834338e-01 -3.37459641e-03 5.03892395e+01] [ 4.92272850e-03 8.46664776e-05 9.99987880e-01 5.60909971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.220281693 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:143.54, Y:50.41, Z:0.56 [[ 7.42327133e-01 -6.70028044e-01 -3.58440182e-03 1.43538735e+02] [ 6.70019550e-01 7.42335780e-01 -3.37527585e-03 5.04078702e+01] [ 4.92235919e-03 1.03939549e-04 9.99987880e-01 5.60071616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.250281693 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:143.56, Y:50.43, Z:0.56 [[ 7.43623980e-01 -6.68588463e-01 -3.58373378e-03 1.43558285e+02] [ 6.68579950e-01 7.43632607e-01 -3.37598500e-03 5.04275415e+01] [ 4.92212591e-03 1.14450852e-04 9.99987880e-01 5.61488242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.280281693 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:143.58, Y:50.45, Z:0.56 [[ 7.45233358e-01 -6.66794123e-01 -3.58308922e-03 1.43576489e+02] [ 6.66785586e-01 7.45241961e-01 -3.37666897e-03 5.04477266e+01] [ 4.92181146e-03 1.27254113e-04 9.99987880e-01 5.61488947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.310281693 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:143.59, Y:50.47, Z:0.56 [[ 7.47091752e-01 -6.64711276e-01 -3.58251335e-03 1.43594367e+02] [ 6.64702711e-01 7.47100328e-01 -3.37727983e-03 5.04694568e+01] [ 4.92141288e-03 1.41831566e-04 9.99987880e-01 5.63917322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.340281693 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:143.61, Y:50.49, Z:0.57 [[ 7.50447040e-01 -6.60920880e-01 -3.58189424e-03 1.43608534e+02] [ 6.60912269e-01 7.50455570e-01 -3.37793632e-03 5.04935273e+01] [ 4.92060113e-03 1.67644463e-04 9.99987880e-01 5.65256091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.370281693 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:143.63, Y:50.51, Z:0.57 [[ 7.51365810e-01 -6.59876196e-01 -3.58124247e-03 1.43626711e+02] [ 6.59867570e-01 7.51374324e-01 -3.37862718e-03 5.05145437e+01] [ 4.92032929e-03 1.75439182e-04 9.99987880e-01 5.66659425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.400281693 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:143.64, Y:50.54, Z:0.57 [[ 7.52135894e-01 -6.58998312e-01 -3.58061492e-03 1.43642628e+02] [ 6.58989673e-01 7.52144395e-01 -3.37929211e-03 5.05376374e+01] [ 4.92008724e-03 1.82098635e-04 9.99987880e-01 5.68135195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.430281693 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:143.66, Y:50.56, Z:0.57 [[ 7.51398518e-01 -6.59838958e-01 -3.58004777e-03 1.43660224e+02] [ 6.59830326e-01 7.51407025e-01 -3.37989285e-03 5.05603037e+01] [ 4.92025802e-03 1.77422388e-04 9.99987880e-01 5.70434501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46028169299998 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:143.68, Y:50.58, Z:0.57 [[ 7.48527494e-01 -6.63094094e-01 -3.57943049e-03 1.43676312e+02] [ 6.63085495e-01 7.48536036e-01 -3.38054644e-03 5.05840467e+01] [ 4.92095309e-03 1.56963517e-04 9.99987880e-01 5.73594381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.490281693 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:143.69, Y:50.60, Z:0.57 [[ 7.46653727e-01 -6.65203280e-01 -3.57882989e-03 1.43694768e+02] [ 6.65194703e-01 7.46662290e-01 -3.38118215e-03 5.06032806e+01] [ 4.92135078e-03 1.43953568e-04 9.99987880e-01 5.72613581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.520281693 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:143.71, Y:50.62, Z:0.57 [[ 7.44642597e-01 -6.67453817e-01 -3.57840285e-03 1.43714140e+02] [ 6.67445263e-01 7.44651184e-01 -3.38163404e-03 5.06242633e+01] [ 4.92174647e-03 1.29720724e-04 9.99987880e-01 5.71560820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.550281693 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:143.73, Y:50.65, Z:0.57 [[ 7.42849141e-01 -6.69449291e-01 -3.57783350e-03 1.43732805e+02] [ 6.69440757e-01 7.42857747e-01 -3.38223632e-03 5.06459655e+01] [ 4.92205704e-03 1.17343776e-04 9.99987880e-01 5.69030111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.580281693 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:143.75, Y:50.67, Z:0.56 [[ 7.40186495e-01 -6.72392115e-01 -3.57721768e-03 1.43749582e+02] [ 6.72383613e-01 7.40195132e-01 -3.38288751e-03 5.06672219e+01] [ 4.92246600e-03 9.87050989e-05 9.99987880e-01 5.64371760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.610281693 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:143.77, Y:50.69, Z:0.56 [[ 7.38753150e-01 -6.73966610e-01 -3.57657947e-03 1.43770180e+02] [ 6.73958123e-01 7.38761802e-01 -3.38356213e-03 5.06865202e+01] [ 4.92264819e-03 8.91523937e-05 9.99987880e-01 5.64899530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.640281693 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:143.79, Y:50.71, Z:0.57 [[ 7.37050640e-01 -6.75828059e-01 -3.57596758e-03 1.43790845e+02] [ 6.75819591e-01 7.37059311e-01 -3.38420869e-03 5.07054701e+01] [ 4.92284339e-03 7.76242327e-05 9.99987880e-01 5.65749715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.670281693 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:143.81, Y:50.72, Z:0.57 [[ 7.33236304e-01 -6.79964513e-01 -3.57535587e-03 1.43811268e+02] [ 6.79956090e-01 7.33245019e-01 -3.38485483e-03 5.07241657e+01] [ 4.92319305e-03 5.08134494e-05 9.99987880e-01 5.66377664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.700281693 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:143.83, Y:50.74, Z:0.57 [[ 7.31689911e-01 -6.81628268e-01 -3.57473493e-03 1.43831506e+02] [ 6.81619861e-01 7.31698642e-01 -3.38551048e-03 5.07416322e+01] [ 4.92328833e-03 4.05335367e-05 9.99987880e-01 5.66946766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.730281693 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:143.85, Y:50.76, Z:0.57 [[ 7.30605638e-01 -6.82790325e-01 -3.57407666e-03 1.43853210e+02] [ 6.82781929e-01 7.30614379e-01 -3.38620526e-03 5.07581556e+01] [ 4.92333999e-03 3.36656933e-05 9.99987880e-01 5.69781734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.760281693 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:143.87, Y:50.78, Z:0.57 [[ 7.30942858e-01 -6.82429314e-01 -3.57342273e-03 1.43872345e+02] [ 6.82420910e-01 7.30951592e-01 -3.38689521e-03 5.07770814e+01] [ 4.92331561e-03 3.70484717e-05 9.99987880e-01 5.69181911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.790281693 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:143.89, Y:50.80, Z:0.57 [[ 7.31685004e-01 -6.81633545e-01 -3.57277530e-03 1.43891774e+02] [ 6.81625129e-01 7.31693726e-01 -3.38757803e-03 5.07974024e+01] [ 4.92326410e-03 4.33466230e-05 9.99987880e-01 5.68686018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.820281693 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:143.91, Y:50.82, Z:0.57 [[ 7.33436104e-01 -6.79749013e-01 -3.57216584e-03 1.43912619e+02] [ 6.79740571e-01 7.33444801e-01 -3.38822058e-03 5.08165617e+01] [ 4.92312606e-03 5.68972476e-05 9.99987880e-01 5.69385540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.850281693 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:143.93, Y:50.83, Z:0.57 [[ 7.33812584e-01 -6.79342577e-01 -3.57155708e-03 1.43933604e+02] [ 6.79334127e-01 7.33821273e-01 -3.38886216e-03 5.08348284e+01] [ 4.92308291e-03 6.05090846e-05 9.99987880e-01 5.72081205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.880281693 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:143.95, Y:50.85, Z:0.58 [[ 7.34286609e-01 -6.78830188e-01 -3.57094677e-03 1.43953906e+02] [ 6.78821729e-01 7.34295289e-01 -3.38950514e-03 5.08539586e+01] [ 4.92302780e-03 6.48319706e-05 9.99987880e-01 5.75918284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.910281693 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:143.97, Y:50.87, Z:0.58 [[ 7.35163485e-01 -6.77880449e-01 -3.57030846e-03 1.43973203e+02] [ 6.77871976e-01 7.35172151e-01 -3.39017737e-03 5.08733906e+01] [ 4.92292631e-03 7.21225607e-05 9.99987880e-01 5.77571419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.940281693 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:143.99, Y:50.89, Z:0.58 [[ 7.37864148e-01 -6.74939817e-01 -3.56963325e-03 1.43992375e+02] [ 6.74931305e-01 7.37872777e-01 -3.39088817e-03 5.08921531e+01] [ 4.92258064e-03 9.27575877e-05 9.99987880e-01 5.75926304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.970281693 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:144.01, Y:50.91, Z:0.57 [[ 7.39076523e-01 -6.73612022e-01 -3.56897648e-03 1.44011600e+02] [ 6.73603492e-01 7.39085133e-01 -3.39157929e-03 5.09109026e+01] [ 4.92238604e-03 1.02561608e-04 9.99987880e-01 5.73556993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.000281693 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:144.03, Y:50.93, Z:0.57 [[ 7.40265404e-01 -6.72305287e-01 -3.56833242e-03 1.44030430e+02] [ 6.72296738e-01 7.40273996e-01 -3.39225678e-03 5.09312482e+01] [ 4.92217587e-03 1.12192096e-04 9.99987880e-01 5.72842429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.030281693 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:144.05, Y:50.95, Z:0.57 [[ 7.42253121e-01 -6.70110122e-01 -3.56774822e-03 1.44046699e+02] [ 6.70101545e-01 7.42261684e-01 -3.39287110e-03 5.09549161e+01] [ 4.92180006e-03 1.27615568e-04 9.99987880e-01 5.74275800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.060281693 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:144.06, Y:50.97, Z:0.57 [[ 7.42747863e-01 -6.69561713e-01 -3.56714483e-03 1.44064583e+02] [ 6.69553126e-01 7.42756417e-01 -3.39350536e-03 5.09749158e+01] [ 4.92168097e-03 1.32125878e-04 9.99987880e-01 5.73788704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.090281693 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:144.09, Y:50.99, Z:0.57 [[ 7.42631880e-01 -6.69690354e-01 -3.56650753e-03 1.44085068e+02] [ 6.69681766e-01 7.42640432e-01 -3.39417501e-03 5.09947057e+01] [ 4.92167896e-03 1.32197512e-04 9.99987880e-01 5.73928938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.120281693 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:144.10, Y:51.02, Z:0.57 [[ 7.41526587e-01 -6.70914007e-01 -3.56591952e-03 1.44102365e+02] [ 6.70905430e-01 7.41535150e-01 -3.39479266e-03 5.10151316e+01] [ 4.92186862e-03 1.24934242e-04 9.99987880e-01 5.73892646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.150281693 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:144.12, Y:51.04, Z:0.57 [[ 7.39850842e-01 -6.72761489e-01 -3.56529772e-03 1.44119773e+02] [ 6.72752930e-01 7.39859423e-01 -3.39544556e-03 5.10352775e+01] [ 4.92214413e-03 1.13558769e-04 9.99987880e-01 5.74480932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.180281693 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:144.14, Y:51.06, Z:0.58 [[ 7.37705709e-01 -6.75113012e-01 -3.56487042e-03 1.44137316e+02] [ 6.75104478e-01 7.37714316e-01 -3.39589413e-03 5.10557203e+01] [ 4.92246826e-03 9.85105053e-05 9.99987880e-01 5.75087604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21028169299998 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:144.16, Y:51.08, Z:0.58 [[ 7.33902044e-01 -6.79245968e-01 -3.56425750e-03 1.44156477e+02] [ 6.79237480e-01 7.33910696e-01 -3.39653732e-03 5.10761450e+01] [ 4.92293098e-03 7.17484028e-05 9.99987880e-01 5.75243496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.240281693 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:144.18, Y:51.09, Z:0.57 [[ 7.32331327e-01 -6.80939152e-01 -3.56363953e-03 1.44176444e+02] [ 6.80930680e-01 7.32339995e-01 -3.39718557e-03 5.10948227e+01] [ 4.92307241e-03 6.12739252e-05 9.99987880e-01 5.74902871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.270281693 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:144.20, Y:51.12, Z:0.57 [[ 7.31188261e-01 -6.82166425e-01 -3.56318556e-03 1.44196046e+02] [ 6.82157966e-01 7.31196941e-01 -3.39766165e-03 5.11151292e+01] [ 4.92316108e-03 5.36749020e-05 9.99987880e-01 5.74923629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.300281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:144.21, Y:51.14, Z:0.57 [[ 7.30267140e-01 -6.83152408e-01 -3.56257218e-03 1.44214238e+02] [ 6.83143957e-01 7.30275828e-01 -3.39830468e-03 5.11357715e+01] [ 4.92322038e-03 4.79205814e-05 9.99987880e-01 5.73012753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.330281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:144.23, Y:51.16, Z:0.57 [[ 7.29738438e-01 -6.83717137e-01 -3.56212303e-03 1.44231312e+02] [ 6.83708690e-01 7.29747131e-01 -3.39877542e-03 5.11577600e+01] [ 4.92325006e-03 4.47625953e-05 9.99987880e-01 5.66452250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.360281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:144.25, Y:51.18, Z:0.56 [[ 7.29575300e-01 -6.83891217e-01 -3.56148385e-03 1.44250616e+02] [ 6.83882770e-01 7.29583992e-01 -3.39944507e-03 5.11767588e+01] [ 4.92325223e-03 4.45137166e-05 9.99987880e-01 5.64821052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.390281693 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:144.27, Y:51.20, Z:0.57 [[ 7.29233328e-01 -6.84255854e-01 -3.56084250e-03 1.44271203e+02] [ 6.84247408e-01 7.29242020e-01 -3.40011674e-03 5.11957926e+01] [ 4.92326576e-03 4.29811959e-05 9.99987880e-01 5.71133555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.420281693 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:144.29, Y:51.22, Z:0.57 [[ 7.28669998e-01 -6.84855721e-01 -3.56024222e-03 1.44290562e+02] [ 6.84847279e-01 7.28678695e-01 -3.40074516e-03 5.12154314e+01] [ 4.92329244e-03 3.97987730e-05 9.99987880e-01 5.74245367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.450281693 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:144.31, Y:51.23, Z:0.58 [[ 7.28063995e-01 -6.85499926e-01 -3.55962848e-03 1.44309644e+02] [ 6.85491488e-01 7.28072696e-01 -3.40138746e-03 5.12344863e+01] [ 4.92331915e-03 3.63327129e-05 9.99987880e-01 5.75133033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.480281693 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:144.33, Y:51.25, Z:0.58 [[ 7.27366533e-01 -6.86239943e-01 -3.55917925e-03 1.44330158e+02] [ 6.86231512e-01 7.27375240e-01 -3.40185746e-03 5.12517405e+01] [ 4.92334933e-03 3.19763113e-05 9.99987880e-01 5.78176590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.510281693 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:144.35, Y:51.27, Z:0.58 [[ 7.26522355e-01 -6.87133615e-01 -3.55853980e-03 1.44351526e+02] [ 6.87125191e-01 7.26531069e-01 -3.40252623e-03 5.12698723e+01] [ 4.92337988e-03 2.68490315e-05 9.99987880e-01 5.78357626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.540281693 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:144.37, Y:51.29, Z:0.58 [[ 7.25410956e-01 -6.88306825e-01 -3.55793777e-03 1.44371896e+02] [ 6.88298412e-01 7.25419681e-01 -3.40315565e-03 5.12876413e+01] [ 4.92341334e-03 1.97634802e-05 9.99987880e-01 5.76750835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.570281693 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:144.39, Y:51.31, Z:0.58 [[ 7.23530546e-01 -6.90283199e-01 -3.55730271e-03 1.44394276e+02] [ 6.90274807e-01 7.23539291e-01 -3.40381934e-03 5.13053058e+01] [ 4.92344758e-03 7.25082549e-06 9.99987880e-01 5.75605437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.600281693 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:144.42, Y:51.32, Z:0.58 [[ 7.22900244e-01 -6.90943259e-01 -3.55669668e-03 1.44415650e+02] [ 6.90934872e-01 7.22908993e-01 -3.40445248e-03 5.13227867e+01] [ 4.92345150e-03 3.63376315e-06 9.99987880e-01 5.77014448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.630281693 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:144.44, Y:51.34, Z:0.58 [[ 7.22684111e-01 -6.91169321e-01 -3.55607854e-03 1.44436639e+02] [ 6.91160933e-01 7.22692860e-01 -3.40509802e-03 5.13399026e+01] [ 4.92345186e-03 2.98767491e-06 9.99987880e-01 5.78184471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.660281693 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:144.46, Y:51.36, Z:0.58 [[ 7.23678281e-01 -6.90128324e-01 -3.55542220e-03 1.44459353e+02] [ 6.90119921e-01 7.23687015e-01 -3.40578319e-03 5.13572927e+01] [ 4.92344033e-03 1.10236370e-05 9.99987880e-01 5.79234750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.690281693 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:144.48, Y:51.38, Z:0.58 [[ 7.24166288e-01 -6.89616234e-01 -3.55479180e-03 1.44480066e+02] [ 6.89607821e-01 7.24175013e-01 -3.40644105e-03 5.13757549e+01] [ 4.92342845e-03 1.54175430e-05 9.99987880e-01 5.79843472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.720281693 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:144.50, Y:51.39, Z:0.58 [[ 7.24843862e-01 -6.88904017e-01 -3.55414153e-03 1.44501784e+02] [ 6.88895592e-01 7.24852575e-01 -3.40711939e-03 5.13917667e+01] [ 4.92340687e-03 2.11971435e-05 9.99987880e-01 5.80455016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.750281693 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:144.52, Y:51.41, Z:0.58 [[ 7.24978819e-01 -6.88761994e-01 -3.55345569e-03 1.44523538e+02] [ 6.88753564e-01 7.24987528e-01 -3.40783453e-03 5.14097722e+01] [ 4.92339796e-03 2.31525801e-05 9.99987880e-01 5.82223351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.780281693 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:144.54, Y:51.43, Z:0.58 [[ 7.24863116e-01 -6.88883764e-01 -3.55279889e-03 1.44544923e+02] [ 6.88875332e-01 7.24871822e-01 -3.40851913e-03 5.14270262e+01] [ 4.92339730e-03 2.32742780e-05 9.99987880e-01 5.82167200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.810281693 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:144.57, Y:51.44, Z:0.58 [[ 7.24404728e-01 -6.89365775e-01 -3.55210258e-03 1.44567292e+02] [ 6.89357345e-01 7.24413437e-01 -3.40924462e-03 5.14447409e+01] [ 4.92340740e-03 2.10049149e-05 9.99987880e-01 5.81995419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.840281693 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:144.59, Y:51.46, Z:0.58 [[ 7.23174962e-01 -6.90655748e-01 -3.55144008e-03 1.44590829e+02] [ 6.90647330e-01 7.23183682e-01 -3.40993461e-03 5.14588609e+01] [ 4.92343445e-03 1.31867194e-05 9.99987880e-01 5.79661602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.870281693 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:144.61, Y:51.48, Z:0.58 [[ 7.22897092e-01 -6.90946588e-01 -3.55074079e-03 1.44613167e+02] [ 6.90938170e-01 7.22905812e-01 -3.41066262e-03 5.14764297e+01] [ 4.92343685e-03 1.22157452e-05 9.99987880e-01 5.81050997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.900281693 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:144.64, Y:51.49, Z:0.58 [[ 7.23364182e-01 -6.90457571e-01 -3.55012747e-03 1.44635166e+02] [ 6.90449144e-01 7.23372893e-01 -3.41130090e-03 5.14944630e+01] [ 4.92342451e-03 1.64304083e-05 9.99987880e-01 5.81492212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.930281693 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:144.66, Y:51.51, Z:0.58 [[ 7.25919471e-01 -6.87770545e-01 -3.54948098e-03 1.44657354e+02] [ 6.87762083e-01 7.25928148e-01 -3.41197344e-03 5.15099968e+01] [ 4.92332299e-03 3.56195222e-05 9.99987880e-01 5.81682448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96028169299998 meters Centerline goodness : 0.998539 Centerline is valid? [True, True] Translation: X:144.68, Y:51.53, Z:0.58 [[ 7.26872147e-01 -6.86763633e-01 -3.54879518e-03 1.44678671e+02] [ 6.86755155e-01 7.26880809e-01 -3.41268660e-03 5.15277145e+01] [ 4.92326016e-03 4.34334538e-05 9.99987880e-01 5.81920156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.990281693 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:144.70, Y:51.54, Z:0.58 [[ 7.27216257e-01 -6.86399247e-01 -3.54812716e-03 1.44701811e+02] [ 6.86390761e-01 7.27224911e-01 -3.41338098e-03 5.15420389e+01] [ 4.92322860e-03 4.68644365e-05 9.99987880e-01 5.81331241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.020281693 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:144.72, Y:51.56, Z:0.58 [[ 7.26574341e-01 -6.87078701e-01 -3.54752841e-03 1.44723893e+02] [ 6.87070221e-01 7.26583000e-01 -3.41400316e-03 5.15597121e+01] [ 4.92326269e-03 4.31259720e-05 9.99987880e-01 5.80148568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.050281693 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:144.75, Y:51.58, Z:0.58 [[ 7.25852171e-01 -6.87841584e-01 -3.54688384e-03 1.44745057e+02] [ 6.87833110e-01 7.25860836e-01 -3.41467268e-03 5.15772028e+01] [ 4.92329794e-03 3.88834331e-05 9.99987880e-01 5.78284088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.080281693 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:144.77, Y:51.59, Z:0.58 [[ 7.25793000e-01 -6.87904024e-01 -3.54620344e-03 1.44767719e+02] [ 6.87895546e-01 7.25801662e-01 -3.41537914e-03 5.15943797e+01] [ 4.92329341e-03 3.94407164e-05 9.99987880e-01 5.75729469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.110281693 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:144.79, Y:51.61, Z:0.57 [[ 7.26203535e-01 -6.87470621e-01 -3.54556568e-03 1.44789262e+02] [ 6.87462135e-01 7.26212189e-01 -3.41604108e-03 5.16127217e+01] [ 4.92326090e-03 4.32989556e-05 9.99987880e-01 5.74571557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.140281693 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:144.81, Y:51.63, Z:0.57 [[ 7.26947602e-01 -6.86683783e-01 -3.54490598e-03 1.44810014e+02] [ 6.86675284e-01 7.26956244e-01 -3.41672554e-03 5.16299396e+01] [ 4.92320155e-03 4.95811164e-05 9.99987880e-01 5.73234748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.170281693 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:144.83, Y:51.65, Z:0.57 [[ 7.27857110e-01 -6.85719670e-01 -3.54421026e-03 1.44831115e+02] [ 6.85711157e-01 7.27865737e-01 -3.41744706e-03 5.16477921e+01] [ 4.92311988e-03 5.71086271e-05 9.99987880e-01 5.74393533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.200281693 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:144.85, Y:51.67, Z:0.58 [[ 7.31541324e-01 -6.81787895e-01 -3.54357102e-03 1.44851624e+02] [ 6.81779332e-01 7.31549902e-01 -3.41810976e-03 5.16653230e+01] [ 4.92272489e-03 8.45550608e-05 9.99987880e-01 5.79476040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.230281693 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:144.87, Y:51.68, Z:0.58 [[ 7.34349860e-01 -6.78761910e-01 -3.54300229e-03 1.44871834e+02] [ 6.78753309e-01 7.34358399e-01 -3.41869918e-03 5.16847795e+01] [ 4.92231627e-03 1.05696734e-04 9.99987880e-01 5.82949252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.260281693 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:144.89, Y:51.70, Z:0.59 [[ 7.37518335e-01 -6.75317820e-01 -3.54238405e-03 1.44891571e+02] [ 6.75309176e-01 7.37526830e-01 -3.41933966e-03 5.17043118e+01] [ 4.92174429e-03 1.29621242e-04 9.99987880e-01 5.85055145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.290281693 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:144.91, Y:51.73, Z:0.59 [[ 7.43666439e-01 -6.68541460e-01 -3.54176835e-03 1.44909622e+02] [ 6.68532735e-01 7.43674852e-01 -3.41997729e-03 5.17265413e+01] [ 4.92032066e-03 1.75534249e-04 9.99987880e-01 5.85858460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.320281693 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:144.93, Y:51.75, Z:0.58 [[ 7.45828519e-01 -6.66128577e-01 -3.54113220e-03 1.44927237e+02] [ 6.66119822e-01 7.45836901e-01 -3.42063585e-03 5.17475846e+01] [ 4.91969035e-03 1.92389417e-04 9.99987880e-01 5.82929174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.350281693 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:144.94, Y:51.77, Z:0.58 [[ 7.48531607e-01 -6.63089661e-01 -3.54046268e-03 1.44943307e+02] [ 6.63080869e-01 7.48539949e-01 -3.42132868e-03 5.17720409e+01] [ 4.91882543e-03 2.13359579e-04 9.99987880e-01 5.78413485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.380281693 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:144.96, Y:51.79, Z:0.58 [[ 7.49208233e-01 -6.62325066e-01 -3.53984723e-03 1.44960305e+02] [ 6.62316262e-01 7.49216564e-01 -3.42196533e-03 5.17939065e+01] [ 4.91856559e-03 2.19266218e-04 9.99987880e-01 5.79115718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.410281693 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:144.98, Y:51.82, Z:0.58 [[ 7.49675157e-01 -6.61796519e-01 -3.53928579e-03 1.44977547e+02] [ 6.61787706e-01 7.49683478e-01 -3.42254592e-03 5.18158366e+01] [ 4.91837306e-03 2.23541822e-04 9.99987880e-01 5.81410943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.440281693 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:144.99, Y:51.84, Z:0.59 [[ 7.49434820e-01 -6.62068673e-01 -3.53865734e-03 1.44992710e+02] [ 6.62059861e-01 7.49443142e-01 -3.42319557e-03 5.18408773e+01] [ 4.91841302e-03 2.22658970e-04 9.99987880e-01 5.85800988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.470281693 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:145.01, Y:51.86, Z:0.59 [[ 7.48646782e-01 -6.62959635e-01 -3.53804763e-03 1.45009608e+02] [ 6.62950830e-01 7.48655111e-01 -3.42382562e-03 5.18621791e+01] [ 4.91863562e-03 2.17684424e-04 9.99987880e-01 5.88760122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.500281693 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:145.03, Y:51.88, Z:0.59 [[ 7.47696772e-01 -6.64030891e-01 -3.53748017e-03 1.45026280e+02] [ 6.64022094e-01 7.47705110e-01 -3.42441182e-03 5.18845115e+01] [ 4.91890723e-03 2.11456675e-04 9.99987880e-01 5.90796000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.530281693 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:145.04, Y:51.91, Z:0.59 [[ 7.45532220e-01 -6.66460201e-01 -3.53684956e-03 1.45038216e+02] [ 6.66451429e-01 7.45540583e-01 -3.42506300e-03 5.19124274e+01] [ 4.91953307e-03 1.96356375e-04 9.99987880e-01 5.89217398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.560281693 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:145.05, Y:51.94, Z:0.59 [[ 7.44361959e-01 -6.67767003e-01 -3.53621829e-03 1.45054942e+02] [ 6.67758242e-01 7.44370334e-01 -3.42571464e-03 5.19355819e+01] [ 4.91983519e-03 1.88632751e-04 9.99987880e-01 5.85401476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.590281693 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:145.07, Y:51.96, Z:0.58 [[ 7.41332374e-01 -6.71128758e-01 -3.53558856e-03 1.45070274e+02] [ 6.71120033e-01 7.41340786e-01 -3.42636445e-03 5.19580985e+01] [ 4.92060772e-03 1.67270584e-04 9.99987880e-01 5.80329855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.620281693 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:145.09, Y:51.98, Z:0.58 [[ 7.39733596e-01 -6.72890564e-01 -3.53506644e-03 1.45088173e+02] [ 6.72881855e-01 7.39742026e-01 -3.42690304e-03 5.19795555e+01] [ 4.92096793e-03 1.56313246e-04 9.99987880e-01 5.82936131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.650281693 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:145.10, Y:52.00, Z:0.59 [[ 7.38381087e-01 -6.74374434e-01 -3.53442387e-03 1.45104632e+02] [ 6.74365740e-01 7.38389532e-01 -3.42756564e-03 5.20013787e+01] [ 4.92124423e-03 1.47355278e-04 9.99987880e-01 5.86197507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.680281693 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:145.12, Y:52.03, Z:0.59 [[ 7.37424279e-01 -6.75420569e-01 -3.53383843e-03 1.45116507e+02] [ 6.75411883e-01 7.37432733e-01 -3.42816913e-03 5.20272085e+01] [ 4.92142408e-03 1.41218675e-04 9.99987880e-01 5.90423201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71028169299998 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:145.13, Y:52.05, Z:0.59 [[ 7.37552495e-01 -6.75280559e-01 -3.53340338e-03 1.45133203e+02] [ 6.75271870e-01 7.37560944e-01 -3.42861748e-03 5.20490737e+01] [ 4.92137906e-03 1.42777470e-04 9.99987880e-01 5.89630781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.740281693 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:145.15, Y:52.07, Z:0.59 [[ 7.37248614e-01 -6.75612315e-01 -3.53283196e-03 1.45150028e+02] [ 6.75603627e-01 7.37257065e-01 -3.42920617e-03 5.20702471e+01] [ 4.92141924e-03 1.41383407e-04 9.99987880e-01 5.88356540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.770281693 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:145.17, Y:52.09, Z:0.59 [[ 7.36292351e-01 -6.76654340e-01 -3.53237905e-03 1.45168063e+02] [ 6.76645661e-01 7.36300812e-01 -3.42967264e-03 5.20915855e+01] [ 4.92159644e-03 1.35072770e-04 9.99987880e-01 5.88205484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.800281693 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:145.18, Y:52.11, Z:0.59 [[ 7.32892907e-01 -6.80334854e-01 -3.53173460e-03 1.45184306e+02] [ 6.80326215e-01 7.32901408e-01 -3.43033614e-03 5.21131803e+01] [ 4.92219050e-03 1.11337389e-04 9.99987880e-01 5.87320570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.830281693 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:145.20, Y:52.13, Z:0.59 [[ 7.30920448e-01 -6.82453536e-01 -3.53115646e-03 1.45203557e+02] [ 6.82444919e-01 7.30928971e-01 -3.43093117e-03 5.21333847e+01] [ 4.92247567e-03 9.79179653e-05 9.99987880e-01 5.86204353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.860281693 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:145.22, Y:52.15, Z:0.59 [[ 7.29055150e-01 -6.84445851e-01 -3.53050791e-03 1.45222743e+02] [ 6.84437254e-01 7.29063694e-01 -3.43159841e-03 5.21535130e+01] [ 4.92270843e-03 8.54133564e-05 9.99987880e-01 5.85199508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.890281693 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:145.24, Y:52.17, Z:0.59 [[ 7.26572511e-01 -6.87080728e-01 -3.52986051e-03 1.45241753e+02] [ 6.87072159e-01 7.26581082e-01 -3.43226422e-03 5.21743043e+01] [ 4.92297247e-03 6.85199483e-05 9.99987880e-01 5.86047860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.920281693 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:145.26, Y:52.19, Z:0.59 [[ 7.25455482e-01 -6.88260044e-01 -3.52919918e-03 1.45260174e+02] [ 6.88251485e-01 7.25464064e-01 -3.43294410e-03 5.21945135e+01] [ 4.92306543e-03 6.14715389e-05 9.99987880e-01 5.88399600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.950281693 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:145.28, Y:52.21, Z:0.59 [[ 7.25327131e-01 -6.88395310e-01 -3.52860434e-03 1.45280440e+02] [ 6.88386750e-01 7.25335711e-01 -3.43355540e-03 5.22145178e+01] [ 4.92306617e-03 6.14064117e-05 9.99987880e-01 5.88539833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.980281693 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:145.30, Y:52.23, Z:0.59 [[ 7.23786300e-01 -6.90015178e-01 -3.52796396e-03 1.45299275e+02] [ 6.90006633e-01 7.23794896e-01 -3.43421326e-03 5.22338128e+01] [ 4.92318158e-03 5.13179760e-05 9.99987880e-01 5.91594219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.010281693 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:145.32, Y:52.25, Z:0.59 [[ 7.22654954e-01 -6.91199954e-01 -3.52728702e-03 1.45320370e+02] [ 6.91191420e-01 7.22663561e-01 -3.43490840e-03 5.22528978e+01] [ 4.92325033e-03 4.42230489e-05 9.99987880e-01 5.92236716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.040281693 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:145.34, Y:52.27, Z:0.59 [[ 7.21129059e-01 -6.92791775e-01 -3.52665835e-03 1.45342120e+02] [ 6.92783257e-01 7.21137681e-01 -3.43555375e-03 5.22712847e+01] [ 4.92332960e-03 3.42677807e-05 9.99987880e-01 5.91981471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.070281693 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:145.37, Y:52.29, Z:0.59 [[ 7.17057573e-01 -6.97005025e-01 -3.52603413e-03 1.45365642e+02] [ 6.96996554e-01 7.17066242e-01 -3.43619429e-03 5.22879224e+01] [ 4.92344473e-03 6.31550160e-06 9.99987880e-01 5.89186686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.100281693 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:145.39, Y:52.31, Z:0.59 [[ 7.14607309e-01 -6.99516951e-01 -3.52541272e-03 1.45387551e+02] [ 6.99508509e-01 7.14616005e-01 -3.43683171e-03 5.23055662e+01] [ 4.92343840e-03 -1.00711361e-05 9.99987880e-01 5.89496992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.130281693 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:145.41, Y:52.32, Z:0.59 [[ 7.12544065e-01 -7.01618509e-01 -3.52477795e-03 1.45408709e+02] [ 7.01610088e-01 7.12552783e-01 -3.43748260e-03 5.23221092e+01] [ 4.92339175e-03 -2.36619398e-05 9.99987880e-01 5.90077697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.160281693 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:145.43, Y:52.34, Z:0.59 [[ 7.09972185e-01 -7.04220901e-01 -3.52411053e-03 1.45433551e+02] [ 7.04212509e-01 7.09980930e-01 -3.43816671e-03 5.23368633e+01] [ 4.92328013e-03 -4.07199916e-05 9.99987880e-01 5.89025203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.190281693 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:145.46, Y:52.35, Z:0.59 [[ 7.09989093e-01 -7.04203857e-01 -3.52349848e-03 1.45455854e+02] [ 7.04195462e-01 7.09997835e-01 -3.43879383e-03 5.23541609e+01] [ 4.92328817e-03 -3.97255236e-05 9.99987880e-01 5.86626963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.220281693 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:145.48, Y:52.37, Z:0.58 [[ 7.10842890e-01 -7.03342005e-01 -3.52288674e-03 1.45478014e+02] [ 7.03333596e-01 7.10851618e-01 -3.43942042e-03 5.23720257e+01] [ 4.92333859e-03 -3.28770484e-05 9.99987880e-01 5.84699408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.250281693 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:145.50, Y:52.39, Z:0.58 [[ 7.14260801e-01 -6.99870775e-01 -3.52226250e-03 1.45500924e+02] [ 6.99862320e-01 7.14269486e-01 -3.44005958e-03 5.23866200e+01] [ 4.92344179e-03 -7.99909527e-06 9.99987880e-01 5.83993878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.280281693 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:145.52, Y:52.40, Z:0.59 [[ 7.16524553e-01 -6.97552982e-01 -3.52160115e-03 1.45522139e+02] [ 6.97544496e-01 7.16533207e-01 -3.44073647e-03 5.24026016e+01] [ 4.92344015e-03 8.89866529e-06 9.99987880e-01 5.86151255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.310281693 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:145.55, Y:52.42, Z:0.59 [[ 7.21014187e-01 -6.92911355e-01 -3.52088592e-03 1.45545215e+02] [ 6.92902810e-01 7.21022782e-01 -3.44146821e-03 5.24184498e+01] [ 4.92327136e-03 4.17156549e-05 9.99987880e-01 5.89774091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.340281693 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:145.57, Y:52.44, Z:0.59 [[ 7.23265982e-01 -6.90560589e-01 -3.52026730e-03 1.45566280e+02] [ 6.90552013e-01 7.23274546e-01 -3.44210087e-03 5.24368939e+01] [ 4.92309894e-03 5.86267942e-05 9.99987880e-01 5.90279801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.370281693 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:145.59, Y:52.46, Z:0.59 [[ 7.25423285e-01 -6.88294029e-01 -3.51964794e-03 1.45587270e+02] [ 6.88285423e-01 7.25431819e-01 -3.44273407e-03 5.24554799e+01] [ 4.92287791e-03 7.49170861e-05 9.99987880e-01 5.90281787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.400281693 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:145.61, Y:52.47, Z:0.59 [[ 7.27302136e-01 -6.86308400e-01 -3.51902619e-03 1.45608410e+02] [ 6.86299767e-01 7.27310644e-01 -3.44336948e-03 5.24741867e+01] [ 4.92263860e-03 8.92631255e-05 9.99987880e-01 5.91840998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.430281693 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:145.63, Y:52.49, Z:0.59 [[ 7.30721699e-01 -6.82666404e-01 -3.51838053e-03 1.45628672e+02] [ 6.82657727e-01 7.30730160e-01 -3.44402908e-03 5.24914385e+01] [ 4.92210972e-03 1.14777131e-04 9.99987880e-01 5.93376790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46028169299998 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:145.65, Y:52.51, Z:0.59 [[ 7.32313363e-01 -6.80958710e-01 -3.51769924e-03 1.45648821e+02] [ 6.80950009e-01 7.32321800e-01 -3.44472480e-03 5.25108648e+01] [ 4.92180320e-03 1.27240674e-04 9.99987880e-01 5.90872189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.490281693 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:145.67, Y:52.53, Z:0.59 [[ 7.33921457e-01 -6.79225238e-01 -3.51709769e-03 1.45667993e+02] [ 6.79216514e-01 7.33929871e-01 -3.44533888e-03 5.25299809e+01] [ 4.92146418e-03 1.39737301e-04 9.99987880e-01 5.88995183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.520281693 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:145.69, Y:52.55, Z:0.59 [[ 7.37111650e-01 -6.75761829e-01 -3.51646308e-03 1.45686724e+02] [ 6.75753063e-01 7.37120019e-01 -3.44598647e-03 5.25498837e+01] [ 4.92072145e-03 1.63816080e-04 9.99987880e-01 5.88775249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.550281693 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:145.71, Y:52.57, Z:0.59 [[ 7.38174247e-01 -6.74600934e-01 -3.51583449e-03 1.45705340e+02] [ 6.74592151e-01 7.38182600e-01 -3.44662768e-03 5.25707532e+01] [ 4.92042610e-03 1.72457442e-04 9.99987880e-01 5.89401185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.580281693 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:145.72, Y:52.59, Z:0.59 [[ 7.39484423e-01 -6.73164490e-01 -3.51524230e-03 1.45721335e+02] [ 6.73155689e-01 7.39492755e-01 -3.44723155e-03 5.25941365e+01] [ 4.92005009e-03 1.82868685e-04 9.99987880e-01 5.92521457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.610281693 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:145.74, Y:52.62, Z:0.59 [[ 7.39922644e-01 -6.72682784e-01 -3.51462008e-03 1.45737812e+02] [ 6.72673974e-01 7.39930968e-01 -3.44786583e-03 5.26154766e+01] [ 4.91989622e-03 1.86960548e-04 9.99987880e-01 5.93598392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.640281693 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:145.75, Y:52.64, Z:0.59 [[ 7.40374261e-01 -6.72185693e-01 -3.51396121e-03 1.45754033e+02] [ 6.72176874e-01 7.40382575e-01 -3.44853719e-03 5.26370184e+01] [ 4.91973301e-03 1.91204712e-04 9.99987880e-01 5.93456191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.670281693 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:145.77, Y:52.66, Z:0.59 [[ 7.41120043e-01 -6.71363343e-01 -3.51332591e-03 1.45771369e+02] [ 6.71354512e-01 7.41128344e-01 -3.44918431e-03 5.26596282e+01] [ 4.91948132e-03 1.97572423e-04 9.99987880e-01 5.93216614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.700281693 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:145.79, Y:52.68, Z:0.59 [[ 7.41023289e-01 -6.71470138e-01 -3.51270899e-03 1.45785354e+02] [ 6.71461305e-01 7.41031588e-01 -3.44981248e-03 5.26844193e+01] [ 4.91947438e-03 1.97743231e-04 9.99987880e-01 5.92495079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.730281693 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:145.80, Y:52.71, Z:0.59 [[ 7.40021439e-01 -6.72574112e-01 -3.51205637e-03 1.45801633e+02] [ 6.72565288e-01 7.40029748e-01 -3.45047674e-03 5.27074522e+01] [ 4.91972752e-03 1.91339563e-04 9.99987880e-01 5.94287278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.760281693 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:145.81, Y:52.73, Z:0.59 [[ 7.37364492e-01 -6.75485955e-01 -3.51144482e-03 1.45813995e+02] [ 6.75477162e-01 7.37372833e-01 -3.45109899e-03 5.27332731e+01] [ 4.92041291e-03 1.72817072e-04 9.99987880e-01 5.93143859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.790281693 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:145.83, Y:52.76, Z:0.59 [[ 7.35907447e-01 -6.77073042e-01 -3.51083484e-03 1.45831596e+02] [ 6.77064263e-01 7.35915803e-01 -3.45171941e-03 5.27552837e+01] [ 4.92074500e-03 1.63085210e-04 9.99987880e-01 5.91833988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.820281693 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:145.85, Y:52.78, Z:0.59 [[ 7.34533400e-01 -6.78563455e-01 -3.51022668e-03 1.45850086e+02] [ 6.78554690e-01 7.34541771e-01 -3.45233777e-03 5.27767584e+01] [ 4.92103837e-03 1.53976625e-04 9.99987880e-01 5.90599540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.850281693 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:145.87, Y:52.80, Z:0.59 [[ 7.31959350e-01 -6.81339263e-01 -3.50961686e-03 1.45867152e+02] [ 6.81330527e-01 7.31967752e-01 -3.45295759e-03 5.27990951e+01] [ 4.92156195e-03 1.36215486e-04 9.99987880e-01 5.90826614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.880281693 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:145.88, Y:52.82, Z:0.59 [[ 7.30681834e-01 -6.82709121e-01 -3.50900208e-03 1.45884158e+02] [ 6.82700398e-01 7.30690249e-01 -3.45358224e-03 5.28198094e+01] [ 4.92178570e-03 1.27872683e-04 9.99987880e-01 5.91870434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.910281693 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:145.90, Y:52.84, Z:0.59 [[ 7.29894568e-01 -6.83550738e-01 -3.50835272e-03 1.45902295e+02] [ 6.83542021e-01 7.29902990e-01 -3.45424177e-03 5.28415007e+01] [ 4.92190665e-03 1.23125796e-04 9.99987880e-01 5.93092981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.940281693 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:145.92, Y:52.86, Z:0.59 [[ 7.29059292e-01 -6.84441556e-01 -3.50774248e-03 1.45920124e+02] [ 6.84432847e-01 7.29067721e-01 -3.45486136e-03 5.28636116e+01] [ 4.92203250e-03 1.17984605e-04 9.99987880e-01 5.90898391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.970281693 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:145.94, Y:52.88, Z:0.59 [[ 7.28346392e-01 -6.85200141e-01 -3.50715559e-03 1.45939569e+02] [ 6.85191438e-01 7.28354827e-01 -3.45545702e-03 5.28840788e+01] [ 4.92213334e-03 1.13696672e-04 9.99987880e-01 5.88005283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.000281693 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:145.96, Y:52.90, Z:0.59 [[ 7.27726320e-01 -6.85858664e-01 -3.50652666e-03 1.45957561e+02] [ 6.85849965e-01 7.27734760e-01 -3.45609513e-03 5.29036972e+01] [ 4.92221413e-03 1.10140202e-04 9.99987880e-01 5.86089605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.030281693 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:145.98, Y:52.92, Z:0.59 [[ 7.27228151e-01 -6.86386862e-01 -3.50606910e-03 1.45976097e+02] [ 6.86378167e-01 7.27236595e-01 -3.45655924e-03 5.29248475e+01] [ 4.92227861e-03 1.07217906e-04 9.99987880e-01 5.87593296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.060281693 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:146.00, Y:52.94, Z:0.59 [[ 7.26390648e-01 -6.87273118e-01 -3.50545929e-03 1.45995189e+02] [ 6.87264430e-01 7.26399099e-01 -3.45717757e-03 5.29435897e+01] [ 4.92238768e-03 1.02083979e-04 9.99987880e-01 5.88607460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.090281693 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:146.02, Y:52.96, Z:0.59 [[ 7.24734730e-01 -6.89019076e-01 -3.50481253e-03 1.46015526e+02] [ 6.89010405e-01 7.24743199e-01 -3.45783312e-03 5.29625773e+01] [ 4.92260203e-03 9.11594521e-05 9.99987880e-01 5.88814023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.120281693 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:146.04, Y:52.98, Z:0.59 [[ 7.22759760e-01 -6.91090479e-01 -3.50420607e-03 1.46036089e+02] [ 6.91081830e-01 7.22768250e-01 -3.45844761e-03 5.29811469e+01] [ 4.92282910e-03 7.79336217e-05 9.99987880e-01 5.88909181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.150281693 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:146.06, Y:53.00, Z:0.59 [[ 7.19931101e-01 -6.94036696e-01 -3.50359126e-03 1.46057474e+02] [ 6.94028078e-01 7.19939624e-01 -3.45907033e-03 5.29984443e+01] [ 4.92309591e-03 5.87016008e-05 9.99987880e-01 5.86312528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.180281693 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:146.08, Y:53.02, Z:0.59 [[ 7.18889989e-01 -6.95115035e-01 -3.50314010e-03 1.46077667e+02] [ 6.95106428e-01 7.18898522e-01 -3.45952718e-03 5.30165180e+01] [ 4.92317159e-03 5.19642535e-05 9.99987880e-01 5.85325319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21028169299998 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:146.10, Y:53.03, Z:0.59 [[ 7.18028488e-01 -6.96004902e-01 -3.50246837e-03 1.46099229e+02] [ 6.95996302e-01 7.18037029e-01 -3.46020710e-03 5.30337978e+01] [ 4.92322309e-03 4.68222370e-05 9.99987880e-01 5.86890794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.240281693 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:146.12, Y:53.05, Z:0.59 [[ 7.17802364e-01 -6.96238108e-01 -3.50184219e-03 1.46119507e+02] [ 6.96229508e-01 7.17810904e-01 -3.46084071e-03 5.30513121e+01] [ 4.92322970e-03 4.61137765e-05 9.99987880e-01 5.88454837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.270281693 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:146.14, Y:53.07, Z:0.59 [[ 7.17889867e-01 -6.96147887e-01 -3.50117892e-03 1.46139991e+02] [ 6.96139282e-01 7.17898403e-01 -3.46151158e-03 5.30687266e+01] [ 4.92321473e-03 4.76759080e-05 9.99987880e-01 5.90295600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.300281693 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:146.16, Y:53.09, Z:0.59 [[ 7.18591715e-01 -6.95423391e-01 -3.50052175e-03 1.46161631e+02] [ 6.95414775e-01 7.18600239e-01 -3.46217603e-03 5.30853497e+01] [ 4.92315396e-03 5.35764699e-05 9.99987880e-01 5.93268505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.330281693 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:146.18, Y:53.10, Z:0.59 [[ 7.19581345e-01 -6.94399337e-01 -3.49987283e-03 1.46182905e+02] [ 6.94390706e-01 7.19589853e-01 -3.46283189e-03 5.31042153e+01] [ 4.92306114e-03 6.15100632e-05 9.99987880e-01 5.94131737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.360281693 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:146.20, Y:53.12, Z:0.59 [[ 7.20473586e-01 -6.93473552e-01 -3.49925753e-03 1.46203853e+02] [ 6.93464907e-01 7.20482080e-01 -3.46345355e-03 5.31230483e+01] [ 4.92296578e-03 6.87145031e-05 9.99987880e-01 5.94332633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.390281693 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:146.23, Y:53.14, Z:0.59 [[ 7.21804551e-01 -6.92088108e-01 -3.49864486e-03 1.46226386e+02] [ 6.92079443e-01 7.21813026e-01 -3.46407234e-03 5.31406501e+01] [ 4.92281070e-03 7.90429938e-05 9.99987880e-01 5.92235426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.420281693 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:146.25, Y:53.16, Z:0.59 [[ 7.22319034e-01 -6.91551138e-01 -3.49802300e-03 1.46246690e+02] [ 6.91542464e-01 7.22327499e-01 -3.46470017e-03 5.31591374e+01] [ 4.92273555e-03 8.35874328e-05 9.99987880e-01 5.92340980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.450281693 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:146.27, Y:53.18, Z:0.59 [[ 7.23890814e-01 -6.89905688e-01 -3.49736680e-03 1.46266672e+02] [ 6.89896992e-01 7.23899256e-01 -3.46536243e-03 5.31766518e+01] [ 4.92251448e-03 9.57211985e-05 9.99987880e-01 5.91441049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.480281693 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:146.29, Y:53.19, Z:0.59 [[ 7.24657335e-01 -6.89100515e-01 -3.49683943e-03 1.46286184e+02] [ 6.89091806e-01 7.24665764e-01 -3.46589451e-03 5.31941086e+01] [ 4.92238951e-03 1.01942476e-04 9.99987880e-01 5.90679964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.510281693 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:146.31, Y:53.21, Z:0.59 [[ 7.24790904e-01 -6.88960030e-01 -3.49612860e-03 1.46306141e+02] [ 6.88951317e-01 7.24799328e-01 -3.46661139e-03 5.32119036e+01] [ 4.92234835e-03 1.03906001e-04 9.99987880e-01 5.89534756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.540281693 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:146.33, Y:53.23, Z:0.59 [[ 7.23582247e-01 -6.90229320e-01 -3.49547584e-03 1.46327288e+02] [ 6.90220618e-01 7.23590683e-01 -3.46726947e-03 5.32296543e+01] [ 4.92250480e-03 9.62051362e-05 9.99987880e-01 5.91035680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.570281693 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:146.35, Y:53.25, Z:0.59 [[ 7.22371422e-01 -6.91496431e-01 -3.49482565e-03 1.46347215e+02] [ 6.91487741e-01 7.22379871e-01 -3.46792469e-03 5.32490852e+01] [ 4.92264925e-03 8.85005957e-05 9.99987880e-01 5.92714947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.600281693 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:146.37, Y:53.27, Z:0.59 [[ 7.21208115e-01 -6.92709640e-01 -3.49420004e-03 1.46367481e+02] [ 6.92700960e-01 7.21216575e-01 -3.46855494e-03 5.32679795e+01] [ 4.92277642e-03 8.11142467e-05 9.99987880e-01 5.93948038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.630281693 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:146.39, Y:53.29, Z:0.59 [[ 7.19827453e-01 -6.94144245e-01 -3.49357631e-03 1.46389247e+02] [ 6.94135579e-01 7.19835928e-01 -3.46918305e-03 5.32854085e+01] [ 4.92291519e-03 7.21975818e-05 9.99987880e-01 5.93061524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.660281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:146.41, Y:53.30, Z:0.59 [[ 7.19683641e-01 -6.94293350e-01 -3.49294776e-03 1.46409435e+02] [ 6.94284684e-01 7.19692114e-01 -3.46981579e-03 5.33042093e+01] [ 4.92291699e-03 7.20695284e-05 9.99987880e-01 5.91015027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.690281693 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:146.43, Y:53.32, Z:0.59 [[ 7.19733050e-01 -6.94242134e-01 -3.49231381e-03 1.46429027e+02] [ 6.94233463e-01 7.19741519e-01 -3.47045373e-03 5.33225579e+01] [ 4.92289845e-03 7.33191382e-05 9.99987880e-01 5.89666813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.720281693 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:146.45, Y:53.34, Z:0.59 [[ 7.20107722e-01 -6.93853497e-01 -3.49185163e-03 1.46449555e+02] [ 6.93844820e-01 7.20116184e-01 -3.47091870e-03 5.33415691e+01] [ 4.92284795e-03 7.66322012e-05 9.99987880e-01 5.91113078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.750281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:146.47, Y:53.36, Z:0.59 [[ 7.20401173e-01 -6.93548817e-01 -3.49120896e-03 1.46468491e+02] [ 6.93540133e-01 7.20409628e-01 -3.47156500e-03 5.33603973e+01] [ 4.92280035e-03 7.96259740e-05 9.99987880e-01 5.92264425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.780281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:146.49, Y:53.38, Z:0.59 [[ 7.21980453e-01 -6.91904647e-01 -3.49073906e-03 1.46488411e+02] [ 6.91895942e-01 7.21988886e-01 -3.47203744e-03 5.33798199e+01] [ 4.92259364e-03 9.15149688e-05 9.99987880e-01 5.93547184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.810281693 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:146.51, Y:53.40, Z:0.59 [[ 7.23243856e-01 -6.90583915e-01 -3.49008686e-03 1.46507243e+02] [ 6.90575191e-01 7.23252270e-01 -3.47269290e-03 5.33985501e+01] [ 4.92239911e-03 1.01436406e-04 9.99987880e-01 5.92411566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.840281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:146.53, Y:53.42, Z:0.59 [[ 7.24986290e-01 -6.88754458e-01 -3.48939929e-03 1.46526562e+02] [ 6.88745709e-01 7.24994678e-01 -3.47338364e-03 5.34178324e+01] [ 4.92210439e-03 1.14846727e-04 9.99987880e-01 5.90431086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.870281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:146.55, Y:53.44, Z:0.59 [[ 7.26829165e-01 -6.86809431e-01 -3.48872513e-03 1.46545558e+02] [ 6.86800656e-01 7.26837526e-01 -3.47406065e-03 5.34379494e+01] [ 4.92175396e-03 1.28989887e-04 9.99987880e-01 5.89656566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.900281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:146.57, Y:53.46, Z:0.59 [[ 7.26709357e-01 -6.86936200e-01 -3.48811827e-03 1.46565587e+02] [ 6.86927425e-01 7.26717717e-01 -3.47466986e-03 5.34581982e+01] [ 4.92175386e-03 1.28990995e-04 9.99987880e-01 5.89796799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.930281693 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:146.58, Y:53.48, Z:0.59 [[ 7.28356635e-01 -6.85189353e-01 -3.48751209e-03 1.46583210e+02] [ 6.85180554e-01 7.28364971e-01 -3.47527817e-03 5.34790710e+01] [ 4.92140524e-03 1.41666447e-04 9.99987880e-01 5.89672897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96028169299998 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:146.60, Y:53.50, Z:0.59 [[ 7.31629948e-01 -6.81693084e-01 -3.48687111e-03 1.46598769e+02] [ 6.81684243e-01 7.31638238e-01 -3.47592117e-03 5.35028002e+01] [ 4.92063966e-03 1.66142935e-04 9.99987880e-01 5.91793585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.990281693 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:146.62, Y:53.53, Z:0.59 [[ 7.32694813e-01 -6.80548424e-01 -3.48624144e-03 1.46617181e+02] [ 6.80539567e-01 7.32703086e-01 -3.47655260e-03 5.35257613e+01] [ 4.92034225e-03 1.74726819e-04 9.99987880e-01 5.93064523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.020281693 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:146.63, Y:53.55, Z:0.59 [[ 7.33990634e-01 -6.79150628e-01 -3.48902104e-03 1.46631389e+02] [ 6.79141768e-01 7.33998905e-01 -3.47376589e-03 5.35497301e+01] [ 4.92014791e-03 1.80171710e-04 9.99987880e-01 5.91882674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.050281693 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:146.65, Y:53.57, Z:0.59 [[ 7.33521379e-01 -6.79657442e-01 -3.48537443e-03 1.46647365e+02] [ 6.79648570e-01 7.33529637e-01 -3.47742084e-03 5.35715944e+01] [ 4.92008040e-03 1.81932784e-04 9.99987880e-01 5.88981016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.080281693 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:146.66, Y:53.59, Z:0.59 [[ 7.32267659e-01 -6.81008027e-01 -3.48471876e-03 1.46664950e+02] [ 6.80999167e-01 7.32275930e-01 -3.47807777e-03 5.35941042e+01] [ 4.92037455e-03 1.73793294e-04 9.99987880e-01 5.86643058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.110281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:146.68, Y:53.62, Z:0.59 [[ 7.26828778e-01 -6.86809863e-01 -3.48409835e-03 1.46681785e+02] [ 6.86801067e-01 7.26837116e-01 -3.47869914e-03 5.36171782e+01] [ 4.92157688e-03 1.35536178e-04 9.99987880e-01 5.87203693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.140281693 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:146.70, Y:53.64, Z:0.59 [[ 7.23443711e-01 -6.90374581e-01 -3.48347866e-03 1.46699349e+02] [ 6.90365823e-01 7.23452089e-01 -3.47931957e-03 5.36372836e+01] [ 4.92216370e-03 1.12217253e-04 9.99987880e-01 5.87854857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.170281693 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:146.72, Y:53.66, Z:0.59 [[ 7.17355579e-01 -6.96698531e-01 -3.48286057e-03 1.46716448e+02] [ 6.96689844e-01 7.17364030e-01 -3.47993818e-03 5.36585182e+01] [ 4.92294671e-03 6.98794811e-05 9.99987880e-01 5.87764861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.200281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:146.74, Y:53.68, Z:0.59 [[ 7.14887615e-01 -6.99230700e-01 -3.48220625e-03 1.46735063e+02] [ 6.99222039e-01 7.14896094e-01 -3.48059280e-03 5.36797179e+01] [ 4.92315299e-03 5.33973294e-05 9.99987880e-01 5.89043403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.230281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:146.75, Y:53.70, Z:0.59 [[ 7.12701859e-01 -7.01458437e-01 -3.48156922e-03 1.46753402e+02] [ 7.01449799e-01 7.12710362e-01 -3.48122989e-03 5.36998018e+01] [ 4.92328854e-03 3.89329819e-05 9.99987880e-01 5.90000910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.260281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:146.77, Y:53.72, Z:0.59 [[ 7.10771447e-01 -7.03414410e-01 -3.48110244e-03 1.46772691e+02] [ 7.03405793e-01 7.10779971e-01 -3.48169660e-03 5.37203812e+01] [ 4.92337345e-03 2.60629062e-05 9.99987880e-01 5.92132058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.290281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:146.79, Y:53.74, Z:0.59 [[ 7.07941345e-01 -7.06262655e-01 -3.48045434e-03 1.46791902e+02] [ 7.06254070e-01 7.07949901e-01 -3.48234434e-03 5.37408636e+01] [ 4.92343707e-03 7.21049286e-06 9.99987880e-01 5.92885799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.320281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:146.81, Y:53.76, Z:0.59 [[ 7.06783296e-01 -7.07421560e-01 -3.47980276e-03 1.46811844e+02] [ 7.07412986e-01 7.06791862e-01 -3.48299533e-03 5.37608339e+01] [ 4.92344226e-03 6.52589993e-08 9.99987880e-01 5.92281925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.350281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:146.83, Y:53.78, Z:0.59 [[ 7.05586344e-01 -7.08615415e-01 -3.47915463e-03 1.46833391e+02] [ 7.08606852e-01 7.05594922e-01 -3.48364262e-03 5.37792633e+01] [ 4.92343670e-03 -7.34214797e-06 9.99987880e-01 5.92994424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.380281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:146.85, Y:53.80, Z:0.59 [[ 7.04783695e-01 -7.09413732e-01 -3.47851029e-03 1.46854087e+02] [ 7.09405175e-01 7.04792279e-01 -3.48428590e-03 5.37977084e+01] [ 4.92342745e-03 -1.20053112e-05 9.99987880e-01 5.94930685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.410281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:146.87, Y:53.82, Z:0.60 [[ 7.03835797e-01 -7.10354191e-01 -3.47785294e-03 1.46874346e+02] [ 7.10345642e-01 7.03844389e-01 -3.48494190e-03 5.38158500e+01] [ 4.92341036e-03 -1.76508249e-05 9.99987880e-01 5.97072581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.440281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:146.90, Y:53.83, Z:0.60 [[ 7.01159555e-01 -7.12995924e-01 -3.47715987e-03 1.46896550e+02] [ 7.12987404e-01 7.01168176e-01 -3.48563329e-03 5.38313531e+01] [ 4.92331617e-03 -3.51861051e-05 9.99987880e-01 5.98908896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.470281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:146.92, Y:53.85, Z:0.60 [[ 6.99841832e-01 -7.14289383e-01 -3.47669840e-03 1.46918718e+02] [ 7.14280878e-01 6.99850466e-01 -3.48609351e-03 5.38492402e+01] [ 4.92324858e-03 -4.36251176e-05 9.99987880e-01 5.98850734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.500281693 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:146.94, Y:53.87, Z:0.60 [[ 6.99266595e-01 -7.14852534e-01 -3.47607089e-03 1.46940213e+02] [ 7.14844032e-01 6.99275233e-01 -3.48671911e-03 5.38665134e+01] [ 4.92322028e-03 -4.67023290e-05 9.99987880e-01 5.98514012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.530281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:146.96, Y:53.88, Z:0.59 [[ 7.00599567e-01 -7.13546192e-01 -3.47540610e-03 1.46963777e+02] [ 7.13537670e-01 7.00608187e-01 -3.48738162e-03 5.38824683e+01] [ 4.92330584e-03 -3.65751136e-05 9.99987880e-01 5.94992293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.560281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:146.99, Y:53.90, Z:0.59 [[ 7.03593847e-01 -7.10593854e-01 -3.47477005e-03 1.46987964e+02] [ 7.10585293e-01 7.03602427e-01 -3.48801525e-03 5.38975777e+01] [ 4.92341884e-03 -1.49744225e-05 9.99987880e-01 5.93731246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.590281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:147.01, Y:53.91, Z:0.59 [[ 7.04987198e-01 -7.09211521e-01 -3.47411951e-03 1.47009200e+02] [ 7.09202941e-01 7.04995758e-01 -3.48866308e-03 5.39142468e+01] [ 4.92343957e-03 -4.39296904e-06 9.99987880e-01 5.93284789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.620281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:147.03, Y:53.93, Z:0.59 [[ 7.06355229e-01 -7.07849013e-01 -3.47342964e-03 1.47030610e+02] [ 7.07840413e-01 7.06363769e-01 -3.48934981e-03 5.39313531e+01] [ 4.92343767e-03 6.08661511e-06 9.99987880e-01 5.93353135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.650281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:147.05, Y:53.95, Z:0.59 [[ 7.07340188e-01 -7.06864765e-01 -3.47296136e-03 1.47052825e+02] [ 7.06856151e-01 7.07348714e-01 -3.48981582e-03 5.39487850e+01] [ 4.92342259e-03 1.36028777e-05 9.99987880e-01 5.94101888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.680281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:147.08, Y:53.96, Z:0.59 [[ 7.07761516e-01 -7.06442906e-01 -3.47232893e-03 1.47077510e+02] [ 7.06434283e-01 7.07770034e-01 -3.49044497e-03 5.39640426e+01] [ 4.92341045e-03 1.74304286e-05 9.99987880e-01 5.94193904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71028169299998 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:147.10, Y:53.98, Z:0.59 [[ 7.08115021e-01 -7.06088567e-01 -3.47169717e-03 1.47099412e+02] [ 7.06079937e-01 7.08123531e-01 -3.49107322e-03 5.39812815e+01] [ 4.92339735e-03 2.07856678e-05 9.99987880e-01 5.94239397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.740281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:147.12, Y:54.00, Z:0.59 [[ 7.09901880e-01 -7.04292036e-01 -3.47102842e-03 1.47121306e+02] [ 7.04283381e-01 7.09910365e-01 -3.49173801e-03 5.39978359e+01] [ 4.92332232e-03 3.42037438e-05 9.99987880e-01 5.92307697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.770281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:147.14, Y:54.02, Z:0.59 [[ 7.10982033e-01 -7.03201611e-01 -3.47032173e-03 1.47140842e+02] [ 7.03192939e-01 7.10990501e-01 -3.49244023e-03 5.40171459e+01] [ 4.92325538e-03 4.27565169e-05 9.99987880e-01 5.91949982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.800281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:147.16, Y:54.04, Z:0.59 [[ 7.12317934e-01 -7.01848362e-01 -3.46961166e-03 1.47159337e+02] [ 7.01839671e-01 7.12326382e-01 -3.49314551e-03 5.40351453e+01] [ 4.92315437e-03 5.31190827e-05 9.99987880e-01 5.90963240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.830281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:147.18, Y:54.05, Z:0.59 [[ 7.15045677e-01 -6.99069129e-01 -3.46886661e-03 1.47180015e+02] [ 6.99060402e-01 7.15054087e-01 -3.49388523e-03 5.40542041e+01] [ 4.92289455e-03 7.33402425e-05 9.99987880e-01 5.92777571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.860281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:147.20, Y:54.07, Z:0.59 [[ 7.15909783e-01 -6.98184183e-01 -3.46820316e-03 1.47198427e+02] [ 6.98175443e-01 7.15918179e-01 -3.49454367e-03 5.40732884e+01] [ 4.92278481e-03 8.03637256e-05 9.99987880e-01 5.93341476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.890281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:147.22, Y:54.09, Z:0.60 [[ 7.16255989e-01 -6.97829014e-01 -3.46771766e-03 1.47216880e+02] [ 6.97820267e-01 7.16264379e-01 -3.49502538e-03 5.40939792e+01] [ 4.92273275e-03 8.34891988e-05 9.99987880e-01 5.96152238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.920281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:147.24, Y:54.11, Z:0.60 [[ 7.15151818e-01 -6.98960555e-01 -3.46708418e-03 1.47236501e+02] [ 6.98951818e-01 7.15160218e-01 -3.49565368e-03 5.41124139e+01] [ 4.92284471e-03 7.65982919e-05 9.99987880e-01 5.97396163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.950281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:147.26, Y:54.13, Z:0.59 [[ 7.13565902e-01 -7.00579537e-01 -3.46641377e-03 1.47256652e+02] [ 7.00570816e-01 7.13574318e-01 -3.49631835e-03 5.41306657e+01] [ 4.92299294e-03 6.63852318e-05 9.99987880e-01 5.94606957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.980281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:147.28, Y:54.15, Z:0.59 [[ 7.11559013e-01 -7.02617791e-01 -3.46573041e-03 1.47276689e+02] [ 7.02609090e-01 7.11567451e-01 -3.49699561e-03 5.41497803e+01] [ 4.92315228e-03 5.32650574e-05 9.99987880e-01 5.92312539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.010281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:147.30, Y:54.17, Z:0.59 [[ 7.08389645e-01 -7.05813081e-01 -3.46507667e-03 1.47296578e+02] [ 7.05804415e-01 7.08398118e-01 -3.49764326e-03 5.41691420e+01] [ 4.92333616e-03 3.20278518e-05 9.99987880e-01 5.91247370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.040281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:147.32, Y:54.19, Z:0.59 [[ 7.07230146e-01 -7.06974907e-01 -3.46442185e-03 1.47316655e+02] [ 7.06966252e-01 7.07238630e-01 -3.49829174e-03 5.41873825e+01] [ 4.92337744e-03 2.48680399e-05 9.99987880e-01 5.91212881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.070281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:147.34, Y:54.21, Z:0.59 [[ 7.06259273e-01 -7.07944801e-01 -3.46394297e-03 1.47337442e+02] [ 7.07936155e-01 7.06267767e-01 -3.49876585e-03 5.42055122e+01] [ 4.92340436e-03 1.87853561e-05 9.99987880e-01 5.92087090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.100281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:147.36, Y:54.22, Z:0.59 [[ 7.06074360e-01 -7.08129229e-01 -3.46327811e-03 1.47357412e+02] [ 7.08120582e-01 7.06082853e-01 -3.49942385e-03 5.42241831e+01] [ 4.92340560e-03 1.84349406e-05 9.99987880e-01 5.91333604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.130281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:147.38, Y:54.24, Z:0.59 [[ 7.06968804e-01 -7.07236256e-01 -3.46257733e-03 1.47377342e+02] [ 7.07227595e-01 7.06977283e-01 -3.50011711e-03 5.42444970e+01] [ 4.92337323e-03 2.56433677e-05 9.99987880e-01 5.91300666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.160281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:147.40, Y:54.26, Z:0.59 [[ 7.09220153e-01 -7.04978574e-01 -3.46191554e-03 1.47398306e+02] [ 7.04969883e-01 7.09228601e-01 -3.50077155e-03 5.42632003e+01] [ 4.92325845e-03 4.22715419e-05 9.99987880e-01 5.91988549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.190281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:147.42, Y:54.28, Z:0.59 [[ 7.10362147e-01 -7.03827848e-01 -3.46125363e-03 1.47418014e+02] [ 7.03819141e-01 7.10370578e-01 -3.50142587e-03 5.42823091e+01] [ 4.92317378e-03 5.11838428e-05 9.99987880e-01 5.92913543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.220281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:147.44, Y:54.30, Z:0.59 [[ 7.11865345e-01 -7.02307451e-01 -3.46055478e-03 1.47436762e+02] [ 7.02298722e-01 7.11873754e-01 -3.50211642e-03 5.43016554e+01] [ 4.92304058e-03 6.26921173e-05 9.99987880e-01 5.94722056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.250281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:147.45, Y:54.32, Z:0.59 [[ 7.16081072e-01 -6.98008544e-01 -3.45987352e-03 1.47453261e+02] [ 6.97999762e-01 7.16089424e-01 -3.50278934e-03 5.43228605e+01] [ 4.92255573e-03 9.32902557e-05 9.99987880e-01 5.94506803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.280281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:147.47, Y:54.34, Z:0.59 [[ 7.18371414e-01 -6.95651167e-01 -3.45920069e-03 1.47472805e+02] [ 6.95642354e-01 7.18379734e-01 -3.50345367e-03 5.43434218e+01] [ 4.92220131e-03 1.10414452e-04 9.99987880e-01 5.94321013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.310281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:147.49, Y:54.36, Z:0.60 [[ 7.20906069e-01 -6.93024154e-01 -3.45855610e-03 1.47492224e+02] [ 6.93015308e-01 7.20914353e-01 -3.50408988e-03 5.43632423e+01] [ 4.92174166e-03 1.29287341e-04 9.99987880e-01 5.96784773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.340281693 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:147.51, Y:54.38, Z:0.60 [[ 7.20856532e-01 -6.93075684e-01 -3.45790066e-03 1.47511243e+02] [ 6.93066835e-01 7.20864814e-01 -3.50473656e-03 5.43841083e+01] [ 4.92172661e-03 1.29855975e-04 9.99987880e-01 5.98502945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.370281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:147.53, Y:54.40, Z:0.60 [[ 7.20703491e-01 -6.93234827e-01 -3.45723740e-03 1.47529400e+02] [ 6.93225977e-01 7.20711772e-01 -3.50539071e-03 5.44042462e+01] [ 4.92173062e-03 1.29700547e-04 9.99987880e-01 5.98541682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.400281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:147.55, Y:54.42, Z:0.60 [[ 7.20682321e-01 -6.93256839e-01 -3.45653537e-03 1.47548702e+02] [ 6.93247985e-01 7.20690598e-01 -3.50608283e-03 5.44244666e+01] [ 4.92170844e-03 1.30535731e-04 9.99987880e-01 5.99207612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.430281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:147.57, Y:54.44, Z:0.60 [[ 7.20470076e-01 -6.93477416e-01 -3.45587640e-03 1.47567305e+02] [ 6.93468561e-01 7.20478353e-01 -3.50673224e-03 5.44447222e+01] [ 4.92172375e-03 1.29954012e-04 9.99987880e-01 6.01660853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46028169299998 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:147.59, Y:54.47, Z:0.60 [[ 7.19612398e-01 -6.94367380e-01 -3.45522004e-03 1.47585925e+02] [ 6.94358533e-01 7.19620682e-01 -3.50737884e-03 5.44652895e+01] [ 4.92185726e-03 1.24791782e-04 9.99987880e-01 6.02751614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.490281693 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:147.60, Y:54.48, Z:0.60 [[ 7.16774712e-01 -6.97296263e-01 -3.45455747e-03 1.47604322e+02] [ 6.97287447e-01 7.16783029e-01 -3.50803130e-03 5.44847867e+01] [ 4.92230529e-03 1.05648567e-04 9.99987880e-01 6.02831452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.520281693 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:147.62, Y:54.50, Z:0.60 [[ 7.15014181e-01 -6.99101418e-01 -3.45385692e-03 1.47623417e+02] [ 6.99092619e-01 7.15022516e-01 -3.50872090e-03 5.45034698e+01] [ 4.92253722e-03 9.42193233e-05 9.99987880e-01 6.01659334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.550281693 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:147.64, Y:54.52, Z:0.60 [[ 7.13118404e-01 -7.01035104e-01 -3.45318725e-03 1.47643218e+02] [ 7.01026325e-01 7.13126760e-01 -3.50937985e-03 5.45227622e+01] [ 4.92275870e-03 8.18281939e-05 9.99987880e-01 5.99493129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.580281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:147.66, Y:54.54, Z:0.60 [[ 7.09477793e-01 -7.04719335e-01 -3.45252755e-03 1.47663672e+02] [ 7.04710596e-01 7.09486191e-01 -3.51002874e-03 5.45407684e+01] [ 4.92310574e-03 5.72546974e-05 9.99987880e-01 5.96257832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.610281693 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:147.68, Y:54.56, Z:0.60 [[ 7.07674502e-01 -7.06530171e-01 -3.45204375e-03 1.47684975e+02] [ 7.06521451e-01 7.07682920e-01 -3.51050449e-03 5.45592497e+01] [ 4.92322974e-03 4.53515558e-05 9.99987880e-01 5.95945579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.640281693 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:147.71, Y:54.58, Z:0.60 [[ 7.06177113e-01 -7.08026817e-01 -3.45138876e-03 1.47705460e+02] [ 7.08018112e-01 7.06185546e-01 -3.51114833e-03 5.45763445e+01] [ 4.92330803e-03 3.58468359e-05 9.99987880e-01 5.96272540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.670281693 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:147.73, Y:54.59, Z:0.60 [[ 7.05146058e-01 -7.09053686e-01 -3.45069567e-03 1.47728986e+02] [ 7.09044990e-01 7.05154500e-01 -3.51182935e-03 5.45909347e+01] [ 4.92334913e-03 2.96541448e-05 9.99987880e-01 5.96467570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.700281693 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:147.75, Y:54.61, Z:0.60 [[ 7.04858842e-01 -7.09339206e-01 -3.45021909e-03 1.47750927e+02] [ 7.09330511e-01 7.04867286e-01 -3.51229751e-03 5.46091780e+01] [ 4.92335689e-03 2.83282872e-05 9.99987880e-01 5.95789644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.730281693 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:147.77, Y:54.63, Z:0.60 [[ 7.04882760e-01 -7.09315441e-01 -3.44956635e-03 1.47772015e+02] [ 7.09306742e-01 7.04891201e-01 -3.51293847e-03 5.46267741e+01] [ 4.92335047e-03 2.94090943e-05 9.99987880e-01 5.95719529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.760281693 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:147.79, Y:54.65, Z:0.60 [[ 7.04735954e-01 -7.09461303e-01 -3.44887452e-03 1.47791206e+02] [ 7.09452603e-01 7.04744393e-01 -3.51361756e-03 5.46466875e+01] [ 4.92335067e-03 2.93596208e-05 9.99987880e-01 5.95855654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.790281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:147.82, Y:54.66, Z:0.60 [[ 7.06511979e-01 -7.07692683e-01 -3.44814723e-03 1.47815541e+02] [ 7.07683959e-01 7.06520392e-01 -3.51433115e-03 5.46624066e+01] [ 4.92325277e-03 4.27185810e-05 9.99987880e-01 5.99625005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.820281693 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:147.84, Y:54.68, Z:0.60 [[ 7.07900191e-01 -7.06304066e-01 -3.44749364e-03 1.47836061e+02] [ 7.06295322e-01 7.07908584e-01 -3.51497220e-03 5.46805430e+01] [ 4.92314949e-03 5.33008613e-05 9.99987880e-01 6.01253891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.850281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:147.86, Y:54.70, Z:0.60 [[ 7.10522603e-01 -7.03665936e-01 -3.44680419e-03 1.47857267e+02] [ 7.03657157e-01 7.10530960e-01 -3.51564814e-03 5.46975316e+01] [ 4.92290293e-03 7.25790321e-05 9.99987880e-01 6.01438326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.880281693 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:147.88, Y:54.72, Z:0.60 [[ 7.11250313e-01 -7.02930378e-01 -3.44608917e-03 1.47878427e+02] [ 7.02921587e-01 7.11258657e-01 -3.51634888e-03 5.47161232e+01] [ 4.92280920e-03 7.86737752e-05 9.99987880e-01 6.00114756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.910281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:147.90, Y:54.73, Z:0.60 [[ 7.11701824e-01 -7.02473233e-01 -3.44545207e-03 1.47897831e+02] [ 7.02464434e-01 7.11710159e-01 -3.51697302e-03 5.47333379e+01] [ 4.92274265e-03 8.27285729e-05 9.99987880e-01 5.99031636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.940281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:147.92, Y:54.75, Z:0.60 [[ 7.12400092e-01 -7.01765091e-01 -3.44470129e-03 1.47917359e+02] [ 7.01756280e-01 7.12408415e-01 -3.51770822e-03 5.47521167e+01] [ 4.92263901e-03 8.86748945e-05 9.99987880e-01 5.98746681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.970281693 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:147.94, Y:54.77, Z:0.60 [[ 7.14620237e-01 -6.99504150e-01 -3.44399355e-03 1.47935867e+02] [ 6.99495309e-01 7.14628528e-01 -3.51840099e-03 5.47709050e+01] [ 4.92231214e-03 1.05263215e-04 9.99987880e-01 6.02450334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.000281693 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:147.96, Y:54.79, Z:0.60 [[ 7.16063329e-01 -6.98026829e-01 -3.44325012e-03 1.47955611e+02] [ 6.98017967e-01 7.16071598e-01 -3.51912839e-03 5.47905101e+01] [ 4.92205964e-03 1.16468335e-04 9.99987880e-01 6.04006100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.030281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:147.97, Y:54.81, Z:0.61 [[ 7.18607459e-01 -6.95407412e-01 -3.44261318e-03 1.47974627e+02] [ 6.95398517e-01 7.18615693e-01 -3.51975137e-03 5.48092436e+01] [ 4.92157705e-03 1.35331491e-04 9.99987880e-01 6.05882379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.060281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:147.99, Y:54.83, Z:0.60 [[ 7.19538346e-01 -6.94444181e-01 -3.44214719e-03 1.47992658e+02] [ 6.94435274e-01 7.19546565e-01 -3.52020702e-03 5.48302892e+01] [ 4.92137247e-03 1.42575509e-04 9.99987880e-01 6.04950828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.090281693 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:148.01, Y:54.85, Z:0.60 [[ 7.20470009e-01 -6.93477557e-01 -3.44150338e-03 1.48010071e+02] [ 6.93468636e-01 7.20478213e-01 -3.52083633e-03 5.48520612e+01] [ 4.92114918e-03 1.50082333e-04 9.99987880e-01 6.03706673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.120281693 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:148.03, Y:54.88, Z:0.60 [[ 7.23140808e-01 -6.90692068e-01 -3.44084916e-03 1.48025403e+02] [ 6.90683111e-01 7.23148974e-01 -3.52147557e-03 5.48752356e+01] [ 4.92050178e-03 1.69986286e-04 9.99987880e-01 6.00599218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.150281693 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:148.04, Y:54.90, Z:0.60 [[ 7.24189502e-01 -6.89592438e-01 -3.44015941e-03 1.48043202e+02] [ 6.89583466e-01 7.24197651e-01 -3.52214927e-03 5.48975594e+01] [ 4.92020286e-03 1.78426473e-04 9.99987880e-01 6.00561884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.180281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:148.06, Y:54.92, Z:0.60 [[ 7.24703895e-01 -6.89051837e-01 -3.43952531e-03 1.48060107e+02] [ 6.89042856e-01 7.24712034e-01 -3.52276838e-03 5.49198507e+01] [ 4.92003541e-03 1.82983626e-04 9.99987880e-01 6.00527456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21028169299998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:148.07, Y:54.95, Z:0.60 [[ 7.24714078e-01 -6.89041130e-01 -3.43889523e-03 1.48073819e+02] [ 6.89032146e-01 7.24722214e-01 -3.52338336e-03 5.49454581e+01] [ 4.91999981e-03 1.83936159e-04 9.99987880e-01 6.02921195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.240281693 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:148.09, Y:54.97, Z:0.60 [[ 7.24603614e-01 -6.89157297e-01 -3.43824651e-03 1.48089809e+02] [ 6.89148312e-01 7.24611748e-01 -3.52401629e-03 5.49671392e+01] [ 4.91999535e-03 1.84053165e-04 9.99987880e-01 6.03151120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.270281693 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:148.10, Y:54.99, Z:0.60 [[ 7.24258996e-01 -6.89519463e-01 -3.43756218e-03 1.48103903e+02] [ 6.89510478e-01 7.24267131e-01 -3.52468370e-03 5.49924155e+01] [ 4.92005131e-03 1.82548738e-04 9.99987880e-01 6.02074744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.300281693 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:148.12, Y:55.01, Z:0.60 [[ 7.23754291e-01 -6.90049211e-01 -3.43694168e-03 1.48119457e+02] [ 6.90040230e-01 7.23762429e-01 -3.52528865e-03 5.50149833e+01] [ 4.92015191e-03 1.79814756e-04 9.99987880e-01 6.00972939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.330281693 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:148.14, Y:55.04, Z:0.60 [[ 7.23246501e-01 -6.90581415e-01 -3.43628419e-03 1.48135875e+02] [ 6.90572436e-01 7.23254643e-01 -3.52592943e-03 5.50375475e+01] [ 4.92024982e-03 1.77112977e-04 9.99987880e-01 5.99684864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.360281693 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:148.15, Y:55.06, Z:0.60 [[ 7.20923578e-01 -6.93006054e-01 -3.43563830e-03 1.48150181e+02] [ 6.92997099e-01 7.20931747e-01 -3.52655866e-03 5.50609182e+01] [ 4.92078722e-03 1.61491914e-04 9.99987880e-01 5.97248103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.390281693 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:148.17, Y:55.08, Z:0.60 [[ 7.18830143e-01 -6.95177262e-01 -3.43516624e-03 1.48166769e+02] [ 6.95168330e-01 7.18838336e-01 -3.52701842e-03 5.50819501e+01] [ 4.92123220e-03 1.47308377e-04 9.99987880e-01 5.98289251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.420281693 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:148.18, Y:55.10, Z:0.60 [[ 7.14223525e-01 -6.99909252e-01 -3.43451680e-03 1.48183764e+02] [ 6.99900371e-01 7.14231773e-01 -3.52765072e-03 5.51048290e+01] [ 4.92207640e-03 1.15711553e-04 9.99987880e-01 6.03435560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.450281693 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:148.20, Y:55.13, Z:0.61 [[ 7.11776860e-01 -7.02397260e-01 -3.43388225e-03 1.48202735e+02] [ 7.02388405e-01 7.11785136e-01 -3.52826830e-03 5.51254933e+01] [ 4.92243233e-03 9.94206504e-05 9.99987880e-01 6.05138590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.480281693 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:148.22, Y:55.14, Z:0.61 [[ 7.08951533e-01 -7.05248848e-01 -3.43323752e-03 1.48221170e+02] [ 7.05240023e-01 7.08959841e-01 -3.52889555e-03 5.51448121e+01] [ 4.92277705e-03 8.05593961e-05 9.99987880e-01 6.06029038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.510281693 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:148.24, Y:55.16, Z:0.61 [[ 7.03021104e-01 -7.11160702e-01 -3.43255593e-03 1.48240861e+02] [ 7.11151944e-01 7.03029483e-01 -3.52955841e-03 5.51647884e+01] [ 4.92327126e-03 4.02852250e-05 9.99987880e-01 6.05115954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.540281693 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:148.26, Y:55.18, Z:0.60 [[ 7.00175268e-01 -7.13962755e-01 -3.43192094e-03 1.48260197e+02] [ 7.13954028e-01 7.00183679e-01 -3.53017572e-03 5.51823302e+01] [ 4.92338901e-03 2.15079557e-05 9.99987880e-01 6.03740391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.570281693 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:148.28, Y:55.20, Z:0.60 [[ 6.97723779e-01 -7.16358678e-01 -3.43116838e-03 1.48281949e+02] [ 7.16349976e-01 6.97732215e-01 -3.53090702e-03 5.51991460e+01] [ 4.92343260e-03 5.68040223e-06 9.99987880e-01 6.03093816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.600281693 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:148.31, Y:55.21, Z:0.60 [[ 6.93906749e-01 -7.20056703e-01 -3.43046173e-03 1.48307484e+02] [ 7.20048042e-01 6.93915229e-01 -3.53159344e-03 5.52124251e+01] [ 4.92339716e-03 -1.95007225e-05 9.99987880e-01 6.01549232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.630281693 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:148.33, Y:55.23, Z:0.60 [[ 6.92490207e-01 -7.21419123e-01 -3.42975046e-03 1.48328170e+02] [ 7.21410476e-01 6.92498699e-01 -3.53228407e-03 5.52289818e+01] [ 4.92335500e-03 -2.81857830e-05 9.99987880e-01 6.00580300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.660281693 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:148.35, Y:55.24, Z:0.60 [[ 6.92132054e-01 -7.21762746e-01 -3.42900321e-03 1.48351828e+02] [ 7.21754099e-01 6.92140548e-01 -3.53300931e-03 5.52425531e+01] [ 4.92334667e-03 -2.95881325e-05 9.99987880e-01 6.01203850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.690281693 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:148.37, Y:55.26, Z:0.60 [[ 6.93311244e-01 -7.20630117e-01 -3.42826237e-03 1.48373511e+02] [ 7.20621453e-01 6.93319720e-01 -3.53372805e-03 5.52594128e+01] [ 4.92339276e-03 -2.05060188e-05 9.99987880e-01 6.04426538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.720281693 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:148.39, Y:55.28, Z:0.61 [[ 6.94914227e-01 -7.19084466e-01 -3.42755019e-03 1.48393415e+02] [ 7.19075780e-01 6.94922680e-01 -3.53441870e-03 5.52763503e+01] [ 4.92342794e-03 -8.55048682e-06 9.99987880e-01 6.05925617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.750281693 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:148.41, Y:55.30, Z:0.61 [[ 6.96559197e-01 -7.17491143e-01 -3.42699904e-03 1.48413241e+02] [ 7.17482435e-01 6.96567627e-01 -3.53495301e-03 5.52955357e+01] [ 4.92343407e-03 3.49241481e-06 9.99987880e-01 6.06824820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.780281693 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:148.43, Y:55.31, Z:0.61 [[ 6.99665844e-01 -7.14462013e-01 -3.42631006e-03 1.48432763e+02] [ 7.14453265e-01 6.99674233e-01 -3.53562069e-03 5.53149058e+01] [ 4.92336754e-03 2.58146198e-05 9.99987880e-01 6.06312293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.810281693 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:148.45, Y:55.33, Z:0.61 [[ 7.00271428e-01 -7.13868470e-01 -3.42562016e-03 1.48452697e+02] [ 7.13859712e-01 7.00279806e-01 -3.53628900e-03 5.53341879e+01] [ 4.92333784e-03 3.09499243e-05 9.99987880e-01 6.06972682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.840281693 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:148.47, Y:55.35, Z:0.61 [[ 7.00682233e-01 -7.13465261e-01 -3.42496223e-03 1.48471740e+02] [ 7.13456495e-01 7.00690603e-01 -3.53692610e-03 5.53528019e+01] [ 4.92331275e-03 3.46997344e-05 9.99987880e-01 6.11662901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.870281693 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:148.49, Y:55.37, Z:0.61 [[ 7.00788911e-01 -7.13360481e-01 -3.42426702e-03 1.48489880e+02] [ 7.13351710e-01 7.00797276e-01 -3.53759904e-03 5.53730846e+01] [ 4.92330035e-03 3.64034479e-05 9.99987880e-01 6.13395932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.900281693 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:148.51, Y:55.39, Z:0.61 [[ 6.99728411e-01 -7.14400749e-01 -3.42354139e-03 1.48508175e+02] [ 7.14391987e-01 6.99736785e-01 -3.53830113e-03 5.53923971e+01] [ 4.92334283e-03 3.00992933e-05 9.99987880e-01 6.11342258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.930281693 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:148.53, Y:55.41, Z:0.61 [[ 6.98188323e-01 -7.15905964e-01 -3.42297911e-03 1.48528333e+02] [ 7.15897217e-01 6.98196713e-01 -3.53884500e-03 5.54104692e+01] [ 4.92339301e-03 2.02790355e-05 9.99987880e-01 6.09057277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96028169299998 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:148.55, Y:55.43, Z:0.61 [[ 6.96215103e-01 -7.17825061e-01 -3.42225601e-03 1.48548150e+02] [ 7.17816335e-01 6.96223514e-01 -3.53954415e-03 5.54279980e+01] [ 4.92342860e-03 7.73283062e-06 9.99987880e-01 6.07124624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.990281693 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:148.57, Y:55.45, Z:0.61 [[ 6.94647660e-01 -7.19342005e-01 -3.42169644e-03 1.48567565e+02] [ 7.19333294e-01 6.94656087e-01 -3.54008500e-03 5.54463755e+01] [ 4.92343410e-03 -2.22841314e-06 9.99987880e-01 6.05990846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.020281693 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:148.59, Y:55.46, Z:0.60 [[ 6.93689642e-01 -7.20265908e-01 -3.42100013e-03 1.48587454e+02] [ 7.20257205e-01 6.93698077e-01 -3.54075776e-03 5.54649800e+01] [ 4.92342831e-03 -7.81300617e-06 9.99987880e-01 6.04686216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.050281693 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:148.61, Y:55.48, Z:0.60 [[ 6.93822379e-01 -7.20138048e-01 -3.42028236e-03 1.48607470e+02] [ 7.20129340e-01 6.93830809e-01 -3.54145098e-03 5.54826109e+01] [ 4.92343087e-03 -5.90773414e-06 9.99987880e-01 6.04487525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.080281693 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:148.63, Y:55.50, Z:0.61 [[ 6.94910877e-01 -7.19087741e-01 -3.41952869e-03 1.48629895e+02] [ 7.19079017e-01 6.94919291e-01 -3.54217855e-03 5.54992296e+01] [ 4.92343362e-03 2.58707427e-06 9.99987880e-01 6.05516007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.110281693 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:148.65, Y:55.52, Z:0.61 [[ 6.95991424e-01 -7.18041955e-01 -3.41886510e-03 1.48648879e+02] [ 7.18033215e-01 6.95999821e-01 -3.54281892e-03 5.55171386e+01] [ 4.92342212e-03 1.09128825e-05 9.99987880e-01 6.07089477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.140281693 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:148.67, Y:55.54, Z:0.61 [[ 6.97620781e-01 -7.16459045e-01 -3.41808136e-03 1.48668317e+02] [ 7.16450282e-01 6.97629154e-01 -3.54357490e-03 5.55357870e+01] [ 4.92337950e-03 2.31861362e-05 9.99987880e-01 6.08783261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.170281693 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:148.69, Y:55.55, Z:0.61 [[ 7.01428813e-01 -7.12731326e-01 -3.41734800e-03 1.48688370e+02] [ 7.12722515e-01 7.01437135e-01 -3.54428200e-03 5.55530397e+01] [ 4.92317560e-03 5.04406569e-05 9.99987880e-01 6.09969037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.200281693 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:148.71, Y:55.57, Z:0.61 [[ 7.02903468e-01 -7.11277050e-01 -3.41657683e-03 1.48706504e+02] [ 7.11268218e-01 7.02911769e-01 -3.54502523e-03 5.55714014e+01] [ 4.92304715e-03 6.17080170e-05 9.99987880e-01 6.08397380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.230281693 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:148.73, Y:55.59, Z:0.61 [[ 7.04188077e-01 -7.10005270e-01 -3.41581680e-03 1.48725177e+02] [ 7.09996420e-01 7.04196358e-01 -3.54575740e-03 5.55911430e+01] [ 4.92291219e-03 7.16623902e-05 9.99987880e-01 6.07052703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.260281693 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:148.74, Y:55.61, Z:0.60 [[ 7.06472367e-01 -7.07732387e-01 -3.41509303e-03 1.48742085e+02] [ 7.07723507e-01 7.06480616e-01 -3.54645436e-03 5.56113617e+01] [ 4.92263764e-03 8.85303915e-05 9.99987880e-01 6.04214640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.290281693 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:148.76, Y:55.63, Z:0.60 [[ 7.07275072e-01 -7.06930205e-01 -3.41433479e-03 1.48759249e+02] [ 7.06921312e-01 7.07283307e-01 -3.54718421e-03 5.56313563e+01] [ 4.92251366e-03 9.51689382e-05 9.99987880e-01 6.02237643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.320281693 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:148.78, Y:55.65, Z:0.60 [[ 7.07995902e-01 -7.06208290e-01 -3.41378118e-03 1.48776696e+02] [ 7.06199386e-01 7.08004125e-01 -3.54771691e-03 5.56528709e+01] [ 4.92239825e-03 1.00958859e-04 9.99987880e-01 6.01171664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.350281693 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:148.80, Y:55.67, Z:0.60 [[ 7.07868534e-01 -7.06335961e-01 -3.41307369e-03 1.48795011e+02] [ 7.06327055e-01 7.07876755e-01 -3.54839743e-03 5.56732841e+01] [ 4.92239623e-03 1.01052597e-04 9.99987880e-01 6.02528171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.380281693 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:148.81, Y:55.70, Z:0.60 [[ 7.07880244e-01 -7.06324229e-01 -3.41237011e-03 1.48810778e+02] [ 7.06315320e-01 7.07888461e-01 -3.54907391e-03 5.56953095e+01] [ 4.92237431e-03 1.02110020e-04 9.99987880e-01 6.03921542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.410281693 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:148.83, Y:55.72, Z:0.60 [[ 7.08176998e-01 -7.06026699e-01 -3.41165569e-03 1.48828053e+02] [ 7.06017783e-01 7.08185208e-01 -3.54976053e-03 5.57173400e+01] [ 4.92230980e-03 1.05169173e-04 9.99987880e-01 6.02748934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.440281693 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:148.84, Y:55.74, Z:0.60 [[ 7.07931319e-01 -7.06273044e-01 -3.41101870e-03 1.48843585e+02] [ 7.06264128e-01 7.07939529e-01 -3.55037251e-03 5.57390789e+01] [ 4.92232738e-03 1.04339745e-04 9.99987880e-01 6.00564214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.470281693 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:148.86, Y:55.76, Z:0.60 [[ 7.06754644e-01 -7.07450524e-01 -3.41026443e-03 1.48858013e+02] [ 7.07441618e-01 7.06762865e-01 -3.55109688e-03 5.57641323e+01] [ 4.92247360e-03 9.71912243e-05 9.99987880e-01 5.99558504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.500281693 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:148.87, Y:55.79, Z:0.60 [[ 7.05529418e-01 -7.08672431e-01 -3.40962236e-03 1.48874178e+02] [ 7.08663537e-01 7.05537651e-01 -3.55171326e-03 5.57854090e+01] [ 4.92261822e-03 8.95631524e-05 9.99987880e-01 6.00423286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.530281693 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:148.89, Y:55.81, Z:0.60 [[ 7.03057768e-01 -7.11124569e-01 -3.40915209e-03 1.48889264e+02] [ 7.11115701e-01 7.03066030e-01 -3.55216460e-03 5.58079918e+01] [ 4.92289054e-03 7.30753386e-05 9.99987880e-01 6.02943865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.560281693 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:148.91, Y:55.83, Z:0.60 [[ 7.01351046e-01 -7.12807893e-01 -3.40843312e-03 1.48905522e+02] [ 7.12799042e-01 7.01359326e-01 -3.55285434e-03 5.58290352e+01] [ 4.92303897e-03 6.22702480e-05 9.99987880e-01 6.02111546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.590281693 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:148.92, Y:55.85, Z:0.60 [[ 6.99585784e-01 -7.14540495e-01 -3.40767611e-03 1.48921743e+02] [ 7.14531660e-01 6.99594081e-01 -3.55358026e-03 5.58498703e+01] [ 4.92316704e-03 5.11417638e-05 9.99987880e-01 5.99347615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.620281693 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:148.94, Y:55.87, Z:0.60 [[ 6.97538984e-01 -7.16538735e-01 -3.40692462e-03 1.48937940e+02] [ 7.16529921e-01 6.97547303e-01 -3.55430060e-03 5.58713858e+01] [ 4.92328513e-03 3.80998006e-05 9.99987880e-01 5.98627519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.650281693 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:148.95, Y:55.89, Z:0.60 [[ 6.94163336e-01 -7.19809462e-01 -3.40619200e-03 1.48951729e+02] [ 7.19800683e-01 6.94171693e-01 -3.55500255e-03 5.58941152e+01] [ 4.92340654e-03 1.59731011e-05 9.99987880e-01 6.03091086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.680281693 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:148.97, Y:55.91, Z:0.61 [[ 6.93049740e-01 -7.20881725e-01 -3.40542187e-03 1.48969369e+02] [ 7.20872955e-01 6.93058107e-01 -3.55574013e-03 5.59143213e+01] [ 4.92342331e-03 9.42824477e-06 9.99987880e-01 6.06609686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71028169299998 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:148.99, Y:55.93, Z:0.61 [[ 6.92902276e-01 -7.21023470e-01 -3.40469417e-03 1.48988308e+02] [ 7.21014699e-01 6.92910640e-01 -3.55643677e-03 5.59344691e+01] [ 4.92342320e-03 9.42858962e-06 9.99987880e-01 6.06745810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.740281693 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:149.01, Y:55.95, Z:0.61 [[ 6.91140216e-01 -7.22712678e-01 -3.40396658e-03 1.49006024e+02] [ 7.22703924e-01 6.91148598e-01 -3.55713303e-03 5.59537877e+01] [ 4.92343187e-03 -1.58231395e-06 9.99987880e-01 6.06804461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.770281693 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:149.02, Y:55.97, Z:0.61 [[ 6.90181229e-01 -7.23628558e-01 -3.40320238e-03 1.49024983e+02] [ 7.23619811e-01 6.90189619e-01 -3.55786401e-03 5.59738866e+01] [ 4.92342696e-03 -7.05371336e-06 9.99987880e-01 6.05111801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.800281693 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:149.04, Y:55.99, Z:0.60 [[ 6.89284458e-01 -7.24482822e-01 -3.40248509e-03 1.49043507e+02] [ 7.24474082e-01 6.89292856e-01 -3.55854985e-03 5.59931422e+01] [ 4.92341690e-03 -1.21591628e-05 9.99987880e-01 6.02799287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.830281693 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:149.06, Y:56.01, Z:0.60 [[ 6.88339560e-01 -7.25380644e-01 -3.40176901e-03 1.49062890e+02] [ 7.25371912e-01 6.88347965e-01 -3.55923425e-03 5.60125347e+01] [ 4.92340041e-03 -1.75859539e-05 9.99987880e-01 6.00783685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.860281693 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:149.08, Y:56.03, Z:0.60 [[ 6.87843541e-01 -7.25851015e-01 -3.40104947e-03 1.49082843e+02] [ 7.25842285e-01 6.87851949e-01 -3.55992167e-03 5.60300228e+01] [ 4.92339127e-03 -1.99563877e-05 9.99987880e-01 6.00814595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.890281693 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:149.10, Y:56.05, Z:0.60 [[ 6.88383553e-01 -7.25338902e-01 -3.40029342e-03 1.49102258e+02] [ 7.25330163e-01 6.88391950e-01 -3.56064368e-03 5.60484670e+01] [ 4.92340799e-03 -1.52468343e-05 9.99987880e-01 6.03010866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.920281693 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:149.12, Y:56.07, Z:0.60 [[ 6.90280464e-01 -7.23533913e-01 -3.39958142e-03 1.49122448e+02] [ 7.23525149e-01 6.90288835e-01 -3.56132334e-03 5.60659588e+01] [ 4.92343131e-03 -1.37072322e-06 9.99987880e-01 6.04446498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.950281693 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:149.14, Y:56.08, Z:0.60 [[ 6.90536987e-01 -7.23289097e-01 -3.39887456e-03 1.49141707e+02] [ 7.23280326e-01 6.90545351e-01 -3.56199783e-03 5.60846245e+01] [ 4.92343122e-03 1.35214263e-06 9.99987880e-01 6.03833936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.980281693 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:149.16, Y:56.10, Z:0.60 [[ 6.90231777e-01 -7.23580366e-01 -3.39817441e-03 1.49161110e+02] [ 7.23571595e-01 6.90240142e-01 -3.56266565e-03 5.61030312e+01] [ 4.92343131e-03 2.42566338e-07 9.99987880e-01 6.03590852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.010281693 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:149.18, Y:56.12, Z:0.60 [[ 6.88737873e-01 -7.25002482e-01 -3.39747331e-03 1.49181364e+02] [ 7.24993725e-01 6.88746253e-01 -3.56333412e-03 5.61203690e+01] [ 4.92342309e-03 -8.94367186e-06 9.99987880e-01 6.00986295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.040281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:149.20, Y:56.14, Z:0.60 [[ 6.87534343e-01 -7.26143918e-01 -3.39673728e-03 1.49200826e+02] [ 7.26135172e-01 6.87542733e-01 -3.56403560e-03 5.61387788e+01] [ 4.92340481e-03 -1.60935344e-05 9.99987880e-01 6.00983084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.070281693 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:149.22, Y:56.16, Z:0.60 [[ 6.86176776e-01 -7.27426903e-01 -3.39600547e-03 1.49219971e+02] [ 7.27418169e-01 6.86185179e-01 -3.56473277e-03 5.61563162e+01] [ 4.92337114e-03 -2.42792390e-05 9.99987880e-01 5.99898972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.100281693 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:149.24, Y:56.18, Z:0.60 [[ 6.86058294e-01 -7.27538651e-01 -3.39543899e-03 1.49238746e+02] [ 7.27529915e-01 6.86066696e-01 -3.56527226e-03 5.61766035e+01] [ 4.92337098e-03 -2.42988343e-05 9.99987880e-01 6.00330935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.130281693 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:149.26, Y:56.20, Z:0.60 [[ 6.86383569e-01 -7.27231787e-01 -3.39476912e-03 1.49256724e+02] [ 7.27223045e-01 6.86391963e-01 -3.56590998e-03 5.61964168e+01] [ 4.92338533e-03 -2.11723181e-05 9.99987880e-01 5.98161418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.160281693 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:149.28, Y:56.22, Z:0.60 [[ 6.87398424e-01 -7.26272597e-01 -3.39427891e-03 1.49275048e+02] [ 7.26263841e-01 6.87406804e-01 -3.56637654e-03 5.62167508e+01] [ 4.92341197e-03 -1.36204244e-05 9.99987880e-01 6.00486791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.190281693 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:149.29, Y:56.24, Z:0.60 [[ 6.87422837e-01 -7.26249493e-01 -3.39355904e-03 1.49294116e+02] [ 7.26240733e-01 6.87431214e-01 -3.56706139e-03 5.62374576e+01] [ 4.92341494e-03 -1.24613455e-05 9.99987880e-01 6.02497892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.220281693 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:149.31, Y:56.26, Z:0.61 [[ 6.85251766e-01 -7.28298363e-01 -3.39288366e-03 1.49312717e+02] [ 7.28289625e-01 6.85260165e-01 -3.56770368e-03 5.62563472e+01] [ 4.92336077e-03 -2.62267200e-05 9.99987880e-01 6.05638013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.250281693 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:149.33, Y:56.28, Z:0.61 [[ 6.82896388e-01 -7.30507369e-01 -3.39216656e-03 1.49331996e+02] [ 7.30498655e-01 6.82904812e-01 -3.56838537e-03 5.62756486e+01] [ 4.92325868e-03 -4.11356355e-05 9.99987880e-01 6.08358864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.280281693 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:149.35, Y:56.30, Z:0.61 [[ 6.80135878e-01 -7.33078226e-01 -3.39143780e-03 1.49351727e+02] [ 7.33069540e-01 6.80144331e-01 -3.56907786e-03 5.62950867e+01] [ 4.92308046e-03 -5.87018438e-05 9.99987880e-01 6.08190524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.310281693 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:149.37, Y:56.31, Z:0.60 [[ 6.75378037e-01 -7.37463904e-01 -3.39076447e-03 1.49371502e+02] [ 7.37455270e-01 6.75386542e-01 -3.56971744e-03 5.63128746e+01] [ 4.92261445e-03 -8.96283696e-05 9.99987880e-01 6.03787083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.340281693 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:149.39, Y:56.33, Z:0.60 [[ 6.73408897e-01 -7.39262447e-01 -3.38996697e-03 1.49390509e+02] [ 7.39253832e-01 6.73417422e-01 -3.57047461e-03 5.63308045e+01] [ 4.92238062e-03 -1.01656704e-04 9.99987880e-01 6.02435021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.370281693 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:149.41, Y:56.35, Z:0.60 [[ 6.71368233e-01 -7.41116191e-01 -3.38924247e-03 1.49412810e+02] [ 7.41107596e-01 6.71376778e-01 -3.57116221e-03 5.63477498e+01] [ 4.92210482e-03 -1.14228478e-04 9.99987880e-01 6.02622215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.400281693 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:149.43, Y:56.37, Z:0.60 [[ 6.71013501e-01 -7.41437388e-01 -3.38856088e-03 1.49432818e+02] [ 7.41428793e-01 6.71022047e-01 -3.57180883e-03 5.63658533e+01] [ 4.92207167e-03 -1.15644650e-04 9.99987880e-01 6.04242858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.430281693 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:149.45, Y:56.38, Z:0.60 [[ 6.71023550e-01 -7.41428296e-01 -3.38782011e-03 1.49453279e+02] [ 7.41419698e-01 6.71032092e-01 -3.57251130e-03 5.63843435e+01] [ 4.92209699e-03 -1.14557351e-04 9.99987880e-01 6.04815444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46028169299998 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:149.47, Y:56.40, Z:0.61 [[ 6.71694596e-01 -7.40820422e-01 -3.38707881e-03 1.49474570e+02] [ 7.40811813e-01 6.71703127e-01 -3.57321399e-03 5.64003667e+01] [ 4.92222132e-03 -1.09079470e-04 9.99987880e-01 6.07496120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.490281693 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:149.49, Y:56.42, Z:0.61 [[ 6.72660856e-01 -7.39943177e-01 -3.38629958e-03 1.49493226e+02] [ 7.39934553e-01 6.72669372e-01 -3.57395230e-03 5.64180432e+01] [ 4.92238164e-03 -1.01582249e-04 9.99987880e-01 6.09379189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.520281693 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:149.51, Y:56.44, Z:0.61 [[ 6.73999150e-01 -7.38724362e-01 -3.38568900e-03 1.49512645e+02] [ 7.38715720e-01 6.74007647e-01 -3.57453063e-03 5.64371642e+01] [ 4.92257313e-03 -9.18310862e-05 9.99987880e-01 6.11720735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.550281693 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:149.53, Y:56.46, Z:0.61 [[ 6.77358472e-01 -7.35645324e-01 -3.38496897e-03 1.49530978e+02] [ 7.35636639e-01 6.77366926e-01 -3.57521235e-03 5.64552181e+01] [ 4.92295427e-03 -6.84068230e-05 9.99987880e-01 6.10824852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.580281693 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:149.55, Y:56.47, Z:0.61 [[ 6.78861341e-01 -7.34258692e-01 -3.38421123e-03 1.49550144e+02] [ 7.34249987e-01 6.78869774e-01 -3.57592946e-03 5.64738481e+01] [ 4.92309600e-03 -5.72967791e-05 9.99987880e-01 6.09752591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.610281693 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:149.57, Y:56.49, Z:0.61 [[ 6.80953291e-01 -7.32319034e-01 -3.38350610e-03 1.49571387e+02] [ 7.32310301e-01 6.80961695e-01 -3.57659652e-03 5.64918053e+01] [ 4.92324776e-03 -4.22812014e-05 9.99987880e-01 6.07153280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.640281693 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:149.59, Y:56.51, Z:0.61 [[ 6.81663638e-01 -7.31657872e-01 -3.38278343e-03 1.49589909e+02] [ 7.31649127e-01 6.81672031e-01 -3.57727990e-03 5.65100202e+01] [ 4.92329385e-03 -3.65089143e-05 9.99987880e-01 6.05689503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.670281693 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:149.61, Y:56.53, Z:0.61 [[ 6.82171897e-01 -7.31184016e-01 -3.38202201e-03 1.49608953e+02] [ 7.31175262e-01 6.82180280e-01 -3.57799962e-03 5.65294235e+01] [ 4.92332485e-03 -3.20400407e-05 9.99987880e-01 6.05962785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.700281693 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:149.63, Y:56.55, Z:0.61 [[ 6.82650651e-01 -7.30737063e-01 -3.38130153e-03 1.49627507e+02] [ 7.30728301e-01 6.82659025e-01 -3.57868036e-03 5.65479096e+01] [ 4.92335038e-03 -2.78242396e-05 9.99987880e-01 6.06863671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.730281693 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:149.65, Y:56.56, Z:0.61 [[ 6.84011771e-01 -7.29463138e-01 -3.38054576e-03 1.49647159e+02] [ 7.29454356e-01 6.84020124e-01 -3.57939414e-03 5.65646849e+01] [ 4.92339741e-03 -1.76061022e-05 9.99987880e-01 6.08714124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.760281693 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:149.67, Y:56.58, Z:0.61 [[ 6.84937534e-01 -7.28593955e-01 -3.37981347e-03 1.49666084e+02] [ 7.28585159e-01 6.84945873e-01 -3.58008547e-03 5.65841156e+01] [ 4.92341792e-03 -1.03470252e-05 9.99987880e-01 6.08755865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.790281693 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:149.68, Y:56.60, Z:0.61 [[ 6.86793128e-01 -7.26845087e-01 -3.37910384e-03 1.49683720e+02] [ 7.26836267e-01 6.86801441e-01 -3.58075513e-03 5.66039413e+01] [ 4.92342766e-03 3.18279227e-06 9.99987880e-01 6.08708335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.820281693 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:149.70, Y:56.62, Z:0.61 [[ 6.87432537e-01 -7.26240383e-01 -3.37835952e-03 1.49702643e+02] [ 7.26231552e-01 6.87440838e-01 -3.58145724e-03 5.66234519e+01] [ 4.92342118e-03 8.53896130e-06 9.99987880e-01 6.07032343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.850281693 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:149.72, Y:56.64, Z:0.61 [[ 6.87985530e-01 -7.25716544e-01 -3.37765707e-03 1.49722538e+02] [ 7.25707703e-01 6.87993821e-01 -3.58211960e-03 5.66423191e+01] [ 4.92341065e-03 1.32546933e-05 9.99987880e-01 6.05221735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.880281693 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:149.74, Y:56.66, Z:0.60 [[ 6.88222966e-01 -7.25491382e-01 -3.37695671e-03 1.49743170e+02] [ 7.25482535e-01 6.88231251e-01 -3.58277973e-03 5.66602799e+01] [ 4.92340295e-03 1.58281744e-05 9.99987880e-01 6.02933629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.910281693 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:149.76, Y:56.68, Z:0.60 [[ 6.88324940e-01 -7.25394636e-01 -3.37626129e-03 1.49762577e+02] [ 7.25385785e-01 6.88333220e-01 -3.58343494e-03 5.66798701e+01] [ 4.92339729e-03 1.74756913e-05 9.99987880e-01 6.03829307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.940281693 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:149.78, Y:56.70, Z:0.61 [[ 6.88784986e-01 -7.24957825e-01 -3.37556746e-03 1.49780931e+02] [ 7.24948966e-01 6.88793257e-01 -3.58408840e-03 5.66979702e+01] [ 4.92338104e-03 2.15521419e-05 9.99987880e-01 6.05139507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.970281693 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:149.80, Y:56.72, Z:0.61 [[ 6.89246277e-01 -7.24519275e-01 -3.37495262e-03 1.49801340e+02] [ 7.24510408e-01 6.89254539e-01 -3.58466727e-03 5.67154335e+01] [ 4.92336195e-03 2.55302744e-05 9.99987880e-01 6.07395703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.000281693 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:149.82, Y:56.73, Z:0.61 [[ 6.89424694e-01 -7.24349505e-01 -3.37424328e-03 1.49820791e+02] [ 7.24340632e-01 6.89432951e-01 -3.58533485e-03 5.67344329e+01] [ 4.92335003e-03 2.77168739e-05 9.99987880e-01 6.08111907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.030281693 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:149.84, Y:56.75, Z:0.61 [[ 6.90944500e-01 -7.22899935e-01 -3.37352304e-03 1.49841293e+02] [ 7.22891042e-01 6.90952735e-01 -3.58601242e-03 5.67509332e+01] [ 4.92327311e-03 3.90459738e-05 9.99987880e-01 6.09096518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.060281693 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:149.86, Y:56.77, Z:0.61 [[ 6.91824687e-01 -7.22057634e-01 -3.37276943e-03 1.49861408e+02] [ 7.22048728e-01 6.91832907e-01 -3.58672107e-03 5.67698963e+01] [ 4.92321221e-03 4.60783028e-05 9.99987880e-01 6.09842904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.090281693 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:149.88, Y:56.79, Z:0.61 [[ 6.92894947e-01 -7.21030667e-01 -3.37201481e-03 1.49880417e+02] [ 7.21021744e-01 6.92903150e-01 -3.58743038e-03 5.67879695e+01] [ 4.92312700e-03 5.44163806e-05 9.99987880e-01 6.08954575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.120281693 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:149.90, Y:56.81, Z:0.61 [[ 6.94803721e-01 -7.19191506e-01 -3.37143313e-03 1.49899898e+02] [ 7.19182560e-01 6.94811897e-01 -3.58797695e-03 5.68066650e+01] [ 4.92295440e-03 6.82638331e-05 9.99987880e-01 6.05907575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.150281693 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:149.92, Y:56.83, Z:0.61 [[ 6.95027318e-01 -7.18975428e-01 -3.37070023e-03 1.49918315e+02] [ 7.18966475e-01 6.95035487e-01 -3.58866533e-03 5.68253665e+01] [ 4.92291847e-03 7.07999730e-05 9.99987880e-01 6.05967278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.180281693 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:149.94, Y:56.85, Z:0.61 [[ 6.95381741e-01 -7.18632644e-01 -3.36993085e-03 1.49937945e+02] [ 7.18623684e-01 6.95389903e-01 -3.58938767e-03 5.68453541e+01] [ 4.92286704e-03 7.42825245e-05 9.99987880e-01 6.08458502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21028169299998 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:149.96, Y:56.87, Z:0.61 [[ 6.96833356e-01 -7.17225155e-01 -3.36924962e-03 1.49956382e+02] [ 7.17216175e-01 6.96841496e-01 -3.59002701e-03 5.68652899e+01] [ 4.92269062e-03 8.51702437e-05 9.99987880e-01 6.11778216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.240281693 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:149.97, Y:56.88, Z:0.61 [[ 6.97581790e-01 -7.16497243e-01 -3.36852882e-03 1.49973687e+02] [ 7.16488252e-01 6.97589917e-01 -3.59070321e-03 5.68848246e+01] [ 4.92258069e-03 9.12978510e-05 9.99987880e-01 6.13879474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.270281693 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:149.99, Y:56.91, Z:0.61 [[ 6.99311606e-01 -7.14809021e-01 -3.36776046e-03 1.49990671e+02] [ 7.14800006e-01 6.99319707e-01 -3.59142372e-03 5.69066179e+01] [ 4.92232333e-03 1.04249091e-04 9.99987880e-01 6.14158485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.300281693 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:150.01, Y:56.93, Z:0.61 [[ 6.99875826e-01 -7.14256600e-01 -3.36704158e-03 1.50007685e+02] [ 7.14247576e-01 6.99883917e-01 -3.59209756e-03 5.69270132e+01] [ 4.92221764e-03 1.09120967e-04 9.99987880e-01 6.11422625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.330281693 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:150.02, Y:56.95, Z:0.61 [[ 6.99887147e-01 -7.14245510e-01 -3.36628847e-03 1.50024624e+02] [ 7.14236482e-01 6.99895234e-01 -3.59280319e-03 5.69470939e+01] [ 4.92219280e-03 1.10230737e-04 9.99987880e-01 6.07988768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.360281693 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:150.04, Y:56.97, Z:0.61 [[ 6.98640237e-01 -7.15465228e-01 -3.36554289e-03 1.50041555e+02] [ 7.15456211e-01 6.98648335e-01 -3.59350147e-03 5.69678873e+01] [ 4.92235629e-03 1.02666153e-04 9.99987880e-01 6.06410014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.390281693 meters Centerline goodness : 0.998472 Centerline is valid? [True, True] Translation: X:150.06, Y:56.99, Z:0.61 [[ 6.97341545e-01 -7.16731085e-01 -3.36483132e-03 1.50058713e+02] [ 7.16722079e-01 6.97349656e-01 -3.59416764e-03 5.69886388e+01] [ 4.92251564e-03 9.47135101e-05 9.99987880e-01 6.10257404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.420281693 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:150.08, Y:57.01, Z:0.61 [[ 6.96173805e-01 -7.17865388e-01 -3.36409358e-03 1.50075578e+02] [ 7.17856393e-01 6.96181928e-01 -3.59485802e-03 5.70084245e+01] [ 4.92264530e-03 8.77099038e-05 9.99987880e-01 6.14833861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.450281693 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:150.09, Y:57.03, Z:0.62 [[ 6.93969059e-01 -7.19996966e-01 -3.36352232e-03 1.50092433e+02] [ 7.19987993e-01 6.93977207e-01 -3.59539244e-03 5.70298951e+01] [ 4.92287947e-03 7.33954255e-05 9.99987880e-01 6.20271880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.480281693 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:150.11, Y:57.05, Z:0.62 [[ 6.92941814e-01 -7.20985668e-01 -3.36281796e-03 1.50110128e+02] [ 7.20976703e-01 6.92949971e-01 -3.59605112e-03 5.70511339e+01] [ 4.92296592e-03 6.73407849e-05 9.99987880e-01 6.17598464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.510281693 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:150.13, Y:57.07, Z:0.61 [[ 6.91297212e-01 -7.22562704e-01 -3.36214368e-03 1.50125200e+02] [ 7.22553754e-01 6.91305386e-01 -3.59668143e-03 5.70737904e+01] [ 4.92309589e-03 5.70463083e-05 9.99987880e-01 6.10008939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.540281693 meters Centerline goodness : 0.998540 Centerline is valid? [True, True] Translation: X:150.14, Y:57.10, Z:0.61 [[ 6.90300104e-01 -7.23515353e-01 -3.36143935e-03 1.50142674e+02] [ 7.23506412e-01 6.90308287e-01 -3.59733957e-03 5.70950862e+01] [ 4.92315985e-03 5.12209559e-05 9.99987880e-01 6.09926748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.570281693 meters Centerline goodness : 0.998540 Centerline is valid? [True, True] Translation: X:150.16, Y:57.12, Z:0.61 [[ 6.90160399e-01 -7.23648623e-01 -3.36074352e-03 1.50161364e+02] [ 7.23639680e-01 6.90168580e-01 -3.59798952e-03 5.71154791e+01] [ 4.92315974e-03 5.12225154e-05 9.99987880e-01 6.10062871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.600281693 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:150.18, Y:57.14, Z:0.61 [[ 6.88955817e-01 -7.24795552e-01 -3.36004871e-03 1.50178415e+02] [ 7.24786620e-01 6.88964009e-01 -3.59863827e-03 5.71352242e+01] [ 4.92322964e-03 4.39844199e-05 9.99987880e-01 6.11260028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.630281693 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:150.20, Y:57.16, Z:0.61 [[ 6.86045500e-01 -7.27550883e-01 -3.35931872e-03 1.50197399e+02] [ 7.27541980e-01 6.86053724e-01 -3.59931957e-03 5.71551943e+01] [ 4.92336125e-03 2.52516022e-05 9.99987880e-01 6.14451526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.660281693 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:150.22, Y:57.17, Z:0.62 [[ 6.84266268e-01 -7.29224516e-01 -3.35856576e-03 1.50215057e+02] [ 7.29215630e-01 6.84274510e-01 -3.60002203e-03 5.71739005e+01] [ 4.92340527e-03 1.42549940e-05 9.99987880e-01 6.15543776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.690281693 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:150.23, Y:57.19, Z:0.62 [[ 6.82339631e-01 -7.31027601e-01 -3.35777135e-03 1.50233011e+02] [ 7.31018733e-01 6.82347893e-01 -3.60076284e-03 5.71939004e+01] [ 4.92342522e-03 2.34942998e-06 9.99987880e-01 6.18520951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.720281693 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:150.25, Y:57.21, Z:0.62 [[ 6.82481687e-01 -7.30894983e-01 -3.35702967e-03 1.50250527e+02] [ 7.30886110e-01 6.82489944e-01 -3.60145418e-03 5.72139497e+01] [ 4.92342378e-03 4.32016909e-06 9.99987880e-01 6.19616153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.750281693 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:150.27, Y:57.23, Z:0.62 [[ 6.83552623e-01 -7.29893518e-01 -3.35624948e-03 1.50267303e+02] [ 7.29884629e-01 6.83560862e-01 -3.60218111e-03 5.72348642e+01] [ 4.92340943e-03 1.26054357e-05 9.99987880e-01 6.19037609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.780281693 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:150.28, Y:57.26, Z:0.61 [[ 6.87080120e-01 -7.26573912e-01 -3.35551177e-03 1.50281690e+02] [ 7.26564980e-01 6.87088312e-01 -3.60286817e-03 5.72575923e+01] [ 4.92328294e-03 3.74617511e-05 9.99987880e-01 6.14497036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.810281693 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:150.30, Y:57.28, Z:0.61 [[ 6.88649094e-01 -7.25087009e-01 -3.35494269e-03 1.50299320e+02] [ 7.25078057e-01 6.88657264e-01 -3.60339801e-03 5.72782840e+01] [ 4.92318274e-03 4.88814501e-05 9.99987880e-01 6.13784725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.840281693 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:150.32, Y:57.30, Z:0.62 [[ 6.89520173e-01 -7.24258711e-01 -3.35418497e-03 1.50315784e+02] [ 7.24249746e-01 6.89528329e-01 -3.60410319e-03 5.72989953e+01] [ 4.92310868e-03 5.58342414e-05 9.99987880e-01 6.17876582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.870281693 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:150.33, Y:57.32, Z:0.62 [[ 6.88837964e-01 -7.24907589e-01 -3.35359798e-03 1.50333143e+02] [ 7.24898628e-01 6.88846126e-01 -3.60464929e-03 5.73201037e+01] [ 4.92315060e-03 5.20006993e-05 9.99987880e-01 6.20584152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.900281693 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:150.35, Y:57.34, Z:0.62 [[ 6.87865224e-01 -7.25830691e-01 -3.35287926e-03 1.50350819e+02] [ 7.25821738e-01 6.87873394e-01 -3.60531769e-03 5.73410714e+01] [ 4.92320667e-03 4.63800097e-05 9.99987880e-01 6.20737489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.930281693 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:150.37, Y:57.36, Z:0.61 [[ 6.85734384e-01 -7.27844158e-01 -3.35213168e-03 1.50369176e+02] [ 7.27835226e-01 6.85742576e-01 -3.60601264e-03 5.73620207e+01] [ 4.92331464e-03 3.29673372e-05 9.99987880e-01 6.13211430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96028169299998 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:150.39, Y:57.38, Z:0.61 [[ 6.84899714e-01 -7.28629638e-01 -3.35145626e-03 1.50388027e+02] [ 7.28620713e-01 6.84907913e-01 -3.60664027e-03 5.73829583e+01] [ 4.92334391e-03 2.82464425e-05 9.99987880e-01 6.10740447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.990281693 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:150.40, Y:57.40, Z:0.61 [[ 6.84240395e-01 -7.29248829e-01 -3.35077316e-03 1.50404630e+02] [ 7.29239907e-01 6.84248599e-01 -3.60727479e-03 5.74026114e+01] [ 4.92336276e-03 2.47256184e-05 9.99987880e-01 6.09477054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.020281693 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:150.42, Y:57.42, Z:0.61 [[ 6.83735063e-01 -7.29722647e-01 -3.34996380e-03 1.50421606e+02] [ 7.29713728e-01 6.83743269e-01 -3.60802627e-03 5.74227554e+01] [ 4.92337368e-03 2.24194990e-05 9.99987880e-01 6.12717435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.050281693 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:150.44, Y:57.44, Z:0.61 [[ 6.83566369e-01 -7.29880676e-01 -3.34918096e-03 1.50438911e+02] [ 7.29871755e-01 6.83574574e-01 -3.60875280e-03 5.74420302e+01] [ 4.92337388e-03 2.23494664e-05 9.99987880e-01 6.14277565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.080281693 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:150.46, Y:57.46, Z:0.62 [[ 6.83636743e-01 -7.29814766e-01 -3.34841793e-03 1.50456099e+02] [ 7.29805840e-01 6.83644942e-01 -3.60946064e-03 5.74626192e+01] [ 4.92336666e-03 2.38649563e-05 9.99987880e-01 6.17178076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.110281693 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:150.47, Y:57.48, Z:0.62 [[ 6.83810124e-01 -7.29652319e-01 -3.34768999e-03 1.50473445e+02] [ 7.29643389e-01 6.83818318e-01 -3.61013566e-03 5.74841829e+01] [ 4.92335560e-03 2.60274437e-05 9.99987880e-01 6.18031839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.140281693 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:150.49, Y:57.50, Z:0.62 [[ 6.84030982e-01 -7.29445278e-01 -3.34694457e-03 1.50489705e+02] [ 7.29436342e-01 6.84039169e-01 -3.61082661e-03 5.75047450e+01] [ 4.92334160e-03 2.85342706e-05 9.99987880e-01 6.18751812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.170281693 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:150.51, Y:57.53, Z:0.62 [[ 6.84322822e-01 -7.29171502e-01 -3.34616330e-03 1.50506731e+02] [ 7.29162558e-01 6.84331002e-01 -3.61155047e-03 5.75255642e+01] [ 4.92332296e-03 3.15694116e-05 9.99987880e-01 6.19788048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.200281693 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:150.52, Y:57.55, Z:0.62 [[ 6.84607909e-01 -7.28903848e-01 -3.34541940e-03 1.50522347e+02] [ 7.28894898e-01 6.84616082e-01 -3.61223942e-03 5.75472740e+01] [ 4.92330313e-03 3.45085412e-05 9.99987880e-01 6.20513068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.230281693 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:150.54, Y:57.57, Z:0.62 [[ 6.83663234e-01 -7.29789967e-01 -3.34463973e-03 1.50537664e+02] [ 7.29781024e-01 6.83671414e-01 -3.61296119e-03 5.75697570e+01] [ 4.92333740e-03 2.91941194e-05 9.99987880e-01 6.20967114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.260281693 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:150.55, Y:57.59, Z:0.62 [[ 6.83042915e-01 -7.30370587e-01 -3.34390353e-03 1.50553984e+02] [ 7.30361648e-01 6.83051100e-01 -3.61364244e-03 5.75899052e+01] [ 4.92335513e-03 2.60139734e-05 9.99987880e-01 6.21107723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.290281693 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:150.57, Y:57.61, Z:0.62 [[ 6.82160089e-01 -7.31195210e-01 -3.34333373e-03 1.50570204e+02] [ 7.31186278e-01 6.82168281e-01 -3.61416954e-03 5.76102111e+01] [ 4.92337968e-03 2.08424675e-05 9.99987880e-01 6.20941734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.320281693 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:150.59, Y:57.63, Z:0.62 [[ 6.81182628e-01 -7.32105904e-01 -3.34256393e-03 1.50587435e+02] [ 7.32096979e-01 6.81190829e-01 -3.61488134e-03 5.76310090e+01] [ 4.92339987e-03 1.53134168e-05 9.99987880e-01 6.21110922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.350281693 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:150.60, Y:57.65, Z:0.62 [[ 6.78556436e-01 -7.34540670e-01 -3.34183202e-03 1.50603948e+02] [ 7.34531772e-01 6.78564665e-01 -3.61555785e-03 5.76522388e+01] [ 4.92342340e-03 -1.32174808e-06 9.99987880e-01 6.22627927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.380281693 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:150.62, Y:57.67, Z:0.62 [[ 6.77052664e-01 -7.35926985e-01 -3.34109566e-03 1.50620954e+02] [ 7.35918100e-01 6.77060908e-01 -3.61623818e-03 5.76715463e+01] [ 4.92341252e-03 -1.03890777e-05 9.99987880e-01 6.24016005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.410281693 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:150.64, Y:57.69, Z:0.62 [[ 6.74902668e-01 -7.37899201e-01 -3.34032171e-03 1.50639771e+02] [ 7.37890337e-01 6.74910934e-01 -3.61695294e-03 5.76911091e+01] [ 4.92336632e-03 -2.36999218e-05 9.99987880e-01 6.23884374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.440281693 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:150.66, Y:57.71, Z:0.62 [[ 6.74193877e-01 -7.38546860e-01 -3.33960053e-03 1.50658752e+02] [ 7.38538000e-01 6.74202147e-01 -3.61761869e-03 5.77101757e+01] [ 4.92334677e-03 -2.74455252e-05 9.99987880e-01 6.23632996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.470281693 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:150.68, Y:57.73, Z:0.62 [[ 6.73390155e-01 -7.39279752e-01 -3.33884735e-03 1.50677836e+02] [ 7.39270897e-01 6.73398432e-01 -3.61831370e-03 5.77290385e+01] [ 4.92332062e-03 -3.17758512e-05 9.99987880e-01 6.22689492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.500281693 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:150.70, Y:57.75, Z:0.62 [[ 6.72769188e-01 -7.39844900e-01 -3.33809496e-03 1.50697544e+02] [ 7.39836050e-01 6.72777469e-01 -3.61900769e-03 5.77468998e+01] [ 4.92329946e-03 -3.48861237e-05 9.99987880e-01 6.19533736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.530281693 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:150.72, Y:57.77, Z:0.62 [[ 6.73397978e-01 -7.39272633e-01 -3.33730477e-03 1.50716540e+02] [ 7.39263771e-01 6.73406247e-01 -3.61973622e-03 5.77668006e+01] [ 4.92333381e-03 -2.96254596e-05 9.99987880e-01 6.18852084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.560281693 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:150.73, Y:57.79, Z:0.62 [[ 6.77605250e-01 -7.35418244e-01 -3.33653273e-03 1.50732944e+02] [ 7.35409332e-01 6.77613464e-01 -3.62044772e-03 5.77870161e+01] [ 4.92342280e-03 -4.82923879e-07 9.99987880e-01 6.18324083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.590281693 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:150.75, Y:57.81, Z:0.62 [[ 6.80528205e-01 -7.32714293e-01 -3.33572099e-03 1.50750305e+02] [ 7.32705345e-01 6.80536380e-01 -3.62119546e-03 5.78084614e+01] [ 4.92338116e-03 2.02250487e-05 9.99987880e-01 6.19402478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.620281693 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:150.77, Y:57.83, Z:0.62 [[ 6.83798945e-01 -7.29662854e-01 -3.33498489e-03 1.50766239e+02] [ 7.29653866e-01 6.83807077e-01 -3.62187325e-03 5.78287811e+01] [ 4.92323264e-03 4.32484891e-05 9.99987880e-01 6.19939772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.650281693 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:150.78, Y:57.85, Z:0.62 [[ 6.90554432e-01 -7.23272742e-01 -3.33421040e-03 1.50779702e+02] [ 7.23263676e-01 6.90562475e-01 -3.62258609e-03 5.78527841e+01] [ 4.92259836e-03 9.00796114e-05 9.99987880e-01 6.22273295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.680281693 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:150.79, Y:57.88, Z:0.62 [[ 6.93805332e-01 -7.20154879e-01 -3.33347032e-03 1.50794168e+02] [ 7.20145773e-01 6.93813331e-01 -3.62326698e-03 5.78751590e+01] [ 4.92211954e-03 1.13257396e-04 9.99987880e-01 6.22090730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71028169299998 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:150.81, Y:57.90, Z:0.62 [[ 6.98468820e-01 -7.15632727e-01 -3.33269660e-03 1.50805843e+02] [ 7.15623566e-01 6.98476756e-01 -3.62397852e-03 5.79012045e+01] [ 4.92124873e-03 1.46279774e-04 9.99987880e-01 6.19170065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.740281693 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:150.82, Y:57.92, Z:0.62 [[ 6.99303285e-01 -7.14817328e-01 -3.33197181e-03 1.50820973e+02] [ 7.14808155e-01 6.99311207e-01 -3.62464477e-03 5.79248394e+01] [ 4.92104412e-03 1.53005374e-04 9.99987880e-01 6.18563487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.770281693 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:150.84, Y:57.95, Z:0.62 [[ 6.99433290e-01 -7.14690126e-01 -3.33124641e-03 1.50835483e+02] [ 7.14680948e-01 6.99441206e-01 -3.62531134e-03 5.79485594e+01] [ 4.92098522e-03 1.54885100e-04 9.99987880e-01 6.19523017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.800281693 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:150.85, Y:57.97, Z:0.63 [[ 6.98269597e-01 -7.15827128e-01 -3.33052209e-03 1.50845408e+02] [ 7.15817960e-01 6.98277524e-01 -3.62597664e-03 5.79742718e+01] [ 4.92120116e-03 1.47861716e-04 9.99987880e-01 6.25905654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.830281693 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:150.86, Y:58.00, Z:0.63 [[ 6.97276536e-01 -7.16794493e-01 -3.32975945e-03 1.50859917e+02] [ 7.16785332e-01 6.97284472e-01 -3.62667684e-03 5.79967579e+01] [ 4.92137155e-03 1.42073934e-04 9.99987880e-01 6.27544112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.860281693 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:150.87, Y:58.02, Z:0.63 [[ 6.95030637e-01 -7.18972413e-01 -3.32904695e-03 1.50871574e+02] [ 7.18963274e-01 6.95038598e-01 -3.62733075e-03 5.80232407e+01] [ 4.92176687e-03 1.27643511e-04 9.99987880e-01 6.25446561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.890281693 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:150.89, Y:58.05, Z:0.62 [[ 6.93657274e-01 -7.20297514e-01 -3.32833122e-03 1.50885924e+02] [ 7.20288387e-01 6.93665249e-01 -3.62798737e-03 5.80461705e+01] [ 4.92197798e-03 1.19221503e-04 9.99987880e-01 6.22426320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.920281693 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:150.90, Y:58.07, Z:0.62 [[ 6.91735695e-01 -7.22143099e-01 -3.32757834e-03 1.50901392e+02] [ 7.22133990e-01 6.91743690e-01 -3.62867777e-03 5.80690553e+01] [ 4.92225593e-03 1.07128521e-04 9.99987880e-01 6.20343750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.950281693 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:150.92, Y:58.09, Z:0.62 [[ 6.86800380e-01 -7.26838476e-01 -3.32688034e-03 1.50916708e+02] [ 7.26829419e-01 6.86808433e-01 -3.62931761e-03 5.80919790e+01] [ 4.92285715e-03 7.45422073e-05 9.99987880e-01 6.17788933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.980281693 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:150.93, Y:58.11, Z:0.62 [[ 6.84148679e-01 -7.29334985e-01 -3.32621548e-03 1.50934062e+02] [ 7.29325954e-01 6.84156763e-01 -3.62992684e-03 5.81133928e+01] [ 4.92308545e-03 5.75143707e-05 9.99987880e-01 6.19732254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.010281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:150.95, Y:58.13, Z:0.62 [[ 6.81761002e-01 -7.31567411e-01 -3.32550859e-03 1.50951248e+02] [ 7.31558403e-01 6.81769112e-01 -3.63057433e-03 5.81346698e+01] [ 4.92323890e-03 4.23802459e-05 9.99987880e-01 6.22757497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.040281693 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:150.97, Y:58.16, Z:0.63 [[ 6.78920270e-01 -7.34204476e-01 -3.32480494e-03 1.50966045e+02] [ 7.34195497e-01 6.78928411e-01 -3.63121860e-03 5.81563136e+01] [ 4.92336149e-03 2.42511001e-05 9.99987880e-01 6.26923157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.070281693 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:150.98, Y:58.18, Z:0.63 [[ 6.77958194e-01 -7.35092945e-01 -3.32406376e-03 1.50982783e+02] [ 7.35083973e-01 6.77966343e-01 -3.63189696e-03 5.81783020e+01] [ 4.92338518e-03 1.88083114e-05 9.99987880e-01 6.26194707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.100281693 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:151.00, Y:58.20, Z:0.63 [[ 6.76552587e-01 -7.36386822e-01 -3.32336730e-03 1.50996934e+02] [ 7.36377863e-01 6.76560750e-01 -3.63253414e-03 5.82008859e+01] [ 4.92341015e-03 1.03462615e-05 9.99987880e-01 6.25400162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.130281693 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:151.01, Y:58.22, Z:0.62 [[ 6.74914822e-01 -7.37888191e-01 -3.31675538e-03 1.51013653e+02] [ 7.37879220e-01 6.74922972e-01 -3.63858062e-03 5.82220722e+01] [ 4.92342007e-03 8.36712068e-06 9.99987880e-01 6.24815993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.160281693 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:151.03, Y:58.24, Z:0.62 [[ 6.73610328e-01 -7.39079217e-01 -3.32223928e-03 1.51031844e+02] [ 7.39070285e-01 6.73618521e-01 -3.63356659e-03 5.82430560e+01] [ 4.92341546e-03 -7.76034733e-06 9.99987880e-01 6.23204819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.190281693 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:151.05, Y:58.26, Z:0.62 [[ 6.71034942e-01 -7.41418285e-01 -3.32156101e-03 1.51049863e+02] [ 7.41409379e-01 6.71043162e-01 -3.63418652e-03 5.82625885e+01] [ 4.92336314e-03 -2.39703436e-05 9.99987880e-01 6.17702037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.220281693 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:151.07, Y:58.28, Z:0.62 [[ 6.69753371e-01 -7.42576187e-01 -3.32084922e-03 1.51067487e+02] [ 7.42567291e-01 6.69761604e-01 -3.63483682e-03 5.82826360e+01] [ 4.92332056e-03 -3.15097928e-05 9.99987880e-01 6.15879807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.250281693 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:151.08, Y:58.30, Z:0.62 [[ 6.69226063e-01 -7.43051448e-01 -3.32013615e-03 1.51084609e+02] [ 7.43042555e-01 6.69234298e-01 -3.63548804e-03 5.83034676e+01] [ 4.92330363e-03 -3.40391022e-05 9.99987880e-01 6.21617056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.280281693 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:151.10, Y:58.32, Z:0.63 [[ 6.69110196e-01 -7.43155789e-01 -3.31945788e-03 1.51103565e+02] [ 7.43146895e-01 6.69118429e-01 -3.63610723e-03 5.83241695e+01] [ 4.92330458e-03 -3.38883954e-05 9.99987880e-01 6.25559552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.310281693 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:151.12, Y:58.34, Z:0.63 [[ 6.67879681e-01 -7.44261860e-01 -3.31878345e-03 1.51123182e+02] [ 7.44252976e-01 6.67887926e-01 -3.63672270e-03 5.83432251e+01] [ 4.92324940e-03 -4.11212630e-05 9.99987880e-01 6.27237106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.340281693 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:151.14, Y:58.36, Z:0.63 [[ 6.66328656e-01 -7.45650798e-01 -3.31807127e-03 1.51141580e+02] [ 7.45641928e-01 6.66336915e-01 -3.63737237e-03 5.83611711e+01] [ 4.92316298e-03 -5.04076206e-05 9.99987880e-01 6.26874064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.370281693 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:151.16, Y:58.38, Z:0.63 [[ 6.64332154e-01 -7.47430120e-01 -3.31734933e-03 1.51162193e+02] [ 7.47421269e-01 6.64340433e-01 -3.63803067e-03 5.83805016e+01] [ 4.92302299e-03 -6.25966985e-05 9.99987880e-01 6.25973743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.400281693 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:151.18, Y:58.40, Z:0.63 [[ 6.60641836e-01 -7.50693922e-01 -3.31666568e-03 1.51184945e+02] [ 7.50685108e-01 6.60650156e-01 -3.63865382e-03 5.83958622e+01] [ 4.92267101e-03 -8.59246000e-05 9.99987880e-01 6.25561451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.430281693 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:151.21, Y:58.41, Z:0.63 [[ 6.58852804e-01 -7.52264573e-01 -3.31594463e-03 1.51206762e+02] [ 7.52255776e-01 6.58861141e-01 -3.63931080e-03 5.84133943e+01] [ 4.92247165e-03 -9.66683758e-05 9.99987880e-01 6.25302932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46028169299998 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:151.23, Y:58.43, Z:0.63 [[ 6.57145971e-01 -7.53756049e-01 -3.31543313e-03 1.51227106e+02] [ 7.53747268e-01 6.57154326e-01 -3.63977673e-03 5.84295594e+01] [ 4.92225494e-03 -1.07134054e-04 9.99987880e-01 6.25002941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.490281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:151.24, Y:58.45, Z:0.63 [[ 6.56990816e-01 -7.53891292e-01 -3.31466498e-03 1.51244925e+02] [ 7.53882510e-01 6.56999169e-01 -3.64047612e-03 5.84495910e+01] [ 4.92225539e-03 -1.07108578e-04 9.99987880e-01 6.25134955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.520281693 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:151.27, Y:58.46, Z:0.62 [[ 6.56183470e-01 -7.54594111e-01 -3.31391554e-03 1.51268013e+02] [ 7.54585334e-01 6.56191828e-01 -3.64115821e-03 5.84642607e+01] [ 4.92216084e-03 -1.11364235e-04 9.99987880e-01 6.23623610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.550281693 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:151.29, Y:58.48, Z:0.62 [[ 6.56863367e-01 -7.54002347e-01 -3.31316596e-03 1.51287816e+02] [ 7.53993560e-01 6.56871714e-01 -3.64184015e-03 5.84824513e+01] [ 4.92228102e-03 -1.05914410e-04 9.99987880e-01 6.22556244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.580281693 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:151.31, Y:58.50, Z:0.62 [[ 6.60741004e-01 -7.50606657e-01 -3.31244129e-03 1.51310128e+02] [ 7.50597823e-01 6.60749302e-01 -3.64249915e-03 5.84989493e+01] [ 4.92277738e-03 -7.95626789e-05 9.99987880e-01 6.21689638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.610281693 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:151.33, Y:58.52, Z:0.62 [[ 6.62311987e-01 -7.49220838e-01 -3.31168360e-03 1.51330032e+02] [ 7.49211984e-01 6.62320263e-01 -3.64318789e-03 5.85164025e+01] [ 4.92294744e-03 -6.82260309e-05 9.99987880e-01 6.22254148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.640281693 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:151.35, Y:58.53, Z:0.62 [[ 6.63264124e-01 -7.48378073e-01 -3.31088562e-03 1.51349874e+02] [ 7.48369204e-01 6.63272385e-01 -3.64391294e-03 5.85339922e+01] [ 4.92304355e-03 -6.08881095e-05 9.99987880e-01 6.22625913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.670281693 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:151.37, Y:58.55, Z:0.62 [[ 6.64087716e-01 -7.47647342e-01 -3.31009734e-03 1.51371570e+02] [ 7.47638461e-01 6.64095963e-01 -3.64462887e-03 5.85491974e+01] [ 4.92311937e-03 -5.44028195e-05 9.99987880e-01 6.24103798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.700281693 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:151.39, Y:58.57, Z:0.62 [[ 6.64051680e-01 -7.47679353e-01 -3.30931300e-03 1.51390149e+02] [ 7.47670468e-01 6.64059924e-01 -3.64534091e-03 5.85670842e+01] [ 4.92312827e-03 -5.35808462e-05 9.99987880e-01 6.24391988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.730281693 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:151.41, Y:58.58, Z:0.62 [[ 6.63761323e-01 -7.47937136e-01 -3.30857294e-03 1.51409909e+02] [ 7.47928251e-01 6.63769566e-01 -3.64601247e-03 5.85840354e+01] [ 4.92311816e-03 -5.44931131e-05 9.99987880e-01 6.22753380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.760281693 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:151.43, Y:58.60, Z:0.62 [[ 6.63188449e-01 -7.48445148e-01 -3.30781773e-03 1.51429522e+02] [ 7.48436266e-01 6.63196696e-01 -3.64669751e-03 5.86028163e+01] [ 4.92308684e-03 -5.72430895e-05 9.99987880e-01 6.22835332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.790281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:151.45, Y:58.62, Z:0.62 [[ 6.62306473e-01 -7.49225733e-01 -3.30708077e-03 1.51449171e+02] [ 7.49216857e-01 6.62314727e-01 -3.64736571e-03 5.86209263e+01] [ 4.92302855e-03 -6.20467396e-05 9.99987880e-01 6.23416836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.820281693 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:151.47, Y:58.64, Z:0.63 [[ 6.59937194e-01 -7.51313495e-01 -3.30630642e-03 1.51470342e+02] [ 7.51304642e-01 6.59945472e-01 -3.64806751e-03 5.86390387e+01] [ 4.92282431e-03 -7.65479267e-05 9.99987880e-01 6.27662063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.850281693 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:151.49, Y:58.66, Z:0.63 [[ 6.59414844e-01 -7.51771998e-01 -3.30561446e-03 1.51488364e+02] [ 7.51763148e-01 6.59423124e-01 -3.64869442e-03 5.86560971e+01] [ 4.92278491e-03 -7.90358687e-05 9.99987880e-01 6.28276303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.880281693 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:151.51, Y:58.67, Z:0.63 [[ 6.58073716e-01 -7.52946284e-01 -3.29801884e-03 1.51510057e+02] [ 7.52937414e-01 6.58081976e-01 -3.65557169e-03 5.86727621e+01] [ 4.92281587e-03 -7.75661300e-05 9.99987880e-01 6.28655102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.910281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:151.53, Y:58.69, Z:0.63 [[ 6.57877936e-01 -7.53117325e-01 -3.30405990e-03 1.51528916e+02] [ 7.53108484e-01 6.57886227e-01 -3.65010334e-03 5.86906290e+01] [ 4.92265156e-03 -8.69930968e-05 9.99987880e-01 6.27730185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.940281693 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:151.55, Y:58.71, Z:0.63 [[ 6.58110604e-01 -7.52914020e-01 -3.30330053e-03 1.51548019e+02] [ 7.52905174e-01 6.58118888e-01 -3.65079043e-03 5.87097250e+01] [ 4.92269577e-03 -8.44481726e-05 9.99987880e-01 6.27099800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.970281693 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:151.57, Y:58.73, Z:0.63 [[ 6.58614793e-01 -7.52473021e-01 -3.30257311e-03 1.51565661e+02] [ 7.52464165e-01 6.58623069e-01 -3.65144835e-03 5.87284583e+01] [ 4.92276721e-03 -8.01700143e-05 9.99987880e-01 6.25211965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.000281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:151.58, Y:58.75, Z:0.62 [[ 6.61015412e-01 -7.50365060e-01 -3.30180898e-03 1.51583157e+02] [ 7.50356174e-01 6.61023656e-01 -3.65213918e-03 5.87475080e+01] [ 4.92301148e-03 -6.34124745e-05 9.99987880e-01 6.23671938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.030281693 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:151.60, Y:58.77, Z:0.62 [[ 6.62691404e-01 -7.48885309e-01 -3.30102240e-03 1.51600181e+02] [ 7.48876402e-01 6.62699624e-01 -3.65285000e-03 5.87666654e+01] [ 4.92315200e-03 -5.13454784e-05 9.99987880e-01 6.22942762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.060281693 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:151.62, Y:58.79, Z:0.63 [[ 6.66317532e-01 -7.45660818e-01 -3.30019941e-03 1.51617520e+02] [ 7.45651867e-01 6.66325704e-01 -3.65359339e-03 5.87866552e+01] [ 4.92334913e-03 -2.63465266e-05 9.99987880e-01 6.25010549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.090281693 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:151.63, Y:58.81, Z:0.63 [[ 6.67550694e-01 -7.44557039e-01 -3.29941573e-03 1.51633988e+02] [ 7.44548071e-01 6.67558848e-01 -3.65430096e-03 5.88067192e+01] [ 4.92338967e-03 -1.71424816e-05 9.99987880e-01 6.26957061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.120281693 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:151.65, Y:58.83, Z:0.63 [[ 6.68558554e-01 -7.43652190e-01 -3.29862906e-03 1.51651604e+02] [ 7.43643207e-01 6.68566691e-01 -3.65501093e-03 5.88278197e+01] [ 4.92341039e-03 -9.41427547e-06 9.99987880e-01 6.29048562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.150281693 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:151.67, Y:58.85, Z:0.63 [[ 6.69270743e-01 -7.43011303e-01 -3.29785912e-03 1.51667349e+02] [ 7.43002310e-01 6.69278868e-01 -3.65570550e-03 5.88489936e+01] [ 4.92341793e-03 -3.66020766e-06 9.99987880e-01 6.30265832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.180281693 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:151.68, Y:58.87, Z:0.63 [[ 6.69407948e-01 -7.42887695e-01 -3.29726054e-03 1.51684727e+02] [ 7.42878698e-01 6.69416068e-01 -3.65624531e-03 5.88699961e+01] [ 4.92341884e-03 -1.94494861e-06 9.99987880e-01 6.29387197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21028169299998 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:151.70, Y:58.89, Z:0.62 [[ 6.70802658e-01 -7.41628564e-01 -3.29651111e-03 1.51699885e+02] [ 7.41619548e-01 6.70810758e-01 -3.65692088e-03 5.88917077e+01] [ 4.92341210e-03 8.31516047e-06 9.99987880e-01 6.24276156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.240281693 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:151.72, Y:58.91, Z:0.62 [[ 6.71326019e-01 -7.41154852e-01 -3.29572208e-03 1.51715690e+02] [ 7.41145827e-01 6.71334108e-01 -3.65763184e-03 5.89121637e+01] [ 4.92340223e-03 1.28527552e-05 9.99987880e-01 6.21852187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.270281693 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:151.73, Y:58.93, Z:0.62 [[ 6.71177115e-01 -7.41289703e-01 -3.29493968e-03 1.51732838e+02] [ 7.41280676e-01 6.71185203e-01 -3.65833652e-03 5.89331092e+01] [ 4.92340195e-03 1.29166392e-05 9.99987880e-01 6.22403536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.300281693 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:151.75, Y:58.95, Z:0.62 [[ 6.69262276e-01 -7.43018946e-01 -3.29420540e-03 1.51748580e+02] [ 7.43009937e-01 6.69270383e-01 -3.65899759e-03 5.89541555e+01] [ 4.92341864e-03 1.20170454e-06 9.99987880e-01 6.23408195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.330281693 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:151.76, Y:58.97, Z:0.62 [[ 6.68473324e-01 -7.43728826e-01 -3.29363386e-03 1.51764821e+02] [ 7.43719823e-01 6.68481438e-01 -3.65951198e-03 5.89743896e+01] [ 4.92341765e-03 -3.25465415e-06 9.99987880e-01 6.23477268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.360281693 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:151.78, Y:59.00, Z:0.63 [[ 6.68075802e-01 -7.44085936e-01 -3.29286625e-03 1.51782242e+02] [ 7.44076933e-01 6.68083917e-01 -3.66020256e-03 5.89950310e+01] [ 4.92341623e-03 -4.85305776e-06 9.99987880e-01 6.25316164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.390281693 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:151.80, Y:59.01, Z:0.63 [[ 6.68370192e-01 -7.43821517e-01 -3.29212452e-03 1.51800065e+02] [ 7.43812508e-01 6.68378300e-01 -3.66086958e-03 5.90144677e+01] [ 4.92341815e-03 -1.90729650e-06 9.99987880e-01 6.28225145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.420281693 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:151.82, Y:59.03, Z:0.63 [[ 6.68152095e-01 -7.44017435e-01 -3.29154926e-03 1.51818594e+02] [ 7.44008426e-01 6.68160203e-01 -3.66138673e-03 5.90345615e+01] [ 4.92341779e-03 -2.57716874e-06 9.99987880e-01 6.26405757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.450281693 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:151.84, Y:59.05, Z:0.63 [[ 6.68004792e-01 -7.44149695e-01 -3.29081388e-03 1.51836764e+02] [ 7.44140684e-01 6.68012897e-01 -3.66204757e-03 5.90545914e+01] [ 4.92341769e-03 -2.56317128e-06 9.99987880e-01 6.25330687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.480281693 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:151.86, Y:59.07, Z:0.62 [[ 6.68186201e-01 -7.43986812e-01 -3.29006417e-03 1.51855005e+02] [ 7.43977796e-01 6.68194301e-01 -3.66272100e-03 5.90734246e+01] [ 4.92341825e-03 -3.55059984e-07 9.99987880e-01 6.24324418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.510281693 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:151.87, Y:59.09, Z:0.62 [[ 6.68844291e-01 -7.43395248e-01 -3.28927525e-03 1.51874221e+02] [ 7.43386222e-01 6.68852379e-01 -3.66342934e-03 5.90929111e+01] [ 4.92341554e-03 5.06189464e-06 9.99987880e-01 6.23811502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.540281693 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:151.89, Y:59.11, Z:0.62 [[ 6.70430307e-01 -7.41965221e-01 -3.28853505e-03 1.51893873e+02] [ 7.41956174e-01 6.70438372e-01 -3.66409368e-03 5.91119157e+01] [ 4.92339016e-03 1.65705672e-05 9.99987880e-01 6.24361432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.570281693 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:151.91, Y:59.13, Z:0.63 [[ 6.71312812e-01 -7.41166850e-01 -3.28777287e-03 1.51912069e+02] [ 7.41157790e-01 6.71320862e-01 -3.66477745e-03 5.91314930e+01] [ 4.92336207e-03 2.34535831e-05 9.99987880e-01 6.26215171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.600281693 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:151.93, Y:59.15, Z:0.63 [[ 6.73583448e-01 -7.39103872e-01 -3.28701256e-03 1.51930979e+02] [ 7.39094784e-01 6.73591467e-01 -3.66545926e-03 5.91504311e+01] [ 4.92325874e-03 3.95788488e-05 9.99987880e-01 6.29490215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.630281693 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:151.95, Y:59.17, Z:0.63 [[ 6.74311448e-01 -7.38439755e-01 -3.28623765e-03 1.51948491e+02] [ 7.38430655e-01 6.74319454e-01 -3.66615387e-03 5.91694163e+01] [ 4.92320774e-03 4.54709071e-05 9.99987880e-01 6.29561830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.660281693 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:151.97, Y:59.19, Z:0.63 [[ 6.74680734e-01 -7.38102373e-01 -3.28542359e-03 1.51966849e+02] [ 7.38093267e-01 6.74688731e-01 -3.66688324e-03 5.91894448e+01] [ 4.92317350e-03 4.90264451e-05 9.99987880e-01 6.29692869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.690281693 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:151.98, Y:59.21, Z:0.63 [[ 6.75833975e-01 -7.37046572e-01 -3.28471571e-03 1.51984733e+02] [ 7.37037449e-01 6.75841955e-01 -3.66751724e-03 5.92097132e+01] [ 4.92307969e-03 5.76742686e-05 9.99987880e-01 6.29183361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.720281693 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:152.00, Y:59.23, Z:0.63 [[ 6.76638029e-01 -7.36308491e-01 -3.28397135e-03 1.52002233e+02] [ 7.36299356e-01 6.76645995e-01 -3.66818363e-03 5.92305529e+01] [ 4.92300081e-03 6.40465549e-05 9.99987880e-01 6.29336215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.750281693 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:152.02, Y:59.25, Z:0.63 [[ 6.78060083e-01 -7.34999146e-01 -3.28319613e-03 1.52017975e+02] [ 7.34989993e-01 6.78068028e-01 -3.66887735e-03 5.92520448e+01] [ 4.92285205e-03 7.46029849e-05 9.99987880e-01 6.29531045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.780281693 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:152.03, Y:59.27, Z:0.63 [[ 6.78269870e-01 -7.34805558e-01 -3.28259754e-03 1.52034102e+02] [ 7.34796400e-01 6.78277809e-01 -3.66941285e-03 5.92724771e+01] [ 4.92281802e-03 7.68113192e-05 9.99987880e-01 6.30107238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.810281693 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:152.05, Y:59.29, Z:0.63 [[ 6.78393413e-01 -7.34691504e-01 -3.28179325e-03 1.52052211e+02] [ 7.34682341e-01 6.78401347e-01 -3.67013203e-03 5.92942327e+01] [ 4.92278778e-03 7.87178497e-05 9.99987880e-01 6.30706217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.840281693 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:152.07, Y:59.32, Z:0.63 [[ 6.78412499e-01 -7.34673884e-01 -3.28109744e-03 1.52069004e+02] [ 7.34664718e-01 6.78420428e-01 -3.67075398e-03 5.93155561e+01] [ 4.92277062e-03 7.97788503e-05 9.99987880e-01 6.29845925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.870281693 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:152.09, Y:59.34, Z:0.63 [[ 6.78208828e-01 -7.34861909e-01 -3.28036110e-03 1.52086570e+02] [ 7.34852742e-01 6.78216756e-01 -3.67141189e-03 5.93378807e+01] [ 4.92277662e-03 7.94016043e-05 9.99987880e-01 6.29452769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.900281693 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:152.10, Y:59.36, Z:0.63 [[ 6.77836415e-01 -7.35205439e-01 -3.27966819e-03 1.52102361e+02] [ 7.35196273e-01 6.77844345e-01 -3.67203076e-03 5.93596431e+01] [ 4.92280153e-03 7.78363394e-05 9.99987880e-01 6.28054102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.930281693 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:152.12, Y:59.38, Z:0.63 [[ 6.77424422e-01 -7.35585073e-01 -3.27915939e-03 1.52118451e+02] [ 7.35575909e-01 6.77432355e-01 -3.67248507e-03 5.93798473e+01] [ 4.92283386e-03 7.57604308e-05 9.99987880e-01 6.28635100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96028169299998 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:152.13, Y:59.40, Z:0.63 [[ 6.76612407e-01 -7.36332060e-01 -3.27838276e-03 1.52134161e+02] [ 7.36322902e-01 6.76620346e-01 -3.67317823e-03 5.94028807e+01] [ 4.92289937e-03 7.13696583e-05 9.99987880e-01 6.28595172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.990281693 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:152.15, Y:59.42, Z:0.63 [[ 6.75880711e-01 -7.37003746e-01 -3.27763622e-03 1.52150109e+02] [ 7.36994593e-01 6.75888655e-01 -3.67384425e-03 5.94241317e+01] [ 4.92295412e-03 6.74802898e-05 9.99987880e-01 6.27794030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.020281693 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:152.17, Y:59.45, Z:0.63 [[ 6.75049653e-01 -7.37765022e-01 -3.27685130e-03 1.52167258e+02] [ 7.37755874e-01 6.75057603e-01 -3.67454423e-03 5.94458142e+01] [ 4.92301359e-03 6.29835112e-05 9.99987880e-01 6.27381510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.050281693 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:152.18, Y:59.47, Z:0.63 [[ 6.73074130e-01 -7.39567767e-01 -3.27609297e-03 1.52183602e+02] [ 7.39558637e-01 6.73082101e-01 -3.67522020e-03 5.94680239e+01] [ 4.92315394e-03 5.08327879e-05 9.99987880e-01 6.27002023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.080281693 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:152.20, Y:59.49, Z:0.63 [[ 6.71663498e-01 -7.40849118e-01 -3.27555669e-03 1.52199563e+02] [ 7.40840001e-01 6.71671484e-01 -3.67569810e-03 5.94888875e+01] [ 4.92323572e-03 4.21688192e-05 9.99987880e-01 6.27141284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.110281693 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:152.22, Y:59.51, Z:0.63 [[ 6.70309548e-01 -7.42074379e-01 -3.27495752e-03 1.52215501e+02] [ 7.42065274e-01 6.70317548e-01 -3.67623187e-03 5.95099884e+01] [ 4.92329898e-03 3.39810740e-05 9.99987880e-01 6.29172287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.140281693 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:152.23, Y:59.53, Z:0.63 [[ 6.68005522e-01 -7.44149113e-01 -3.27415527e-03 1.52229156e+02] [ 7.44140029e-01 6.68013545e-01 -3.67694623e-03 5.95322613e+01] [ 4.92337635e-03 1.97903839e-05 9.99987880e-01 6.31181064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.170281693 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:152.24, Y:59.55, Z:0.63 [[ 6.67032611e-01 -7.45021330e-01 -3.27336178e-03 1.52244894e+02] [ 7.45012253e-01 6.67040642e-01 -3.67765250e-03 5.95532511e+01] [ 4.92339490e-03 1.44195104e-05 9.99987880e-01 6.30605075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.200281693 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:152.26, Y:59.58, Z:0.63 [[ 6.66345654e-01 -7.45635808e-01 -3.27261346e-03 1.52259098e+02] [ 7.45626736e-01 6.66353691e-01 -3.67831828e-03 5.95770587e+01] [ 4.92340388e-03 1.08833113e-05 9.99987880e-01 6.31470471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.230281693 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:152.28, Y:59.60, Z:0.63 [[ 6.66204297e-01 -7.45762113e-01 -3.27187468e-03 1.52275145e+02] [ 7.45753039e-01 6.66212331e-01 -3.67897531e-03 5.95990276e+01] [ 4.92340366e-03 1.09386777e-05 9.99987880e-01 6.32898752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.260281693 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:152.29, Y:59.62, Z:0.64 [[ 6.65856236e-01 -7.46072900e-01 -3.27113652e-03 1.52290917e+02] [ 7.46063826e-01 6.65864271e-01 -3.67963152e-03 5.96207059e+01] [ 4.92340630e-03 9.62896957e-06 9.99987880e-01 6.35044574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.290281693 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:152.31, Y:59.64, Z:0.64 [[ 6.65521687e-01 -7.46371347e-01 -3.27039948e-03 1.52307110e+02] [ 7.46362274e-01 6.65529723e-01 -3.68028647e-03 5.96419921e+01] [ 4.92340843e-03 8.40766832e-06 9.99987880e-01 6.35464444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.320281693 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:152.32, Y:59.66, Z:0.63 [[ 6.64961813e-01 -7.46870200e-01 -3.26966407e-03 1.52321771e+02] [ 7.46861130e-01 6.64969852e-01 -3.68093972e-03 5.96641256e+01] [ 4.92341222e-03 5.69934812e-06 9.99987880e-01 6.32085869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.350281693 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:152.34, Y:59.69, Z:0.63 [[ 6.65362667e-01 -7.46513155e-01 -3.26049036e-03 1.52335196e+02] [ 7.46504040e-01 6.65370655e-01 -3.68908408e-03 5.96895375e+01] [ 4.92338440e-03 2.06095866e-05 9.99987880e-01 6.32642390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.380281693 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:152.35, Y:59.71, Z:0.63 [[ 6.65206351e-01 -7.46652415e-01 -3.26825801e-03 1.52353365e+02] [ 7.46643336e-01 6.65214379e-01 -3.68218962e-03 5.97103719e+01] [ 4.92340800e-03 9.19285954e-06 9.99987880e-01 6.32778225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.410281693 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:152.37, Y:59.73, Z:0.63 [[ 6.66770851e-01 -7.45255631e-01 -3.26748690e-03 1.52367574e+02] [ 7.45246531e-01 6.66778857e-01 -3.68287376e-03 5.97330997e+01] [ 4.92337359e-03 2.05495942e-05 9.99987880e-01 6.33331899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.440281693 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:152.38, Y:59.76, Z:0.63 [[ 6.68392380e-01 -7.43801691e-01 -3.26667709e-03 1.52381896e+02] [ 7.43792570e-01 6.68400362e-01 -3.68359192e-03 5.97552126e+01] [ 4.92331005e-03 3.23546242e-05 9.99987880e-01 6.33827198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.470281693 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:152.40, Y:59.78, Z:0.63 [[ 6.69986587e-01 -7.42366020e-01 -3.26591724e-03 1.52397878e+02] [ 7.42356879e-01 6.69994545e-01 -3.68426549e-03 5.97777395e+01] [ 4.92322024e-03 4.39323303e-05 9.99987880e-01 6.33824699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.500281693 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:152.41, Y:59.80, Z:0.64 [[ 6.71610750e-01 -7.40896983e-01 -3.26515195e-03 1.52410090e+02] [ 7.40887821e-01 6.71618685e-01 -3.68494359e-03 5.98013630e+01] [ 4.92310065e-03 5.57364178e-05 9.99987880e-01 6.35745463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.530281693 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:152.43, Y:59.82, Z:0.64 [[ 6.72081333e-01 -7.40470139e-01 -3.26434539e-03 1.52425067e+02] [ 7.40460969e-01 6.72089257e-01 -3.68565795e-03 5.98249466e+01] [ 4.92305113e-03 5.99415564e-05 9.99987880e-01 6.35800181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.560281693 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:152.44, Y:59.85, Z:0.63 [[ 6.72866751e-01 -7.39756503e-01 -3.26365370e-03 1.52436609e+02] [ 7.39747322e-01 6.72874662e-01 -3.68627035e-03 5.98502260e+01] [ 4.92297234e-03 6.60896661e-05 9.99987880e-01 6.33580573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.590281693 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:152.45, Y:59.87, Z:0.63 [[ 6.72843235e-01 -7.39777895e-01 -3.26292151e-03 1.52452355e+02] [ 7.39768711e-01 6.72851144e-01 -3.68691834e-03 5.98734654e+01] [ 4.92296115e-03 6.69108242e-05 9.99987880e-01 6.32114042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.620281693 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:152.47, Y:59.90, Z:0.63 [[ 6.72527448e-01 -7.40064990e-01 -3.26222981e-03 1.52467915e+02] [ 7.40055806e-01 6.72535357e-01 -3.68753026e-03 5.98963864e+01] [ 4.92297693e-03 6.57332093e-05 9.99987880e-01 6.31103647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.650281693 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:152.48, Y:59.92, Z:0.63 [[ 6.70387627e-01 -7.42003902e-01 -3.26172459e-03 1.52479026e+02] [ 7.41994738e-01 6.70395560e-01 -3.68797709e-03 5.99229916e+01] [ 4.92313907e-03 5.21917275e-05 9.99987880e-01 6.30121242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.680281693 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:152.49, Y:59.95, Z:0.63 [[ 6.69156562e-01 -7.43114299e-01 -3.26097929e-03 1.52494492e+02] [ 7.43105145e-01 6.69164507e-01 -3.68863598e-03 5.99468180e+01] [ 4.92320973e-03 4.50244837e-05 9.99987880e-01 6.29866656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71028169299998 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:152.51, Y:59.97, Z:0.63 [[ 6.66476110e-01 -7.45519259e-01 -3.26029583e-03 1.52509210e+02] [ 7.45510131e-01 6.66484084e-01 -3.68923997e-03 5.99699293e+01] [ 4.92333473e-03 2.82067263e-05 9.99987880e-01 6.30504247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.740281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:152.53, Y:59.99, Z:0.63 [[ 6.63914621e-01 -7.47801290e-01 -3.25675801e-03 1.52525419e+02] [ 7.47792175e-01 6.63922609e-01 -3.69236555e-03 5.99910750e+01] [ 4.92339100e-03 1.60373190e-05 9.99987880e-01 6.28339787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.770281693 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:152.54, Y:60.01, Z:0.63 [[ 6.61410537e-01 -7.50016986e-01 -3.25920686e-03 1.52541791e+02] [ 7.50007907e-01 6.61418567e-01 -3.69020271e-03 6.00132941e+01] [ 4.92341465e-03 -3.69195600e-06 9.99987880e-01 6.28668282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.800281693 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:152.56, Y:60.04, Z:0.63 [[ 6.56546188e-01 -7.54278785e-01 -3.25852564e-03 1.52556243e+02] [ 7.54269756e-01 6.56554273e-01 -3.69080415e-03 6.00363173e+01] [ 4.92329420e-03 -3.46239430e-05 9.99987880e-01 6.29733062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.830281693 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:152.57, Y:60.06, Z:0.63 [[ 6.54320812e-01 -7.56210064e-01 -3.25780579e-03 1.52573377e+02] [ 7.56201056e-01 6.54328921e-01 -3.69143943e-03 6.00567029e+01] [ 4.92318020e-03 -4.81705315e-05 9.99987880e-01 6.28872036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.860281693 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:152.59, Y:60.08, Z:0.63 [[ 6.52114283e-01 -7.58113680e-01 -3.25723164e-03 1.52590753e+02] [ 7.58104693e-01 6.52122415e-01 -3.69194598e-03 6.00773275e+01] [ 4.92302852e-03 -6.17518807e-05 9.99987880e-01 6.29580530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.890281693 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:152.61, Y:60.10, Z:0.63 [[ 6.49494729e-01 -7.60359120e-01 -3.25651903e-03 1.52607541e+02] [ 7.60350158e-01 6.49502888e-01 -3.69257444e-03 6.00990193e+01] [ 4.92280117e-03 -7.77871238e-05 9.99987880e-01 6.31008106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.920281693 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:152.62, Y:60.12, Z:0.63 [[ 6.48832853e-01 -7.60923997e-01 -3.25576881e-03 1.52624539e+02] [ 7.60915038e-01 6.48841016e-01 -3.69323579e-03 6.01188598e+01] [ 4.92274809e-03 -8.10707340e-05 9.99987880e-01 6.31366703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.950281693 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:152.64, Y:60.14, Z:0.63 [[ 6.48339158e-01 -7.61344692e-01 -3.25518946e-03 1.52642413e+02] [ 7.61335737e-01 6.48347324e-01 -3.69374636e-03 6.01392534e+01] [ 4.92270756e-03 -8.34916594e-05 9.99987880e-01 6.30673195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.980281693 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:152.66, Y:60.16, Z:0.63 [[ 6.47929993e-01 -7.61692938e-01 -3.25444414e-03 1.52659880e+02] [ 7.61683984e-01 6.47938161e-01 -3.69440292e-03 6.01600231e+01] [ 4.92267917e-03 -8.51435228e-05 9.99987880e-01 6.30103279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.010281693 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:152.68, Y:60.18, Z:0.63 [[ 6.47273800e-01 -7.62250642e-01 -3.25369882e-03 1.52677778e+02] [ 7.62241691e-01 6.47281971e-01 -3.69505921e-03 6.01810391e+01] [ 4.92262185e-03 -8.83898782e-05 9.99987880e-01 6.28955216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.040281693 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:152.70, Y:60.20, Z:0.63 [[ 6.46140254e-01 -7.63211760e-01 -3.25295895e-03 1.52696519e+02] [ 7.63202817e-01 6.46148436e-01 -3.69571045e-03 6.01997817e+01] [ 4.92250401e-03 -9.47201430e-05 9.99987880e-01 6.29254166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.070281693 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:152.71, Y:60.22, Z:0.63 [[ 6.46100833e-01 -7.63245135e-01 -3.25218216e-03 1.52714582e+02] [ 7.63236190e-01 6.46109011e-01 -3.69639388e-03 6.02183226e+01] [ 4.92251885e-03 -9.39399589e-05 9.99987880e-01 6.30586003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.100281693 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:152.73, Y:60.24, Z:0.63 [[ 6.44852754e-01 -7.64299941e-01 -3.24433183e-03 1.52733650e+02] [ 7.64290975e-01 6.44860909e-01 -3.70329807e-03 6.02393663e+01] [ 4.92257327e-03 -9.15315724e-05 9.99987880e-01 6.33477594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.130281693 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:152.75, Y:60.26, Z:0.63 [[ 6.43972861e-01 -7.65041428e-01 -3.25098635e-03 1.52751073e+02] [ 7.65032500e-01 6.43981058e-01 -3.69744707e-03 6.02585246e+01] [ 4.92227382e-03 -1.06054648e-04 9.99987880e-01 6.33881228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.160281693 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:152.77, Y:60.28, Z:0.64 [[ 6.43107949e-01 -7.65768635e-01 -3.25019788e-03 1.52770067e+02] [ 7.65759713e-01 6.43116153e-01 -3.69814004e-03 6.02785494e+01] [ 4.92217441e-03 -1.10567333e-04 9.99987880e-01 6.35242198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.190281693 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:152.79, Y:60.30, Z:0.64 [[ 6.40903206e-01 -7.67614826e-01 -3.24947783e-03 1.52790542e+02] [ 7.67605925e-01 6.40911432e-01 -3.69877263e-03 6.02977146e+01] [ 4.92186020e-03 -1.23763198e-04 9.99987880e-01 6.35623491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.220281693 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:152.81, Y:60.32, Z:0.63 [[ 6.39699280e-01 -7.68618421e-01 -3.24879261e-03 1.52809142e+02] [ 7.68609529e-01 6.39707516e-01 -3.69937439e-03 6.03172378e+01] [ 4.92168435e-03 -1.30565827e-04 9.99987880e-01 6.34993781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.250281693 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:152.83, Y:60.34, Z:0.63 [[ 6.38789092e-01 -7.69375035e-01 -3.24829058e-03 1.52827703e+02] [ 7.69366151e-01 6.38797336e-01 -3.69981515e-03 6.03358403e+01] [ 4.92154478e-03 -1.35723268e-04 9.99987880e-01 6.33206068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.280281693 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:152.85, Y:60.35, Z:0.63 [[ 6.38207431e-01 -7.69857602e-01 -3.24770720e-03 1.52848856e+02] [ 7.69848722e-01 6.38215679e-01 -3.70032717e-03 6.03531044e+01] [ 4.92146266e-03 -1.38666940e-04 9.99987880e-01 6.29648862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.310281693 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:152.87, Y:60.37, Z:0.63 [[ 6.38443948e-01 -7.69661473e-01 -3.24695203e-03 1.52866817e+02] [ 7.69652586e-01 6.38452190e-01 -3.70098970e-03 6.03719841e+01] [ 4.92153282e-03 -1.36150547e-04 9.99987880e-01 6.29058863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.340281693 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:152.88, Y:60.39, Z:0.63 [[ 6.39385362e-01 -7.68879589e-01 -3.24615748e-03 1.52884561e+02] [ 7.68870689e-01 6.39393589e-01 -3.70168647e-03 6.03919405e+01] [ 4.92172345e-03 -1.29071199e-04 9.99987880e-01 6.32265536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.370281693 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:152.90, Y:60.41, Z:0.63 [[ 6.39864896e-01 -7.68480567e-01 -3.24540671e-03 1.52901723e+02] [ 7.68471659e-01 6.39873114e-01 -3.70234458e-03 6.04116770e+01] [ 4.92182836e-03 -1.25002747e-04 9.99987880e-01 6.34562383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.400281693 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:152.92, Y:60.43, Z:0.64 [[ 6.40765231e-01 -7.67730025e-01 -3.24461840e-03 1.52920889e+02] [ 7.67721103e-01 6.40773435e-01 -3.70303530e-03 6.04315399e+01] [ 4.92199666e-03 -1.18185752e-04 9.99987880e-01 6.37702151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.430281693 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:152.94, Y:60.45, Z:0.64 [[ 6.40604479e-01 -7.67864167e-01 -3.24386981e-03 1.52938080e+02] [ 7.67855244e-01 6.40612681e-01 -3.70369095e-03 6.04507197e+01] [ 4.92199570e-03 -1.18221431e-04 9.99987880e-01 6.38598505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46028169299998 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:152.96, Y:60.47, Z:0.64 [[ 6.40155214e-01 -7.68238755e-01 -3.24308485e-03 1.52955662e+02] [ 7.68229833e-01 6.40163418e-01 -3.70437816e-03 6.04705321e+01] [ 4.92195115e-03 -1.20057535e-04 9.99987880e-01 6.40227302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.490281693 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:152.97, Y:60.49, Z:0.64 [[ 6.39178987e-01 -7.69051175e-01 -3.24234844e-03 1.52974792e+02] [ 7.69042261e-01 6.39187198e-01 -3.70502261e-03 6.04907125e+01] [ 4.92181961e-03 -1.25330377e-04 9.99987880e-01 6.41173856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.520281693 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:152.99, Y:60.51, Z:0.64 [[ 6.38772593e-01 -7.69388761e-01 -3.24164999e-03 1.52993730e+02] [ 7.69379848e-01 6.38780806e-01 -3.70563361e-03 6.05114402e+01] [ 4.92177665e-03 -1.27002980e-04 9.99987880e-01 6.41183727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.550281693 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:153.01, Y:60.53, Z:0.64 [[ 6.38802847e-01 -7.69363646e-01 -3.24094912e-03 1.53012914e+02] [ 7.69354729e-01 6.38811056e-01 -3.70624649e-03 6.05309789e+01] [ 4.92180544e-03 -1.25878729e-04 9.99987880e-01 6.41411022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.580281693 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:153.03, Y:60.55, Z:0.64 [[ 6.39420573e-01 -7.68850332e-01 -3.24021045e-03 1.53031502e+02] [ 7.68841405e-01 6.39428771e-01 -3.70689216e-03 6.05511766e+01] [ 4.92192906e-03 -1.20944850e-04 9.99987880e-01 6.42193586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.610281693 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:153.05, Y:60.57, Z:0.64 [[ 6.40214064e-01 -7.68189728e-01 -3.23948894e-03 1.53049844e+02] [ 7.68180790e-01 6.40222249e-01 -3.70752259e-03 6.05717777e+01] [ 4.92207367e-03 -1.14905064e-04 9.99987880e-01 6.42773821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.640281693 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:153.07, Y:60.59, Z:0.64 [[ 6.41690936e-01 -7.66956487e-01 -3.23879625e-03 1.53067735e+02] [ 7.66947530e-01 6.41699101e-01 -3.70812761e-03 6.05919037e+01] [ 4.92230517e-03 -1.04514899e-04 9.99987880e-01 6.42311812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.670281693 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:153.08, Y:60.61, Z:0.64 [[ 6.45638758e-01 -7.63636110e-01 -3.23806663e-03 1.53084805e+02] [ 7.63627108e-01 6.45646874e-01 -3.70876463e-03 6.06123294e+01] [ 4.92279419e-03 -7.81532646e-05 9.99987880e-01 6.39543998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.700281693 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:153.10, Y:60.63, Z:0.64 [[ 6.47851983e-01 -7.61759364e-01 -3.23735277e-03 1.53102124e+02] [ 7.61750335e-01 6.47860068e-01 -3.70938765e-03 6.06331666e+01] [ 4.92301236e-03 -6.29204183e-05 9.99987880e-01 6.38953846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.730281693 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:153.12, Y:60.65, Z:0.64 [[ 6.52575774e-01 -7.57716559e-01 -3.23658049e-03 1.53118153e+02] [ 7.57707477e-01 6.52583799e-01 -3.71006137e-03 6.06545241e+01] [ 4.92331493e-03 -3.12850709e-05 9.99987880e-01 6.37532528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.760281693 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:153.13, Y:60.68, Z:0.64 [[ 6.54309977e-01 -7.56219534e-01 -3.23576787e-03 1.53134913e+02] [ 7.56210430e-01 6.54317978e-01 -3.71076997e-03 6.06760135e+01] [ 4.92337783e-03 -1.89275994e-05 9.99987880e-01 6.38199611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.790281693 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:153.15, Y:60.70, Z:0.64 [[ 6.55466559e-01 -7.55217270e-01 -3.23500780e-03 1.53151668e+02] [ 7.55208150e-01 6.55474542e-01 -3.71143247e-03 6.06976229e+01] [ 4.92340315e-03 -1.03843870e-05 9.99987880e-01 6.37613010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.820281693 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:153.17, Y:60.72, Z:0.64 [[ 6.56627971e-01 -7.54207695e-01 -3.23424970e-03 1.53165533e+02] [ 7.54198560e-01 6.56635936e-01 -3.71209298e-03 6.07198323e+01] [ 4.92341367e-03 -1.80238186e-06 9.99987880e-01 6.36481438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.850281693 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:153.18, Y:60.74, Z:0.64 [[ 6.57247732e-01 -7.53667674e-01 -3.23345223e-03 1.53180943e+02] [ 7.53658529e-01 6.57255686e-01 -3.71278750e-03 6.07417730e+01] [ 4.92341278e-03 3.30231578e-06 9.99987880e-01 6.37852413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.880281693 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:153.20, Y:60.76, Z:0.64 [[ 6.57969314e-01 -7.53037802e-01 -3.23269280e-03 1.53195751e+02] [ 7.53028646e-01 6.57977256e-01 -3.71344861e-03 6.07629674e+01] [ 4.92340551e-03 9.02496008e-06 9.99987880e-01 6.37871763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.910281693 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:153.21, Y:60.79, Z:0.64 [[ 6.59609867e-01 -7.51601210e-01 -3.23189503e-03 1.53210305e+02] [ 7.51592033e-01 6.59617784e-01 -3.71414280e-03 6.07868213e+01] [ 4.92336966e-03 2.08186790e-05 9.99987880e-01 6.41033899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.940281693 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:153.23, Y:60.81, Z:0.64 [[ 6.60224378e-01 -7.51061469e-01 -3.23114535e-03 1.53225735e+02] [ 7.51052283e-01 6.60232284e-01 -3.71479487e-03 6.08091933e+01] [ 4.92334577e-03 2.58390427e-05 9.99987880e-01 6.42648854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.970281693 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:153.24, Y:60.83, Z:0.64 [[ 6.61005740e-01 -7.50373891e-01 -3.23039412e-03 1.53239274e+02] [ 7.50364693e-01 6.61013633e-01 -3.71544803e-03 6.08328721e+01] [ 4.92330975e-03 3.19587767e-05 9.99987880e-01 6.42214321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.000281693 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:153.25, Y:60.85, Z:0.64 [[ 6.61004995e-01 -7.50374551e-01 -3.22964686e-03 1.53254931e+02] [ 7.50365350e-01 6.61012884e-01 -3.71609746e-03 6.08538891e+01] [ 4.92330315e-03 3.29438843e-05 9.99987880e-01 6.39378481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.030281693 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:153.27, Y:60.87, Z:0.64 [[ 6.60623874e-01 -7.50710112e-01 -3.22886195e-03 1.53272103e+02] [ 7.50700911e-01 6.60631764e-01 -3.71677934e-03 6.08749039e+01] [ 4.92331260e-03 3.14835520e-05 9.99987880e-01 6.37240284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.060281693 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:153.29, Y:60.90, Z:0.64 [[ 6.59276546e-01 -7.51893619e-01 -3.22812363e-03 1.53288364e+02] [ 7.51884430e-01 6.59284449e-01 -3.71742048e-03 6.08951125e+01] [ 4.92335645e-03 2.36322328e-05 9.99987880e-01 6.38704979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.090281693 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:153.31, Y:60.92, Z:0.64 [[ 6.58287393e-01 -7.52759784e-01 -3.22734832e-03 1.53305353e+02] [ 7.52750602e-01 6.58295304e-01 -3.71809346e-03 6.09158995e+01] [ 4.92337947e-03 1.81856583e-05 9.99987880e-01 6.39720802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.120281693 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:153.32, Y:60.94, Z:0.64 [[ 6.56872681e-01 -7.53994608e-01 -3.22661957e-03 1.53321510e+02] [ 7.53985438e-01 6.56880606e-01 -3.71872577e-03 6.09366962e+01] [ 4.92340300e-03 9.90519701e-06 9.99987880e-01 6.41033619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.150281693 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:153.34, Y:60.96, Z:0.64 [[ 6.56645650e-01 -7.54192339e-01 -3.22585426e-03 1.53337629e+02] [ 7.54183168e-01 6.56653574e-01 -3.71938953e-03 6.09569173e+01] [ 4.92340382e-03 9.43597901e-06 9.99987880e-01 6.42855213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.180281693 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:153.35, Y:60.98, Z:0.64 [[ 6.56575606e-01 -7.54253321e-01 -3.22509321e-03 1.53354230e+02] [ 7.54244147e-01 6.56583527e-01 -3.72004932e-03 6.09781477e+01] [ 4.92340263e-03 9.98595962e-06 9.99987880e-01 6.44323541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21028169299998 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:153.37, Y:61.00, Z:0.65 [[ 6.55771041e-01 -7.54952942e-01 -3.22437235e-03 1.53369889e+02] [ 7.54943774e-01 6.55778968e-01 -3.72067403e-03 6.09993217e+01] [ 4.92340938e-03 5.69045325e-06 9.99987880e-01 6.47885706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.240281693 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:153.39, Y:61.02, Z:0.65 [[ 6.54513120e-01 -7.56043771e-01 -3.22361651e-03 1.53387153e+02] [ 7.56034613e-01 6.54521058e-01 -3.72132877e-03 6.10205891e+01] [ 4.92341233e-03 -1.50715445e-06 9.99987880e-01 6.47789873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.270281693 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:153.40, Y:61.04, Z:0.65 [[ 6.53267044e-01 -7.57120719e-01 -3.22290673e-03 1.53404986e+02] [ 7.57111570e-01 6.53274994e-01 -3.72194339e-03 6.10408105e+01] [ 4.92340483e-03 -8.67701961e-06 9.99987880e-01 6.46580948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.300281693 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:153.42, Y:61.06, Z:0.65 [[ 6.53122743e-01 -7.57245205e-01 -3.22219729e-03 1.53422873e+02] [ 7.57236055e-01 6.53130691e-01 -3.72255747e-03 6.10618708e+01] [ 4.92340474e-03 -8.67701952e-06 9.99987880e-01 6.46717072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.330281693 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:153.44, Y:61.08, Z:0.64 [[ 6.51171007e-01 -7.58924200e-01 -3.22148774e-03 1.53441652e+02] [ 7.58915068e-01 6.51178975e-01 -3.72317142e-03 6.10815369e+01] [ 4.92336997e-03 -2.04143024e-05 9.99987880e-01 6.44500166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.360281693 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:153.46, Y:61.10, Z:0.65 [[ 6.50365910e-01 -7.59614251e-01 -3.22074109e-03 1.53458521e+02] [ 7.59605123e-01 6.50373885e-01 -3.72381719e-03 6.11010369e+01] [ 4.92335050e-03 -2.46476747e-05 9.99987880e-01 6.45269879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.390281693 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:153.48, Y:61.12, Z:0.65 [[ 6.47943309e-01 -7.61681758e-01 -3.21995575e-03 1.53476450e+02] [ 7.61672653e-01 6.47951308e-01 -3.72449615e-03 6.11207069e+01] [ 4.92325531e-03 -3.92898786e-05 9.99987880e-01 6.47620309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.420281693 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:153.49, Y:61.14, Z:0.65 [[ 6.46176731e-01 -7.63181019e-01 -3.21941068e-03 1.53494195e+02] [ 7.63171930e-01 6.46184749e-01 -3.72496723e-03 6.11397757e+01] [ 4.92315837e-03 -4.99767179e-05 9.99987880e-01 6.47783187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.450281693 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:153.51, Y:61.16, Z:0.65 [[ 6.44529814e-01 -7.64572403e-01 -3.21863816e-03 1.53511453e+02] [ 7.64563328e-01 6.44537848e-01 -3.72563463e-03 6.11577384e+01] [ 4.92305153e-03 -5.95701055e-05 9.99987880e-01 6.46887286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.480281693 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:153.53, Y:61.18, Z:0.64 [[ 6.42492641e-01 -7.66285098e-01 -3.21783359e-03 1.53530080e+02] [ 7.66276041e-01 6.42500695e-01 -3.72632941e-03 6.11774080e+01] [ 4.92289102e-03 -7.16095623e-05 9.99987880e-01 6.44798374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.510281693 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:153.55, Y:61.20, Z:0.64 [[ 6.41403874e-01 -7.67196664e-01 -3.21707977e-03 1.53547882e+02] [ 7.67187615e-01 6.41411937e-01 -3.72698010e-03 6.11968223e+01] [ 4.92280006e-03 -7.76042843e-05 9.99987880e-01 6.43230168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.540281693 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:153.57, Y:61.21, Z:0.64 [[ 6.39999014e-01 -7.68368998e-01 -3.21628731e-03 1.53568381e+02] [ 7.68359961e-01 6.40007090e-01 -3.72766384e-03 6.12145076e+01] [ 4.92266802e-03 -8.55652098e-05 9.99987880e-01 6.42760073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.570281693 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:153.59, Y:61.23, Z:0.64 [[ 6.39599818e-01 -7.68701329e-01 -3.21554293e-03 1.53586720e+02] [ 7.68692293e-01 6.39607895e-01 -3.72830584e-03 6.12338545e+01] [ 4.92264030e-03 -8.71393311e-05 9.99987880e-01 6.43891938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.600281693 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:153.60, Y:61.25, Z:0.64 [[ 6.39263199e-01 -7.68981292e-01 -3.21479501e-03 1.53604544e+02] [ 7.68972256e-01 6.39271276e-01 -3.72895064e-03 6.12531754e+01] [ 4.92261939e-03 -8.83072491e-05 9.99987880e-01 6.44574953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.630281693 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:153.62, Y:61.27, Z:0.65 [[ 6.39675378e-01 -7.68638459e-01 -3.21401256e-03 1.53623099e+02] [ 7.68629415e-01 6.39683446e-01 -3.72962492e-03 6.12728385e+01] [ 4.92268378e-03 -8.46353703e-05 9.99987880e-01 6.46720123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.660281693 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:153.64, Y:61.29, Z:0.65 [[ 6.40435074e-01 -7.68005593e-01 -3.21324917e-03 1.53640648e+02] [ 7.67996538e-01 6.40443130e-01 -3.73028250e-03 6.12925510e+01] [ 4.92278118e-03 -7.87604819e-05 9.99987880e-01 6.45998562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.690281693 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:153.66, Y:61.31, Z:0.64 [[ 6.41188480e-01 -7.67376709e-01 -3.21244667e-03 1.53657874e+02] [ 7.67367642e-01 6.41196524e-01 -3.73097347e-03 6.13130222e+01] [ 4.92287178e-03 -7.28704179e-05 9.99987880e-01 6.44086297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.720281693 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:153.67, Y:61.33, Z:0.64 [[ 6.42093165e-01 -7.66619888e-01 -3.21170024e-03 1.53674147e+02] [ 7.66610808e-01 6.42101194e-01 -3.73161590e-03 6.13338722e+01] [ 4.92296752e-03 -6.60790519e-05 9.99987880e-01 6.39329324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.750281693 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:153.69, Y:61.35, Z:0.64 [[ 6.42115558e-01 -7.66601134e-01 -3.21112180e-03 1.53690795e+02] [ 7.66592052e-01 6.42123584e-01 -3.73211359e-03 6.13541701e+01] [ 4.92297955e-03 -6.51722457e-05 9.99987880e-01 6.40319877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.780281693 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:153.71, Y:61.38, Z:0.64 [[ 6.43046724e-01 -7.65820217e-01 -3.21035168e-03 1.53707260e+02] [ 7.65811122e-01 6.43054735e-01 -3.73277593e-03 6.13757657e+01] [ 4.92306712e-03 -5.81736924e-05 9.99987880e-01 6.43985427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.810281693 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:153.72, Y:61.40, Z:0.65 [[ 6.43721607e-01 -7.65253024e-01 -3.20962931e-03 1.53724413e+02] [ 7.65243919e-01 6.43729606e-01 -3.73339696e-03 6.13967907e+01] [ 4.92312673e-03 -5.28810171e-05 9.99987880e-01 6.45059234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.840281693 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:153.74, Y:61.42, Z:0.65 [[ 6.43930851e-01 -7.65076965e-01 -3.20890811e-03 1.53741842e+02] [ 7.65067854e-01 6.43938844e-01 -3.73401674e-03 6.14172411e+01] [ 4.92315077e-03 -5.05838706e-05 9.99987880e-01 6.45031027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.870281693 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:153.76, Y:61.44, Z:0.64 [[ 6.43677887e-01 -7.65289805e-01 -3.20817806e-03 1.53759053e+02] [ 7.65280694e-01 6.43685880e-01 -3.73464387e-03 6.14366974e+01] [ 4.92314380e-03 -5.12490582e-05 9.99987880e-01 6.43871055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.900281693 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:153.78, Y:61.46, Z:0.64 [[ 6.42572820e-01 -7.66217909e-01 -3.20740884e-03 1.53777371e+02] [ 7.66208806e-01 6.42580822e-01 -3.73530438e-03 6.14573082e+01] [ 4.92307652e-03 -5.73398254e-05 9.99987880e-01 6.43838786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.930281693 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:153.79, Y:61.48, Z:0.65 [[ 6.42162322e-01 -7.66561981e-01 -3.20667243e-03 1.53794516e+02] [ 7.66552879e-01 6.42170325e-01 -3.73593647e-03 6.14777397e+01] [ 4.92305673e-03 -5.90063447e-05 9.99987880e-01 6.45606849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96028169299998 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:153.81, Y:61.50, Z:0.64 [[ 6.41698470e-01 -7.66950321e-01 -3.20593712e-03 1.53811252e+02] [ 7.66941221e-01 6.41706476e-01 -3.73656735e-03 6.14977876e+01] [ 4.92303214e-03 -6.10157775e-05 9.99987880e-01 6.44838437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.990281693 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:153.83, Y:61.52, Z:0.65 [[ 6.41121842e-01 -7.67432414e-01 -3.20516801e-03 1.53830151e+02] [ 7.67423317e-01 6.41129851e-01 -3.73722697e-03 6.15190589e+01] [ 4.92299800e-03 -6.37028215e-05 9.99987880e-01 6.45410744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.020281693 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:153.85, Y:61.54, Z:0.64 [[ 6.40875974e-01 -7.67637751e-01 -3.20447085e-03 1.53848456e+02] [ 7.67628653e-01 6.40883983e-01 -3.73782465e-03 6.15384180e+01] [ 4.92298935e-03 -6.43616228e-05 9.99987880e-01 6.44263286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.050281693 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:153.87, Y:61.56, Z:0.64 [[ 6.41779968e-01 -7.66882134e-01 -3.20396052e-03 1.53869009e+02] [ 7.66873025e-01 6.41787963e-01 -3.73826204e-03 6.15555094e+01] [ 4.92306967e-03 -5.78892009e-05 9.99987880e-01 6.43909481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.080281693 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:153.89, Y:61.57, Z:0.65 [[ 6.42411679e-01 -7.66353034e-01 -3.20338926e-03 1.53888910e+02] [ 7.66343916e-01 6.42419664e-01 -3.73875150e-03 6.15747589e+01] [ 4.92312381e-03 -5.30802427e-05 9.99987880e-01 6.46108644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.110281693 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:153.91, Y:61.59, Z:0.65 [[ 6.43383383e-01 -7.65537435e-01 -3.20263668e-03 1.53909581e+02] [ 7.65528304e-01 6.43391353e-01 -3.73939606e-03 6.15912854e+01] [ 4.92319641e-03 -4.58437376e-05 9.99987880e-01 6.48715352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.140281693 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:153.93, Y:61.61, Z:0.65 [[ 6.44238254e-01 -7.64818161e-01 -3.20205407e-03 1.53927913e+02] [ 7.64809018e-01 6.44246211e-01 -3.73989487e-03 6.16096525e+01] [ 4.92325072e-03 -3.95764865e-05 9.99987880e-01 6.49325064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.170281693 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:153.95, Y:61.63, Z:0.65 [[ 6.46616732e-01 -7.62808332e-01 -3.20148257e-03 1.53948688e+02] [ 7.62799162e-01 6.46624657e-01 -3.74038404e-03 6.16274840e+01] [ 4.92335368e-03 -2.34933169e-05 9.99987880e-01 6.50596415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.200281693 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:153.97, Y:61.65, Z:0.65 [[ 6.47636180e-01 -7.61942999e-01 -3.20071723e-03 1.53967705e+02] [ 7.61933815e-01 6.47644089e-01 -3.74103884e-03 6.16460249e+01] [ 4.92338395e-03 -1.59025915e-05 9.99987880e-01 6.51130052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.230281693 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:153.99, Y:61.66, Z:0.65 [[ 6.48419830e-01 -7.61276221e-01 -3.19991061e-03 1.53987495e+02] [ 7.61267025e-01 6.48427726e-01 -3.74172865e-03 6.16645916e+01] [ 4.92339981e-03 -9.77537615e-06 9.99987880e-01 6.52739654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.260281693 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:154.01, Y:61.68, Z:0.65 [[ 6.49009757e-01 -7.60773357e-01 -3.19914620e-03 1.54009180e+02] [ 7.60764153e-01 6.49017641e-01 -3.74238211e-03 6.16801665e+01] [ 4.92340692e-03 -4.95324512e-06 9.99987880e-01 6.47954185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.290281693 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:154.03, Y:61.70, Z:0.64 [[ 6.48949595e-01 -7.60824679e-01 -3.19855407e-03 1.54028575e+02] [ 7.60815472e-01 6.48957478e-01 -3.74288812e-03 6.16982528e+01] [ 4.92340724e-03 -4.56369182e-06 9.99987880e-01 6.44989067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.320281693 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:154.05, Y:61.72, Z:0.65 [[ 6.48896851e-01 -7.60869668e-01 -3.19775591e-03 1.54049859e+02] [ 7.60860458e-01 6.48904730e-01 -3.74356991e-03 6.17154737e+01] [ 4.92340773e-03 -3.85529789e-06 9.99987880e-01 6.46916394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.350281693 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:154.07, Y:61.73, Z:0.65 [[ 6.49279123e-01 -7.60543489e-01 -3.19700415e-03 1.54068489e+02] [ 7.60534273e-01 6.49286994e-01 -3.74421180e-03 6.17340923e+01] [ 4.92340912e-03 -3.92673717e-07 9.99987880e-01 6.46810669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.380281693 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:154.09, Y:61.75, Z:0.65 [[ 6.49969803e-01 -7.59953313e-01 -3.19642179e-03 1.54088238e+02] [ 7.59944087e-01 6.49977662e-01 -3.74470890e-03 6.17534021e+01] [ 4.92340670e-03 4.84586257e-06 9.99987880e-01 6.47372809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.410281693 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:154.11, Y:61.77, Z:0.65 [[ 6.50965473e-01 -7.59100613e-01 -3.19569363e-03 1.54108044e+02] [ 7.59091374e-01 6.50973317e-01 -3.74533019e-03 6.17726578e+01] [ 4.92339373e-03 1.22571673e-05 9.99987880e-01 6.46269930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.440281693 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:154.13, Y:61.79, Z:0.65 [[ 6.53021045e-01 -7.57333023e-01 -3.19494573e-03 1.54127955e+02] [ 7.57323759e-01 6.53028860e-01 -3.74596808e-03 6.17905724e+01] [ 4.92333710e-03 2.65876811e-05 9.99987880e-01 6.45325602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.470281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:154.15, Y:61.81, Z:0.65 [[ 6.55254826e-01 -7.55401159e-01 -3.19415733e-03 1.54146375e+02] [ 7.55391869e-01 6.55262609e-01 -3.74664023e-03 6.18107600e+01] [ 4.92322823e-03 4.21636162e-05 9.99987880e-01 6.48244203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.500281693 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:154.16, Y:61.83, Z:0.65 [[ 6.56435154e-01 -7.54375696e-01 -3.19341731e-03 1.54163933e+02] [ 7.54366390e-01 6.56442920e-01 -3.74727086e-03 6.18299739e+01] [ 4.92314625e-03 5.08336381e-05 9.99987880e-01 6.49465544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.530281693 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:154.18, Y:61.85, Z:0.65 [[ 6.57764483e-01 -7.53216895e-01 -3.19263787e-03 1.54181128e+02] [ 7.53207573e-01 6.57772229e-01 -3.74793482e-03 6.18488132e+01] [ 4.92303636e-03 6.05393917e-05 9.99987880e-01 6.50799282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.560281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:154.20, Y:61.87, Z:0.65 [[ 6.58911137e-01 -7.52214016e-01 -3.19181095e-03 1.54198903e+02] [ 7.52204678e-01 6.58918864e-01 -3.74863891e-03 6.18689250e+01] [ 4.92292318e-03 6.91248002e-05 9.99987880e-01 6.51871706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.590281693 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:154.22, Y:61.89, Z:0.65 [[ 6.60967193e-01 -7.50408014e-01 -3.19100633e-03 1.54215705e+02] [ 7.50398652e-01 6.60974891e-01 -3.74932372e-03 6.18889261e+01] [ 4.92269762e-03 8.36531275e-05 9.99987880e-01 6.51967440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.620281693 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:154.23, Y:61.91, Z:0.65 [[ 6.61267336e-01 -7.50143542e-01 -3.19016129e-03 1.54232413e+02] [ 7.50134173e-01 6.61275025e-01 -3.75004259e-03 6.19094436e+01] [ 4.92264422e-03 8.67316668e-05 9.99987880e-01 6.54003777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.650281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:154.25, Y:61.93, Z:0.66 [[ 6.61229193e-01 -7.50177168e-01 -3.18935706e-03 1.54250329e+02] [ 7.50167796e-01 6.61236879e-01 -3.75072645e-03 6.19301065e+01] [ 4.92262985e-03 8.75368671e-05 9.99987880e-01 6.58040416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.680281693 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:154.27, Y:61.95, Z:0.66 [[ 6.61451473e-01 -7.49981188e-01 -3.18859450e-03 1.54267612e+02] [ 7.49971811e-01 6.61459152e-01 -3.75137461e-03 6.19497630e+01] [ 4.92258540e-03 8.99962655e-05 9.99987880e-01 6.57897872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71028169299998 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:154.28, Y:61.97, Z:0.65 [[ 6.63500727e-01 -7.48168846e-01 -3.18800553e-03 1.54284081e+02] [ 7.48159446e-01 6.63508377e-01 -3.75187507e-03 6.19698880e+01] [ 4.92230442e-03 1.04235385e-04 9.99987880e-01 6.52301256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.740281693 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:154.30, Y:61.99, Z:0.65 [[ 6.65185770e-01 -7.46671100e-01 -3.18742048e-03 1.54300719e+02] [ 7.46661680e-01 6.65193397e-01 -3.75237203e-03 6.19907712e+01] [ 4.92203881e-03 1.16099745e-04 9.99987880e-01 6.49692877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.770281693 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:154.32, Y:62.01, Z:0.65 [[ 6.66889471e-01 -7.45149837e-01 -3.18663279e-03 1.54317790e+02] [ 7.45140396e-01 6.66897072e-01 -3.75304085e-03 6.20123756e+01] [ 4.92173385e-03 1.28374608e-04 9.99987880e-01 6.50641268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.800281693 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:154.33, Y:62.03, Z:0.65 [[ 6.69583999e-01 -7.42729506e-01 -3.18584865e-03 1.54333355e+02] [ 7.42720035e-01 6.69591562e-01 -3.75370636e-03 6.20332682e+01] [ 4.92120584e-03 1.47228094e-04 9.99987880e-01 6.51840395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.830281693 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:154.35, Y:62.05, Z:0.65 [[ 6.70252928e-01 -7.42125911e-01 -3.18502545e-03 1.54350653e+02] [ 7.42116430e-01 6.70260478e-01 -3.75440471e-03 6.20536776e+01] [ 4.92103770e-03 1.52741034e-04 9.99987880e-01 6.51764680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.860281693 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:154.37, Y:62.07, Z:0.65 [[ 6.70669627e-01 -7.41749359e-01 -3.18424634e-03 1.54368545e+02] [ 7.41739871e-01 6.70677168e-01 -3.75506540e-03 6.20730258e+01] [ 4.92091867e-03 1.56525844e-04 9.99987880e-01 6.49583856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.890281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:154.39, Y:62.09, Z:0.65 [[ 6.70887121e-01 -7.41552653e-01 -3.18346867e-03 1.54388563e+02] [ 7.41543159e-01 6.70894655e-01 -3.75572457e-03 6.20906731e+01] [ 4.92083963e-03 1.58987823e-04 9.99987880e-01 6.48893750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.920281693 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:154.41, Y:62.11, Z:0.65 [[ 6.70628169e-01 -7.41786849e-01 -3.18268877e-03 1.54406798e+02] [ 7.41777354e-01 6.70635703e-01 -3.75638536e-03 6.21103377e+01] [ 4.92086198e-03 1.58291384e-04 9.99987880e-01 6.52081310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.950281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:154.43, Y:62.13, Z:0.66 [[ 6.70441556e-01 -7.41955521e-01 -3.18193636e-03 1.54425133e+02] [ 7.41946026e-01 6.70449088e-01 -3.75702259e-03 6.21312903e+01] [ 4.92086999e-03 1.58039035e-04 9.99987880e-01 6.55410304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.980281693 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:154.44, Y:62.15, Z:0.66 [[ 6.71042928e-01 -7.41411673e-01 -3.18123340e-03 1.54442594e+02] [ 7.41402168e-01 6.71050449e-01 -3.75761773e-03 6.21517239e+01] [ 4.92070975e-03 1.62949459e-04 9.99987880e-01 6.59230889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.010281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:154.46, Y:62.17, Z:0.66 [[ 6.71747398e-01 -7.40773459e-01 -3.18049299e-03 1.54460771e+02] [ 7.40763944e-01 6.71754906e-01 -3.75824431e-03 6.21724826e+01] [ 4.92051941e-03 1.68596305e-04 9.99987880e-01 6.57744336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.040281693 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:154.48, Y:62.19, Z:0.65 [[ 6.73527788e-01 -7.39155063e-01 -3.17979282e-03 1.54479892e+02] [ 7.39145528e-01 6.73535270e-01 -3.75883663e-03 6.21923535e+01] [ 4.92006574e-03 1.81351280e-04 9.99987880e-01 6.51339929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.070281693 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:154.50, Y:62.21, Z:0.65 [[ 6.74704842e-01 -7.38080802e-01 -3.17909637e-03 1.54497737e+02] [ 7.38071252e-01 6.74712305e-01 -3.75942557e-03 6.22126331e+01] [ 4.91973528e-03 1.90102995e-04 9.99987880e-01 6.48867626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.100281693 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:154.52, Y:62.23, Z:0.65 [[ 6.75847625e-01 -7.37034521e-01 -3.17832203e-03 1.54515374e+02] [ 7.37024957e-01 6.75855069e-01 -3.76008011e-03 6.22335095e+01] [ 4.91939390e-03 1.98738559e-04 9.99987880e-01 6.48657097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.130281693 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:154.53, Y:62.25, Z:0.65 [[ 6.77952668e-01 -7.35098690e-01 -3.17755266e-03 1.54533584e+02] [ 7.35089101e-01 6.77960081e-01 -3.76073017e-03 6.22547190e+01] [ 4.91876167e-03 2.13812722e-04 9.99987880e-01 6.53997719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.160281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:154.55, Y:62.28, Z:0.66 [[ 6.78690280e-01 -7.34417736e-01 -3.17685253e-03 1.54550148e+02] [ 7.34408137e-01 6.78697680e-01 -3.76132150e-03 6.22757189e+01] [ 4.91850367e-03 2.19665997e-04 9.99987880e-01 6.55779690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.190281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:154.57, Y:62.30, Z:0.66 [[ 6.78548167e-01 -7.34549044e-01 -3.17611048e-03 1.54567790e+02] [ 7.34539443e-01 6.78555564e-01 -3.76194799e-03 6.22970045e+01] [ 4.91850274e-03 2.19684488e-04 9.99987880e-01 6.55915814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.220281693 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:154.58, Y:62.32, Z:0.66 [[ 6.79420184e-01 -7.33742550e-01 -3.17538246e-03 1.54583823e+02] [ 7.33732938e-01 6.79427567e-01 -3.76256240e-03 6.23189192e+01] [ 4.91819451e-03 2.26478135e-04 9.99987880e-01 6.59227475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.250281693 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:154.60, Y:62.34, Z:0.66 [[ 6.79412855e-01 -7.33749340e-01 -3.17462882e-03 1.54599776e+02] [ 7.33739725e-01 6.79420234e-01 -3.76319817e-03 6.23399466e+01] [ 4.91815123e-03 2.27413933e-04 9.99987880e-01 6.59443579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.280281693 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:154.61, Y:62.36, Z:0.66 [[ 6.78966346e-01 -7.34162535e-01 -3.17383906e-03 1.54614781e+02] [ 7.34152922e-01 6.78973726e-01 -3.76386413e-03 6.23621826e+01] [ 4.91824137e-03 2.25453852e-04 9.99987880e-01 6.56073803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.310281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:154.63, Y:62.38, Z:0.65 [[ 6.78292108e-01 -7.34785511e-01 -3.17309665e-03 1.54631158e+02] [ 7.34775902e-01 6.78299494e-01 -3.76448991e-03 6.23841974e+01] [ 4.91840249e-03 2.21908846e-04 9.99987880e-01 6.54629357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.340281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:154.65, Y:62.41, Z:0.65 [[ 6.77559736e-01 -7.35460903e-01 -3.17235212e-03 1.54647856e+02] [ 7.35451298e-01 6.77567128e-01 -3.76511723e-03 6.24063290e+01] [ 4.91857803e-03 2.17981352e-04 9.99987880e-01 6.54979216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.370281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:154.66, Y:62.43, Z:0.66 [[ 6.75432822e-01 -7.37414702e-01 -3.17165929e-03 1.54664366e+02] [ 7.37405116e-01 6.75440238e-01 -3.76570076e-03 6.24282884e+01] [ 4.91914941e-03 2.04680106e-04 9.99987880e-01 6.58284826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.400281693 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:154.68, Y:62.45, Z:0.66 [[ 6.74236389e-01 -7.38508792e-01 -3.17092753e-03 1.54681774e+02] [ 7.38499215e-01 6.74243817e-01 -3.76631684e-03 6.24491123e+01] [ 4.91943638e-03 1.97660374e-04 9.99987880e-01 6.58455708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.430281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:154.70, Y:62.47, Z:0.66 [[ 6.71810539e-01 -7.40716241e-01 -3.17019971e-03 1.54699352e+02] [ 7.40706685e-01 6.71817994e-01 -3.76692936e-03 6.24679371e+01] [ 4.92002297e-03 1.82474724e-04 9.99987880e-01 6.58071084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46028169299998 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:154.72, Y:62.49, Z:0.66 [[ 6.69951917e-01 -7.42397726e-01 -3.16940944e-03 1.54717538e+02] [ 7.42388185e-01 6.69959392e-01 -3.76759416e-03 6.24886005e+01] [ 4.92042896e-03 1.71174812e-04 9.99987880e-01 6.57851999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.490281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:154.73, Y:62.51, Z:0.66 [[ 6.68046377e-01 -7.44112893e-01 -3.16867901e-03 1.54734817e+02] [ 7.44103369e-01 6.68053873e-01 -3.76820838e-03 6.25081356e+01] [ 4.92082072e-03 1.59513229e-04 9.99987880e-01 6.59269205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.520281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:154.75, Y:62.53, Z:0.66 [[ 6.65522236e-01 -7.46371300e-01 -3.16795098e-03 1.54754429e+02] [ 7.46361799e-01 6.65529760e-01 -3.76882034e-03 6.25276049e+01] [ 4.92130499e-03 1.43796152e-04 9.99987880e-01 6.60417589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.550281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:154.77, Y:62.55, Z:0.66 [[ 6.64958577e-01 -7.46873523e-01 -3.16722282e-03 1.54772482e+02] [ 7.46864024e-01 6.64966105e-01 -3.76943216e-03 6.25465457e+01] [ 4.92138490e-03 1.41031467e-04 9.99987880e-01 6.60872041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.580281693 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:154.79, Y:62.57, Z:0.66 [[ 6.65482700e-01 -7.46406557e-01 -3.16666086e-03 1.54792857e+02] [ 7.46397050e-01 6.65490219e-01 -3.76990420e-03 6.25663129e+01] [ 4.92126304e-03 1.45219700e-04 9.99987880e-01 6.59703682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.610281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:154.81, Y:62.59, Z:0.66 [[ 6.66179353e-01 -7.45784853e-01 -3.16593540e-03 1.54810601e+02] [ 7.45775337e-01 6.66186859e-01 -3.77051334e-03 6.25868145e+01] [ 4.92109630e-03 1.50761596e-04 9.99987880e-01 6.58179421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.640281693 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:154.83, Y:62.61, Z:0.66 [[ 6.66822829e-01 -7.45209565e-01 -3.16516631e-03 1.54826428e+02] [ 7.45200039e-01 6.66830323e-01 -3.77115884e-03 6.26062196e+01] [ 4.92093252e-03 1.56012748e-04 9.99987880e-01 6.58283641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.670281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:154.84, Y:62.63, Z:0.66 [[ 6.68280109e-01 -7.43903006e-01 -3.16433212e-03 1.54842530e+02] [ 7.43893462e-01 6.68287580e-01 -3.77185867e-03 6.26276703e+01] [ 4.92058086e-03 1.66732150e-04 9.99987880e-01 6.59896203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.700281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:154.86, Y:62.65, Z:0.66 [[ 6.68718482e-01 -7.43508967e-01 -3.16354512e-03 1.54859224e+02] [ 7.43499415e-01 6.68725943e-01 -3.77251863e-03 6.26485477e+01] [ 4.92044613e-03 1.70658989e-04 9.99987880e-01 6.61039826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.730281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:154.88, Y:62.67, Z:0.66 [[ 6.68948090e-01 -7.43302395e-01 -3.16275949e-03 1.54875113e+02] [ 7.43292838e-01 6.68955544e-01 -3.77317716e-03 6.26682551e+01] [ 4.92035712e-03 1.73203177e-04 9.99987880e-01 6.62560495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.760281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:154.89, Y:62.69, Z:0.66 [[ 6.68479732e-01 -7.43723639e-01 -3.16193770e-03 1.54890917e+02] [ 7.43714083e-01 6.68487188e-01 -3.77386570e-03 6.26888580e+01] [ 4.92042797e-03 1.71175133e-04 9.99987880e-01 6.63052110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.790281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:154.91, Y:62.71, Z:0.66 [[ 6.67866470e-01 -7.44274401e-01 -3.16115861e-03 1.54907764e+02] [ 7.44264849e-01 6.67873931e-01 -3.77451819e-03 6.27114019e+01] [ 4.92053269e-03 1.68134903e-04 9.99987880e-01 6.62808888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.820281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:154.92, Y:62.73, Z:0.66 [[ 6.66840173e-01 -7.45194066e-01 -3.16043965e-03 1.54921859e+02] [ 7.45184521e-01 6.66847642e-01 -3.77512009e-03 6.27347288e+01] [ 4.92072882e-03 1.62291022e-04 9.99987880e-01 6.61395379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.850281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:154.94, Y:62.76, Z:0.66 [[ 6.66255500e-01 -7.45716852e-01 -3.15991285e-03 1.54937370e+02] [ 7.45707312e-01 6.66262974e-01 -3.77556099e-03 6.27568918e+01] [ 4.92083239e-03 1.59118155e-04 9.99987880e-01 6.60674933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.880281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:154.95, Y:62.78, Z:0.66 [[ 6.66049725e-01 -7.45900653e-01 -3.15916373e-03 1.54949978e+02] [ 7.45891111e-01 6.66057198e-01 -3.77618770e-03 6.27808236e+01] [ 4.92084461e-03 1.58736638e-04 9.99987880e-01 6.57744721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.910281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:154.96, Y:62.80, Z:0.66 [[ 6.65954747e-01 -7.45985454e-01 -3.15855788e-03 1.54964294e+02] [ 7.45975911e-01 6.65962219e-01 -3.77669439e-03 6.28047315e+01] [ 4.92083929e-03 1.58899468e-04 9.99987880e-01 6.58076273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.940281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:154.98, Y:62.83, Z:0.66 [[ 6.65754501e-01 -7.46164173e-01 -3.15779558e-03 1.54978645e+02] [ 7.46154629e-01 6.65761971e-01 -3.77733166e-03 6.28288189e+01] [ 4.92084976e-03 1.58571770e-04 9.99987880e-01 6.58206641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.970281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:154.99, Y:62.86, Z:0.66 [[ 6.65311946e-01 -7.46558803e-01 -3.15708905e-03 1.54989291e+02] [ 7.46549261e-01 6.65319418e-01 -3.77792209e-03 6.28554433e+01] [ 4.92091364e-03 1.56574199e-04 9.99987880e-01 6.58334563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.000281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:155.00, Y:62.88, Z:0.66 [[ 6.64359628e-01 -7.47406397e-01 -3.15634307e-03 1.55002775e+02] [ 7.47396861e-01 6.64367109e-01 -3.77854523e-03 6.28793731e+01] [ 4.92107939e-03 1.51272004e-04 9.99987880e-01 6.58049659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.030281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:155.01, Y:62.91, Z:0.66 [[ 6.61428573e-01 -7.50001524e-01 -3.15555291e-03 1.55010972e+02] [ 7.49992014e-01 6.61436087e-01 -3.77920500e-03 6.29060514e+01] [ 4.92160607e-03 1.33034689e-04 9.99987880e-01 6.56366290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.060281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:155.02, Y:62.93, Z:0.66 [[ 6.59179982e-01 -7.51978590e-01 -3.15472485e-03 1.55024939e+02] [ 7.51969099e-01 6.59187520e-01 -3.77989610e-03 6.29299603e+01] [ 4.92195619e-03 1.19376240e-04 9.99987880e-01 6.57503984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.090281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:155.04, Y:62.95, Z:0.66 [[ 6.56642213e-01 -7.54195635e-01 -3.15393609e-03 1.55039486e+02] [ 7.54186167e-01 6.56649780e-01 -3.78055412e-03 6.29523246e+01] [ 4.92230886e-03 1.03816457e-04 9.99987880e-01 6.58047886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.120281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:155.05, Y:62.97, Z:0.66 [[ 6.50812362e-01 -7.59232064e-01 -3.15310481e-03 1.55052554e+02] [ 7.59222651e-01 6.50819997e-01 -3.78124731e-03 6.29749081e+01] [ 4.92294786e-03 6.69739062e-05 9.99987880e-01 6.58602006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.150281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:155.07, Y:63.00, Z:0.66 [[ 6.48000647e-01 -7.61633262e-01 -3.15228210e-03 1.55068147e+02] [ 7.61623873e-01 6.48008312e-01 -3.78193305e-03 6.29972871e+01] [ 4.92315101e-03 4.98417553e-05 9.99987880e-01 6.60008692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.180281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:155.08, Y:63.02, Z:0.66 [[ 6.44178444e-01 -7.64868747e-01 -3.15149792e-03 1.55082285e+02] [ 7.64859394e-01 6.44186153e-01 -3.78258640e-03 6.30189991e+01] [ 4.92333344e-03 2.62078345e-05 9.99987880e-01 6.63972828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21028169299998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:155.10, Y:63.04, Z:0.66 [[ 6.42385135e-01 -7.66375503e-01 -3.15067707e-03 1.55099135e+02] [ 7.66366165e-01 6.42392862e-01 -3.78326999e-03 6.30403750e+01] [ 4.92337790e-03 1.57440988e-05 9.99987880e-01 6.64607892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.240281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:155.12, Y:63.06, Z:0.66 [[ 6.38908123e-01 -7.69276601e-01 -3.14990418e-03 1.55115832e+02] [ 7.69267295e-01 6.38915888e-01 -3.78391339e-03 6.30598712e+01] [ 4.92339985e-03 -5.54526390e-06 9.99987880e-01 6.64131399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.270281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:155.13, Y:63.08, Z:0.66 [[ 6.37062265e-01 -7.70805912e-01 -3.14908959e-03 1.55132969e+02] [ 7.70796621e-01 6.37070048e-01 -3.78459119e-03 6.30799789e+01] [ 4.92337592e-03 -1.62873740e-05 9.99987880e-01 6.64152529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.300281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:155.15, Y:63.10, Z:0.66 [[ 6.35603328e-01 -7.72009390e-01 -3.14828516e-03 1.55150721e+02] [ 7.72000110e-01 6.35611125e-01 -3.78526025e-03 6.31004040e+01] [ 4.92334153e-03 -2.45524710e-05 9.99987880e-01 6.63521971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.330281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:155.17, Y:63.12, Z:0.66 [[ 6.33334189e-01 -7.73872017e-01 -3.14752464e-03 1.55169372e+02] [ 7.73862757e-01 6.33342009e-01 -3.78589253e-03 6.31190736e+01] [ 4.92325587e-03 -3.80169176e-05 9.99987880e-01 6.62859577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.360281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:155.19, Y:63.14, Z:0.66 [[ 6.31714638e-01 -7.75194630e-01 -3.14672499e-03 1.55187443e+02] [ 7.75185384e-01 6.31722473e-01 -3.78655706e-03 6.31398401e+01] [ 4.92317560e-03 -4.72717008e-05 9.99987880e-01 6.63752001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.390281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.21, Y:63.16, Z:0.66 [[ 6.27883173e-01 -7.78301242e-01 -3.14597307e-03 1.55206036e+02] [ 7.78292031e-01 6.27891051e-01 -3.78718168e-03 6.31598932e+01] [ 4.92289654e-03 -7.05781202e-05 9.99987880e-01 6.64548439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.420281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:155.22, Y:63.18, Z:0.66 [[ 6.25731891e-01 -7.80031864e-01 -3.14522204e-03 1.55223951e+02] [ 7.80022671e-01 6.25739790e-01 -3.78780530e-03 6.31807895e+01] [ 4.92269940e-03 -8.31939202e-05 9.99987880e-01 6.64053563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.450281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:155.24, Y:63.20, Z:0.66 [[ 6.23908690e-01 -7.81490921e-01 -3.14447340e-03 1.55241796e+02] [ 7.81481744e-01 6.23916607e-01 -3.78842668e-03 6.32008754e+01] [ 4.92251023e-03 -9.37162252e-05 9.99987880e-01 6.63134339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.480281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:155.26, Y:63.22, Z:0.66 [[ 6.20736169e-01 -7.84013218e-01 -3.14371574e-03 1.55260214e+02] [ 7.84004070e-01 6.20744119e-01 -3.78905530e-03 6.32191186e+01] [ 4.92211250e-03 -1.12682265e-04 9.99987880e-01 6.59293869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.510281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:155.28, Y:63.24, Z:0.66 [[ 6.18924609e-01 -7.85444110e-01 -3.14292016e-03 1.55278240e+02] [ 7.85434977e-01 6.18932577e-01 -3.78971510e-03 6.32393163e+01] [ 4.92186508e-03 -1.23011484e-04 9.99987880e-01 6.58011222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.540281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:155.30, Y:63.26, Z:0.66 [[ 6.16253756e-01 -7.87541386e-01 -3.14218653e-03 1.55296863e+02] [ 7.87532277e-01 6.16261751e-01 -3.79032328e-03 6.32566112e+01] [ 4.92144582e-03 -1.38772354e-04 9.99987880e-01 6.58493005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.570281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:155.32, Y:63.28, Z:0.66 [[ 6.15433351e-01 -7.88182670e-01 -3.14133552e-03 1.55315801e+02] [ 7.88173566e-01 6.15441352e-01 -3.79102844e-03 6.32750962e+01] [ 4.92133070e-03 -1.42792283e-04 9.99987880e-01 6.59224722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.600281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:155.33, Y:63.29, Z:0.66 [[ 6.14594534e-01 -7.88836926e-01 -3.14052833e-03 1.55334271e+02] [ 7.88827827e-01 6.14602540e-01 -3.79169701e-03 6.32925480e+01] [ 4.92120731e-03 -1.46979886e-04 9.99987880e-01 6.59429993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.630281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:155.36, Y:63.31, Z:0.66 [[ 6.12167040e-01 -7.90722237e-01 -3.13988682e-03 1.55356154e+02] [ 7.90713160e-01 6.12175071e-01 -3.79222817e-03 6.33074987e+01] [ 4.92075958e-03 -1.61272742e-04 9.99987880e-01 6.62243573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.660281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:155.38, Y:63.33, Z:0.66 [[ 6.10945019e-01 -7.91666804e-01 -3.13924934e-03 1.55375756e+02] [ 7.91657737e-01 6.10953061e-01 -3.79275581e-03 6.33260205e+01] [ 4.92053287e-03 -1.68045763e-04 9.99987880e-01 6.64206872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.690281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:155.40, Y:63.34, Z:0.67 [[ 6.10542963e-01 -7.91976919e-01 -3.13845811e-03 1.55398298e+02] [ 7.91967853e-01 6.10551006e-01 -3.79341043e-03 6.33427654e+01] [ 4.92048226e-03 -1.69517893e-04 9.99987880e-01 6.66786756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.720281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.42, Y:63.36, Z:0.67 [[ 6.11175034e-01 -7.91489250e-01 -3.13767896e-03 1.55417142e+02] [ 7.91480174e-01 6.11183066e-01 -3.79405479e-03 6.33608971e+01] [ 4.92064982e-03 -1.64579125e-04 9.99987880e-01 6.66804189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.750281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:155.44, Y:63.38, Z:0.67 [[ 6.12279943e-01 -7.90634828e-01 -3.13686162e-03 1.55435202e+02] [ 7.90625737e-01 6.12287959e-01 -3.79473043e-03 6.33785837e+01] [ 4.92090864e-03 -1.56646201e-04 9.99987880e-01 6.67325657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.780281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:155.46, Y:63.40, Z:0.67 [[ 6.14687180e-01 -7.88764753e-01 -3.13601472e-03 1.55456551e+02] [ 7.88755634e-01 6.14695164e-01 -3.79543019e-03 6.33950067e+01] [ 4.92139464e-03 -1.40546998e-04 9.99987880e-01 6.69628749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.810281693 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:155.48, Y:63.41, Z:0.67 [[ 6.15313138e-01 -7.88276546e-01 -3.13521206e-03 1.55475788e+02] [ 7.88267417e-01 6.15321110e-01 -3.79609311e-03 6.34127104e+01] [ 4.92153333e-03 -1.35599552e-04 9.99987880e-01 6.69187286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.840281693 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:155.50, Y:63.43, Z:0.67 [[ 6.15766327e-01 -7.87922589e-01 -3.13439608e-03 1.55495907e+02] [ 7.87913452e-01 6.15774291e-01 -3.79676674e-03 6.34314281e+01] [ 4.92163880e-03 -1.31711723e-04 9.99987880e-01 6.66404297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.870281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:155.52, Y:63.45, Z:0.66 [[ 6.17589891e-01 -7.86494061e-01 -3.13361034e-03 1.55518520e+02] [ 7.86484902e-01 6.17597829e-01 -3.79741513e-03 6.34465417e+01] [ 4.92195539e-03 -1.19292028e-04 9.99987880e-01 6.59197793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.900281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:155.54, Y:63.46, Z:0.66 [[ 6.18736814e-01 -7.85592095e-01 -3.13299948e-03 1.55537460e+02] [ 7.85582922e-01 6.18744736e-01 -3.79791904e-03 6.34641903e+01] [ 4.92214211e-03 -1.11318562e-04 9.99987880e-01 6.58248336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.930281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:155.56, Y:63.48, Z:0.66 [[ 6.22579606e-01 -7.82550205e-01 -3.13219319e-03 1.55558162e+02] [ 7.82540990e-01 6.22587479e-01 -3.79858388e-03 6.34800944e+01] [ 4.92264686e-03 -8.61487008e-05 9.99987880e-01 6.63982449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96028169299998 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:155.58, Y:63.50, Z:0.67 [[ 6.24840988e-01 -7.80745754e-01 -3.13154999e-03 1.55577424e+02] [ 7.80736514e-01 6.24848832e-01 -3.79911406e-03 6.34997562e+01] [ 4.92288753e-03 -7.10732411e-05 9.99987880e-01 6.65789541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.990281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:155.60, Y:63.52, Z:0.66 [[ 6.30153561e-01 -7.76464222e-01 -3.13079213e-03 1.55598050e+02] [ 7.76454925e-01 6.30161337e-01 -3.79973850e-03 6.35185987e+01] [ 4.92326515e-03 -3.65002223e-05 9.99987880e-01 6.61138503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.020281693 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:155.62, Y:63.54, Z:0.66 [[ 6.33143803e-01 -7.74027860e-01 -3.13004410e-03 1.55615306e+02] [ 7.74018530e-01 6.33151540e-01 -3.80035459e-03 6.35384328e+01] [ 4.92337257e-03 -1.65411769e-05 9.99987880e-01 6.59011344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.050281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:155.63, Y:63.56, Z:0.66 [[ 6.36059518e-01 -7.71633655e-01 -3.12920773e-03 1.55631495e+02] [ 7.71624293e-01 6.36067216e-01 -3.80104313e-03 6.35584841e+01] [ 4.92339925e-03 3.11696613e-06 9.99987880e-01 6.57960386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.080281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:155.65, Y:63.58, Z:0.66 [[ 6.40843820e-01 -7.67664908e-01 -3.12838945e-03 1.55647473e+02] [ 7.67655495e-01 6.40851455e-01 -3.80171648e-03 6.35802455e+01] [ 4.92327727e-03 3.47811597e-05 9.99987880e-01 6.58090503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.110281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:155.66, Y:63.60, Z:0.66 [[ 6.40685022e-01 -7.67797447e-01 -3.12760640e-03 1.55664843e+02] [ 7.67788033e-01 6.40692655e-01 -3.80236058e-03 6.36017591e+01] [ 4.92327720e-03 3.47767084e-05 9.99987880e-01 6.58226624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.140281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:155.68, Y:63.62, Z:0.66 [[ 6.42734235e-01 -7.66082845e-01 -3.12681977e-03 1.55679742e+02] [ 7.66073407e-01 6.42741839e-01 -3.80300734e-03 6.36231061e+01] [ 4.92315658e-03 4.89495340e-05 9.99987880e-01 6.58975389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.170281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:155.69, Y:63.65, Z:0.66 [[ 6.45563053e-01 -7.63700577e-01 -3.12621069e-03 1.55691970e+02] [ 7.63691109e-01 6.45570619e-01 -3.80350796e-03 6.36464823e+01] [ 4.92293100e-03 6.79448997e-05 9.99987880e-01 6.59407951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.200281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:155.71, Y:63.67, Z:0.66 [[ 6.46352806e-01 -7.63032293e-01 -3.12560993e-03 1.55706923e+02] [ 7.63022815e-01 6.46360359e-01 -3.80400158e-03 6.36685322e+01] [ 4.92284641e-03 7.38154119e-05 9.99987880e-01 6.60660715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.230281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:155.72, Y:63.69, Z:0.66 [[ 6.46798244e-01 -7.62654750e-01 -3.12481801e-03 1.55722357e+02] [ 7.62645264e-01 6.46805787e-01 -3.80465200e-03 6.36899784e+01] [ 4.92278629e-03 7.77145707e-05 9.99987880e-01 6.63153662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.260281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:155.74, Y:63.71, Z:0.67 [[ 6.46521456e-01 -7.62889407e-01 -3.12399750e-03 1.55736529e+02] [ 7.62879920e-01 6.46528999e-01 -3.80532560e-03 6.37137301e+01] [ 4.92279757e-03 7.69896905e-05 9.99987880e-01 6.70361798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.290281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:155.75, Y:63.74, Z:0.67 [[ 6.45711326e-01 -7.63575228e-01 -3.12323501e-03 1.55750723e+02] [ 7.63565747e-01 6.45718875e-01 -3.80595132e-03 6.37352835e+01] [ 4.92286194e-03 7.27506008e-05 9.99987880e-01 6.73551800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.320281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:155.76, Y:63.76, Z:0.67 [[ 6.43840640e-01 -7.65153240e-01 -3.12238247e-03 1.55764189e+02] [ 7.65143774e-01 6.43848208e-01 -3.80665061e-03 6.37575049e+01] [ 4.92301141e-03 6.18048608e-05 9.99987880e-01 6.73127448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.350281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:155.78, Y:63.78, Z:0.67 [[ 6.42583484e-01 -7.66209320e-01 -3.12156891e-03 1.55779657e+02] [ 7.66199862e-01 6.42591064e-01 -3.80731764e-03 6.37787924e+01] [ 4.92309454e-03 5.47737670e-05 9.99987880e-01 6.70422118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.380281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:155.80, Y:63.80, Z:0.67 [[ 6.40730028e-01 -7.67759918e-01 -3.12076103e-03 1.55795213e+02] [ 7.67750476e-01 6.40737626e-01 -3.80797972e-03 6.38015256e+01] [ 4.92320321e-03 4.39211895e-05 9.99987880e-01 6.69069170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.410281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:155.81, Y:63.82, Z:0.67 [[ 6.36139110e-01 -7.71568078e-01 -3.11995730e-03 1.55808409e+02] [ 7.71558677e-01 6.36146761e-01 -3.80863812e-03 6.38245524e+01] [ 4.92337432e-03 1.55935397e-05 9.99987880e-01 6.69622589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.440281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:155.83, Y:63.85, Z:0.67 [[ 6.33510276e-01 -7.73727989e-01 -3.11933591e-03 1.55825226e+02] [ 7.73718612e-01 6.33517955e-01 -3.80914698e-03 6.38458504e+01] [ 4.92339894e-03 -3.54497222e-07 9.99987880e-01 6.68651168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.470281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:155.84, Y:63.87, Z:0.67 [[ 6.27337046e-01 -7.78741616e-01 -3.11854913e-03 1.55842262e+02] [ 7.78732298e-01 6.27344796e-01 -3.80979101e-03 6.38655132e+01] [ 4.92324837e-03 -3.84918888e-05 9.99987880e-01 6.69181402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.500281693 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:155.86, Y:63.89, Z:0.67 [[ 6.24585336e-01 -7.80950343e-01 -3.11772166e-03 1.55859114e+02] [ 7.80941049e-01 6.24593115e-01 -3.81046804e-03 6.38864162e+01] [ 4.92309381e-03 -5.47943612e-05 9.99987880e-01 6.69390530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.530281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:155.88, Y:63.91, Z:0.67 [[ 6.22575374e-01 -7.82553633e-01 -3.11694401e-03 1.55876010e+02] [ 7.82544356e-01 6.22583173e-01 -3.81110404e-03 6.39078132e+01] [ 4.92295021e-03 -6.64474207e-05 9.99987880e-01 6.70187596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.560281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:155.89, Y:63.93, Z:0.67 [[ 6.20934871e-01 -7.83855966e-01 -3.11616758e-03 1.55893943e+02] [ 7.83846702e-01 6.20942685e-01 -3.81173879e-03 6.39268393e+01] [ 4.92281566e-03 -7.57561508e-05 9.99987880e-01 6.67254460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.590281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:155.91, Y:63.95, Z:0.66 [[ 6.20592989e-01 -7.84126671e-01 -3.11535767e-03 1.55912230e+02] [ 7.84117407e-01 6.20600804e-01 -3.81240063e-03 6.39473607e+01] [ 4.92279848e-03 -7.68570762e-05 9.99987880e-01 6.64268157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.620281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:155.93, Y:63.97, Z:0.66 [[ 6.20200408e-01 -7.84437221e-01 -3.11459340e-03 1.55929507e+02] [ 7.84427957e-01 6.20208224e-01 -3.81302490e-03 6.39685738e+01] [ 4.92277510e-03 -7.83345366e-05 9.99987880e-01 6.60179609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.650281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:155.95, Y:63.99, Z:0.66 [[ 6.20346532e-01 -7.84321671e-01 -3.11383082e-03 1.55947016e+02] [ 7.84312403e-01 6.20354343e-01 -3.81364754e-03 6.39891045e+01] [ 4.92280489e-03 -7.64331077e-05 9.99987880e-01 6.60128914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.680281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:155.97, Y:64.01, Z:0.66 [[ 6.20700737e-01 -7.84041392e-01 -3.11307288e-03 1.55965689e+02] [ 7.84032117e-01 6.20708539e-01 -3.81426615e-03 6.40089492e+01] [ 4.92285346e-03 -7.32313136e-05 9.99987880e-01 6.61781448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71028169299998 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:155.99, Y:64.03, Z:0.66 [[ 6.20535499e-01 -7.84172180e-01 -3.11227709e-03 1.55985327e+02] [ 7.84162904e-01 6.20543300e-01 -3.81491537e-03 6.40268011e+01] [ 4.92285320e-03 -7.32418310e-05 9.99987880e-01 6.62876854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.740281693 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:156.00, Y:64.04, Z:0.66 [[ 6.19389457e-01 -7.85077715e-01 -3.11144298e-03 1.56003920e+02] [ 7.85068447e-01 6.19397267e-01 -3.81559555e-03 6.40446577e+01] [ 4.92275832e-03 -7.93560575e-05 9.99987880e-01 6.60565147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.770281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:156.02, Y:64.06, Z:0.66 [[ 6.19066568e-01 -7.85332355e-01 -3.11057063e-03 1.56022469e+02] [ 7.85323087e-01 6.19074378e-01 -3.81630658e-03 6.40632737e+01] [ 4.92274361e-03 -8.02551126e-05 9.99987880e-01 6.59978838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.800281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:156.04, Y:64.08, Z:0.66 [[ 6.18983218e-01 -7.85398055e-01 -3.10974351e-03 1.56040367e+02] [ 7.85388784e-01 6.18991025e-01 -3.81698044e-03 6.40807602e+01] [ 4.92275234e-03 -7.97108382e-05 9.99987880e-01 6.60288661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.830281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:156.06, Y:64.10, Z:0.66 [[ 6.19332427e-01 -7.85122716e-01 -3.10908496e-03 1.56058770e+02] [ 7.85113439e-01 6.19340226e-01 -3.81751679e-03 6.40999672e+01] [ 4.92280053e-03 -7.66724469e-05 9.99987880e-01 6.61764785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.860281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:156.08, Y:64.12, Z:0.66 [[ 6.21209316e-01 -7.83638516e-01 -3.10826302e-03 1.56076352e+02] [ 7.83629217e-01 6.21217089e-01 -3.81818590e-03 6.41204871e+01] [ 4.92298364e-03 -6.38330659e-05 9.99987880e-01 6.63025588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.890281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:156.09, Y:64.14, Z:0.66 [[ 6.23868127e-01 -7.81523451e-01 -3.10746187e-03 1.56093714e+02] [ 7.81514122e-01 6.23875864e-01 -3.81883781e-03 6.41405231e+01] [ 4.92318176e-03 -4.60741406e-05 9.99987880e-01 6.62530776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.920281693 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:156.11, Y:64.16, Z:0.66 [[ 6.24479608e-01 -7.81034933e-01 -3.10684048e-03 1.56111803e+02] [ 7.81025596e-01 6.24487335e-01 -3.81934328e-03 6.41613766e+01] [ 4.92322305e-03 -4.14199388e-05 9.99987880e-01 6.64431748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.950281693 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:156.13, Y:64.18, Z:0.67 [[ 6.24435405e-01 -7.81070277e-01 -3.10605103e-03 1.56128843e+02] [ 7.81060937e-01 6.24443129e-01 -3.81998518e-03 6.41821216e+01] [ 4.92322911e-03 -4.06811356e-05 9.99987880e-01 6.67214585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.980281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:156.15, Y:64.20, Z:0.67 [[ 6.23425770e-01 -7.81876375e-01 -3.10526422e-03 1.56145542e+02] [ 7.81867042e-01 6.23433502e-01 -3.82062468e-03 6.42030721e+01] [ 4.92318192e-03 -4.60278680e-05 9.99987880e-01 6.71239383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.010281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:156.16, Y:64.22, Z:0.67 [[ 6.22680222e-01 -7.82470257e-01 -3.10447507e-03 1.56163191e+02] [ 7.82460928e-01 6.22687959e-01 -3.82126580e-03 6.42236996e+01] [ 4.92314608e-03 -4.97038021e-05 9.99987880e-01 6.72651838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.040281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:156.18, Y:64.24, Z:0.67 [[ 6.22047763e-01 -7.82973146e-01 -3.10368592e-03 1.56180719e+02] [ 7.82963820e-01 6.22055503e-01 -3.82190665e-03 6.42441505e+01] [ 4.92311518e-03 -5.26653017e-05 9.99987880e-01 6.73309653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.070281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:156.20, Y:64.26, Z:0.67 [[ 6.21910701e-01 -7.83082021e-01 -3.10289623e-03 1.56197683e+02] [ 7.83072693e-01 6.21918440e-01 -3.82254767e-03 6.42645334e+01] [ 4.92311674e-03 -5.25100052e-05 9.99987880e-01 6.72902887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.100281693 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:156.21, Y:64.29, Z:0.67 [[ 6.22301554e-01 -7.82771456e-01 -3.10207104e-03 1.56214720e+02] [ 7.82762121e-01 6.22309284e-01 -3.82321721e-03 6.42851226e+01] [ 4.92315291e-03 -4.89896936e-05 9.99987880e-01 6.72696950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.130281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:156.23, Y:64.30, Z:0.67 [[ 6.23659859e-01 -7.81689684e-01 -3.10129416e-03 1.56234163e+02] [ 7.81680333e-01 6.23667568e-01 -3.82384729e-03 6.43042825e+01] [ 4.92323857e-03 -3.94405868e-05 9.99987880e-01 6.73469023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.160281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:156.25, Y:64.32, Z:0.67 [[ 6.23681504e-01 -7.81672418e-01 -3.10052128e-03 1.56252409e+02] [ 7.81663063e-01 6.23689209e-01 -3.82447387e-03 6.43234536e+01] [ 4.92324740e-03 -3.83093461e-05 9.99987880e-01 6.73637581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.190281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:156.27, Y:64.34, Z:0.67 [[ 6.23353940e-01 -7.81933666e-01 -3.09966032e-03 1.56269788e+02] [ 7.81924311e-01 6.23361645e-01 -3.82517153e-03 6.43413408e+01] [ 4.92323975e-03 -3.92640087e-05 9.99987880e-01 6.72916485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.220281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:156.29, Y:64.36, Z:0.67 [[ 6.22421564e-01 -7.82676047e-01 -3.09876170e-03 1.56290194e+02] [ 7.82666698e-01 6.22429276e-01 -3.82589936e-03 6.43587298e+01] [ 4.92319979e-03 -4.39753196e-05 9.99987880e-01 6.68340744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.250281693 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:156.31, Y:64.38, Z:0.67 [[ 6.22462044e-01 -7.82643857e-01 -3.09790894e-03 1.56308271e+02] [ 7.82634503e-01 6.22469752e-01 -3.82658974e-03 6.43761624e+01] [ 4.92321156e-03 -4.26235517e-05 9.99987880e-01 6.67802519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.280281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:156.33, Y:64.39, Z:0.67 [[ 6.25063005e-01 -7.80568157e-01 -3.09722912e-03 1.56328519e+02] [ 7.80558775e-01 6.25070678e-01 -3.82713990e-03 6.43942831e+01] [ 4.92333064e-03 -2.53658058e-05 9.99987880e-01 6.67614001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.310281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:156.34, Y:64.42, Z:0.67 [[ 6.27582181e-01 -7.78544166e-01 -3.09654885e-03 1.56344888e+02] [ 7.78534756e-01 6.27589820e-01 -3.82769023e-03 6.44152524e+01] [ 4.92338843e-03 -8.58072616e-06 9.99987880e-01 6.67222333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.340281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:156.36, Y:64.44, Z:0.67 [[ 6.30457719e-01 -7.76217419e-01 -3.09570489e-03 1.56360658e+02] [ 7.76207978e-01 6.30465319e-01 -3.82837268e-03 6.44369246e+01] [ 4.92338413e-03 1.07162761e-05 9.99987880e-01 6.67069058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.370281693 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:156.37, Y:64.46, Z:0.67 [[ 6.37148446e-01 -7.70734896e-01 -3.09484689e-03 1.56374898e+02] [ 7.70725386e-01 6.37155960e-01 -3.82906615e-03 6.44578482e+01] [ 4.92309504e-03 5.44064879e-05 9.99987880e-01 6.70534848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.400281693 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:156.39, Y:64.48, Z:0.67 [[ 6.39963343e-01 -7.68399211e-01 -3.09394736e-03 1.56389168e+02] [ 7.68389670e-01 6.39970818e-01 -3.82979285e-03 6.44782623e+01] [ 4.92284583e-03 7.35698502e-05 9.99987880e-01 6.72782643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.430281693 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:156.40, Y:64.50, Z:0.67 [[ 6.44021768e-01 -7.65000912e-01 -3.09307451e-03 1.56402174e+02] [ 7.64991329e-01 6.44029188e-01 -3.83049767e-03 6.45026784e+01] [ 4.92236447e-03 1.00748702e-04 9.99987880e-01 6.73226262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46028169299998 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:156.42, Y:64.52, Z:0.67 [[ 6.45774059e-01 -7.63522300e-01 -3.09226834e-03 1.56416096e+02] [ 7.63512696e-01 6.45781453e-01 -3.83114836e-03 6.45246834e+01] [ 4.92209674e-03 1.13070091e-04 9.99987880e-01 6.71278063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.490281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:156.43, Y:64.55, Z:0.67 [[ 6.47290362e-01 -7.62237253e-01 -3.09142265e-03 1.56431222e+02] [ 7.62227632e-01 6.47297732e-01 -3.83183064e-03 6.45477130e+01] [ 4.92183493e-03 1.23939272e-04 9.99987880e-01 6.68226786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.520281693 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:156.44, Y:64.57, Z:0.67 [[ 6.49843047e-01 -7.60062144e-01 -3.09063888e-03 1.56444419e+02] [ 7.60052495e-01 6.49850381e-01 -3.83246270e-03 6.45721771e+01] [ 4.92136267e-03 1.41451446e-04 9.99987880e-01 6.66683550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.550281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:156.46, Y:64.60, Z:0.67 [[ 6.52507957e-01 -7.57775573e-01 -3.08983201e-03 1.56455757e+02] [ 7.57765895e-01 6.52515253e-01 -3.83311311e-03 6.45972873e+01] [ 4.92080200e-03 1.59767484e-04 9.99987880e-01 6.68930370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.580281693 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:156.47, Y:64.62, Z:0.67 [[ 6.53634053e-01 -7.56804454e-01 -3.08902500e-03 1.56469296e+02] [ 7.56794763e-01 6.53641331e-01 -3.83376335e-03 6.46197927e+01] [ 4.92052359e-03 1.68120332e-04 9.99987880e-01 6.69112461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.610281693 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:156.48, Y:64.64, Z:0.67 [[ 6.54558115e-01 -7.56005382e-01 -3.08818024e-03 1.56483798e+02] [ 7.55995678e-01 6.54565376e-01 -3.83444370e-03 6.46436250e+01] [ 4.92027594e-03 1.75215322e-04 9.99987880e-01 6.68746836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.640281693 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:156.50, Y:64.67, Z:0.67 [[ 6.55144756e-01 -7.55497065e-01 -3.08761905e-03 1.56498177e+02] [ 7.55487354e-01 6.55152007e-01 -3.83489553e-03 6.46677058e+01] [ 4.92011214e-03 1.79754551e-04 9.99987880e-01 6.67845810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.670281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:156.51, Y:64.69, Z:0.67 [[ 6.55045445e-01 -7.55583176e-01 -3.08689506e-03 1.56508980e+02] [ 7.55573463e-01 6.55052693e-01 -3.83547822e-03 6.46932161e+01] [ 4.92010174e-03 1.80036550e-04 9.99987880e-01 6.65530007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.700281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:156.52, Y:64.72, Z:0.67 [[ 6.54092770e-01 -7.56408041e-01 -3.08613064e-03 1.56524179e+02] [ 7.56398333e-01 6.54100027e-01 -3.83609319e-03 6.47164226e+01] [ 4.92028987e-03 1.74816749e-04 9.99987880e-01 6.66001958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.730281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:156.54, Y:64.74, Z:0.67 [[ 6.49963292e-01 -7.59959341e-01 -3.08533313e-03 1.56538136e+02] [ 7.59949671e-01 6.49970598e-01 -3.83673452e-03 6.47404264e+01] [ 4.92113806e-03 1.49038706e-04 9.99987880e-01 6.70493426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.760281693 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:156.55, Y:64.76, Z:0.67 [[ 6.47504568e-01 -7.62055326e-01 -3.08453463e-03 1.56552841e+02] [ 7.62045676e-01 6.47511901e-01 -3.83737636e-03 6.47615209e+01] [ 4.92156598e-03 1.34162440e-04 9.99987880e-01 6.73150019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.790281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:156.57, Y:64.78, Z:0.67 [[ 6.45163226e-01 -7.64038548e-01 -3.08369488e-03 1.56568140e+02] [ 7.64028917e-01 6.45170584e-01 -3.83805107e-03 6.47837623e+01] [ 4.92192819e-03 1.20137348e-04 9.99987880e-01 6.73004220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.820281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:156.58, Y:64.81, Z:0.67 [[ 6.41897259e-01 -7.66784458e-01 -3.08288870e-03 1.56582183e+02] [ 7.66774855e-01 6.41904655e-01 -3.83869851e-03 6.48054817e+01] [ 4.92237496e-03 1.00168519e-04 9.99987880e-01 6.68737579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.850281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:156.60, Y:64.83, Z:0.67 [[ 6.40239453e-01 -7.68169216e-01 -3.08204135e-03 1.56596724e+02] [ 7.68159626e-01 6.40246865e-01 -3.83937872e-03 6.48278181e+01] [ 4.92255985e-03 9.06220031e-05 9.99987880e-01 6.67513591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.880281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:156.61, Y:64.85, Z:0.67 [[ 6.39829257e-01 -7.68510915e-01 -3.08142752e-03 1.56612723e+02] [ 7.68501327e-01 6.39836671e-01 -3.83987131e-03 6.48494914e+01] [ 4.92259334e-03 8.87808713e-05 9.99987880e-01 6.68928943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.910281693 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:156.63, Y:64.87, Z:0.67 [[ 6.39630021e-01 -7.68676750e-01 -3.08063978e-03 1.56629051e+02] [ 7.68667161e-01 6.39637434e-01 -3.84050319e-03 6.48699817e+01] [ 4.92259803e-03 8.85145055e-05 9.99987880e-01 6.70632690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.940281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:156.65, Y:64.89, Z:0.67 [[ 6.39697183e-01 -7.68620861e-01 -3.07981444e-03 1.56647161e+02] [ 7.68611268e-01 6.39704591e-01 -3.84116494e-03 6.48896103e+01] [ 4.92257094e-03 9.00023082e-05 9.99987880e-01 6.74350980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.970281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:156.66, Y:64.91, Z:0.67 [[ 6.39228006e-01 -7.69011103e-01 -3.07903606e-03 1.56664467e+02] [ 7.69001512e-01 6.39235415e-01 -3.84178878e-03 6.49110193e+01] [ 4.92260712e-03 8.79955948e-05 9.99987880e-01 6.74953709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.000281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:156.68, Y:64.93, Z:0.67 [[ 6.36005596e-01 -7.71678305e-01 -3.07824985e-03 1.56681452e+02] [ 7.71668741e-01 6.36013042e-01 -3.84241863e-03 6.49322722e+01] [ 4.92291815e-03 6.84105671e-05 9.99987880e-01 6.72888106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.030281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:156.70, Y:64.95, Z:0.67 [[ 6.35848180e-01 -7.71808021e-01 -3.07746595e-03 1.56698532e+02] [ 7.71798456e-01 6.35855624e-01 -3.84304636e-03 6.49540085e+01] [ 4.92291804e-03 6.84105656e-05 9.99987880e-01 6.73024228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.060281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:156.72, Y:64.97, Z:0.67 [[ 6.33739087e-01 -7.73540757e-01 -3.07668193e-03 1.56716963e+02] [ 7.73531210e-01 6.33746553e-01 -3.84367394e-03 6.49746316e+01] [ 4.92307502e-03 5.59769187e-05 9.99987880e-01 6.72753086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.090281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:156.74, Y:64.99, Z:0.67 [[ 6.31880349e-01 -7.75059845e-01 -3.07586510e-03 1.56735976e+02] [ 7.75050313e-01 6.31887834e-01 -3.84432749e-03 6.49944415e+01] [ 4.92318560e-03 4.52047820e-05 9.99987880e-01 6.74301975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.120281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:156.76, Y:65.01, Z:0.68 [[ 6.29402160e-01 -7.77073655e-01 -3.07504310e-03 1.56755578e+02] [ 7.77064143e-01 6.29409671e-01 -3.84498489e-03 6.50125041e+01] [ 4.92329833e-03 3.05360657e-05 9.99987880e-01 6.76326019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.150281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:156.77, Y:65.03, Z:0.67 [[ 6.28667902e-01 -7.77667807e-01 -3.07417902e-03 1.56772822e+02] [ 7.77658299e-01 6.28675418e-01 -3.84567562e-03 6.50336617e+01] [ 4.92331891e-03 2.69920005e-05 9.99987880e-01 6.74957649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.180281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:156.79, Y:65.05, Z:0.67 [[ 6.28164534e-01 -7.78074465e-01 -3.07337081e-03 1.56790783e+02] [ 7.78064958e-01 6.28172052e-01 -3.84632141e-03 6.50524096e+01] [ 4.92333012e-03 2.48405617e-05 9.99987880e-01 6.69515444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21028169299998 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:156.81, Y:65.07, Z:0.67 [[ 6.27743547e-01 -7.78414157e-01 -3.07252223e-03 1.56809507e+02] [ 7.78404651e-01 6.27751066e-01 -3.84699916e-03 6.50723181e+01] [ 4.92333771e-03 2.32633055e-05 9.99987880e-01 6.69815783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.240281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:156.83, Y:65.09, Z:0.67 [[ 6.27249492e-01 -7.78812327e-01 -3.07171489e-03 1.56827876e+02] [ 7.78802822e-01 6.27257012e-01 -3.84764369e-03 6.50927010e+01] [ 4.92334704e-03 2.11723200e-05 9.99987880e-01 6.72027461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.270281693 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:156.85, Y:65.11, Z:0.67 [[ 6.26766046e-01 -7.79201446e-01 -3.07090900e-03 1.56845160e+02] [ 7.79191943e-01 6.26773569e-01 -3.84828679e-03 6.51125815e+01] [ 4.92335522e-03 1.91479442e-05 9.99987880e-01 6.74963033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.300281693 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:156.86, Y:65.13, Z:0.67 [[ 6.26563025e-01 -7.79364710e-01 -3.07006313e-03 1.56862311e+02] [ 7.79355206e-01 6.26570546e-01 -3.84896148e-03 6.51317994e+01] [ 4.92335588e-03 1.89472615e-05 9.99987880e-01 6.73898081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.330281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:156.88, Y:65.15, Z:0.67 [[ 6.26208972e-01 -7.79649218e-01 -3.06923541e-03 1.56881114e+02] [ 7.79639714e-01 6.26216493e-01 -3.84962141e-03 6.51490419e+01] [ 4.92336015e-03 1.77696493e-05 9.99987880e-01 6.71211753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.360281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:156.90, Y:65.17, Z:0.67 [[ 6.25341039e-01 -7.80345544e-01 -3.06854742e-03 1.56897647e+02] [ 7.80336046e-01 6.25348568e-01 -3.85016973e-03 6.51703436e+01] [ 4.92337452e-03 1.31709825e-05 9.99987880e-01 6.72447801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.390281693 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:156.91, Y:65.19, Z:0.67 [[ 6.24477055e-01 -7.81037129e-01 -3.06776262e-03 1.56912793e+02] [ 7.81027636e-01 6.24484590e-01 -3.85079494e-03 6.51910912e+01] [ 4.92338431e-03 8.72569799e-06 9.99987880e-01 6.73794818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.420281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:156.93, Y:65.21, Z:0.67 [[ 6.22570309e-01 -7.82557860e-01 -3.06693878e-03 1.56929985e+02] [ 7.82548383e-01 6.22577863e-01 -3.85145097e-03 6.52112438e+01] [ 4.92339142e-03 -2.22895678e-06 9.99987880e-01 6.73328947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.450281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:156.95, Y:65.23, Z:0.67 [[ 6.21511356e-01 -7.83399153e-01 -3.06608060e-03 1.56948508e+02] [ 7.83389682e-01 6.21518919e-01 -3.85213404e-03 6.52302055e+01] [ 4.92338564e-03 -7.79085741e-06 9.99987880e-01 6.71545773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.480281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:156.97, Y:65.25, Z:0.67 [[ 6.19700403e-01 -7.84832476e-01 -3.06521536e-03 1.56966348e+02] [ 7.84823019e-01 6.19707983e-01 -3.85282239e-03 6.52477350e+01] [ 4.92335857e-03 -1.80559857e-05 9.99987880e-01 6.70633301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.510281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:156.98, Y:65.27, Z:0.67 [[ 6.19222588e-01 -7.85209524e-01 -3.06430715e-03 1.56982216e+02] [ 7.85200068e-01 6.19230170e-01 -3.85354460e-03 6.52678076e+01] [ 4.92335136e-03 -1.98923203e-05 9.99987880e-01 6.72571269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.540281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:157.00, Y:65.29, Z:0.68 [[ 6.18398103e-01 -7.85859021e-01 -3.06362313e-03 1.57000043e+02] [ 7.85849570e-01 6.18405691e-01 -3.85408833e-03 6.52885951e+01] [ 4.92333206e-03 -2.41860074e-05 9.99987880e-01 6.76744541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.570281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:157.02, Y:65.31, Z:0.68 [[ 6.17992978e-01 -7.86177650e-01 -3.06281344e-03 1.57017926e+02] [ 7.86168201e-01 6.18000567e-01 -3.85473168e-03 6.53087703e+01] [ 4.92332434e-03 -2.56894218e-05 9.99987880e-01 6.77558830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.600281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:157.04, Y:65.33, Z:0.68 [[ 6.16593211e-01 -7.87275960e-01 -3.06200520e-03 1.57036422e+02] [ 7.87266520e-01 6.16600813e-01 -3.85537359e-03 6.53289741e+01] [ 4.92327784e-03 -3.34169949e-05 9.99987880e-01 6.75939279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.630281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:157.05, Y:65.35, Z:0.67 [[ 6.14936520e-01 -7.88570673e-01 -3.06119726e-03 1.57054129e+02] [ 7.88561246e-01 6.14944138e-01 -3.85601500e-03 6.53496577e+01] [ 4.92320565e-03 -4.27370833e-05 9.99987880e-01 6.74908308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.660281693 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:157.07, Y:65.37, Z:0.68 [[ 6.12850496e-01 -7.90192953e-01 -3.06037988e-03 1.57072516e+02] [ 7.90183544e-01 6.12858135e-01 -3.85666361e-03 6.53697987e+01] [ 4.92308712e-03 -5.47036104e-05 9.99987880e-01 6.75556032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.690281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:157.09, Y:65.39, Z:0.68 [[ 6.08380328e-01 -7.93639726e-01 -3.05956631e-03 1.57093948e+02] [ 7.93630357e-01 6.08388016e-01 -3.85730893e-03 6.53880243e+01] [ 4.92271708e-03 -8.14538316e-05 9.99987880e-01 6.78354471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.720281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.11, Y:65.41, Z:0.68 [[ 6.06582129e-01 -7.95014946e-01 -3.05873823e-03 1.57111941e+02] [ 7.95005591e-01 6.06589834e-01 -3.85796546e-03 6.54069043e+01] [ 4.92253972e-03 -9.15410835e-05 9.99987880e-01 6.78329779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.750281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:157.13, Y:65.42, Z:0.68 [[ 6.04557637e-01 -7.96555530e-01 -3.05787358e-03 1.57130996e+02] [ 7.96546191e-01 6.04565362e-01 -3.85865067e-03 6.54241850e+01] [ 4.92231398e-03 -1.02960816e-04 9.99987880e-01 6.76808201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.780281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:157.15, Y:65.44, Z:0.68 [[ 6.03746243e-01 -7.97170703e-01 -3.05694505e-03 1.57149602e+02] [ 7.97161368e-01 6.03753972e-01 -3.85938614e-03 6.54438330e+01] [ 4.92223228e-03 -1.06788610e-04 9.99987880e-01 6.77830151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.810281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:157.17, Y:65.46, Z:0.68 [[ 6.02770044e-01 -7.97909102e-01 -3.05614984e-03 1.57167160e+02] [ 7.97899773e-01 6.02777781e-01 -3.86001574e-03 6.54616152e+01] [ 4.92212091e-03 -1.11799410e-04 9.99987880e-01 6.79254393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.840281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:157.19, Y:65.48, Z:0.68 [[ 6.02120244e-01 -7.98399573e-01 -3.05522423e-03 1.57188665e+02] [ 7.98390246e-01 6.02127984e-01 -3.86074823e-03 6.54776636e+01] [ 4.92205575e-03 -1.14626555e-04 9.99987880e-01 6.79389552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.870281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:157.21, Y:65.50, Z:0.68 [[ 6.02350703e-01 -7.98225721e-01 -3.05433834e-03 1.57206858e+02] [ 7.98216389e-01 6.02358436e-01 -3.86144895e-03 6.54961694e+01] [ 4.92211434e-03 -1.12076430e-04 9.99987880e-01 6.78065922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.900281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:157.23, Y:65.51, Z:0.68 [[ 6.03634591e-01 -7.97255265e-01 -3.05341238e-03 1.57225737e+02] [ 7.97245917e-01 6.03642305e-01 -3.86218101e-03 6.55136302e+01] [ 4.92231303e-03 -1.02974499e-04 9.99987880e-01 6.76080694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.930281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:157.24, Y:65.53, Z:0.68 [[ 6.04549284e-01 -7.96561890e-01 -3.05249866e-03 1.57243409e+02] [ 7.96552529e-01 6.04556983e-01 -3.86290304e-03 6.55326418e+01] [ 4.92245073e-03 -9.61602573e-05 9.99987880e-01 6.76757242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96028169299998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:157.26, Y:65.55, Z:0.68 [[ 6.05503308e-01 -7.95836938e-01 -3.05161800e-03 1.57260872e+02] [ 7.95827564e-01 6.05510991e-01 -3.86359862e-03 6.55510612e+01] [ 4.92258274e-03 -8.91399796e-05 9.99987880e-01 6.76602893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.990281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:157.28, Y:65.57, Z:0.68 [[ 6.07479096e-01 -7.94329806e-01 -3.05069715e-03 1.57279621e+02] [ 7.94320410e-01 6.07486751e-01 -3.86432559e-03 6.55679729e+01] [ 4.92280710e-03 -7.57339984e-05 9.99987880e-01 6.76656054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.020281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:157.30, Y:65.59, Z:0.68 [[ 6.09085937e-01 -7.93098367e-01 -3.04978072e-03 1.57295909e+02] [ 7.93088952e-01 6.09093569e-01 -3.86504871e-03 6.55868479e+01] [ 4.92296565e-03 -6.46005815e-05 9.99987880e-01 6.78414408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.050281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.31, Y:65.61, Z:0.68 [[ 6.12975090e-01 -7.90096351e-01 -3.04887319e-03 1.57312844e+02] [ 7.90086895e-01 6.12982671e-01 -3.86576447e-03 6.56076068e+01] [ 4.92323283e-03 -3.92574261e-05 9.99987880e-01 6.80974085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.080281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.33, Y:65.63, Z:0.68 [[ 6.14481431e-01 -7.88925396e-01 -3.04804447e-03 1.57328433e+02] [ 7.88915922e-01 6.14488990e-01 -3.86641778e-03 6.56279557e+01] [ 4.92330494e-03 -2.88088817e-05 9.99987880e-01 6.79960971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.110281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:157.34, Y:65.65, Z:0.68 [[ 6.15552795e-01 -7.88089761e-01 -3.04712817e-03 1.57344578e+02] [ 7.88080273e-01 6.15560337e-01 -3.86713978e-03 6.56487955e+01] [ 4.92334451e-03 -2.09528968e-05 9.99987880e-01 6.77077764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.140281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:157.36, Y:65.67, Z:0.67 [[ 6.15029175e-01 -7.88498468e-01 -3.04627551e-03 1.57361791e+02] [ 7.88488982e-01 6.15036719e-01 -3.86781134e-03 6.56674037e+01] [ 4.92333460e-03 -2.31378560e-05 9.99987880e-01 6.71055263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.170281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:157.38, Y:65.68, Z:0.67 [[ 6.12304456e-01 -7.90616202e-01 -3.04538274e-03 1.57382376e+02] [ 7.90606739e-01 6.12312028e-01 -3.86851414e-03 6.56841773e+01] [ 4.92323444e-03 -3.89916662e-05 9.99987880e-01 6.73487240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.200281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:157.40, Y:65.70, Z:0.68 [[ 6.11017161e-01 -7.91611495e-01 -3.04453519e-03 1.57399727e+02] [ 7.91602041e-01 6.11024744e-01 -3.86918105e-03 6.57027576e+01] [ 4.92317454e-03 -4.59242441e-05 9.99987880e-01 6.75582243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.230281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:157.42, Y:65.72, Z:0.68 [[ 6.10550895e-01 -7.91971174e-01 -3.04365043e-03 1.57416800e+02] [ 7.91961721e-01 6.10558480e-01 -3.86987691e-03 6.57222628e+01] [ 4.92315754e-03 -4.76978187e-05 9.99987880e-01 6.77528237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.260281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:157.43, Y:65.74, Z:0.68 [[ 6.12762571e-01 -7.90261206e-01 -3.04281017e-03 1.57434844e+02] [ 7.90251728e-01 6.12770125e-01 -3.87053748e-03 6.57413012e+01] [ 4.92327878e-03 -3.28655000e-05 9.99987880e-01 6.79288210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.290281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.45, Y:65.76, Z:0.68 [[ 6.14569655e-01 -7.88856695e-01 -3.04194093e-03 1.57451350e+02] [ 7.88847197e-01 6.14577183e-01 -3.87122052e-03 6.57600737e+01] [ 4.92334571e-03 -2.04919209e-05 9.99987880e-01 6.78413895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.320281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:157.47, Y:65.78, Z:0.67 [[ 6.18080575e-01 -7.86108869e-01 -3.04103056e-03 1.57470020e+02] [ 7.86099334e-01 6.18088057e-01 -3.87193553e-03 6.57787495e+01] [ 4.92338753e-03 2.61604381e-06 9.99987880e-01 6.73509747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.350281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:157.49, Y:65.80, Z:0.67 [[ 6.19521957e-01 -7.84973440e-01 -3.04016974e-03 1.57487728e+02] [ 7.84963888e-01 6.19529417e-01 -3.87261131e-03 6.57989894e+01] [ 4.92337160e-03 1.27442777e-05 9.99987880e-01 6.70486268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.380281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:157.51, Y:65.82, Z:0.67 [[ 6.20970618e-01 -7.83827948e-01 -3.03948270e-03 1.57505462e+02] [ 7.83818380e-01 6.20978057e-01 -3.87315047e-03 6.58190536e+01] [ 4.92333564e-03 2.27102357e-05 9.99987880e-01 6.67562204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.410281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:157.52, Y:65.84, Z:0.67 [[ 6.22508771e-01 -7.82606924e-01 -3.03862625e-03 1.57522278e+02] [ 7.82597337e-01 6.22516186e-01 -3.87382226e-03 6.58385429e+01] [ 4.92327415e-03 3.34675253e-05 9.99987880e-01 6.66315786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.440281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:157.54, Y:65.86, Z:0.67 [[ 6.24951741e-01 -7.80657475e-01 -3.03772999e-03 1.57538304e+02] [ 7.80647862e-01 6.24959122e-01 -3.87452495e-03 6.58585759e+01] [ 4.92313394e-03 4.99936915e-05 9.99987880e-01 6.67509931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.470281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:157.55, Y:65.88, Z:0.67 [[ 6.27473673e-01 -7.78631856e-01 -3.03684180e-03 1.57553270e+02] [ 7.78622216e-01 6.27481018e-01 -3.87522099e-03 6.58797761e+01] [ 4.92293110e-03 6.70466548e-05 9.99987880e-01 6.69432129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.500281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:157.57, Y:65.90, Z:0.67 [[ 6.28478293e-01 -7.77821199e-01 -3.03599913e-03 1.57567917e+02] [ 7.77811546e-01 6.28485622e-01 -3.87588106e-03 6.59001466e+01] [ 4.92282425e-03 7.44719361e-05 9.99987880e-01 6.72045098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.530281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:157.58, Y:65.92, Z:0.68 [[ 6.29151510e-01 -7.77276761e-01 -3.03532765e-03 1.57584012e+02] [ 7.77267099e-01 6.29158827e-01 -3.87640685e-03 6.59219654e+01] [ 4.92274414e-03 7.95869040e-05 9.99987880e-01 6.76474411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.560281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:157.60, Y:65.94, Z:0.68 [[ 6.28859849e-01 -7.77512753e-01 -3.03452964e-03 1.57599576e+02] [ 7.77503091e-01 6.28867166e-01 -3.87703144e-03 6.59416600e+01] [ 4.92275745e-03 7.87532316e-05 9.99987880e-01 6.78105408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.590281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:157.62, Y:65.96, Z:0.68 [[ 6.27468631e-01 -7.78635932e-01 -3.03360122e-03 1.57615694e+02] [ 7.78626279e-01 6.27475960e-01 -3.87775775e-03 6.59609475e+01] [ 4.92287336e-03 7.11297175e-05 9.99987880e-01 6.76215206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.620281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:157.63, Y:65.98, Z:0.68 [[ 6.24247414e-01 -7.81220819e-01 -3.03277231e-03 1.57631368e+02] [ 7.81211193e-01 6.24254779e-01 -3.87840593e-03 6.59804674e+01] [ 4.92311407e-03 5.18491957e-05 9.99987880e-01 6.76955543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.650281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.65, Y:66.00, Z:0.68 [[ 6.22518349e-01 -7.82599331e-01 -3.03190408e-03 1.57647004e+02] [ 7.82589718e-01 6.22525731e-01 -3.87908455e-03 6.60021057e+01] [ 4.92320727e-03 4.20643542e-05 9.99987880e-01 6.78901920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.680281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:157.66, Y:66.02, Z:0.68 [[ 6.21175565e-01 -7.83665573e-01 -3.03103354e-03 1.57662114e+02] [ 7.83655970e-01 6.21182959e-01 -3.87976465e-03 6.60232263e+01] [ 4.92326437e-03 3.47274698e-05 9.99987880e-01 6.79166538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71028169299998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:157.68, Y:66.04, Z:0.68 [[ 6.19836925e-01 -7.84724795e-01 -3.03015954e-03 1.57676250e+02] [ 7.84715201e-01 6.19844331e-01 -3.88044713e-03 6.60446344e+01] [ 4.92331030e-03 2.74321670e-05 9.99987880e-01 6.77660973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.740281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.69, Y:66.07, Z:0.68 [[ 6.20110943e-01 -7.84508281e-01 -3.02924605e-03 1.57691142e+02] [ 7.84498681e-01 6.20118341e-01 -3.88116011e-03 6.60670103e+01] [ 4.92329328e-03 3.03103306e-05 9.99987880e-01 6.78598445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.770281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:157.70, Y:66.09, Z:0.68 [[ 6.21810155e-01 -7.83162155e-01 -3.02835675e-03 1.57701795e+02] [ 7.83152535e-01 6.21817528e-01 -3.88185389e-03 6.60907599e+01] [ 4.92320636e-03 4.21109018e-05 9.99987880e-01 6.79892132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.800281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:157.71, Y:66.11, Z:0.68 [[ 6.22884960e-01 -7.82307588e-01 -3.02742815e-03 1.57714523e+02] [ 7.82297955e-01 6.22892315e-01 -3.88257795e-03 6.61126779e+01] [ 4.92313192e-03 5.00485597e-05 9.99987880e-01 6.80631725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.830281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:157.73, Y:66.14, Z:0.68 [[ 6.24511688e-01 -7.81009597e-01 -3.02651916e-03 1.57726030e+02] [ 7.80999946e-01 6.24519019e-01 -3.88328639e-03 6.61371980e+01] [ 4.92300272e-03 6.14464415e-05 9.99987880e-01 6.79217110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.860281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:157.74, Y:66.16, Z:0.68 [[ 6.24764293e-01 -7.80807546e-01 -3.02564843e-03 1.57740164e+02] [ 7.80797888e-01 6.24771616e-01 -3.88396470e-03 6.61594826e+01] [ 4.92296821e-03 6.41425592e-05 9.99987880e-01 6.77594880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.890281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:157.75, Y:66.18, Z:0.68 [[ 6.24501829e-01 -7.81017488e-01 -3.02478052e-03 1.57754251e+02] [ 7.81007830e-01 6.24509151e-01 -3.88464051e-03 6.61815397e+01] [ 4.92297528e-03 6.35878318e-05 9.99987880e-01 6.76101242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.920281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:157.77, Y:66.20, Z:0.68 [[ 6.24327257e-01 -7.81157047e-01 -3.02391347e-03 1.57770493e+02] [ 7.81147387e-01 6.24334577e-01 -3.88531532e-03 6.62028933e+01] [ 4.92297518e-03 6.35861497e-05 9.99987880e-01 6.76233254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.950281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:157.78, Y:66.23, Z:0.68 [[ 6.23027361e-01 -7.82194201e-01 -3.02304495e-03 1.57782031e+02] [ 7.82184550e-01 6.23034693e-01 -3.88599097e-03 6.62256419e+01] [ 4.92306149e-03 5.64996499e-05 9.99987880e-01 6.75459972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.980281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:157.80, Y:66.25, Z:0.68 [[ 6.22200204e-01 -7.82852332e-01 -3.02213748e-03 1.57795614e+02] [ 7.82842685e-01 6.22207541e-01 -3.88669659e-03 6.62480350e+01] [ 4.92310621e-03 5.24451904e-05 9.99987880e-01 6.76485771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.010281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:157.81, Y:66.27, Z:0.68 [[ 6.21157473e-01 -7.83679951e-01 -3.02127130e-03 1.57808151e+02] [ 7.83670311e-01 6.21164819e-01 -3.88736978e-03 6.62706515e+01] [ 4.92316120e-03 4.69881740e-05 9.99987880e-01 6.75899345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.040281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:157.82, Y:66.29, Z:0.67 [[ 6.20520021e-01 -7.84184787e-01 -3.02036735e-03 1.57823140e+02] [ 7.84175150e-01 6.20527370e-01 -3.88807200e-03 6.62917353e+01] [ 4.92318752e-03 4.41295033e-05 9.99987880e-01 6.74158286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.070281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:157.84, Y:66.31, Z:0.67 [[ 6.19922701e-01 -7.84657076e-01 -3.01955767e-03 1.57839013e+02] [ 7.84647441e-01 6.19930054e-01 -3.88870071e-03 6.63134756e+01] [ 4.92321108e-03 4.14056526e-05 9.99987880e-01 6.73326836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.100281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:157.85, Y:66.34, Z:0.67 [[ 6.18600490e-01 -7.85699893e-01 -3.01873336e-03 1.57853849e+02] [ 7.85690267e-01 6.18607855e-01 -3.88934050e-03 6.63353620e+01] [ 4.92326658e-03 3.41585208e-05 9.99987880e-01 6.71542938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.130281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:157.87, Y:66.36, Z:0.68 [[ 6.17898912e-01 -7.86251758e-01 -3.01787070e-03 1.57869334e+02] [ 7.86242136e-01 6.17906281e-01 -3.89000976e-03 6.63567523e+01] [ 4.92328827e-03 3.08556929e-05 9.99987880e-01 6.75682779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.160281693 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:157.89, Y:66.38, Z:0.68 [[ 6.18009065e-01 -7.86165182e-01 -3.01698739e-03 1.57885191e+02] [ 7.86155555e-01 6.18016428e-01 -3.89069470e-03 6.63786765e+01] [ 4.92327648e-03 3.26631972e-05 9.99987880e-01 6.77543717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.190281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:157.90, Y:66.40, Z:0.68 [[ 6.18512789e-01 -7.85768944e-01 -3.01616782e-03 1.57900031e+02] [ 7.85759309e-01 6.18520142e-01 -3.89132995e-03 6.64000783e+01] [ 4.92324677e-03 3.68553952e-05 9.99987880e-01 6.76692497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.220281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:157.91, Y:66.42, Z:0.68 [[ 6.20847535e-01 -7.83925536e-01 -3.01530886e-03 1.57912352e+02] [ 7.83915877e-01 6.20854855e-01 -3.89199543e-03 6.64235389e+01] [ 4.92310375e-03 5.25872794e-05 9.99987880e-01 6.77210996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.250281693 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:157.93, Y:66.45, Z:0.68 [[ 6.22157966e-01 -7.82885929e-01 -3.01442341e-03 1.57926634e+02] [ 7.82876254e-01 6.22165266e-01 -3.89268111e-03 6.64466372e+01] [ 4.92299481e-03 6.19420561e-05 9.99987880e-01 6.78040787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.280281693 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:157.94, Y:66.47, Z:0.68 [[ 6.23917575e-01 -7.81484342e-01 -3.01362372e-03 1.57937709e+02] [ 7.81474648e-01 6.23924849e-01 -3.89330011e-03 6.64716979e+01] [ 4.92282780e-03 7.40278253e-05 9.99987880e-01 6.79985361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.310281693 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:157.95, Y:66.50, Z:0.68 [[ 6.23906619e-01 -7.81493092e-01 -3.01278444e-03 1.57950270e+02] [ 7.81483395e-01 6.23913889e-01 -3.89394947e-03 6.64952980e+01] [ 4.92281267e-03 7.50198385e-05 9.99987880e-01 6.80831700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.340281693 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:157.96, Y:66.52, Z:0.68 [[ 6.23105586e-01 -7.82131931e-01 -3.01190709e-03 1.57962384e+02] [ 7.82122238e-01 6.23112861e-01 -3.89462797e-03 6.65182295e+01] [ 4.92287094e-03 7.10849278e-05 9.99987880e-01 6.81028522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.370281693 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:157.97, Y:66.54, Z:0.68 [[ 6.19067579e-01 -7.85331947e-01 -3.01098807e-03 1.57971932e+02] [ 7.85322288e-01 6.19074899e-01 -3.89533835e-03 6.65435227e+01] [ 4.92316078e-03 4.68816401e-05 9.99987880e-01 6.81280857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.400281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:157.99, Y:66.57, Z:0.68 [[ 6.15937236e-01 -7.87789478e-01 -3.01011730e-03 1.57985848e+02] [ 7.87779844e-01 6.15944590e-01 -3.89601111e-03 6.65676636e+01] [ 4.92330203e-03 2.83885707e-05 9.99987880e-01 6.80917614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.430281693 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:158.00, Y:66.59, Z:0.68 [[ 6.10269089e-01 -7.92188477e-01 -3.00929529e-03 1.57998313e+02] [ 7.92178893e-01 6.10276509e-01 -3.89664593e-03 6.65917842e+01] [ 4.92338023e-03 -5.89765256e-06 9.99987880e-01 6.76915163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46028169299998 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:158.01, Y:66.61, Z:0.68 [[ 6.07429020e-01 -7.94368261e-01 -3.00846767e-03 1.58013006e+02] [ 7.94358701e-01 6.07436470e-01 -3.89728481e-03 6.66143968e+01] [ 4.92333234e-03 -2.24785753e-05 9.99987880e-01 6.75809241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.490281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:158.03, Y:66.64, Z:0.68 [[ 6.05126929e-01 -7.96123328e-01 -3.00764362e-03 1.58027818e+02] [ 7.96113787e-01 6.05134402e-01 -3.89792064e-03 6.66368405e+01] [ 4.92325418e-03 -3.56898028e-05 9.99987880e-01 6.76594702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.520281693 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:158.04, Y:66.66, Z:0.68 [[ 6.01934716e-01 -7.98539640e-01 -3.00682298e-03 1.58041057e+02] [ 7.98530126e-01 6.01942223e-01 -3.89855358e-03 6.66593424e+01] [ 4.92308328e-03 -5.43639870e-05 9.99987880e-01 6.78976580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.550281693 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:158.06, Y:66.68, Z:0.68 [[ 6.00366263e-01 -7.99719522e-01 -3.00596195e-03 1.58056754e+02] [ 7.99710019e-01 6.00373785e-01 -3.89921736e-03 6.66810356e+01] [ 4.92298100e-03 -6.29393386e-05 9.99987880e-01 6.79817750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.580281693 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:158.07, Y:66.70, Z:0.68 [[ 5.96944812e-01 -8.02276673e-01 -3.00514931e-03 1.58073054e+02] [ 8.02267199e-01 5.96952370e-01 -3.89984356e-03 6.67016292e+01] [ 4.92268452e-03 -8.29413365e-05 9.99987880e-01 6.81983412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.610281693 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:158.09, Y:66.72, Z:0.68 [[ 5.94957077e-01 -8.03751858e-01 -3.00452253e-03 1.58089661e+02] [ 8.03742400e-01 5.94964656e-01 -3.90032639e-03 6.67213155e+01] [ 4.92247929e-03 -9.43353623e-05 9.99987880e-01 6.82015665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.640281693 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:158.11, Y:66.74, Z:0.68 [[ 5.91687338e-01 -8.06161938e-01 -3.00390059e-03 1.58109221e+02] [ 8.06152509e-01 5.91694952e-01 -3.90080533e-03 6.67399235e+01] [ 4.92207360e-03 -1.13544873e-04 9.99987880e-01 6.81598491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.670281693 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:158.13, Y:66.76, Z:0.68 [[ 5.90379083e-01 -8.07120511e-01 -3.00308211e-03 1.58127347e+02] [ 8.07111091e-01 5.90386709e-01 -3.90143534e-03 6.67591595e+01] [ 4.92190825e-03 -1.20495053e-04 9.99987880e-01 6.81207265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.700281693 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:158.14, Y:66.78, Z:0.68 [[ 5.89677664e-01 -8.07633109e-01 -3.00222274e-03 1.58144796e+02] [ 8.07623692e-01 5.89685294e-01 -3.90209653e-03 6.67778196e+01] [ 4.92182895e-03 -1.23687041e-04 9.99987880e-01 6.80482491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.730281693 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:158.16, Y:66.80, Z:0.68 [[ 5.90708896e-01 -8.06879168e-01 -3.00129815e-03 1.58164529e+02] [ 8.06869738e-01 5.90716509e-01 -3.90280755e-03 6.67956657e+01] [ 4.92201047e-03 -1.16233515e-04 9.99987880e-01 6.81341481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.760281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:158.18, Y:66.81, Z:0.68 [[ 5.91551941e-01 -8.06261309e-01 -3.00043121e-03 1.58181171e+02] [ 8.06251868e-01 5.91559540e-01 -3.90347393e-03 6.68143357e+01] [ 4.92215370e-03 -1.09995692e-04 9.99987880e-01 6.82391087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.790281693 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:158.20, Y:66.83, Z:0.68 [[ 5.93488782e-01 -8.04836672e-01 -2.99952750e-03 1.58199962e+02] [ 8.04827209e-01 5.93496354e-01 -3.90416824e-03 6.68323798e+01] [ 4.92242641e-03 -9.70212965e-05 9.99987880e-01 6.83007177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.820281693 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:158.22, Y:66.85, Z:0.68 [[ 5.93436714e-01 -8.04875068e-01 -2.99862667e-03 1.58217843e+02] [ 8.04865601e-01 5.93444282e-01 -3.90486001e-03 6.68516865e+01] [ 4.92244231e-03 -9.62041622e-05 9.99987880e-01 6.83130594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.850281693 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:158.24, Y:66.87, Z:0.69 [[ 5.92122183e-01 -8.05842624e-01 -2.99779727e-03 1.58238196e+02] [ 8.05833166e-01 5.92129762e-01 -3.90549664e-03 6.68689994e+01] [ 4.92230064e-03 -1.03193277e-04 9.99987880e-01 6.85150828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.880281693 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:158.26, Y:66.89, Z:0.69 [[ 5.91135492e-01 -8.06566705e-01 -2.99691628e-03 1.58255602e+02] [ 8.06557253e-01 5.91143079e-01 -3.90617256e-03 6.68888241e+01] [ 4.92219504e-03 -1.08107328e-04 9.99987880e-01 6.86492941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.910281693 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:158.27, Y:66.91, Z:0.69 [[ 5.90318286e-01 -8.07165005e-01 -2.99603422e-03 1.58271929e+02] [ 8.07155558e-01 5.90325878e-01 -3.90684898e-03 6.69090185e+01] [ 4.92210831e-03 -1.11981276e-04 9.99987880e-01 6.87099330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.940281693 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:158.29, Y:66.93, Z:0.68 [[ 5.89078570e-01 -8.08070212e-01 -2.99515412e-03 1.58288870e+02] [ 8.08060773e-01 5.89086172e-01 -3.90752359e-03 6.69279429e+01] [ 4.92195729e-03 -1.18428146e-04 9.99987880e-01 6.84958106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.970281693 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:158.31, Y:66.95, Z:0.68 [[ 5.87878280e-01 -8.08943856e-01 -2.99445459e-03 1.58306820e+02] [ 8.08934425e-01 5.87885893e-01 -3.90805958e-03 6.69477652e+01] [ 4.92179840e-03 -1.24854059e-04 9.99987880e-01 6.83298848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.000281693 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:158.33, Y:66.96, Z:0.68 [[ 5.84857447e-01 -8.11130572e-01 -2.99357390e-03 1.58327307e+02] [ 8.11121167e-01 5.84865091e-01 -3.90873407e-03 6.69645271e+01] [ 4.92133058e-03 -1.42098929e-04 9.99987880e-01 6.80864445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.030281693 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:158.35, Y:66.98, Z:0.68 [[ 5.83268945e-01 -8.12273588e-01 -2.99265172e-03 1.58345496e+02] [ 8.12264194e-01 5.83276603e-01 -3.90943999e-03 6.69836333e+01] [ 4.92107858e-03 -1.50568897e-04 9.99987880e-01 6.81231639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.060281693 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:158.36, Y:67.00, Z:0.68 [[ 5.82500392e-01 -8.12824915e-01 -2.99176324e-03 1.58363204e+02] [ 8.12815525e-01 5.82508055e-01 -3.91011980e-03 6.70013585e+01] [ 4.92096898e-03 -1.54105287e-04 9.99987880e-01 6.81662480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.090281693 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:158.38, Y:67.02, Z:0.68 [[ 5.83154792e-01 -8.12355552e-01 -2.99105782e-03 1.58383778e+02] [ 8.12346153e-01 5.83162443e-01 -3.91065934e-03 6.70173374e+01] [ 4.92111841e-03 -1.49254577e-04 9.99987880e-01 6.83014978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.120281693 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:158.40, Y:67.04, Z:0.68 [[ 5.84595059e-01 -8.11319713e-01 -2.99015092e-03 1.58401366e+02] [ 8.11310296e-01 5.84602689e-01 -3.91135265e-03 6.70353864e+01] [ 4.92140778e-03 -1.39382796e-04 9.99987880e-01 6.83201547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.150281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:158.42, Y:67.05, Z:0.68 [[ 5.90335702e-01 -8.07152293e-01 -2.98924886e-03 1.58421425e+02] [ 8.07142819e-01 5.90343261e-01 -3.91204193e-03 6.70537926e+01] [ 4.92229653e-03 -1.03332735e-04 9.99987880e-01 6.83110444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.180281693 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:158.44, Y:67.07, Z:0.68 [[ 5.93765456e-01 -8.04632620e-01 -2.98840366e-03 1.58438601e+02] [ 8.04623110e-01 5.93772971e-01 -3.91268747e-03 6.70733009e+01] [ 4.92270929e-03 -8.13199843e-05 9.99987880e-01 6.83879470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21028169299998 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:158.46, Y:67.09, Z:0.69 [[ 5.99580527e-01 -8.00308857e-01 -2.98755551e-03 1.58455966e+02] [ 8.00299291e-01 5.99587968e-01 -3.91333497e-03 6.70919148e+01] [ 4.92317897e-03 -4.45791167e-05 9.99987880e-01 6.86982003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.240281693 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:158.47, Y:67.11, Z:0.69 [[ 6.01278287e-01 -7.99034105e-01 -2.98666553e-03 1.58472474e+02] [ 7.99024520e-01 6.01285704e-01 -3.91401408e-03 6.71126807e+01] [ 4.92327003e-03 -3.30073087e-05 9.99987880e-01 6.88224484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.270281693 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:158.49, Y:67.13, Z:0.68 [[ 6.03363321e-01 -7.97460838e-01 -2.98579932e-03 1.58489064e+02] [ 7.97451229e-01 6.03370709e-01 -3.91467476e-03 6.71337012e+01] [ 4.92334367e-03 -1.90581727e-05 9.99987880e-01 6.84976467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.300281693 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:158.50, Y:67.15, Z:0.68 [[ 6.04329276e-01 -7.96729073e-01 -2.98493515e-03 1.58504214e+02] [ 7.96719453e-01 6.04336648e-01 -3.91533358e-03 6.71542682e+01] [ 4.92336580e-03 -1.20051933e-05 9.99987880e-01 6.82720794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.330281693 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:158.52, Y:67.17, Z:0.68 [[ 6.05728413e-01 -7.95665876e-01 -2.98403460e-03 1.58518794e+02] [ 7.95656239e-01 6.05735763e-01 -3.91601980e-03 6.71746778e+01] [ 4.92337980e-03 -2.22129177e-06 9.99987880e-01 6.82362713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.360281693 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:158.53, Y:67.20, Z:0.68 [[ 6.07437067e-01 -7.94362204e-01 -2.98313749e-03 1.58533867e+02] [ 7.94352548e-01 6.07444392e-01 -3.91670308e-03 6.71966951e+01] [ 4.92337103e-03 9.48776556e-06 9.99987880e-01 6.83796756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.390281693 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:158.55, Y:67.22, Z:0.69 [[ 6.10219103e-01 -7.92227084e-01 -2.98227825e-03 1.58545936e+02] [ 7.92217399e-01 6.10226390e-01 -3.91735722e-03 6.72190956e+01] [ 4.92330138e-03 2.78334936e-05 9.99987880e-01 6.86982071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.420281693 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:158.56, Y:67.24, Z:0.69 [[ 6.11098081e-01 -7.91549270e-01 -2.98138024e-03 1.58558255e+02] [ 7.91539574e-01 6.11105353e-01 -3.91804055e-03 6.72421046e+01] [ 4.92325956e-03 3.44266157e-05 9.99987880e-01 6.92799048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.450281693 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:158.57, Y:67.26, Z:0.69 [[ 6.11042179e-01 -7.91592428e-01 -2.98049795e-03 1.58572708e+02] [ 7.91582729e-01 6.11049447e-01 -3.91871160e-03 6.72638407e+01] [ 4.92325406e-03 3.51873711e-05 9.99987880e-01 6.94198295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.480281693 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:158.59, Y:67.28, Z:0.69 [[ 6.10280751e-01 -7.92179605e-01 -2.97961626e-03 1.58587258e+02] [ 7.92169910e-01 6.10288024e-01 -3.91938189e-03 6.72845536e+01] [ 4.92327852e-03 3.15609799e-05 9.99987880e-01 6.94642535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.510281693 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:158.60, Y:67.31, Z:0.69 [[ 6.08645193e-01 -7.93436927e-01 -2.97869552e-03 1.58603355e+02] [ 7.93427243e-01 6.08652481e-01 -3.92008152e-03 6.73058370e+01] [ 4.92332785e-03 2.25605959e-05 9.99987880e-01 6.93034143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.540281693 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:158.62, Y:67.32, Z:0.69 [[ 6.02815774e-01 -7.97874849e-01 -2.97782237e-03 1.58620384e+02] [ 7.97865216e-01 6.02823129e-01 -3.92074468e-03 6.73249614e+01] [ 4.92336377e-03 -1.24141436e-05 9.99987880e-01 6.89950158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.570281693 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:158.64, Y:67.34, Z:0.69 [[ 5.94796944e-01 -8.03870470e-01 -2.97712701e-03 1.58640184e+02] [ 8.03860908e-01 5.94804392e-01 -3.92127261e-03 6.73433129e+01] [ 4.92300348e-03 -6.08350554e-05 9.99987880e-01 6.85864327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.600281693 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:158.66, Y:67.36, Z:0.68 [[ 5.90656593e-01 -8.06917549e-01 -2.97626532e-03 1.58658446e+02] [ 8.06908022e-01 5.90664085e-01 -3.92192653e-03 6.73622925e+01] [ 4.92264438e-03 -8.50606049e-05 9.99987880e-01 6.84524799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.630281693 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:158.68, Y:67.38, Z:0.69 [[ 5.86840055e-01 -8.09697410e-01 -2.97541010e-03 1.58677288e+02] [ 8.09687916e-01 5.86847589e-01 -3.92257524e-03 6.73816545e+01] [ 4.92221126e-03 -1.07229332e-04 9.99987880e-01 6.85037604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.660281693 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:158.70, Y:67.40, Z:0.69 [[ 5.82406802e-01 -8.12892041e-01 -2.97455545e-03 1.58698117e+02] [ 8.12882584e-01 5.82414382e-01 -3.92322323e-03 6.73970314e+01] [ 4.92158081e-03 -1.33052429e-04 9.99987880e-01 6.87278167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.690281693 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:158.72, Y:67.42, Z:0.69 [[ 5.81740384e-01 -8.13369093e-01 -2.97387690e-03 1.58717173e+02] [ 8.13359640e-01 5.81747969e-01 -3.92373752e-03 6.74159869e+01] [ 4.92149368e-03 -1.36234869e-04 9.99987880e-01 6.87440827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.720281693 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:158.74, Y:67.43, Z:0.68 [[ 5.81750814e-01 -8.13361637e-01 -2.97296183e-03 1.58735470e+02] [ 8.13352180e-01 5.81758394e-01 -3.92443074e-03 6.74341551e+01] [ 4.92152691e-03 -1.35024211e-04 9.99987880e-01 6.84965035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.750281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:158.76, Y:67.45, Z:0.68 [[ 5.84024214e-01 -8.11730795e-01 -2.97200522e-03 1.58755363e+02] [ 8.11721314e-01 5.84031764e-01 -3.92515505e-03 6.74526082e+01] [ 4.92191468e-03 -1.20054384e-04 9.99987880e-01 6.82456545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.780281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:158.77, Y:67.47, Z:0.68 [[ 5.85346592e-01 -8.10777737e-01 -2.97109158e-03 1.58771657e+02] [ 8.10768240e-01 5.85354122e-01 -3.92584649e-03 6.74725190e+01] [ 4.92212964e-03 -1.10885825e-04 9.99987880e-01 6.81993139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.810281693 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:158.79, Y:67.49, Z:0.68 [[ 5.86879648e-01 -8.09668733e-01 -2.97013921e-03 1.58789514e+02] [ 8.09659218e-01 5.86887155e-01 -3.92656689e-03 6.74918518e+01] [ 4.92235499e-03 -1.00378396e-04 9.99987880e-01 6.82221804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.840281693 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:158.81, Y:67.51, Z:0.68 [[ 5.86693426e-01 -8.09803684e-01 -2.96923426e-03 1.58805467e+02] [ 8.09794168e-01 5.86700931e-01 -3.92725108e-03 6.75134341e+01] [ 4.92235490e-03 -1.00376193e-04 9.99987880e-01 6.82353815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.870281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:158.82, Y:67.53, Z:0.68 [[ 5.86931408e-01 -8.09631219e-01 -2.96833091e-03 1.58822382e+02] [ 8.09621697e-01 5.86938906e-01 -3.92793374e-03 6.75337493e+01] [ 4.92240668e-03 -9.77974277e-05 9.99987880e-01 6.81181179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.900281693 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:158.84, Y:67.55, Z:0.68 [[ 5.86921934e-01 -8.09638091e-01 -2.96742787e-03 1.58838445e+02] [ 8.09628565e-01 5.86929428e-01 -3.92861584e-03 6.75539378e+01] [ 4.92242777e-03 -9.67235604e-05 9.99987880e-01 6.79588536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.930281693 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:158.86, Y:67.57, Z:0.68 [[ 5.86563699e-01 -8.09897665e-01 -2.96648085e-03 1.58856068e+02] [ 8.09888139e-01 5.86571192e-01 -3.92933080e-03 6.75730134e+01] [ 4.92240805e-03 -9.77148505e-05 9.99987880e-01 6.84301204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96028169299998 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:158.87, Y:67.59, Z:0.69 [[ 5.85690167e-01 -8.10529600e-01 -2.96576581e-03 1.58873161e+02] [ 8.10520080e-01 5.85697667e-01 -3.92987042e-03 6.75923805e+01] [ 4.92231842e-03 -1.02126279e-04 9.99987880e-01 6.86265751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.990281693 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:158.89, Y:67.61, Z:0.69 [[ 5.84092120e-01 -8.11681961e-01 -2.96482964e-03 1.58893454e+02] [ 8.11672451e-01 5.84099634e-01 -3.93057658e-03 6.76101312e+01] [ 4.92213401e-03 -1.10651731e-04 9.99987880e-01 6.89273631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.020281693 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:158.91, Y:67.63, Z:0.69 [[ 5.83451612e-01 -8.12142495e-01 -2.96392170e-03 1.58910094e+02] [ 8.12132988e-01 5.83459129e-01 -3.93126110e-03 6.76293070e+01] [ 4.92207137e-03 -1.13397959e-04 9.99987880e-01 6.89133694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.050281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:158.93, Y:67.65, Z:0.69 [[ 5.83578678e-01 -8.12051198e-01 -2.96297304e-03 1.58927963e+02] [ 8.12041686e-01 5.83586189e-01 -3.93197598e-03 6.76479253e+01] [ 4.92211594e-03 -1.11440279e-04 9.99987880e-01 6.92754603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.080281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:158.94, Y:67.67, Z:0.69 [[ 5.84538708e-01 -8.11360416e-01 -2.96205606e-03 1.58944204e+02] [ 8.11350892e-01 5.84546204e-01 -3.93266664e-03 6.76680775e+01] [ 4.92226866e-03 -1.04470951e-04 9.99987880e-01 6.94730156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.110281693 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:158.96, Y:67.69, Z:0.69 [[ 5.88122763e-01 -8.08766250e-01 -2.96115553e-03 1.58962848e+02] [ 8.08756689e-01 5.88130212e-01 -3.93334459e-03 6.76872131e+01] [ 4.92270138e-03 -8.15648520e-05 9.99987880e-01 6.94752568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.140281693 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:158.98, Y:67.71, Z:0.70 [[ 5.90646185e-01 -8.06925226e-01 -2.96032507e-03 1.58979224e+02] [ 8.06915639e-01 5.90653600e-01 -3.93396951e-03 6.77060008e+01] [ 4.92294590e-03 -6.51485106e-05 9.99987880e-01 6.95526794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.170281693 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:159.00, Y:67.73, Z:0.69 [[ 5.93511409e-01 -8.04820135e-01 -2.95940685e-03 1.58995138e+02] [ 8.04810518e-01 5.93518785e-01 -3.93466014e-03 6.77254721e+01] [ 4.92315726e-03 -4.64960723e-05 9.99987880e-01 6.94850382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.200281693 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:159.01, Y:67.75, Z:0.69 [[ 5.99132982e-01 -8.00644064e-01 -2.95850009e-03 1.59010098e+02] [ 8.00634393e-01 5.99140286e-01 -3.93534182e-03 6.77457785e+01] [ 4.92336466e-03 -1.08838407e-05 9.99987880e-01 6.91278616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.230281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:159.02, Y:67.77, Z:0.69 [[ 6.01400810e-01 -7.98941999e-01 -2.95759679e-03 1.59024205e+02] [ 7.98932304e-01 6.01408082e-01 -3.93602058e-03 6.77675876e+01] [ 4.92337476e-03 4.20635054e-06 9.99987880e-01 6.88954747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.260281693 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:159.04, Y:67.79, Z:0.69 [[ 6.05899973e-01 -7.95535342e-01 -2.95669436e-03 1.59037927e+02] [ 7.95525603e-01 6.05907186e-01 -3.93669836e-03 6.77899910e+01] [ 4.92326503e-03 3.31193644e-05 9.99987880e-01 6.86389285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.290281693 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:159.05, Y:67.81, Z:0.69 [[ 6.07322881e-01 -7.94449609e-01 -2.95583146e-03 1.59053189e+02] [ 7.94439853e-01 6.07330073e-01 -3.93734615e-03 6.78107115e+01] [ 4.92318844e-03 4.30101003e-05 9.99987880e-01 6.87262249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.320281693 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:159.07, Y:67.83, Z:0.69 [[ 6.08343881e-01 -7.93668060e-01 -2.95514249e-03 1.59069281e+02] [ 7.93658293e-01 6.08351056e-01 -3.93786318e-03 6.78319574e+01] [ 4.92312029e-03 5.02016220e-05 9.99987880e-01 6.89340083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.350281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:159.08, Y:67.85, Z:0.69 [[ 6.10451647e-01 -7.92048015e-01 -2.95429827e-03 1.59082418e+02] [ 7.92038226e-01 6.10458792e-01 -3.93849643e-03 6.78534728e+01] [ 4.92295564e-03 6.43444723e-05 9.99987880e-01 6.90224667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.380281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:159.10, Y:67.88, Z:0.69 [[ 6.11537827e-01 -7.91209683e-01 -2.95362596e-03 1.59096244e+02] [ 7.91199881e-01 6.11544956e-01 -3.93900056e-03 6.78762189e+01] [ 4.92285044e-03 7.19393374e-05 9.99987880e-01 6.89510800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.410281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:159.11, Y:67.90, Z:0.69 [[ 6.14264590e-01 -7.89094604e-01 -2.95279963e-03 1.59107726e+02] [ 7.89084775e-01 6.14271681e-01 -3.93961991e-03 6.78989200e+01] [ 4.92255400e-03 8.99597803e-05 9.99987880e-01 6.86739789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.440281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:159.12, Y:67.92, Z:0.69 [[ 6.15663812e-01 -7.88003398e-01 -2.95214160e-03 1.59122185e+02] [ 7.87993554e-01 6.15670881e-01 -3.94011294e-03 6.79211570e+01] [ 4.92237001e-03 9.95163937e-05 9.99987880e-01 6.87005725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.470281693 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:159.13, Y:67.95, Z:0.69 [[ 6.18737282e-01 -7.85592430e-01 -2.95130118e-03 1.59133735e+02] [ 7.85582555e-01 6.18744309e-01 -3.94074235e-03 6.79455282e+01] [ 4.92191817e-03 1.19793490e-04 9.99987880e-01 6.88658144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.500281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:159.15, Y:67.97, Z:0.69 [[ 6.20039933e-01 -7.84564705e-01 -2.95042831e-03 1.59146069e+02] [ 7.84554816e-01 6.20046939e-01 -3.94139575e-03 6.79679890e+01] [ 4.92168404e-03 1.29050018e-04 9.99987880e-01 6.88453661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.530281693 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:159.16, Y:67.99, Z:0.69 [[ 6.20801645e-01 -7.83962128e-01 -2.94951764e-03 1.59159718e+02] [ 7.83952228e-01 6.20808637e-01 -3.94207713e-03 6.79907838e+01] [ 4.92152520e-03 1.34967043e-04 9.99987880e-01 6.89637598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.560281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:159.17, Y:68.01, Z:0.69 [[ 6.20628282e-01 -7.84099382e-01 -2.94863675e-03 1.59173814e+02] [ 7.84089481e-01 6.20635272e-01 -3.94273592e-03 6.80123385e+01] [ 4.92152477e-03 1.34978368e-04 9.99987880e-01 6.91336032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.590281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:159.19, Y:68.03, Z:0.69 [[ 6.19788545e-01 -7.84763321e-01 -2.94771681e-03 1.59188396e+02] [ 7.84753424e-01 6.19795541e-01 -3.94342357e-03 6.80348541e+01] [ 4.92163592e-03 1.30857897e-04 9.99987880e-01 6.92804463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.620281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:159.20, Y:68.06, Z:0.69 [[ 6.19262776e-01 -7.85178279e-01 -2.94686189e-03 1.59199785e+02] [ 7.85168384e-01 6.19269774e-01 -3.94406234e-03 6.80602374e+01] [ 4.92169458e-03 1.28628205e-04 9.99987880e-01 6.93268384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.650281693 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:159.21, Y:68.08, Z:0.69 [[ 6.19860623e-01 -7.84706396e-01 -2.94603625e-03 1.59213341e+02] [ 7.84696493e-01 6.19867610e-01 -3.94467896e-03 6.80823847e+01] [ 4.92156726e-03 1.33406841e-04 9.99987880e-01 6.93810373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.680281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:159.23, Y:68.10, Z:0.69 [[ 6.20270873e-01 -7.84382157e-01 -2.94539610e-03 1.59227395e+02] [ 7.84372247e-01 6.20277852e-01 -3.94515689e-03 6.81038884e+01] [ 4.92147463e-03 1.36778953e-04 9.99987880e-01 6.94809816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71028169299998 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:159.24, Y:68.13, Z:0.69 [[ 6.21510231e-01 -7.83400512e-01 -2.94450625e-03 1.59241936e+02] [ 7.83390588e-01 6.21517189e-01 -3.94582093e-03 6.81261639e+01] [ 4.92121938e-03 1.45669595e-04 9.99987880e-01 6.94105354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.740281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:159.26, Y:68.15, Z:0.69 [[ 6.21667639e-01 -7.83275610e-01 -2.94366225e-03 1.59256534e+02] [ 7.83265682e-01 6.21674591e-01 -3.94645046e-03 6.81496720e+01] [ 4.92115842e-03 1.47710922e-04 9.99987880e-01 6.93625261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.770281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:159.27, Y:68.17, Z:0.69 [[ 6.21497968e-01 -7.83410247e-01 -2.94284755e-03 1.59269869e+02] [ 7.83400318e-01 6.21504917e-01 -3.94705789e-03 6.81734443e+01] [ 4.92115982e-03 1.47660745e-04 9.99987880e-01 6.93519187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.800281693 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:159.29, Y:68.20, Z:0.69 [[ 6.20865964e-01 -7.83911219e-01 -2.94203713e-03 1.59286165e+02] [ 7.83901292e-01 6.20872918e-01 -3.94766186e-03 6.81956307e+01] [ 4.92124760e-03 1.44702179e-04 9.99987880e-01 6.94323981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.830281693 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:159.30, Y:68.22, Z:0.70 [[ 6.19169245e-01 -7.85252058e-01 -2.94120033e-03 1.59302201e+02] [ 7.85242144e-01 6.19176216e-01 -3.94828522e-03 6.82158333e+01] [ 4.92152039e-03 1.35102326e-04 9.99987880e-01 6.95552455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.860281693 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:159.32, Y:68.24, Z:0.70 [[ 6.18536324e-01 -7.85750705e-01 -2.94032444e-03 1.59317540e+02] [ 7.85740793e-01 6.18543299e-01 -3.94893740e-03 6.82373041e+01] [ 4.92159832e-03 1.32228363e-04 9.99987880e-01 6.95490616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.890281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:159.33, Y:68.26, Z:0.70 [[ 6.18389392e-01 -7.85866350e-01 -2.93943256e-03 1.59333303e+02] [ 7.85856436e-01 6.18396364e-01 -3.94960116e-03 6.82596916e+01] [ 4.92159306e-03 1.32419463e-04 9.99987880e-01 6.95823838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.920281693 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:159.35, Y:68.28, Z:0.70 [[ 6.19739603e-01 -7.84802007e-01 -2.93859761e-03 1.59349151e+02] [ 7.84792078e-01 6.19746553e-01 -3.95022229e-03 6.82798934e+01] [ 4.92132812e-03 1.41921071e-04 9.99987880e-01 6.95626828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.950281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:159.37, Y:68.30, Z:0.69 [[ 6.20981036e-01 -7.83820082e-01 -2.93790823e-03 1.59365152e+02] [ 7.83810140e-01 6.20987968e-01 -3.95073494e-03 6.83016966e+01] [ 4.92107105e-03 1.50569216e-04 9.99987880e-01 6.94682642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.980281693 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:159.38, Y:68.32, Z:0.69 [[ 6.23950487e-01 -7.81458357e-01 -2.93708311e-03 1.59378534e+02] [ 7.81448386e-01 6.23957376e-01 -3.95134826e-03 6.83243437e+01] [ 4.92042879e-03 1.70266820e-04 9.99987880e-01 6.91021402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.010281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:159.39, Y:68.35, Z:0.69 [[ 6.25067059e-01 -7.80565532e-01 -2.93621857e-03 1.59394092e+02] [ 7.80555548e-01 6.25073930e-01 -3.95199059e-03 6.83469566e+01] [ 4.92014132e-03 1.78377436e-04 9.99987880e-01 6.89728441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.040281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:159.41, Y:68.37, Z:0.69 [[ 6.25887647e-01 -7.79907710e-01 -2.93540473e-03 1.59409888e+02] [ 7.79897716e-01 6.25894503e-01 -3.95259499e-03 6.83683203e+01] [ 4.91991299e-03 1.84564930e-04 9.99987880e-01 6.87582577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.070281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:159.43, Y:68.39, Z:0.69 [[ 6.27182266e-01 -7.78866993e-01 -2.93477610e-03 1.59425223e+02] [ 7.78856985e-01 6.27189102e-01 -3.95306169e-03 6.83900260e+01] [ 4.91956886e-03 1.93519327e-04 9.99987880e-01 6.87500914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.100281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:159.44, Y:68.41, Z:0.69 [[ 6.27374408e-01 -7.78712235e-01 -2.93392878e-03 1.59439259e+02] [ 7.78702222e-01 6.27381237e-01 -3.95369046e-03 6.84117048e+01] [ 4.91947900e-03 1.95787355e-04 9.99987880e-01 6.88599144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.130281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:159.45, Y:68.43, Z:0.69 [[ 6.26527633e-01 -7.79393690e-01 -2.93299919e-03 1.59452680e+02] [ 7.79383681e-01 6.26534468e-01 -3.95437995e-03 6.84340166e+01] [ 4.91964386e-03 1.91596605e-04 9.99987880e-01 6.90786397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.160281693 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:159.47, Y:68.46, Z:0.69 [[ 6.25948097e-01 -7.79859207e-01 -2.93211883e-03 1.59467130e+02] [ 7.79849201e-01 6.25954936e-01 -3.95503261e-03 6.84551135e+01] [ 4.91974285e-03 1.89034609e-04 9.99987880e-01 6.91147690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.190281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:159.48, Y:68.48, Z:0.69 [[ 6.25718830e-01 -7.80043175e-01 -2.93119726e-03 1.59481976e+02] [ 7.80033168e-01 6.25725667e-01 -3.95571550e-03 6.84773872e+01] [ 4.91975424e-03 1.88734584e-04 9.99987880e-01 6.91382587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.220281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:159.49, Y:68.50, Z:0.69 [[ 6.26152412e-01 -7.79695178e-01 -2.93039444e-03 1.59494610e+02] [ 7.79685164e-01 6.26159239e-01 -3.95631014e-03 6.85024187e+01] [ 4.91960949e-03 1.92468073e-04 9.99987880e-01 6.89594119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.250281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:159.51, Y:68.53, Z:0.69 [[ 6.27297970e-01 -7.78773827e-01 -2.92959603e-03 1.59506650e+02] [ 7.78763801e-01 6.27304779e-01 -3.95690126e-03 6.85257550e+01] [ 4.91928073e-03 2.00692790e-04 9.99987880e-01 6.89424751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.280281693 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:159.52, Y:68.55, Z:0.69 [[ 6.27511894e-01 -7.78601468e-01 -2.92875729e-03 1.59521115e+02] [ 7.78591436e-01 6.27518695e-01 -3.95752197e-03 6.85477266e+01] [ 4.91918237e-03 2.03086766e-04 9.99987880e-01 6.92063754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.310281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:159.54, Y:68.57, Z:0.70 [[ 6.27573954e-01 -7.78551449e-01 -2.92792840e-03 1.59536176e+02] [ 7.78541414e-01 6.27580751e-01 -3.95813512e-03 6.85699707e+01] [ 4.91912334e-03 2.04508995e-04 9.99987880e-01 6.95690471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.340281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:159.55, Y:68.59, Z:0.70 [[ 6.27754829e-01 -7.78405619e-01 -2.92711200e-03 1.59549401e+02] [ 7.78395580e-01 6.27761619e-01 -3.95873877e-03 6.85928142e+01] [ 4.91903307e-03 2.06666332e-04 9.99987880e-01 6.95718517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.370281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:159.56, Y:68.62, Z:0.69 [[ 6.28252528e-01 -7.78003984e-01 -2.92625401e-03 1.59563829e+02] [ 7.77993937e-01 6.28259307e-01 -3.95937289e-03 6.86163983e+01] [ 4.91885420e-03 2.10878152e-04 9.99987880e-01 6.93769658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.400281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:159.58, Y:68.64, Z:0.69 [[ 6.31064482e-01 -7.75724862e-01 -2.92543778e-03 1.59575484e+02] [ 7.75714788e-01 6.31071221e-01 -3.95997588e-03 6.86402104e+01] [ 4.91801133e-03 2.29694778e-04 9.99987880e-01 6.91717144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43028169299998 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:159.59, Y:68.66, Z:0.69 [[ 6.32504827e-01 -7.74550896e-01 -2.92457966e-03 1.59589543e+02] [ 7.74540807e-01 6.32511543e-01 -3.96060952e-03 6.86634338e+01] [ 4.91752405e-03 2.39898348e-04 9.99987880e-01 6.93778832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46028169299998 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:159.60, Y:68.69, Z:0.70 [[ 6.34598423e-01 -7.72836524e-01 -2.92375642e-03 1.59601080e+02] [ 7.72826414e-01 6.34605108e-01 -3.96121716e-03 6.86879078e+01] [ 4.91680406e-03 2.54225978e-04 9.99987880e-01 6.97249157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.490281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:159.61, Y:68.71, Z:0.70 [[ 6.35102288e-01 -7.72422515e-01 -2.92289352e-03 1.59614010e+02] [ 7.72412397e-01 6.35108961e-01 -3.96185377e-03 6.87115195e+01] [ 4.91658092e-03 2.58503199e-04 9.99987880e-01 6.97862676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.520281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:159.62, Y:68.74, Z:0.70 [[ 6.35441850e-01 -7.72143197e-01 -2.92207878e-03 1.59624154e+02] [ 7.72133074e-01 6.35448514e-01 -3.96245459e-03 6.87367522e+01] [ 4.91641298e-03 2.61675800e-04 9.99987880e-01 6.97398624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.550281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:159.64, Y:68.76, Z:0.70 [[ 6.35324117e-01 -7.72240074e-01 -2.92144748e-03 1.59636908e+02] [ 7.72229950e-01 6.35330780e-01 -3.96291998e-03 6.87608047e+01] [ 4.91641113e-03 2.61709393e-04 9.99987880e-01 6.97190316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.580281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:159.65, Y:68.79, Z:0.70 [[ 6.35318892e-01 -7.72244375e-01 -2.92065292e-03 1.59648651e+02] [ 7.72234249e-01 6.35325551e-01 -3.96350549e-03 6.87850592e+01] [ 4.91636024e-03 2.62661701e-04 9.99987880e-01 6.96952001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.610281693 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:159.66, Y:68.81, Z:0.70 [[ 6.35783986e-01 -7.71861515e-01 -2.91981776e-03 1.59655926e+02] [ 7.71851382e-01 6.35790634e-01 -3.96412063e-03 6.88128645e+01] [ 4.91614494e-03 2.66659043e-04 9.99987880e-01 6.97228503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.640281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:159.67, Y:68.84, Z:0.70 [[ 6.35546325e-01 -7.72057218e-01 -2.91903782e-03 1.59668001e+02] [ 7.72047084e-01 6.35552972e-01 -3.96469487e-03 6.88376484e+01] [ 4.91617446e-03 2.66112615e-04 9.99987880e-01 6.97362712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.670281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:159.68, Y:68.86, Z:0.69 [[ 6.33212266e-01 -7.73972680e-01 -2.91823193e-03 1.59676637e+02] [ 7.73962564e-01 6.33218940e-01 -3.96528796e-03 6.88641210e+01] [ 4.91690428e-03 2.52266710e-04 9.99987880e-01 6.94429356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.700281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:159.69, Y:68.89, Z:0.69 [[ 6.31418655e-01 -7.75436633e-01 -2.91738666e-03 1.59688411e+02] [ 7.75426529e-01 6.31425348e-01 -3.96590976e-03 6.88877608e+01] [ 4.91742359e-03 2.41930394e-04 9.99987880e-01 6.93167165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.730281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:159.70, Y:68.91, Z:0.69 [[ 6.31266404e-01 -7.75560585e-01 -2.91654701e-03 1.59704592e+02] [ 7.75550480e-01 6.31273095e-01 -3.96652714e-03 6.89101817e+01] [ 4.91741977e-03 2.42005891e-04 9.99987880e-01 6.93303285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.760281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:159.71, Y:68.94, Z:0.70 [[ 6.27816549e-01 -7.78355882e-01 -2.91576815e-03 1.59713478e+02] [ 7.78345804e-01 6.27823281e-01 -3.96709959e-03 6.89373749e+01] [ 4.91840243e-03 2.21134864e-04 9.99987880e-01 6.97136910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.790281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:159.73, Y:68.96, Z:0.70 [[ 6.26309134e-01 -7.79569350e-01 -2.91497840e-03 1.59726088e+02] [ 7.79559282e-01 6.26315881e-01 -3.96767981e-03 6.89612511e+01] [ 4.91877883e-03 2.12595639e-04 9.99987880e-01 7.00141461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.820281693 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:159.74, Y:68.98, Z:0.70 [[ 6.24858191e-01 -7.80732828e-01 -2.91419184e-03 1.59738562e+02] [ 7.80722770e-01 6.24864953e-01 -3.96825743e-03 6.89839327e+01] [ 4.91912520e-03 2.04422230e-04 9.99987880e-01 7.00557706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.850281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:159.75, Y:69.01, Z:0.70 [[ 6.20910289e-01 -7.83876217e-01 -2.91358087e-03 1.59748936e+02] [ 7.83866191e-01 6.20917099e-01 -3.96870597e-03 6.90090275e+01] [ 4.92006641e-03 1.80352838e-04 9.99987880e-01 6.96287966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.880281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:159.76, Y:69.03, Z:0.70 [[ 6.19040142e-01 -7.85353945e-01 -2.91273803e-03 1.59762485e+02] [ 7.85343932e-01 6.19046971e-01 -3.96932446e-03 6.90321515e+01] [ 4.92044628e-03 1.69670034e-04 9.99987880e-01 6.95890362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.910281693 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:159.77, Y:69.06, Z:0.70 [[ 6.16584280e-01 -7.87283524e-01 -2.91188678e-03 1.59774558e+02] [ 7.87273529e-01 6.16591136e-01 -3.96994883e-03 6.90555854e+01] [ 4.92091889e-03 1.55356660e-04 9.99987880e-01 6.98132657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.940281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:159.79, Y:69.08, Z:0.70 [[ 6.15873989e-01 -7.87839295e-01 -2.91102382e-03 1.59788381e+02] [ 7.87829304e-01 6.15880850e-01 -3.97058151e-03 6.90790684e+01] [ 4.92102397e-03 1.51988006e-04 9.99987880e-01 6.99077097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.970281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:159.80, Y:69.10, Z:0.70 [[ 6.15142592e-01 -7.88410504e-01 -2.91019499e-03 1.59798916e+02] [ 7.88400516e-01 6.15149458e-01 -3.97118890e-03 6.91034763e+01] [ 4.92113191e-03 1.48448204e-04 9.99987880e-01 6.95906209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.000281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:159.81, Y:69.13, Z:0.69 [[ 6.14091247e-01 -7.89229672e-01 -2.90955224e-03 1.59812888e+02] [ 7.89219691e-01 6.14098123e-01 -3.97165977e-03 6.91271273e+01] [ 4.92130230e-03 1.42685580e-04 9.99987880e-01 6.93815800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.030281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:159.83, Y:69.15, Z:0.69 [[ 6.11481424e-01 -7.91253441e-01 -2.90874058e-03 1.59826681e+02] [ 7.91243480e-01 6.11488328e-01 -3.97225411e-03 6.91508315e+01] [ 4.92172065e-03 1.27437578e-04 9.99987880e-01 6.92185604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.060281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:159.84, Y:69.17, Z:0.69 [[ 6.09591513e-01 -7.92710370e-01 -2.90791492e-03 1.59842224e+02] [ 7.92700423e-01 6.09598438e-01 -3.97285846e-03 6.91723112e+01] [ 4.92198649e-03 1.16715415e-04 9.99987880e-01 6.92980808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.090281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:159.86, Y:69.19, Z:0.69 [[ 6.07556150e-01 -7.94271411e-01 -2.90704415e-03 1.59858143e+02] [ 7.94261479e-01 6.07563096e-01 -3.97349552e-03 6.91938872e+01] [ 4.92224663e-03 1.05168457e-04 9.99987880e-01 6.93745516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.120281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:159.87, Y:69.22, Z:0.69 [[ 6.04731083e-01 -7.96424429e-01 -2.90621013e-03 1.59872934e+02] [ 7.96414519e-01 6.04738060e-01 -3.97410543e-03 6.92172689e+01] [ 4.92257052e-03 8.87171379e-05 9.99987880e-01 6.91971466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.150281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:159.89, Y:69.24, Z:0.69 [[ 6.03384334e-01 -7.97445236e-01 -2.90538013e-03 1.59887943e+02] [ 7.97435334e-01 6.03391324e-01 -3.97471213e-03 6.92402058e+01] [ 4.92269641e-03 8.14262598e-05 9.99987880e-01 6.92590726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18028169299998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:159.90, Y:69.26, Z:0.70 [[ 6.00315056e-01 -7.99758337e-01 -2.90454778e-03 1.59903621e+02] [ 7.99748459e-01 6.00322080e-01 -3.97532028e-03 6.92624825e+01] [ 4.92295970e-03 6.35370008e-05 9.99987880e-01 6.98636685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21028169299998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:159.92, Y:69.28, Z:0.70 [[ 5.98267389e-01 -8.01291270e-01 -2.90371293e-03 1.59919267e+02] [ 8.01281408e-01 5.98274433e-01 -3.97592999e-03 6.92837526e+01] [ 4.92309520e-03 5.19780658e-05 9.99987880e-01 6.99461688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.240281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:159.94, Y:69.31, Z:0.70 [[ 5.96370225e-01 -8.02704260e-01 -2.90283577e-03 1.59935772e+02] [ 8.02694411e-01 5.96377288e-01 -3.97657031e-03 6.93052243e+01] [ 4.92319525e-03 4.14180838e-05 9.99987880e-01 6.98276849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.270281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:159.95, Y:69.32, Z:0.70 [[ 5.92542521e-01 -8.05533947e-01 -2.90198504e-03 1.59954850e+02] [ 8.05524129e-01 5.92549627e-01 -3.97719105e-03 6.93236436e+01] [ 4.92333255e-03 1.90358423e-05 9.99987880e-01 6.95571263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.300281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:159.97, Y:69.34, Z:0.70 [[ 5.90372578e-01 -8.07125642e-01 -2.90108752e-03 1.59971735e+02] [ 8.07115840e-01 5.90379706e-01 -3.97784561e-03 6.93425084e+01] [ 4.92336440e-03 6.89727648e-06 9.99987880e-01 6.96411572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.330281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:159.99, Y:69.36, Z:0.70 [[ 5.86898206e-01 -8.09655534e-01 -2.90014645e-03 1.59990589e+02] [ 8.09645760e-01 5.86905372e-01 -3.97853161e-03 6.93610593e+01] [ 4.92335167e-03 -1.30982130e-05 9.99987880e-01 7.00037723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.360281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:160.01, Y:69.38, Z:0.70 [[ 5.85886566e-01 -8.10387886e-01 -2.89924650e-03 1.60007938e+02] [ 8.10378117e-01 5.85893739e-01 -3.97918731e-03 6.93816250e+01] [ 4.92333557e-03 -1.81335309e-05 9.99987880e-01 7.01246832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.390281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:160.03, Y:69.40, Z:0.70 [[ 5.86396432e-01 -8.10019027e-01 -2.89840935e-03 1.60026877e+02] [ 8.10009250e-01 5.86403595e-01 -3.97979700e-03 6.94011936e+01] [ 4.92334895e-03 -1.39996249e-05 9.99987880e-01 6.99928853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.420281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:160.04, Y:69.42, Z:0.70 [[ 5.87884599e-01 -8.08939616e-01 -2.89757326e-03 1.60043106e+02] [ 8.08929823e-01 5.87891739e-01 -3.98040563e-03 6.94222816e+01] [ 4.92336719e-03 -3.91425917e-06 9.99987880e-01 6.97807812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.450281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:160.06, Y:69.44, Z:0.70 [[ 5.89974297e-01 -8.07416830e-01 -2.89669806e-03 1.60058701e+02] [ 8.07407016e-01 5.89981408e-01 -3.98104245e-03 6.94439936e+01] [ 4.92335868e-03 9.89839196e-06 9.99987880e-01 6.96514809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.480281693 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:160.08, Y:69.47, Z:0.70 [[ 5.94747792e-01 -8.03907133e-01 -2.89591957e-03 1.60075638e+02] [ 8.03897273e-01 5.94754841e-01 -3.98160867e-03 6.94655429e+01] [ 4.92320579e-03 4.00311195e-05 9.99987880e-01 6.96414449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.510281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:160.09, Y:69.49, Z:0.70 [[ 5.98563165e-01 -8.01070381e-01 -2.89506434e-03 1.60091636e+02] [ 8.01060486e-01 5.98570163e-01 -3.98223042e-03 6.94857527e+01] [ 4.92294597e-03 6.44947997e-05 9.99987880e-01 6.98093532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.540281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:160.11, Y:69.51, Z:0.70 [[ 6.00740823e-01 -7.99438607e-01 -2.89440105e-03 1.60106764e+02] [ 7.99428690e-01 6.00747790e-01 -3.98271245e-03 6.95077002e+01] [ 4.92273913e-03 7.87107130e-05 9.99987880e-01 6.99335099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.570281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:160.12, Y:69.53, Z:0.70 [[ 6.03086644e-01 -7.97670438e-01 -2.89349592e-03 1.60120401e+02] [ 7.97660497e-01 6.03093578e-01 -3.98336993e-03 6.95285657e+01] [ 4.92246525e-03 9.42898077e-05 9.99987880e-01 7.00622378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.600281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:160.13, Y:69.55, Z:0.70 [[ 6.07586940e-01 -7.94247910e-01 -2.89277418e-03 1.60133433e+02] [ 7.94237928e-01 6.07593814e-01 -3.98389400e-03 6.95504940e+01] [ 4.92183118e-03 1.23010990e-04 9.99987880e-01 6.98957711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.630281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:160.15, Y:69.57, Z:0.70 [[ 6.09419624e-01 -7.92842582e-01 -2.89186966e-03 1.60148015e+02] [ 7.92832581e-01 6.09426470e-01 -3.98455047e-03 6.95740718e+01] [ 4.92150320e-03 1.35494765e-04 9.99987880e-01 6.98967820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.660281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:160.16, Y:69.60, Z:0.70 [[ 6.12262668e-01 -7.90649143e-01 -2.89108566e-03 1.60159278e+02] [ 7.90639115e-01 6.12269475e-01 -3.98511924e-03 6.95986696e+01] [ 4.92095461e-03 1.54134331e-04 9.99987880e-01 6.98556789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.690281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:160.17, Y:69.62, Z:0.70 [[ 6.13232068e-01 -7.89897511e-01 -2.89021665e-03 1.60173047e+02] [ 7.89887471e-01 6.13238858e-01 -3.98574940e-03 6.96204152e+01] [ 4.92072668e-03 1.61243425e-04 9.99987880e-01 6.98024640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.720281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:160.19, Y:69.64, Z:0.70 [[ 6.14550205e-01 -7.88872420e-01 -2.88959409e-03 1.60187631e+02] [ 7.88862368e-01 6.14556975e-01 -3.98620069e-03 6.96434985e+01] [ 4.92042399e-03 1.70228419e-04 9.99987880e-01 7.00057232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.750281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:160.20, Y:69.67, Z:0.70 [[ 6.14725905e-01 -7.88735518e-01 -2.88879021e-03 1.60202205e+02] [ 7.88725460e-01 6.14732668e-01 -3.98678318e-03 6.96664145e+01] [ 4.92035120e-03 1.72316512e-04 9.99987880e-01 7.03315365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.780281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:160.21, Y:69.69, Z:0.71 [[ 6.15009292e-01 -7.88514572e-01 -2.88798758e-03 1.60214386e+02] [ 7.88504509e-01 6.15016048e-01 -3.98736451e-03 6.96904278e+01] [ 4.92025373e-03 1.75074995e-04 9.99987880e-01 7.06579874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.810281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:160.23, Y:69.71, Z:0.71 [[ 6.15093688e-01 -7.88448742e-01 -2.88736741e-03 1.60227616e+02] [ 7.88438676e-01 6.15100440e-01 -3.98781354e-03 6.97128292e+01] [ 4.92020753e-03 1.76366799e-04 9.99987880e-01 7.05072832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.840281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:160.24, Y:69.74, Z:0.70 [[ 6.16105768e-01 -7.87658143e-01 -2.88649331e-03 1.60241546e+02] [ 7.87648066e-01 6.16112503e-01 -3.98844614e-03 6.97359538e+01] [ 4.91993670e-03 1.83763800e-04 9.99987880e-01 7.04557805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.870281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:160.26, Y:69.76, Z:0.71 [[ 6.16306043e-01 -7.87501450e-01 -2.88566163e-03 1.60255483e+02] [ 7.87491369e-01 6.16312771e-01 -3.98904777e-03 6.97577735e+01] [ 4.91985102e-03 1.86040621e-04 9.99987880e-01 7.05242270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.900281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:160.27, Y:69.78, Z:0.71 [[ 6.16129654e-01 -7.87639465e-01 -2.88478992e-03 1.60270133e+02] [ 7.87629383e-01 6.16136379e-01 -3.98967807e-03 6.97806330e+01] [ 4.91985192e-03 1.86013666e-04 9.99987880e-01 7.05167805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93028169299998 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:160.28, Y:69.80, Z:0.70 [[ 6.14642087e-01 -7.88800854e-01 -2.88399486e-03 1.60283639e+02] [ 7.88790781e-01 6.14648828e-01 -3.99025271e-03 6.98031327e+01] [ 4.92015881e-03 1.77708692e-04 9.99987880e-01 7.04089811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96028169299998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:160.30, Y:69.83, Z:0.70 [[ 6.13836946e-01 -7.89427572e-01 -2.88316323e-03 1.60297280e+02] [ 7.89417503e-01 6.13843693e-01 -3.99085352e-03 6.98254145e+01] [ 4.92030136e-03 1.73713818e-04 9.99987880e-01 7.04852600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.990281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:160.31, Y:69.85, Z:0.71 [[ 6.13960453e-01 -7.89331524e-01 -2.88229773e-03 1.60306776e+02] [ 7.89321451e-01 6.13967194e-01 -3.99147850e-03 6.98496581e+01] [ 4.92023606e-03 1.75550522e-04 9.99987880e-01 7.05334580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.020281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:160.32, Y:69.87, Z:0.70 [[ 6.14585070e-01 -7.88845288e-01 -2.88139122e-03 1.60319284e+02] [ 7.88835207e-01 6.14591798e-01 -3.99213279e-03 6.98724165e+01] [ 4.92005456e-03 1.80562374e-04 9.99987880e-01 7.03741386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.050281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:160.33, Y:69.90, Z:0.70 [[ 6.15758983e-01 -7.87929298e-01 -2.88049550e-03 1.60330109e+02] [ 7.87919204e-01 6.15765691e-01 -3.99277899e-03 6.98964180e+01] [ 4.91973785e-03 1.88991808e-04 9.99987880e-01 7.00309279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.080281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:160.34, Y:69.92, Z:0.70 [[ 6.15819378e-01 -7.87882099e-01 -2.87960545e-03 1.60343193e+02] [ 7.87872002e-01 6.15826081e-01 -3.99342079e-03 6.99194972e+01] [ 4.91968090e-03 1.90465400e-04 9.99987880e-01 7.00606582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.110281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:160.35, Y:69.94, Z:0.70 [[ 6.14836868e-01 -7.88649059e-01 -2.87874666e-03 1.60352388e+02] [ 7.88638967e-01 6.14843579e-01 -3.99403978e-03 6.99435173e+01] [ 4.91987461e-03 1.85391118e-04 9.99987880e-01 7.02404603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.140281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:160.37, Y:69.97, Z:0.70 [[ 6.13671683e-01 -7.89556066e-01 -2.87806431e-03 1.60365850e+02] [ 7.89545982e-01 6.13678406e-01 -3.99453141e-03 6.99656491e+01] [ 4.92011243e-03 1.78966702e-04 9.99987880e-01 7.02807292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.170281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:160.38, Y:69.99, Z:0.70 [[ 6.12090996e-01 -7.90782103e-01 -2.87721184e-03 1.60379734e+02] [ 7.90772029e-01 6.12097735e-01 -3.99514534e-03 6.99866186e+01] [ 4.92042428e-03 1.70173839e-04 9.99987880e-01 7.01795887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.200281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:160.39, Y:70.01, Z:0.70 [[ 6.07532537e-01 -7.94289584e-01 -2.87632054e-03 1.60394462e+02] [ 7.94279546e-01 6.07539329e-01 -3.99578693e-03 7.00092177e+01] [ 4.92128979e-03 1.42967992e-04 9.99987880e-01 6.97164115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.230281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:160.41, Y:70.03, Z:0.70 [[ 6.05111645e-01 -7.96135432e-01 -2.87575301e-03 1.60408758e+02] [ 7.96125413e-01 6.05118465e-01 -3.99619534e-03 7.00315330e+01] [ 4.92168395e-03 1.28684278e-04 9.99987880e-01 6.97560003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.260281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:160.42, Y:70.05, Z:0.71 [[ 6.01724355e-01 -7.98698651e-01 -2.87511910e-03 1.60421510e+02] [ 7.98688658e-01 6.01731214e-01 -3.99665137e-03 7.00532088e+01] [ 4.92216896e-03 1.08557451e-04 9.99987880e-01 7.06179912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.290281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:160.44, Y:70.08, Z:0.71 [[ 6.00380900e-01 -7.99709019e-01 -2.87418261e-03 1.60435440e+02] [ 7.99699035e-01 6.00387771e-01 -3.99732472e-03 7.00763982e+01] [ 4.92232072e-03 1.01436350e-04 9.99987880e-01 7.13760612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.320281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:160.45, Y:70.10, Z:0.71 [[ 5.99883583e-01 -8.00082140e-01 -2.87334791e-03 1.60449919e+02] [ 8.00072157e-01 5.99890456e-01 -3.99792463e-03 7.00994636e+01] [ 4.92236208e-03 9.94036902e-05 9.99987880e-01 7.14867498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.350281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:160.46, Y:70.12, Z:0.71 [[ 5.99055901e-01 -8.00702052e-01 -2.87251691e-03 1.60464231e+02] [ 8.00692074e-01 5.99062781e-01 -3.99852162e-03 7.01222630e+01] [ 4.92244243e-03 9.53364499e-05 9.99987880e-01 7.14316256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.380281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:160.48, Y:70.15, Z:0.71 [[ 5.96069911e-01 -8.02927403e-01 -2.87168623e-03 1.60478621e+02] [ 8.02917448e-01 5.96076823e-01 -3.99911811e-03 7.01455569e+01] [ 4.92274712e-03 7.80269966e-05 9.99987880e-01 7.11942142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.410281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:160.49, Y:70.17, Z:0.71 [[ 5.93961569e-01 -8.04488293e-01 -2.87085571e-03 1.60493996e+02] [ 8.04478352e-01 5.93968503e-01 -3.99971423e-03 7.01673994e+01] [ 4.92292114e-03 6.61352637e-05 9.99987880e-01 7.10337461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.440281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:160.51, Y:70.19, Z:0.71 [[ 5.89931073e-01 -8.07448507e-01 -2.87002944e-03 1.60509217e+02] [ 8.07438599e-01 5.89938053e-01 -4.00030704e-03 7.01900907e+01] [ 4.92318153e-03 4.25328706e-05 9.99987880e-01 7.07201116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.470281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:160.52, Y:70.21, Z:0.71 [[ 5.88301970e-01 -8.08636235e-01 -2.86918103e-03 1.60523416e+02] [ 8.08626338e-01 5.88308965e-01 -4.00091546e-03 7.02123338e+01] [ 4.92325014e-03 3.36511011e-05 9.99987880e-01 7.05607830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.500281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:160.54, Y:70.23, Z:0.70 [[ 5.86091458e-01 -8.10239826e-01 -2.86829108e-03 1.60535866e+02] [ 8.10229945e-01 5.86098476e-01 -4.00155337e-03 7.02344947e+01] [ 4.92331894e-03 2.13009200e-05 9.99987880e-01 6.99812694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.530281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:160.55, Y:70.26, Z:0.70 [[ 5.84538292e-01 -8.11361056e-01 -2.86757778e-03 1.60550326e+02] [ 8.11351186e-01 5.84545325e-01 -4.00206447e-03 7.02569923e+01] [ 4.92334844e-03 1.27472970e-05 9.99987880e-01 6.98470895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.560281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:160.57, Y:70.28, Z:0.70 [[ 5.82858140e-01 -8.12568871e-01 -2.86669059e-03 1.60565459e+02] [ 8.12559013e-01 5.82865190e-01 -4.00269987e-03 7.02789134e+01] [ 4.92336347e-03 3.65092572e-06 9.99987880e-01 7.00222183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.590281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:160.58, Y:70.30, Z:0.70 [[ 5.79979496e-01 -8.14626031e-01 -2.86580266e-03 1.60581753e+02] [ 8.14616195e-01 5.79986576e-01 -4.00333549e-03 7.03001345e+01] [ 4.92334838e-03 -1.26767580e-05 9.99987880e-01 7.04347572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.620281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:160.60, Y:70.32, Z:0.70 [[ 5.78669166e-01 -8.15557348e-01 -2.86496088e-03 1.60600133e+02] [ 8.15547520e-01 5.78676258e-01 -4.00393781e-03 7.03207163e+01] [ 4.92332575e-03 -1.95563858e-05 9.99987880e-01 7.03180295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.650281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:160.62, Y:70.34, Z:0.70 [[ 5.78497970e-01 -8.15678794e-01 -2.86411883e-03 1.60616016e+02] [ 8.15668965e-01 5.78505060e-01 -4.00454007e-03 7.03433274e+01] [ 4.92332565e-03 -1.95545408e-05 9.99987880e-01 7.03316418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68028169299998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:160.63, Y:70.36, Z:0.70 [[ 5.78427581e-01 -8.15728714e-01 -2.86327815e-03 1.60632311e+02] [ 8.15718882e-01 5.78434668e-01 -4.00514107e-03 7.03644563e+01] [ 4.92332792e-03 -1.89459888e-05 9.99987880e-01 7.02104418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71028169299998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:160.65, Y:70.39, Z:0.70 [[ 5.78544120e-01 -8.15646068e-01 -2.86243764e-03 1.60648963e+02] [ 8.15636231e-01 5.78551201e-01 -4.00574168e-03 7.03861712e+01] [ 4.92333419e-03 -1.72095504e-05 9.99987880e-01 7.01113949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.740281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:160.67, Y:70.41, Z:0.70 [[ 5.79162652e-01 -8.15206988e-01 -2.86159939e-03 1.60665811e+02] [ 8.15197144e-01 5.79169722e-01 -4.00634042e-03 7.04067717e+01] [ 4.92334843e-03 -1.24449053e-05 9.99987880e-01 6.98018433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.770281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:160.68, Y:70.43, Z:0.70 [[ 5.79905379e-01 -8.14678813e-01 -2.86071864e-03 1.60682266e+02] [ 8.14668959e-01 5.79912435e-01 -4.00696922e-03 7.04283123e+01] [ 4.92335924e-03 -6.87567732e-06 9.99987880e-01 6.97183055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.800281693 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:160.70, Y:70.45, Z:0.69 [[ 5.82156741e-01 -8.13071553e-01 -2.85989506e-03 1.60699051e+02] [ 8.13061676e-01 5.82163766e-01 -4.00755694e-03 7.04491301e+01] [ 4.92335782e-03 7.75521361e-06 9.99987880e-01 6.94441803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.830281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:160.72, Y:70.47, Z:0.69 [[ 5.84589299e-01 -8.11324335e-01 -2.85905285e-03 1.60716079e+02] [ 8.11314435e-01 5.84596290e-01 -4.00815770e-03 7.04694124e+01] [ 4.92330757e-03 2.35352493e-05 9.99987880e-01 6.94697259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.860281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:160.73, Y:70.49, Z:0.70 [[ 5.85352037e-01 -8.10774213e-01 -2.85817014e-03 1.60732203e+02] [ 8.10764303e-01 5.85359014e-01 -4.00878705e-03 7.04909494e+01] [ 4.92327682e-03 2.92493383e-05 9.99987880e-01 6.97676634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.890281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:160.75, Y:70.51, Z:0.70 [[ 5.86068617e-01 -8.10256386e-01 -2.85739806e-03 1.60747053e+02] [ 8.10246467e-01 5.86075582e-01 -4.00933730e-03 7.05128520e+01] [ 4.92324238e-03 3.45500895e-05 9.99987880e-01 7.00385016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.920281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:160.76, Y:70.53, Z:0.70 [[ 5.88529103e-01 -8.08470986e-01 -2.85648721e-03 1.60760765e+02] [ 8.08461043e-01 5.88536033e-01 -4.00998614e-03 7.05336577e+01] [ 4.92310310e-03 5.06349195e-05 9.99987880e-01 7.04516795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.950281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:160.78, Y:70.56, Z:0.71 [[ 5.90221099e-01 -8.07236582e-01 -2.85576502e-03 1.60775856e+02] [ 8.07226621e-01 5.90228005e-01 -4.01050039e-03 7.05554259e+01] [ 4.92297512e-03 6.18323967e-05 9.99987880e-01 7.05663129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.980281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:160.79, Y:70.58, Z:0.71 [[ 5.93242568e-01 -8.05018699e-01 -2.85486655e-03 1.60789465e+02] [ 8.05008710e-01 5.93249431e-01 -4.01113986e-03 7.05775274e+01] [ 4.92269055e-03 8.13864759e-05 9.99987880e-01 7.07554426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.010281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:160.80, Y:70.60, Z:0.71 [[ 5.95080543e-01 -8.03661000e-01 -2.85396235e-03 1.60803005e+02] [ 8.03650992e-01 5.95087379e-01 -4.01178310e-03 7.06011721e+01] [ 4.92247060e-03 9.37443916e-05 9.99987880e-01 7.08013188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.040281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:160.81, Y:70.63, Z:0.71 [[ 6.00278234e-01 -7.99786160e-01 -2.85308692e-03 1.60811984e+02] [ 7.99776105e-01 6.00285001e-01 -4.01240560e-03 7.06273585e+01] [ 4.92173175e-03 1.26729002e-04 9.99987880e-01 7.05822817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.070281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:160.82, Y:70.65, Z:0.71 [[ 6.02517379e-01 -7.98100666e-01 -2.85216490e-03 1.60824125e+02] [ 7.98090589e-01 6.02524113e-01 -4.01306089e-03 7.06523395e+01] [ 4.92132470e-03 1.41652966e-04 9.99987880e-01 7.05589726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.100281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.83, Y:70.68, Z:0.71 [[ 6.03915352e-01 -7.97043360e-01 -2.85131455e-03 1.60834931e+02] [ 7.97033268e-01 6.03922064e-01 -4.01366499e-03 7.06769436e+01] [ 4.92103679e-03 1.51321352e-04 9.99987880e-01 7.05412642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.130281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:160.84, Y:70.70, Z:0.71 [[ 6.03645308e-01 -7.97247902e-01 -2.85042130e-03 1.60841492e+02] [ 7.97237810e-01 6.03652019e-01 -4.01429925e-03 7.07027674e+01] [ 4.92105423e-03 1.50749278e-04 9.99987880e-01 7.05509516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.160281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.85, Y:70.73, Z:0.71 [[ 5.98115475e-01 -8.01404866e-01 -2.84949317e-03 1.60852132e+02] [ 8.01394817e-01 5.98122251e-01 -4.01495796e-03 7.07284494e+01] [ 4.92195212e-03 1.17839430e-04 9.99987880e-01 7.06269442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.190281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:160.86, Y:70.75, Z:0.71 [[ 5.94057368e-01 -8.04417633e-01 -2.84862953e-03 1.60863885e+02] [ 8.04407616e-01 5.94064191e-01 -4.01557063e-03 7.07515920e+01] [ 4.92246461e-03 9.40200307e-05 9.99987880e-01 7.06292727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.220281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.88, Y:70.78, Z:0.71 [[ 5.89368974e-01 -8.07858962e-01 -2.84772435e-03 1.60875973e+02] [ 8.07848982e-01 5.89375850e-01 -4.01621245e-03 7.07765292e+01] [ 4.92291318e-03 6.64997985e-05 9.99987880e-01 7.06456526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.250281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:160.89, Y:70.80, Z:0.71 [[ 5.79801063e-01 -8.14753105e-01 -2.84689366e-03 1.60885939e+02] [ 8.14743204e-01 5.79808052e-01 -4.01680120e-03 7.08022305e+01] [ 4.92335312e-03 9.45834745e-06 9.99987880e-01 7.05796671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.280281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.90, Y:70.82, Z:0.71 [[ 5.75205863e-01 -8.18003738e-01 -2.84606357e-03 1.60900097e+02] [ 8.17993873e-01 5.75212904e-01 -4.01738926e-03 7.08249171e+01] [ 4.92333192e-03 -1.72367037e-05 9.99987880e-01 7.06333393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.310281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:160.91, Y:70.85, Z:0.71 [[ 5.66963236e-01 -8.23738183e-01 -2.84523263e-03 1.60914352e+02] [ 8.23728386e-01 5.66970371e-01 -4.01797767e-03 7.08464145e+01] [ 4.92292423e-03 -6.56532630e-05 9.99987880e-01 7.06071786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.340281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:160.93, Y:70.87, Z:0.71 [[ 5.60768916e-01 -8.27967470e-01 -2.84458914e-03 1.60931046e+02] [ 8.27957725e-01 5.60776121e-01 -4.01843319e-03 7.08683664e+01] [ 4.92230963e-03 -1.01787123e-04 9.99987880e-01 7.06005239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.370281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.95, Y:70.89, Z:0.71 [[ 5.58303240e-01 -8.29632090e-01 -2.84376435e-03 1.60948082e+02] [ 8.29622364e-01 5.58310470e-01 -4.01901680e-03 7.08894315e+01] [ 4.92200872e-03 -1.15420403e-04 9.99987880e-01 7.06641971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.400281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:160.96, Y:70.91, Z:0.71 [[ 5.55913482e-01 -8.31235296e-01 -2.84292303e-03 1.60964997e+02] [ 8.31225587e-01 5.55920737e-01 -4.01961183e-03 7.09095664e+01] [ 4.92168309e-03 -1.28553952e-04 9.99987880e-01 7.07618632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43028169299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.98, Y:70.93, Z:0.71 [[ 5.50657283e-01 -8.34726590e-01 -2.84204046e-03 1.60984819e+02] [ 8.34716924e-01 5.50664594e-01 -4.02023575e-03 7.09275046e+01] [ 4.92080873e-03 -1.58527176e-04 9.99987880e-01 7.11650522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46028169299998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:161.00, Y:70.95, Z:0.71 [[ 5.48259116e-01 -8.36303694e-01 -2.84140929e-03 1.61003580e+02] [ 8.36294046e-01 5.48266452e-01 -4.02068180e-03 7.09478048e+01] [ 4.92036043e-03 -1.71878221e-04 9.99987880e-01 7.13516775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.490281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:161.03, Y:70.97, Z:0.71 [[ 5.45575713e-01 -8.38056724e-01 -2.84060615e-03 1.61026658e+02] [ 8.38047097e-01 5.45583076e-01 -4.02124913e-03 7.09650224e+01] [ 4.91982151e-03 -1.86665879e-04 9.99987880e-01 7.13133005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.520281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:161.05, Y:70.98, Z:0.71 [[ 5.44571425e-01 -8.38709663e-01 -2.83979381e-03 1.61045355e+02] [ 8.38700042e-01 5.44578796e-01 -4.02182272e-03 7.09842101e+01] [ 4.91963307e-03 -1.91565458e-04 9.99987880e-01 7.12170521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.550281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:161.07, Y:71.00, Z:0.71 [[ 5.44198805e-01 -8.38951489e-01 -2.83893942e-03 1.61066937e+02] [ 8.38941868e-01 5.44206176e-01 -4.02242573e-03 7.10006573e+01] [ 4.91958842e-03 -1.92705869e-04 9.99987880e-01 7.10599177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.580281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:161.09, Y:71.02, Z:0.71 [[ 5.44581024e-01 -8.38703436e-01 -2.83804288e-03 1.61086394e+02] [ 8.38693808e-01 5.44588387e-01 -4.02305819e-03 7.10192589e+01] [ 4.91971792e-03 -1.89367844e-04 9.99987880e-01 7.10513837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.610281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:161.11, Y:71.03, Z:0.71 [[ 5.44996859e-01 -8.38433286e-01 -2.83714924e-03 1.61110932e+02] [ 8.38423651e-01 5.45004212e-01 -4.02368830e-03 7.10340127e+01] [ 4.91985249e-03 -1.85835541e-04 9.99987880e-01 7.11190152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.640281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.13, Y:71.05, Z:0.71 [[ 5.44680399e-01 -8.38638908e-01 -2.83625833e-03 1.61129990e+02] [ 8.38629273e-01 5.44687752e-01 -4.02431620e-03 7.10527053e+01] [ 4.91982332e-03 -1.86603107e-04 9.99987880e-01 7.12150582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.670281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:161.15, Y:71.07, Z:0.71 [[ 5.45418090e-01 -8.38159333e-01 -2.83536181e-03 1.61153478e+02] [ 8.38149689e-01 5.45425430e-01 -4.02494775e-03 7.10692501e+01] [ 4.92002596e-03 -1.81178304e-04 9.99987880e-01 7.13754642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.700281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:161.17, Y:71.09, Z:0.71 [[ 5.46487468e-01 -8.37462484e-01 -2.83453656e-03 1.61171888e+02] [ 8.37452827e-01 5.46494791e-01 -4.02552884e-03 7.10881116e+01] [ 4.92028885e-03 -1.73889590e-04 9.99987880e-01 7.14349114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.730281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:161.19, Y:71.11, Z:0.71 [[ 5.47961527e-01 -8.36498736e-01 -2.83366998e-03 1.61189650e+02] [ 8.36489063e-01 5.47968829e-01 -4.02613876e-03 7.11074461e+01] [ 4.92062280e-03 -1.64164805e-04 9.99987880e-01 7.14398995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.760281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:161.21, Y:71.12, Z:0.71 [[ 5.52267570e-01 -8.33662106e-01 -2.83276302e-03 1.61208507e+02] [ 8.33652392e-01 5.52274818e-01 -4.02677679e-03 7.11246526e+01] [ 4.92143490e-03 -1.37681440e-04 9.99987880e-01 7.14353885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.790281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:161.23, Y:71.14, Z:0.71 [[ 5.54804161e-01 -8.31976156e-01 -2.83181219e-03 1.61225811e+02] [ 8.31966417e-01 5.54811375e-01 -4.02744534e-03 7.11446011e+01] [ 4.92186011e-03 -1.21529204e-04 9.99987880e-01 7.13519488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.820281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:161.25, Y:71.16, Z:0.71 [[ 5.59895914e-01 -8.28558116e-01 -2.83095046e-03 1.61245350e+02] [ 8.28548330e-01 5.59903063e-01 -4.02805097e-03 7.11616568e+01] [ 4.92253216e-03 -9.02899978e-05 9.99987880e-01 7.07161687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.850281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:161.26, Y:71.18, Z:0.71 [[ 5.61832315e-01 -8.27246300e-01 -2.82999769e-03 1.61262086e+02] [ 8.27236494e-01 5.61839437e-01 -4.02872025e-03 7.11815409e+01] [ 4.92274823e-03 -7.76121459e-05 9.99987880e-01 7.05492238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.880281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:161.28, Y:71.20, Z:0.70 [[ 5.65240158e-01 -8.24921548e-01 -2.82909295e-03 1.61280232e+02] [ 8.24911709e-01 5.65247235e-01 -4.02935549e-03 7.12008005e+01] [ 4.92303914e-03 -5.61983583e-05 9.99987880e-01 7.04990134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.910281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:161.30, Y:71.22, Z:0.71 [[ 5.67101605e-01 -8.23642987e-01 -2.82819224e-03 1.61295403e+02] [ 8.23633129e-01 5.67108656e-01 -4.02998760e-03 7.12214494e+01] [ 4.92316332e-03 -4.39803883e-05 9.99987880e-01 7.06952375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.940281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:161.31, Y:71.24, Z:0.71 [[ 5.71020649e-01 -8.20930828e-01 -2.82747264e-03 1.61309218e+02] [ 8.20920934e-01 5.71027649e-01 -4.03049241e-03 7.12425156e+01] [ 4.92332052e-03 -1.96370911e-05 9.99987880e-01 7.11298915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.970281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:161.32, Y:71.27, Z:0.71 [[ 5.72947084e-01 -8.19587488e-01 -2.82653304e-03 1.61323822e+02] [ 8.19577574e-01 5.72954056e-01 -4.03115123e-03 7.12653135e+01] [ 4.92335468e-03 -6.92674890e-06 9.99987880e-01 7.13506429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.000281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:161.34, Y:71.29, Z:0.71 [[ 5.75088127e-01 -8.18086586e-01 -2.82568602e-03 1.61337799e+02] [ 8.18076651e-01 5.75095069e-01 -4.03174487e-03 7.12873072e+01] [ 4.92335450e-03 6.98084907e-06 9.99987880e-01 7.14057491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.030281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:161.35, Y:71.31, Z:0.71 [[ 5.77613211e-01 -8.16305702e-01 -2.82479639e-03 1.61349632e+02] [ 8.16295743e-01 5.77620118e-01 -4.03236809e-03 7.13103076e+01] [ 4.92330429e-03 2.32798178e-05 9.99987880e-01 7.11729898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.060281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:161.36, Y:71.33, Z:0.71 [[ 5.76029277e-01 -8.17424185e-01 -2.82385890e-03 1.61361849e+02] [ 8.17414236e-01 5.76036198e-01 -4.03302450e-03 7.13342060e+01] [ 4.92333671e-03 1.48777202e-05 9.99987880e-01 7.08367594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.090281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:161.38, Y:71.36, Z:0.71 [[ 5.73493958e-01 -8.19204926e-01 -2.82295567e-03 1.61375355e+02] [ 8.19194995e-01 5.73500906e-01 -4.03365663e-03 7.13551007e+01] [ 4.92335901e-03 7.26546705e-07 9.99987880e-01 7.08651790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.120281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:161.39, Y:71.38, Z:0.71 [[ 5.70256064e-01 -8.21462146e-01 -2.82200908e-03 1.61389622e+02] [ 8.21452240e-01 5.70263046e-01 -4.03431877e-03 7.13754533e+01] [ 4.92332765e-03 -1.75509420e-05 9.99987880e-01 7.10444534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.150281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:161.41, Y:71.40, Z:0.71 [[ 5.64012795e-01 -8.25761229e-01 -2.82109236e-03 1.61405284e+02] [ 8.25751373e-01 5.64019848e-01 -4.03495971e-03 7.13968776e+01] [ 4.92306537e-03 -5.37519869e-05 9.99987880e-01 7.12425293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18028169299998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:161.42, Y:71.42, Z:0.71 [[ 5.59810181e-01 -8.28616080e-01 -2.82021787e-03 1.61420451e+02] [ 8.28606256e-01 5.59817279e-01 -4.03557083e-03 7.14185988e+01] [ 4.92274558e-03 -7.76965397e-05 9.99987880e-01 7.14971035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21028169299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:161.44, Y:71.44, Z:0.72 [[ 5.58247375e-01 -8.29669766e-01 -2.81931019e-03 1.61436033e+02] [ 8.29659952e-01 5.58254487e-01 -4.03620485e-03 7.14383280e+01] [ 4.92260970e-03 -8.58679984e-05 9.99987880e-01 7.17173508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.240281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:161.46, Y:71.46, Z:0.72 [[ 5.56052746e-01 -8.31142227e-01 -2.81836168e-03 1.61455150e+02] [ 8.31132429e-01 5.56059879e-01 -4.03686706e-03 7.14570040e+01] [ 4.92238853e-03 -9.77207733e-05 9.99987880e-01 7.20282518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.270281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:161.47, Y:71.48, Z:0.72 [[ 5.54769469e-01 -8.31999338e-01 -2.81745913e-03 1.61472854e+02] [ 8.31989548e-01 5.54776613e-01 -4.03749688e-03 7.14773305e+01] [ 4.92225517e-03 -1.04216553e-04 9.99987880e-01 7.20248853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.300281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:161.49, Y:71.49, Z:0.72 [[ 5.52656412e-01 -8.33404438e-01 -2.81660006e-03 1.61493757e+02] [ 8.33394663e-01 5.52663577e-01 -4.03809609e-03 7.14945646e+01] [ 4.92199947e-03 -1.15659759e-04 9.99987880e-01 7.18680249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.330281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:161.51, Y:71.51, Z:0.72 [[ 5.51444702e-01 -8.34206696e-01 -2.81569879e-03 1.61512487e+02] [ 8.34196929e-01 5.51451877e-01 -4.03872443e-03 7.15129767e+01] [ 4.92185335e-03 -1.21714086e-04 9.99987880e-01 7.17994713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.360281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:161.54, Y:71.53, Z:0.72 [[ 5.49894871e-01 -8.35229135e-01 -2.81475744e-03 1.61536233e+02] [ 8.35219377e-01 5.49902059e-01 -4.03938039e-03 7.15297474e+01] [ 4.92164910e-03 -1.29705394e-04 9.99987880e-01 7.17443059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.390281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:161.55, Y:71.55, Z:0.72 [[ 5.49929252e-01 -8.35206501e-01 -2.81390412e-03 1.61553817e+02] [ 8.35196740e-01 5.49936437e-01 -4.03997474e-03 7.15481902e+01] [ 4.92168157e-03 -1.28463263e-04 9.99987880e-01 7.17795220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.420281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:161.57, Y:71.56, Z:0.72 [[ 5.53650504e-01 -8.32744383e-01 -2.81290915e-03 1.61573647e+02] [ 8.32734586e-01 5.53657640e-01 -4.04066739e-03 7.15647307e+01] [ 4.92223171e-03 -1.05289202e-04 9.99987880e-01 7.17461730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.450281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:161.59, Y:71.58, Z:0.72 [[ 5.57037368e-01 -8.30482669e-01 -2.81196655e-03 1.61591295e+02] [ 8.30472840e-01 5.57044459e-01 -4.04132326e-03 7.15849624e+01] [ 4.92263931e-03 -8.40937780e-05 9.99987880e-01 7.16527581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.480281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:161.61, Y:71.61, Z:0.72 [[ 5.61017586e-01 -8.27799109e-01 -2.81120698e-03 1.61607540e+02] [ 8.27789244e-01 5.61024626e-01 -4.04185156e-03 7.16055167e+01] [ 4.92299746e-03 -5.95370929e-05 9.99987880e-01 7.15719218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.510281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:161.62, Y:71.63, Z:0.72 [[ 5.69624404e-01 -8.21900323e-01 -2.81025931e-03 1.61622292e+02] [ 8.21890382e-01 5.69631336e-01 -4.04251035e-03 7.16263258e+01] [ 4.92335233e-03 -7.01254709e-06 9.99987880e-01 7.15369774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.540281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:161.64, Y:71.65, Z:0.72 [[ 5.69442405e-01 -8.22026431e-01 -2.80950466e-03 1.61637344e+02] [ 8.22016489e-01 5.69449336e-01 -4.04303476e-03 7.16485228e+01] [ 4.92335200e-03 -7.18371875e-06 9.99987880e-01 7.15501788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.570281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:161.65, Y:71.67, Z:0.72 [[ 5.73074688e-01 -8.19498330e-01 -2.80860931e-03 1.61651351e+02] [ 8.19488354e-01 5.73081571e-01 -4.04365664e-03 7.16707897e+01] [ 4.92333210e-03 1.56946521e-05 9.99987880e-01 7.15119300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.600281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:161.66, Y:71.69, Z:0.72 [[ 5.78714556e-01 -8.15525339e-01 -2.80769746e-03 1.61663929e+02] [ 8.15515313e-01 5.78721365e-01 -4.04428968e-03 7.16936446e+01] [ 4.92309522e-03 5.07690386e-05 9.99987880e-01 7.15556317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.630281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:161.68, Y:71.72, Z:0.72 [[ 5.80906116e-01 -8.13965728e-01 -2.80676358e-03 1.61677594e+02] [ 8.13955680e-01 5.80912893e-01 -4.04493770e-03 7.17162306e+01] [ 4.92292581e-03 6.51478913e-05 9.99987880e-01 7.15745404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.660281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:161.69, Y:71.74, Z:0.72 [[ 5.83775050e-01 -8.11910598e-01 -2.80583545e-03 1.61688180e+02] [ 8.11900523e-01 5.83781787e-01 -4.04558141e-03 7.17395367e+01] [ 4.92264605e-03 8.36502185e-05 9.99987880e-01 7.15830706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.690281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:161.70, Y:71.76, Z:0.71 [[ 5.83977447e-01 -8.11765036e-01 -2.80486415e-03 1.61700935e+02] [ 8.11754957e-01 5.83984176e-01 -4.04625471e-03 7.17631973e+01] [ 4.92260439e-03 8.60591199e-05 9.99987880e-01 7.14685200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.720281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:161.71, Y:71.79, Z:0.71 [[ 5.83213845e-01 -8.12313824e-01 -2.80394919e-03 1.61711024e+02] [ 8.12303748e-01 5.83220579e-01 -4.04688866e-03 7.17869742e+01] [ 4.92266447e-03 8.25430603e-05 9.99987880e-01 7.12134198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.750281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:161.72, Y:71.81, Z:0.71 [[ 5.80898344e-01 -8.13971287e-01 -2.80321784e-03 1.61721614e+02] [ 8.13961227e-01 5.80905103e-01 -4.04739519e-03 7.18101488e+01] [ 4.92286702e-03 6.94145241e-05 9.99987880e-01 7.12657399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.780281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:161.73, Y:71.83, Z:0.71 [[ 5.79594645e-01 -8.14900114e-01 -2.80226559e-03 1.61734985e+02] [ 8.14890062e-01 5.79601415e-01 -4.04805438e-03 7.18324635e+01] [ 4.92295708e-03 6.26922617e-05 9.99987880e-01 7.13363291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.810281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:161.75, Y:71.86, Z:0.71 [[ 5.76390371e-01 -8.17169684e-01 -2.80135213e-03 1.61748737e+02] [ 8.17159656e-01 5.76397177e-01 -4.04868642e-03 7.18553217e+01] [ 4.92315526e-03 4.44719311e-05 9.99987880e-01 7.12274407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.840281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:161.76, Y:71.88, Z:0.71 [[ 5.74621101e-01 -8.18414777e-01 -2.80043898e-03 1.61762854e+02] [ 8.18404761e-01 5.74627924e-01 -4.04931794e-03 7.18763787e+01] [ 4.92323208e-03 3.49309399e-05 9.99987880e-01 7.11673487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.870281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:161.78, Y:71.90, Z:0.71 [[ 5.72223789e-01 -8.20092738e-01 -2.79948447e-03 1.61777447e+02] [ 8.20082738e-01 5.72230636e-01 -4.04997773e-03 7.18971845e+01] [ 4.92330810e-03 2.16847156e-05 9.99987880e-01 7.13777586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.900281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:161.79, Y:71.92, Z:0.71 [[ 5.71748465e-01 -8.20424195e-01 -2.79876559e-03 1.61791977e+02] [ 8.20414196e-01 5.71755315e-01 -4.05047446e-03 7.19192450e+01] [ 4.92331635e-03 1.97055298e-05 9.99987880e-01 7.14165045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93028169299998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:161.81, Y:71.94, Z:0.71 [[ 5.71905962e-01 -8.20314417e-01 -2.79783245e-03 1.61805957e+02] [ 8.20304414e-01 5.71912805e-01 -4.05111892e-03 7.19414967e+01] [ 4.92330746e-03 2.17847561e-05 9.99987880e-01 7.12815721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96028169299998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:161.82, Y:71.96, Z:0.71 [[ 5.72471643e-01 -8.19919749e-01 -2.79690191e-03 1.61818912e+02] [ 8.19909738e-01 5.72478475e-01 -4.05176126e-03 7.19636653e+01] [ 4.92328522e-03 2.63113066e-05 9.99987880e-01 7.10616519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.990281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:161.83, Y:71.99, Z:0.72 [[ 5.70516712e-01 -8.21281233e-01 -2.79616074e-03 1.61834003e+02] [ 8.21271236e-01 5.70523563e-01 -4.05227269e-03 7.19850770e+01] [ 4.92333109e-03 1.54829035e-05 9.99987880e-01 7.15823254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.020281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:161.85, Y:72.01, Z:0.72 [[ 5.68099510e-01 -8.22955122e-01 -2.79524586e-03 1.61849275e+02] [ 8.22945142e-01 5.68106387e-01 -4.05290367e-03 7.20062478e+01] [ 4.92335486e-03 2.11858503e-06 9.99987880e-01 7.16833193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.050281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:161.86, Y:72.03, Z:0.71 [[ 5.62452873e-01 -8.26824623e-01 -2.79432559e-03 1.61864239e+02] [ 8.26814687e-01 5.62459814e-01 -4.05353806e-03 7.20261579e+01] [ 4.92326093e-03 -3.04653048e-05 9.99987880e-01 7.14010704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.080281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:161.88, Y:72.05, Z:0.71 [[ 5.59825527e-01 -8.28605803e-01 -2.79336531e-03 1.61879674e+02] [ 8.28595886e-01 5.59832494e-01 -4.05419969e-03 7.20475851e+01] [ 4.92315006e-03 -4.49265243e-05 9.99987880e-01 7.13546120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.110281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:161.90, Y:72.07, Z:0.71 [[ 5.57953330e-01 -8.29867630e-01 -2.79245873e-03 1.61895140e+02] [ 8.29857726e-01 5.57960315e-01 -4.05482403e-03 7.20691133e+01] [ 4.92304837e-03 -5.49408834e-05 9.99987880e-01 7.14146106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.140281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:161.91, Y:72.09, Z:0.72 [[ 5.56971486e-01 -8.30526924e-01 -2.79155680e-03 1.61910346e+02] [ 8.30517024e-01 5.56978479e-01 -4.05544488e-03 7.20911209e+01] [ 4.92299322e-03 -5.96682851e-05 9.99987880e-01 7.16273215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.170281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:161.92, Y:72.11, Z:0.71 [[ 5.57877496e-01 -8.29918617e-01 -2.79064370e-03 1.61924859e+02] [ 8.29908707e-01 5.57884473e-01 -4.05607310e-03 7.21128762e+01] [ 4.92306738e-03 -5.31875991e-05 9.99987880e-01 7.14266099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.200281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:161.94, Y:72.13, Z:0.71 [[ 5.58098450e-01 -8.29770051e-01 -2.78973625e-03 1.61939798e+02] [ 8.29760136e-01 5.58105420e-01 -4.05669715e-03 7.21336409e+01] [ 4.92309272e-03 -5.07755415e-05 9.99987880e-01 7.13107683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.230281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:161.96, Y:72.15, Z:0.71 [[ 5.59474916e-01 -8.28842591e-01 -2.78879020e-03 1.61955279e+02] [ 8.28832661e-01 5.59481865e-01 -4.05734741e-03 7.21547645e+01] [ 4.92317988e-03 -4.14563053e-05 9.99987880e-01 7.14599386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.260281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:161.97, Y:72.18, Z:0.72 [[ 5.60544480e-01 -8.28119625e-01 -2.78788185e-03 1.61968591e+02] [ 8.28109684e-01 5.60551411e-01 -4.05797146e-03 7.21762135e+01] [ 4.92323691e-03 -3.39984608e-05 9.99987880e-01 7.15780540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.290281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:161.98, Y:72.20, Z:0.72 [[ 5.62281337e-01 -8.26941311e-01 -2.78693390e-03 1.61981088e+02] [ 8.26931351e-01 5.62288243e-01 -4.05862239e-03 7.21997554e+01] [ 4.92330268e-03 -2.25153926e-05 9.99987880e-01 7.15721670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.320281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:162.00, Y:72.22, Z:0.72 [[ 5.61955949e-01 -8.27162469e-01 -2.78602542e-03 1.61995068e+02] [ 8.27152509e-01 5.61962854e-01 -4.05924591e-03 7.22208209e+01] [ 4.92329867e-03 -2.33505324e-05 9.99987880e-01 7.15853899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.350281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:162.01, Y:72.24, Z:0.72 [[ 5.58780233e-01 -8.29311097e-01 -2.78507492e-03 1.62011055e+02] [ 8.29301160e-01 5.58787172e-01 -4.05989795e-03 7.22420164e+01] [ 4.92318256e-03 -4.10751385e-05 9.99987880e-01 7.18487599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.380281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:162.03, Y:72.26, Z:0.72 [[ 5.56187159e-01 -8.31052401e-01 -2.78416522e-03 1.62026081e+02] [ 8.31042483e-01 5.56194125e-01 -4.06052170e-03 7.22620689e+01] [ 4.92304265e-03 -5.53495492e-05 9.99987880e-01 7.19264548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.410281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:162.04, Y:72.28, Z:0.72 [[ 5.51063803e-01 -8.34458469e-01 -2.78344448e-03 1.62043707e+02] [ 8.34448592e-01 5.51070826e-01 -4.06101571e-03 7.22824326e+01] [ 4.92262400e-03 -8.47625621e-05 9.99987880e-01 7.20085151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.440281693 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:162.06, Y:72.30, Z:0.72 [[ 5.49080269e-01 -8.35764989e-01 -2.78251266e-03 1.62060089e+02] [ 8.35755124e-01 5.49087311e-01 -4.06165406e-03 7.23022340e+01] [ 4.92243066e-03 -9.53251093e-05 9.99987880e-01 7.18865802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.470281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:162.08, Y:72.32, Z:0.71 [[ 5.46680962e-01 -8.37336365e-01 -2.78177032e-03 1.62079361e+02] [ 8.37326518e-01 5.46688029e-01 -4.06216242e-03 7.23209564e+01] [ 4.92215684e-03 -1.08543199e-04 9.99987880e-01 7.14199915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.500281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:162.09, Y:72.34, Z:0.71 [[ 5.45964308e-01 -8.37803820e-01 -2.78089845e-03 1.62094489e+02] [ 8.37793977e-01 5.45971379e-01 -4.06275920e-03 7.23399741e+01] [ 4.92208614e-03 -1.11698461e-04 9.99987880e-01 7.13860899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.530281693 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:162.11, Y:72.36, Z:0.72 [[ 5.46030062e-01 -8.37760970e-01 -2.77989737e-03 1.62110354e+02] [ 8.37751123e-01 5.46037127e-01 -4.06344406e-03 7.23605183e+01] [ 4.92212202e-03 -1.10099527e-04 9.99987880e-01 7.15358287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.560281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:162.13, Y:72.38, Z:0.72 [[ 5.48631398e-01 -8.36059726e-01 -2.77901394e-03 1.62127315e+02] [ 8.36049854e-01 5.48638429e-01 -4.06404816e-03 7.23796156e+01] [ 4.92246083e-03 -9.37297747e-05 9.99987880e-01 7.20748158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.590281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:162.15, Y:72.40, Z:0.72 [[ 5.50738256e-01 -8.34673383e-01 -2.77809155e-03 1.62145130e+02] [ 8.34663490e-01 5.50745257e-01 -4.06467858e-03 7.23987121e+01] [ 4.92269977e-03 -8.01975968e-05 9.99987880e-01 7.21710217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.620281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:162.16, Y:72.42, Z:0.72 [[ 5.50973537e-01 -8.34518094e-01 -2.77713606e-03 1.62160275e+02] [ 8.34508196e-01 5.50980530e-01 -4.06533130e-03 7.24178084e+01] [ 4.92274043e-03 -7.76528373e-05 9.99987880e-01 7.20236251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.650281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:162.18, Y:72.44, Z:0.72 [[ 5.51170914e-01 -8.34387749e-01 -2.77632487e-03 1.62175740e+02] [ 8.34377846e-01 5.51177901e-01 -4.06588521e-03 7.24375859e+01] [ 4.92277372e-03 -7.55062931e-05 9.99987880e-01 7.17281741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68028169299998 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:162.19, Y:72.46, Z:0.72 [[ 5.50804583e-01 -8.34629624e-01 -2.77537727e-03 1.62189440e+02] [ 8.34619721e-01 5.50811569e-01 -4.06653194e-03 7.24578473e+01] [ 4.92275794e-03 -7.65201687e-05 9.99987880e-01 7.16002522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71028169299998 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:162.20, Y:72.48, Z:0.72 [[ 5.50702718e-01 -8.34696842e-01 -2.77457096e-03 1.62204976e+02] [ 8.34686937e-01 5.50709702e-01 -4.06708201e-03 7.24793321e+01] [ 4.92276366e-03 -7.61450241e-05 9.99987880e-01 7.16846307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.740281693 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:162.22, Y:72.50, Z:0.72 [[ 5.51337476e-01 -8.34277708e-01 -2.77365966e-03 1.62220167e+02] [ 8.34267795e-01 5.51344448e-01 -4.06770340e-03 7.25007312e+01] [ 4.92283612e-03 -7.12975975e-05 9.99987880e-01 7.17972145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.770281693 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:162.23, Y:72.52, Z:0.72 [[ 5.54182946e-01 -8.32390278e-01 -2.77274960e-03 1.62233914e+02] [ 8.32380337e-01 5.54189880e-01 -4.06832364e-03 7.25214796e+01] [ 4.92306282e-03 -5.33866695e-05 9.99987880e-01 7.17834615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.800281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:162.25, Y:72.54, Z:0.72 [[ 5.55918118e-01 -8.31232436e-01 -2.77179940e-03 1.62246793e+02] [ 8.31222478e-01 5.55925026e-01 -4.06897092e-03 7.25433336e+01] [ 4.92317327e-03 -4.19673122e-05 9.99987880e-01 7.18150227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.830281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:162.26, Y:72.57, Z:0.72 [[ 5.60171426e-01 -8.28372075e-01 -2.77086973e-03 1.62258623e+02] [ 8.28362079e-01 5.60178279e-01 -4.06960391e-03 7.25655377e+01] [ 4.92332728e-03 -1.56075829e-05 9.99987880e-01 7.17446361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.860281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:162.27, Y:72.59, Z:0.72 [[ 5.62336797e-01 -8.26903655e-01 -2.76993727e-03 1.62272541e+02] [ 8.26893638e-01 5.62343619e-01 -4.07023848e-03 7.25874774e+01] [ 4.92335163e-03 -1.59864089e-06 9.99987880e-01 7.17827304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.890281693 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:162.29, Y:72.61, Z:0.72 [[ 5.65100891e-01 -8.25017161e-01 -2.76898431e-03 1.62285292e+02] [ 8.25007117e-01 5.65107675e-01 -4.07088668e-03 7.26090002e+01] [ 4.92332565e-03 1.60299312e-05 9.99987880e-01 7.15510362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.920281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:162.30, Y:72.63, Z:0.72 [[ 5.65216405e-01 -8.24938030e-01 -2.76798549e-03 1.62298423e+02] [ 8.24927982e-01 5.65223183e-01 -4.07156571e-03 7.26313013e+01] [ 4.92331896e-03 1.79270423e-05 9.99987880e-01 7.15739253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.950281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:162.31, Y:72.65, Z:0.72 [[ 5.64003915e-01 -8.25767477e-01 -2.76709676e-03 1.62312557e+02] [ 8.25757437e-01 5.64010703e-01 -4.07216961e-03 7.26536856e+01] [ 4.92333742e-03 1.17688737e-05 9.99987880e-01 7.17442476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.980281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:162.33, Y:72.67, Z:0.72 [[ 5.62921860e-01 -8.26505492e-01 -2.76617690e-03 1.62328142e+02] [ 8.26495457e-01 5.62928656e-01 -4.07279437e-03 7.26743273e+01] [ 4.92334716e-03 6.43233479e-06 9.99987880e-01 7.18159808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.010281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:162.35, Y:72.69, Z:0.72 [[ 5.60841748e-01 -8.27918406e-01 -2.76526383e-03 1.62345822e+02] [ 8.27908385e-01 5.60848565e-01 -4.07341421e-03 7.26943759e+01] [ 4.92334885e-03 -4.84436408e-06 9.99987880e-01 7.17115304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.040281693 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:162.36, Y:72.71, Z:0.72 [[ 5.60054965e-01 -8.28450840e-01 -2.76435205e-03 1.62360672e+02] [ 8.28440823e-01 5.60061787e-01 -4.07403288e-03 7.27148721e+01] [ 4.92334391e-03 -8.41973779e-06 9.99987880e-01 7.16811246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.070281693 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:162.38, Y:72.73, Z:0.72 [[ 5.59739267e-01 -8.28664176e-01 -2.76339680e-03 1.62375533e+02] [ 8.28654158e-01 5.59746088e-01 -4.07468072e-03 7.27340161e+01] [ 4.92334249e-03 -9.14145210e-06 9.99987880e-01 7.20177438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.100281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:162.39, Y:72.75, Z:0.72 [[ 5.61428001e-01 -8.27520977e-01 -2.76256508e-03 1.62393800e+02] [ 8.27510942e-01 5.61434798e-01 -4.07524453e-03 7.27538025e+01] [ 4.92335051e-03 1.90355698e-06 9.99987880e-01 7.22529833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.130281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:162.41, Y:72.77, Z:0.72 [[ 5.62285601e-01 -8.26938496e-01 -2.76164071e-03 1.62410430e+02] [ 8.26928452e-01 5.62292382e-01 -4.07587085e-03 7.27746232e+01] [ 4.92334404e-03 8.12421603e-06 9.99987880e-01 7.21694793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.160281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:162.43, Y:72.80, Z:0.72 [[ 5.63307138e-01 -8.26242971e-01 -2.76071699e-03 1.62426723e+02] [ 8.26232914e-01 5.63313903e-01 -4.07649642e-03 7.27955759e+01] [ 4.92332677e-03 1.53242890e-05 9.99987880e-01 7.20915715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.190281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:162.44, Y:72.82, Z:0.72 [[ 5.65551689e-01 -8.24708234e-01 -2.75975568e-03 1.62442227e+02] [ 8.24698156e-01 5.65558422e-01 -4.07714711e-03 7.28152988e+01] [ 4.92325986e-03 2.98720199e-05 9.99987880e-01 7.23476062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.220281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:162.46, Y:72.84, Z:0.72 [[ 5.68473338e-01 -8.22697061e-01 -2.75875264e-03 1.62457056e+02] [ 8.22686956e-01 5.68480030e-01 -4.07782569e-03 7.28360148e+01] [ 4.92311100e-03 4.85453688e-05 9.99987880e-01 7.24693333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.250281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:162.47, Y:72.86, Z:0.73 [[ 5.69803612e-01 -8.21776269e-01 -2.75802513e-03 1.62471085e+02] [ 8.21766151e-01 5.69810284e-01 -4.07831769e-03 7.28578259e+01] [ 4.92301577e-03 5.73884546e-05 9.99987880e-01 7.25824555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.280281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:162.48, Y:72.88, Z:0.73 [[ 5.71191875e-01 -8.20811939e-01 -2.75711098e-03 1.62483648e+02] [ 8.20801807e-01 5.71198526e-01 -4.07893560e-03 7.28815358e+01] [ 4.92289676e-03 6.68131997e-05 9.99987880e-01 7.27879267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.310281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:162.50, Y:72.90, Z:0.73 [[ 5.71048406e-01 -8.20911762e-01 -2.75618076e-03 1.62497298e+02] [ 8.20901628e-01 5.71055054e-01 -4.07956406e-03 7.29040412e+01] [ 4.92289307e-03 6.70752806e-05 9.99987880e-01 7.27761683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.340281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:162.51, Y:72.93, Z:0.73 [[ 5.69407676e-01 -8.22050672e-01 -2.75524779e-03 1.62512279e+02] [ 8.22040548e-01 5.69414339e-01 -4.08019407e-03 7.29258325e+01] [ 4.92300387e-03 5.83684190e-05 9.99987880e-01 7.25422740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.370281693 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:162.53, Y:72.95, Z:0.72 [[ 5.67349157e-01 -8.23472737e-01 -2.75431059e-03 1.62527630e+02] [ 8.23462627e-01 5.67355840e-01 -4.08082662e-03 7.29468299e+01] [ 4.92312366e-03 4.71817149e-05 9.99987880e-01 7.21793521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.400281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:162.54, Y:72.97, Z:0.72 [[ 5.66256272e-01 -8.24224637e-01 -2.75337522e-03 1.62541595e+02] [ 8.24214533e-01 5.66262965e-01 -4.08145763e-03 7.29683650e+01] [ 4.92317235e-03 4.17791134e-05 9.99987880e-01 7.20479930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43028169299998 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:162.56, Y:72.99, Z:0.72 [[ 5.66069723e-01 -8.24352772e-01 -2.75239738e-03 1.62556343e+02] [ 8.24342666e-01 5.66076413e-01 -4.08211694e-03 7.29907702e+01] [ 4.92317165e-03 4.18442114e-05 9.99987880e-01 7.20611938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46028169299998 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:162.57, Y:73.01, Z:0.72 [[ 5.65321627e-01 -8.24865982e-01 -2.75147338e-03 1.62570912e+02] [ 8.24855879e-01 5.65328321e-01 -4.08273965e-03 7.30127668e+01] [ 4.92319888e-03 3.84920315e-05 9.99987880e-01 7.20844100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.490281693 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:162.59, Y:73.04, Z:0.72 [[ 5.63571580e-01 -8.26062654e-01 -2.75054777e-03 1.62585088e+02] [ 8.26052562e-01 5.63578292e-01 -4.08336314e-03 7.30353235e+01] [ 4.92326281e-03 2.91703861e-05 9.99987880e-01 7.24614239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.520281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:162.60, Y:73.06, Z:0.73 [[ 5.62668337e-01 -8.26678161e-01 -2.74961931e-03 1.62598662e+02] [ 8.26668073e-01 5.62675055e-01 -4.08398825e-03 7.30567190e+01] [ 4.92328609e-03 2.49083806e-05 9.99987880e-01 7.25057704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.550281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:162.61, Y:73.08, Z:0.72 [[ 5.60886709e-01 -8.27888003e-01 -2.74864595e-03 1.62612780e+02] [ 8.27877926e-01 5.60893443e-01 -4.08464324e-03 7.30772618e+01] [ 4.92332462e-03 1.54787900e-05 9.99987880e-01 7.21258865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.580281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:162.63, Y:73.10, Z:0.72 [[ 5.59486885e-01 -8.28834648e-01 -2.74782084e-03 1.62628103e+02] [ 8.28824581e-01 5.59493633e-01 -4.08519823e-03 7.30984060e+01] [ 4.92334211e-03 8.15338114e-06 9.99987880e-01 7.19842507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.610281693 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:162.64, Y:73.12, Z:0.72 [[ 5.55703065e-01 -8.31376303e-01 -2.74690733e-03 1.62644395e+02] [ 8.31366264e-01 5.55709854e-01 -4.08581239e-03 7.31192016e+01] [ 4.92333107e-03 -1.31876171e-05 9.99987880e-01 7.22024183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.640281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:162.66, Y:73.14, Z:0.73 [[ 5.52504168e-01 -8.33505611e-01 -2.74596870e-03 1.62660940e+02] [ 8.33495594e-01 5.52510991e-01 -4.08644312e-03 7.31399915e+01] [ 4.92325116e-03 -3.09759533e-05 9.99987880e-01 7.26025789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.670281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:162.68, Y:73.16, Z:0.73 [[ 5.51939068e-01 -8.33879925e-01 -2.74503187e-03 1.62675446e+02] [ 8.33869910e-01 5.51945894e-01 -4.08707233e-03 7.31603355e+01] [ 4.92323664e-03 -3.31845856e-05 9.99987880e-01 7.26540017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.700281693 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:162.69, Y:73.18, Z:0.73 [[ 5.53462704e-01 -8.32869440e-01 -2.74428424e-03 1.62688420e+02] [ 8.32859410e-01 5.53469507e-01 -4.08757427e-03 7.31817067e+01] [ 4.92329334e-03 -2.32830435e-05 9.99987880e-01 7.27692410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.730281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:162.70, Y:73.20, Z:0.73 [[ 5.54937368e-01 -8.31887608e-01 -2.74331471e-03 1.62700800e+02] [ 8.31877562e-01 5.54944149e-01 -4.08822485e-03 7.32040449e+01] [ 4.92333004e-03 -1.33932188e-05 9.99987880e-01 7.27518419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.760281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:162.71, Y:73.23, Z:0.73 [[ 5.59255703e-01 -8.28990674e-01 -2.74233449e-03 1.62710744e+02] [ 8.28980590e-01 5.59262427e-01 -4.08888227e-03 7.32291677e+01] [ 4.92332991e-03 1.33886666e-05 9.99987880e-01 7.28520997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.790281693 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:162.72, Y:73.25, Z:0.73 [[ 5.61209319e-01 -8.27669370e-01 -2.74138917e-03 1.62721683e+02] [ 8.27659267e-01 5.61216013e-01 -4.08951596e-03 7.32528549e+01] [ 4.92327860e-03 2.61383146e-05 9.99987880e-01 7.29254855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.820281693 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:162.73, Y:73.28, Z:0.73 [[ 5.64015189e-01 -8.25759867e-01 -2.74040023e-03 1.62729723e+02] [ 8.25749738e-01 5.64021844e-01 -4.09017854e-03 7.32786432e+01] [ 4.92315088e-03 4.40380505e-05 9.99987880e-01 7.30828707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.850281693 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:162.74, Y:73.30, Z:0.73 [[ 5.63759858e-01 -8.25934209e-01 -2.73944156e-03 1.62741375e+02] [ 8.25924079e-01 5.63766512e-01 -4.09082052e-03 7.33013591e+01] [ 4.92315402e-03 4.36696488e-05 9.99987880e-01 7.30589150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.880281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:162.75, Y:73.33, Z:0.73 [[ 5.59962947e-01 -8.28513125e-01 -2.73867926e-03 1.62750849e+02] [ 8.28503023e-01 5.59969644e-01 -4.09133080e-03 7.33256768e+01] [ 4.92329851e-03 2.19896058e-05 9.99987880e-01 7.26311296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.910281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:162.76, Y:73.35, Z:0.72 [[ 5.57170813e-01 -8.30393395e-01 -2.73770566e-03 1.62762664e+02] [ 8.30383312e-01 5.57177539e-01 -4.09198217e-03 7.33488148e+01] [ 4.92334307e-03 6.58793788e-06 9.99987880e-01 7.23823478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.940281693 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:162.77, Y:73.37, Z:0.73 [[ 5.51478262e-01 -8.34184774e-01 -2.73673443e-03 1.62772848e+02] [ 8.34174734e-01 5.51485052e-01 -4.09263163e-03 7.33733118e+01] [ 4.92327912e-03 -2.59173421e-05 9.99987880e-01 7.25199018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.970281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:162.79, Y:73.40, Z:0.73 [[ 5.48726578e-01 -8.35997403e-01 -2.73576652e-03 1.62785614e+02] [ 8.35987383e-01 5.48733397e-01 -4.09327854e-03 7.33965967e+01] [ 4.92317668e-03 -4.09755719e-05 9.99987880e-01 7.26490525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.000281693 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:162.80, Y:73.42, Z:0.73 [[ 5.43370065e-01 -8.39488829e-01 -2.73480490e-03 1.62796341e+02] [ 8.39478849e-01 5.43376943e-01 -4.09392091e-03 7.34193186e+01] [ 4.92283080e-03 -7.12967997e-05 9.99987880e-01 7.25255709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.030281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:162.81, Y:73.44, Z:0.73 [[ 5.40705241e-01 -8.41207685e-01 -2.73380313e-03 1.62809914e+02] [ 8.41197724e-01 5.40712145e-01 -4.09458976e-03 7.34414283e+01] [ 4.92260093e-03 -8.57028237e-05 9.99987880e-01 7.25272470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.060281693 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:162.83, Y:73.46, Z:0.73 [[ 5.36449366e-01 -8.43928083e-01 -2.73289757e-03 1.62825122e+02] [ 8.43918154e-01 5.36456316e-01 -4.09519408e-03 7.34633228e+01] [ 4.92212945e-03 -1.09477610e-04 9.99987880e-01 7.27170723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.090281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:162.84, Y:73.48, Z:0.73 [[ 5.34735754e-01 -8.45014917e-01 -2.73197075e-03 1.62840410e+02] [ 8.45004999e-01 5.34742719e-01 -4.09581228e-03 7.34844938e+01] [ 4.92192395e-03 -1.18351673e-04 9.99987880e-01 7.27665292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.120281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:162.86, Y:73.50, Z:0.73 [[ 5.32960673e-01 -8.46135606e-01 -2.73103458e-03 1.62856675e+02] [ 8.46125699e-01 5.32967655e-01 -4.09643642e-03 7.35046003e+01] [ 4.92169380e-03 -1.27559034e-04 9.99987880e-01 7.25327361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.150281693 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:162.87, Y:73.53, Z:0.72 [[ 5.32454372e-01 -8.46454304e-01 -2.73005383e-03 1.62871263e+02] [ 8.46444398e-01 5.32461355e-01 -4.09708993e-03 7.35262603e+01] [ 4.92164756e-03 -1.29325321e-04 9.99987880e-01 7.24217237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18028169299998 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:162.88, Y:73.55, Z:0.72 [[ 5.33155695e-01 -8.46012740e-01 -2.72912416e-03 1.62884969e+02] [ 8.46002826e-01 5.33162665e-01 -4.09770910e-03 7.35480335e+01] [ 4.92178121e-03 -1.24129810e-04 9.99987880e-01 7.23284652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21028169299998 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:162.90, Y:73.57, Z:0.72 [[ 5.34415475e-01 -8.45217520e-01 -2.72820172e-03 1.62900590e+02] [ 8.45207592e-01 5.34422426e-01 -4.09832316e-03 7.35695239e+01] [ 4.92198672e-03 -1.15689488e-04 9.99987880e-01 7.23246373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.240281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:162.92, Y:73.59, Z:0.72 [[ 5.34326150e-01 -8.45273996e-01 -2.72727097e-03 1.62916016e+02] [ 8.45264065e-01 5.34333098e-01 -4.09894244e-03 7.35905949e+01] [ 4.92200060e-03 -1.15092009e-04 9.99987880e-01 7.24556572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.270281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:162.93, Y:73.61, Z:0.73 [[ 5.32069279e-01 -8.46696432e-01 -2.72638695e-03 1.62933089e+02] [ 8.46686517e-01 5.32076249e-01 -4.09953036e-03 7.36099111e+01] [ 4.92170347e-03 -1.27160909e-04 9.99987880e-01 7.29685180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.300281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:162.95, Y:73.63, Z:0.73 [[ 5.30138247e-01 -8.47906841e-01 -2.72540953e-03 1.62949539e+02] [ 8.47896939e-01 5.30145235e-01 -4.10018005e-03 7.36304099e+01] [ 4.92143359e-03 -1.37204134e-04 9.99987880e-01 7.31683365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.330281693 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:162.97, Y:73.65, Z:0.73 [[ 5.27977873e-01 -8.49253756e-01 -2.72449222e-03 1.62965647e+02] [ 8.49243869e-01 5.27984881e-01 -4.10078950e-03 7.36507431e+01] [ 4.92110159e-03 -1.48632197e-04 9.99987880e-01 7.32229346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.360281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:162.98, Y:73.67, Z:0.73 [[ 5.24914334e-01 -8.51150706e-01 -2.72357900e-03 1.62983601e+02] [ 8.51140841e-01 5.24921373e-01 -4.10139593e-03 7.36703728e+01] [ 4.92057087e-03 -1.65267805e-04 9.99987880e-01 7.31297162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.390281693 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:163.00, Y:73.69, Z:0.73 [[ 5.24128575e-01 -8.51634795e-01 -2.72266980e-03 1.63000315e+02] [ 8.51624933e-01 5.24135620e-01 -4.10199941e-03 7.36912017e+01] [ 4.92045364e-03 -1.68718379e-04 9.99987880e-01 7.31472902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.420281693 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:163.02, Y:73.71, Z:0.73 [[ 5.24190456e-01 -8.51596711e-01 -2.72175831e-03 1.63018800e+02] [ 8.51586845e-01 5.24197495e-01 -4.10260411e-03 7.37092815e+01] [ 4.92050305e-03 -1.67267654e-04 9.99987880e-01 7.29202657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.450281693 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:163.04, Y:73.73, Z:0.73 [[ 5.24735568e-01 -8.51260936e-01 -2.72080932e-03 1.63037758e+02] [ 8.51251062e-01 5.24742597e-01 -4.10323337e-03 7.37266217e+01] [ 4.92064683e-03 -1.62979329e-04 9.99987880e-01 7.30333094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.480281693 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:163.05, Y:73.75, Z:0.73 [[ 5.24759990e-01 -8.51245885e-01 -2.71977561e-03 1.63054587e+02] [ 8.51236007e-01 5.24767013e-01 -4.10391844e-03 7.37450917e+01] [ 4.92069220e-03 -1.61598732e-04 9.99987880e-01 7.30376791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.510281693 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:163.07, Y:73.76, Z:0.73 [[ 5.24896517e-01 -8.51161709e-01 -2.71874737e-03 1.63072112e+02] [ 8.51151827e-01 5.24903534e-01 -4.10459951e-03 7.37636663e+01] [ 4.92075804e-03 -1.59576802e-04 9.99987880e-01 7.29431035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.540281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:163.09, Y:73.78, Z:0.73 [[ 5.26718107e-01 -8.50035676e-01 -2.71776585e-03 1.63092825e+02] [ 8.50025775e-01 5.26725098e-01 -4.10524930e-03 7.37818666e+01] [ 4.92112384e-03 -1.47861880e-04 9.99987880e-01 7.28564207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.570281693 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:163.11, Y:73.80, Z:0.73 [[ 5.31957821e-01 -8.46766494e-01 -2.71683028e-03 1.63110038e+02] [ 8.46756547e-01 5.31964746e-01 -4.10586836e-03 7.38011526e+01] [ 4.92196969e-03 -1.16345035e-04 9.99987880e-01 7.27658411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.600281693 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:163.13, Y:73.82, Z:0.73 [[ 5.34844435e-01 -8.44946185e-01 -2.71585001e-03 1.63125299e+02] [ 8.44936211e-01 5.34851321e-01 -4.10651666e-03 7.38221766e+01] [ 4.92236155e-03 -9.83724342e-05 9.99987880e-01 7.25641175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.630281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:163.14, Y:73.84, Z:0.72 [[ 5.40528901e-01 -8.41321066e-01 -2.71487817e-03 1.63141606e+02] [ 8.41311044e-01 5.40535715e-01 -4.10715906e-03 7.38429919e+01] [ 4.92292805e-03 -6.40188127e-05 9.99987880e-01 7.22544430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.660281693 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:163.16, Y:73.86, Z:0.72 [[ 5.42803498e-01 -8.39855343e-01 -2.71394880e-03 1.63156815e+02] [ 8.39845299e-01 5.42810280e-01 -4.10777308e-03 7.38636456e+01] [ 4.92309448e-03 -4.95835490e-05 9.99987880e-01 7.22399456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.690281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:163.17, Y:73.88, Z:0.72 [[ 5.44654695e-01 -8.38656010e-01 -2.71297383e-03 1.63172181e+02] [ 8.38645948e-01 5.44661450e-01 -4.10841690e-03 7.38848033e+01] [ 4.92320078e-03 -3.75559584e-05 9.99987880e-01 7.24531473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.720281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:163.19, Y:73.90, Z:0.73 [[ 5.46476000e-01 -8.37470373e-01 -2.71204675e-03 1.63188151e+02] [ 8.37460293e-01 5.46482729e-01 -4.10902879e-03 7.39049190e+01] [ 4.92327658e-03 -2.57458511e-05 9.99987880e-01 7.27138790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.750281693 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:163.20, Y:73.92, Z:0.72 [[ 5.45290602e-01 -8.38242691e-01 -2.71107883e-03 1.63203626e+02] [ 8.38232617e-01 5.45297341e-01 -4.10966731e-03 7.39245518e+01] [ 4.92324266e-03 -3.15517367e-05 9.99987880e-01 7.24598599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.780281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:163.22, Y:73.94, Z:0.72 [[ 5.44944884e-01 -8.38467488e-01 -2.71022752e-03 1.63218827e+02] [ 8.38457414e-01 5.44951622e-01 -4.11022865e-03 7.39449470e+01] [ 4.92323598e-03 -3.25622818e-05 9.99987880e-01 7.23026801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.810281693 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:163.23, Y:73.96, Z:0.72 [[ 5.44842058e-01 -8.38534312e-01 -2.70921917e-03 1.63233482e+02] [ 8.38524236e-01 5.44848792e-01 -4.11089319e-03 7.39641778e+01] [ 4.92323979e-03 -3.19584261e-05 9.99987880e-01 7.20769100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.840281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:163.25, Y:73.99, Z:0.72 [[ 5.44537040e-01 -8.38732423e-01 -2.70817086e-03 1.63246885e+02] [ 8.38722346e-01 5.44543774e-01 -4.11158368e-03 7.39862859e+01] [ 4.92323612e-03 -3.24938080e-05 9.99987880e-01 7.22095755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.870281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:163.26, Y:74.01, Z:0.72 [[ 5.44445983e-01 -8.38791537e-01 -2.70724146e-03 1.63259747e+02] [ 8.38781457e-01 5.44452713e-01 -4.11219554e-03 7.40071829e+01] [ 4.92323978e-03 -3.19155971e-05 9.99987880e-01 7.24324524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.900281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:163.28, Y:74.03, Z:0.72 [[ 5.44011483e-01 -8.39073407e-01 -2.70636774e-03 1.63275359e+02] [ 8.39063328e-01 5.44018213e-01 -4.11277049e-03 7.40284714e+01] [ 4.92322969e-03 -3.34195568e-05 9.99987880e-01 7.24931787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93028169299998 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:163.29, Y:74.05, Z:0.73 [[ 5.42485918e-01 -8.40060539e-01 -2.70543422e-03 1.63291614e+02] [ 8.40050469e-01 5.42492663e-01 -4.11338448e-03 7.40481667e+01] [ 4.92317019e-03 -4.12481280e-05 9.99987880e-01 7.27690579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96028169299998 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:163.30, Y:74.07, Z:0.73 [[ 5.41844767e-01 -8.40474232e-01 -2.70445876e-03 1.63304485e+02] [ 8.40464164e-01 5.41851514e-01 -4.11402572e-03 7.40689125e+01] [ 4.92314768e-03 -4.38373582e-05 9.99987880e-01 7.29247976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.990281693 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:163.32, Y:74.09, Z:0.73 [[ 5.42198301e-01 -8.40246210e-01 -2.70340965e-03 1.63316475e+02] [ 8.40236136e-01 5.42205039e-01 -4.11471500e-03 7.40920411e+01] [ 4.92317602e-03 -4.05109977e-05 9.99987880e-01 7.29795541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.020281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:163.33, Y:74.11, Z:0.73 [[ 5.42864925e-01 -8.39815676e-01 -2.70244541e-03 1.63329649e+02] [ 8.39805594e-01 5.42871650e-01 -4.11534819e-03 7.41137145e+01] [ 4.92321492e-03 -3.54505885e-05 9.99987880e-01 7.30172927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.050281693 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:163.34, Y:74.14, Z:0.73 [[ 5.45171433e-01 -8.38320232e-01 -2.70143839e-03 1.63342022e+02] [ 8.38310127e-01 5.45178126e-01 -4.11600912e-03 7.41361331e+01] [ 4.92329884e-03 -2.07125720e-05 9.99987880e-01 7.29283942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.080281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:163.35, Y:74.16, Z:0.73 [[ 5.46029084e-01 -8.37761868e-01 -2.70043460e-03 1.63354595e+02] [ 8.37751753e-01 5.46035762e-01 -4.11666759e-03 7.41593208e+01] [ 4.92332099e-03 -1.44735864e-05 9.99987880e-01 7.28578733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.110281693 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:163.36, Y:74.18, Z:0.73 [[ 5.46784391e-01 -8.37269098e-01 -2.69948335e-03 1.63364657e+02] [ 8.37258975e-01 5.46791054e-01 -4.11729127e-03 7.41842627e+01] [ 4.92333409e-03 -8.89606195e-06 9.99987880e-01 7.26608129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.140281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:163.38, Y:74.21, Z:0.73 [[ 5.46812255e-01 -8.37250903e-01 -2.69853164e-03 1.63376358e+02] [ 8.37240777e-01 5.46818914e-01 -4.11791494e-03 7.42063208e+01] [ 4.92333614e-03 -7.59437291e-06 9.99987880e-01 7.26386540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.170281693 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:163.39, Y:74.23, Z:0.73 [[ 5.44977616e-01 -8.38446254e-01 -2.69753376e-03 1.63388450e+02] [ 8.38436139e-01 5.44984292e-01 -4.11856851e-03 7.42299436e+01] [ 4.92331187e-03 -1.71821460e-05 9.99987880e-01 7.27258596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.200281693 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:163.40, Y:74.25, Z:0.73 [[ 5.42934580e-01 -8.39770665e-01 -2.69653794e-03 1.63401542e+02] [ 8.39760563e-01 5.42941276e-01 -4.11922040e-03 7.42519663e+01] [ 4.92326221e-03 -2.79790234e-05 9.99987880e-01 7.26257763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.230281693 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:163.41, Y:74.27, Z:0.73 [[ 5.38485528e-01 -8.42630447e-01 -2.69549695e-03 1.63414987e+02] [ 8.42620377e-01 5.38492271e-01 -4.11990148e-03 7.42732579e+01] [ 4.92305871e-03 -5.27733352e-05 9.99987880e-01 7.28537051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.260281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:163.43, Y:74.30, Z:0.73 [[ 5.35718568e-01 -8.44392299e-01 -2.69452145e-03 1.63429858e+02] [ 8.44382248e-01 5.35725340e-01 -4.12053939e-03 7.42953968e+01] [ 4.92287515e-03 -6.77566195e-05 9.99987880e-01 7.29903431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.290281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:163.45, Y:74.32, Z:0.73 [[ 5.30497647e-01 -8.47682129e-01 -2.69355151e-03 1.63446167e+02] [ 8.47672116e-01 5.30504476e-01 -4.12117333e-03 7.43152308e+01] [ 4.92238611e-03 -9.69757498e-05 9.99987880e-01 7.28208183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.320281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:163.46, Y:74.34, Z:0.73 [[ 5.27956053e-01 -8.49267423e-01 -2.69254645e-03 1.63462759e+02] [ 8.49257428e-01 5.27962908e-01 -4.12182987e-03 7.43362941e+01] [ 4.92210049e-03 -1.10520041e-04 9.99987880e-01 7.25761854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.350281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:163.48, Y:74.36, Z:0.73 [[ 5.27755077e-01 -8.49392333e-01 -2.69156936e-03 1.63477194e+02] [ 8.49382336e-01 5.27761929e-01 -4.12246782e-03 7.43589108e+01] [ 4.92210039e-03 -1.10518148e-04 9.99987880e-01 7.25893864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.380281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:163.50, Y:74.38, Z:0.72 [[ 5.23834720e-01 -8.51815677e-01 -2.69059370e-03 1.63497925e+02] [ 8.51805708e-01 5.23841613e-01 -4.12310450e-03 7.43752878e+01] [ 4.92156999e-03 -1.32037779e-04 9.99987880e-01 7.20934069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.410281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:163.52, Y:74.39, Z:0.72 [[ 5.22486309e-01 -8.52643432e-01 -2.68957461e-03 1.63515720e+02] [ 8.52633471e-01 5.22493213e-01 -4.12376916e-03 7.43934103e+01] [ 4.92138917e-03 -1.38608404e-04 9.99987880e-01 7.22807420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.440281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:163.54, Y:74.41, Z:0.73 [[ 5.22190004e-01 -8.52824936e-01 -2.68855992e-03 1.63538460e+02] [ 8.52814974e-01 5.22196906e-01 -4.12443060e-03 7.44089507e+01] [ 4.92137494e-03 -1.39107727e-04 9.99987880e-01 7.30553724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.470281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:163.56, Y:74.43, Z:0.73 [[ 5.22958173e-01 -8.52354109e-01 -2.68753763e-03 1.63557513e+02] [ 8.52344137e-01 5.22965061e-01 -4.12509663e-03 7.44281315e+01] [ 4.92153135e-03 -1.33453948e-04 9.99987880e-01 7.31358562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.500281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:163.58, Y:74.44, Z:0.73 [[ 5.27217611e-01 -8.49726057e-01 -2.68657563e-03 1.63581599e+02] [ 8.49716048e-01 5.27224445e-01 -4.12572307e-03 7.44422269e+01] [ 4.92216274e-03 -1.07672566e-04 9.99987880e-01 7.27720650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.530281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:163.60, Y:74.46, Z:0.73 [[ 5.30064879e-01 -8.47952836e-01 -2.68561703e-03 1.63599420e+02] [ 8.47942800e-01 5.30071675e-01 -4.12634696e-03 7.44597477e+01] [ 4.92251713e-03 -9.00180253e-05 9.99987880e-01 7.27408132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.560281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:163.62, Y:74.48, Z:0.73 [[ 5.37482468e-01 -8.43270651e-01 -2.68454408e-03 1.63622261e+02] [ 8.43260553e-01 5.37489170e-01 -4.12704489e-03 7.44766780e+01] [ 4.92312920e-03 -4.55558568e-05 9.99987880e-01 7.31310975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.590281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:163.64, Y:74.49, Z:0.73 [[ 5.41781761e-01 -8.40514915e-01 -2.68359630e-03 1.63638551e+02] [ 8.40504780e-01 5.41788407e-01 -4.12766110e-03 7.44948337e+01] [ 4.92330208e-03 -1.92840166e-05 9.99987880e-01 7.33333267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.620281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:163.66, Y:74.51, Z:0.74 [[ 5.51463542e-01 -8.34194681e-01 -2.68250892e-03 1.63657319e+02] [ 8.34184466e-01 5.51470065e-01 -4.12836765e-03 7.45141016e+01] [ 4.92318570e-03 3.89369767e-05 9.99987880e-01 7.35647315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.650281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:163.67, Y:74.53, Z:0.74 [[ 5.56459755e-01 -8.30870237e-01 -2.68157087e-03 1.63672151e+02] [ 8.30859980e-01 5.56466212e-01 -4.12897686e-03 7.45345195e+01] [ 4.92284757e-03 6.95995312e-05 9.99987880e-01 7.35825802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68028169299998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:163.69, Y:74.56, Z:0.73 [[ 5.65948457e-01 -8.24436267e-01 -2.68059304e-03 1.63686706e+02] [ 8.24425934e-01 5.65954791e-01 -4.12961159e-03 7.45564192e+01] [ 4.92169604e-03 1.27196882e-04 9.99987880e-01 7.34537983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71028169299998 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:163.70, Y:74.58, Z:0.73 [[ 5.69821353e-01 -8.21764227e-01 -2.67967213e-03 1.63700161e+02] [ 8.21753862e-01 5.69827633e-01 -4.13020907e-03 7.45796175e+01] [ 4.92100929e-03 1.51450398e-04 9.99987880e-01 7.33077199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.740281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:163.71, Y:74.60, Z:0.73 [[ 5.73230749e-01 -8.19389610e-01 -2.67873302e-03 1.63712353e+02] [ 8.19379216e-01 5.73236982e-01 -4.13081806e-03 7.46029469e+01] [ 4.92029823e-03 1.73013770e-04 9.99987880e-01 7.31663858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.770281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:163.72, Y:74.63, Z:0.73 [[ 5.78884862e-01 -8.15404897e-01 -2.67779163e-03 1.63721002e+02] [ 8.15394457e-01 5.78891018e-01 -4.13142823e-03 7.46275064e+01] [ 4.91893633e-03 2.08164810e-04 9.99987880e-01 7.29693570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.800281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:163.73, Y:74.65, Z:0.73 [[ 5.80419336e-01 -8.14313347e-01 -2.67703982e-03 1.63732100e+02] [ 8.14302894e-01 5.80425469e-01 -4.13191532e-03 7.46516919e+01] [ 4.91849589e-03 2.18322275e-04 9.99987880e-01 7.30166148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.830281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:163.74, Y:74.68, Z:0.73 [[ 5.81949409e-01 -8.13220588e-01 -2.67611001e-03 1.63738493e+02] [ 8.13210120e-01 5.81955517e-01 -4.13251744e-03 7.46781899e+01] [ 4.91802524e-03 2.28676333e-04 9.99987880e-01 7.33745333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.860281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:163.75, Y:74.70, Z:0.74 [[ 5.82338862e-01 -8.12941753e-01 -2.67513923e-03 1.63748093e+02] [ 8.12931279e-01 5.82344960e-01 -4.13314577e-03 7.47029337e+01] [ 4.91786061e-03 2.32187045e-04 9.99987880e-01 7.36717858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.890281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:163.75, Y:74.73, Z:0.74 [[ 5.81705361e-01 -8.13395181e-01 -2.67420704e-03 1.63754524e+02] [ 8.13384710e-01 5.81711463e-01 -4.13374882e-03 7.47313679e+01] [ 4.91798826e-03 2.29464731e-04 9.99987880e-01 7.40856919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.920281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:163.77, Y:74.76, Z:0.74 [[ 5.80658181e-01 -8.14143064e-01 -2.67338631e-03 1.63765370e+02] [ 8.14132598e-01 5.80664292e-01 -4.13427954e-03 7.47556840e+01] [ 4.91823498e-03 2.24112300e-04 9.99987880e-01 7.41150310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.950281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:163.77, Y:74.78, Z:0.74 [[ 5.77692157e-01 -8.16250347e-01 -2.67246869e-03 1.63771861e+02] [ 8.16239900e-01 5.77698302e-01 -4.13487262e-03 7.47811602e+01] [ 4.91897183e-03 2.07307908e-04 9.99987880e-01 7.37274123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.980281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:163.78, Y:74.81, Z:0.74 [[ 5.75491291e-01 -8.17803544e-01 -2.67153339e-03 1.63782762e+02] [ 8.17793111e-01 5.75497458e-01 -4.13547682e-03 7.48054473e+01] [ 4.91946828e-03 1.95169289e-04 9.99987880e-01 7.35281668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.010281693 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:163.79, Y:74.83, Z:0.73 [[ 5.70838774e-01 -8.21057831e-01 -2.67058367e-03 1.63791046e+02] [ 8.21047431e-01 5.70844996e-01 -4.13609004e-03 7.48302206e+01] [ 4.92045844e-03 1.68364707e-04 9.99987880e-01 7.33037984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.040281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:163.80, Y:74.85, Z:0.73 [[ 5.68483384e-01 -8.22690412e-01 -2.66982641e-03 1.63802866e+02] [ 8.22680027e-01 5.68489632e-01 -4.13657879e-03 7.48540631e+01] [ 4.92089234e-03 1.55163448e-04 9.99987880e-01 7.34131350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.070281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:163.81, Y:74.88, Z:0.74 [[ 5.65397516e-01 -8.24814237e-01 -2.66887074e-03 1.63810900e+02] [ 8.24803873e-01 5.65403798e-01 -4.13719528e-03 7.48785768e+01] [ 4.92140722e-03 1.37865017e-04 9.99987880e-01 7.36075391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.100281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:163.82, Y:74.90, Z:0.74 [[ 5.64634983e-01 -8.25336428e-01 -2.66786889e-03 1.63821782e+02] [ 8.25326066e-01 5.64641269e-01 -4.13784123e-03 7.49028933e+01] [ 4.92149997e-03 1.34508176e-04 9.99987880e-01 7.37737325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.130281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:163.83, Y:74.93, Z:0.74 [[ 5.64417833e-01 -8.25484947e-01 -2.66692916e-03 1.63830847e+02] [ 8.25474584e-01 5.64424118e-01 -4.13844681e-03 7.49284002e+01] [ 4.92150468e-03 1.34330937e-04 9.99987880e-01 7.38331354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.160281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:163.84, Y:74.95, Z:0.74 [[ 5.63778033e-01 -8.25922044e-01 -2.66598835e-03 1.63842054e+02] [ 8.25911683e-01 5.63784321e-01 -4.13905279e-03 7.49508803e+01] [ 4.92157737e-03 1.31636114e-04 9.99987880e-01 7.36941673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.190281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:163.85, Y:74.98, Z:0.74 [[ 5.61914363e-01 -8.27191118e-01 -2.66523907e-03 1.63851922e+02] [ 8.27180769e-01 5.61920671e-01 -4.13953522e-03 7.49752500e+01] [ 4.92183969e-03 1.21429796e-04 9.99987880e-01 7.35119098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.220281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:163.86, Y:75.00, Z:0.73 [[ 5.60673910e-01 -8.28032408e-01 -2.66431470e-03 1.63864898e+02] [ 8.28022065e-01 5.60680229e-01 -4.14013008e-03 7.49978971e+01] [ 4.92199045e-03 1.15151564e-04 9.99987880e-01 7.34890882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.250281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:163.88, Y:75.02, Z:0.73 [[ 5.57464554e-01 -8.30196469e-01 -2.66338271e-03 1.63879273e+02] [ 8.30186149e-01 5.57470908e-01 -4.14072955e-03 7.50186621e+01] [ 4.92237743e-03 9.72065187e-05 9.99987880e-01 7.34253216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.280281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:163.89, Y:75.04, Z:0.74 [[ 5.55719760e-01 -8.31365419e-01 -2.66240666e-03 1.63893502e+02] [ 8.31355109e-01 5.55726131e-01 -4.14135704e-03 7.50401605e+01] [ 4.92254998e-03 8.80285609e-05 9.99987880e-01 7.35394379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.310281693 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:163.91, Y:75.06, Z:0.74 [[ 5.53820268e-01 -8.32631988e-01 -2.66143711e-03 1.63905814e+02] [ 8.32621690e-01 5.53826657e-01 -4.14198002e-03 7.50637249e+01] [ 4.92271988e-03 7.79422154e-05 9.99987880e-01 7.37125353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.340281693 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:163.92, Y:75.09, Z:0.74 [[ 5.54072327e-01 -8.32464280e-01 -2.66051394e-03 1.63918525e+02] [ 8.32453977e-01 5.54078709e-01 -4.14257292e-03 7.50866097e+01] [ 4.92267811e-03 8.05296066e-05 9.99987880e-01 7.36344872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.370281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:163.93, Y:75.11, Z:0.74 [[ 5.56619485e-01 -8.30763309e-01 -2.65959406e-03 1.63930053e+02] [ 8.30752983e-01 5.56625831e-01 -4.14316341e-03 7.51089040e+01] [ 4.92238690e-03 9.66997881e-05 9.99987880e-01 7.36233751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.400281693 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:163.94, Y:75.13, Z:0.74 [[ 5.57821560e-01 -8.29956649e-01 -2.65863454e-03 1.63942670e+02] [ 8.29946311e-01 5.57827886e-01 -4.14377903e-03 7.51316621e+01] [ 4.92221744e-03 1.04965357e-04 9.99987880e-01 7.36409792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43028169299998 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:163.95, Y:75.16, Z:0.74 [[ 5.60081390e-01 -8.28433324e-01 -2.65772519e-03 1.63952719e+02] [ 8.28422967e-01 5.60087683e-01 -4.14436219e-03 7.51561139e+01] [ 4.92188689e-03 1.19459549e-04 9.99987880e-01 7.35788251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46028169299998 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:163.96, Y:75.18, Z:0.74 [[ 5.60976043e-01 -8.27827772e-01 -2.65682042e-03 1.63963099e+02] [ 8.27817405e-01 5.60982320e-01 -4.14494213e-03 7.51792476e+01] [ 4.92172749e-03 1.25851046e-04 9.99987880e-01 7.35163938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.490281693 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:163.97, Y:75.20, Z:0.74 [[ 5.62008565e-01 -8.27127148e-01 -2.65587388e-03 1.63970828e+02] [ 8.27116770e-01 5.62014825e-01 -4.14554853e-03 7.52045167e+01] [ 4.92153623e-03 1.33115960e-04 9.99987880e-01 7.35044851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.520281693 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:163.98, Y:75.23, Z:0.74 [[ 5.61629181e-01 -8.27384804e-01 -2.65493284e-03 1.63981775e+02] [ 8.27374426e-01 5.61635441e-01 -4.14615112e-03 7.52283048e+01] [ 4.92156681e-03 1.31975924e-04 9.99987880e-01 7.37490449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.550281693 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:163.99, Y:75.25, Z:0.74 [[ 5.59400038e-01 -8.28893572e-01 -2.65399610e-03 1.63991392e+02] [ 8.28883208e-01 5.59406321e-01 -4.14675064e-03 7.52522433e+01] [ 4.92187715e-03 1.19839664e-04 9.99987880e-01 7.39050935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.580281693 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:164.00, Y:75.28, Z:0.74 [[ 5.57715469e-01 -8.30027962e-01 -2.65301696e-03 1.64003471e+02] [ 8.30017608e-01 5.57721768e-01 -4.14737699e-03 7.52751034e+01] [ 4.92208418e-03 1.11005513e-04 9.99987880e-01 7.38825263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.610281693 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:164.02, Y:75.30, Z:0.74 [[ 5.56047510e-01 -8.31146277e-01 -2.65206907e-03 1.64015803e+02] [ 8.31135932e-01 5.56053825e-01 -4.14798303e-03 7.52975936e+01] [ 4.92227381e-03 1.02245737e-04 9.99987880e-01 7.39293745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.640281693 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:164.03, Y:75.32, Z:0.74 [[ 5.53163885e-01 -8.33068237e-01 -2.65109605e-03 1.64026954e+02] [ 8.33057912e-01 5.53170231e-01 -4.14860483e-03 7.53212954e+01] [ 4.92257832e-03 8.63418287e-05 9.99987880e-01 7.41407919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.670281693 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:164.04, Y:75.34, Z:0.74 [[ 5.51233987e-01 -8.34346492e-01 -2.65012089e-03 1.64036861e+02] [ 8.34336178e-01 5.51240352e-01 -4.14922766e-03 7.53449878e+01] [ 4.92274712e-03 7.61035772e-05 9.99987880e-01 7.41885951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.700281693 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:164.05, Y:75.37, Z:0.74 [[ 5.50201146e-01 -8.35027952e-01 -2.64909719e-03 1.64049166e+02] [ 8.35017643e-01 5.50207519e-01 -4.14988115e-03 7.53689073e+01] [ 4.92281995e-03 7.12264743e-05 9.99987880e-01 7.41733089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.730281693 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:164.06, Y:75.39, Z:0.74 [[ 5.49325942e-01 -8.35603972e-01 -2.64811006e-03 1.64061517e+02] [ 8.35593666e-01 5.49332320e-01 -4.15051096e-03 7.53915552e+01] [ 4.92287588e-03 6.72393475e-05 9.99987880e-01 7.39480539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.760281693 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:164.07, Y:75.41, Z:0.74 [[ 5.48371184e-01 -8.36230851e-01 -2.64732405e-03 1.64074864e+02] [ 8.36220551e-01 5.48377571e-01 -4.15101224e-03 7.54133621e+01] [ 4.92293763e-03 6.25487229e-05 9.99987880e-01 7.35890094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.790281693 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:164.09, Y:75.44, Z:0.74 [[ 5.46616329e-01 -8.37378998e-01 -2.64634438e-03 1.64087207e+02] [ 8.37368708e-01 5.46622732e-01 -4.15163670e-03 7.54363663e+01] [ 4.92304537e-03 5.33864386e-05 9.99987880e-01 7.37661033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.820281693 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:164.10, Y:75.46, Z:0.74 [[ 5.45303758e-01 -8.38234343e-01 -2.64539924e-03 1.64100160e+02] [ 8.38224060e-01 5.45310173e-01 -4.15223885e-03 7.54595942e+01] [ 4.92311232e-03 4.67941630e-05 9.99987880e-01 7.39132982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.850281693 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:164.11, Y:75.48, Z:0.74 [[ 5.43862929e-01 -8.39169900e-01 -2.64443466e-03 1.64113731e+02] [ 8.39159625e-01 5.43869357e-01 -4.15285307e-03 7.54815461e+01] [ 4.92317627e-03 3.94800324e-05 9.99987880e-01 7.40525390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.880281693 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:164.13, Y:75.50, Z:0.74 [[ 5.40986079e-01 -8.41027392e-01 -2.64341517e-03 1.64129640e+02] [ 8.41017136e-01 5.40992537e-01 -4.15350191e-03 7.55016667e+01] [ 4.92327676e-03 2.38292521e-05 9.99987880e-01 7.40890623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.910281693 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:164.14, Y:75.52, Z:0.74 [[ 5.39329217e-01 -8.42090858e-01 -2.64240275e-03 1.64144477e+02] [ 8.42080612e-01 5.39335690e-01 -4.15414589e-03 7.55235988e+01] [ 4.92331039e-03 1.53361243e-05 9.99987880e-01 7.41692801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.940281693 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:164.16, Y:75.55, Z:0.74 [[ 5.36271290e-01 -8.44041543e-01 -2.64143225e-03 1.64158768e+02] [ 8.44031317e-01 5.36277795e-01 -4.15476290e-03 7.55456455e+01] [ 4.92333395e-03 -1.37147786e-06 9.99987880e-01 7.40396499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.970281693 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:164.17, Y:75.57, Z:0.74 [[ 5.34697981e-01 -8.45039110e-01 -2.64045688e-03 1.64173102e+02] [ 8.45028893e-01 5.34704500e-01 -4.15538268e-03 7.55664877e+01] [ 4.92332506e-03 -9.38762936e-06 9.99987880e-01 7.39386854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.000281693 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:164.19, Y:75.58, Z:0.74 [[ 5.32386839e-01 -8.46497068e-01 -2.63967909e-03 1.64191534e+02] [ 8.46486866e-01 5.32393383e-01 -4.15587671e-03 7.55848177e+01] [ 4.92328513e-03 -2.19196207e-05 9.99987880e-01 7.37354568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.030281693 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:164.21, Y:75.60, Z:0.74 [[ 5.31691106e-01 -8.46934239e-01 -2.63868288e-03 1.64208828e+02] [ 8.46924040e-01 5.31697653e-01 -4.15650913e-03 7.56046689e+01] [ 4.92327139e-03 -2.47850265e-05 9.99987880e-01 7.36023117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.060281693 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:164.22, Y:75.63, Z:0.74 [[ 5.31972719e-01 -8.46757385e-01 -2.63774252e-03 1.64223274e+02] [ 8.46747180e-01 5.31979258e-01 -4.15710580e-03 7.56263857e+01] [ 4.92328435e-03 -2.20341663e-05 9.99987880e-01 7.36751973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.090281693 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:164.24, Y:75.65, Z:0.74 [[ 5.32715042e-01 -8.46290572e-01 -2.63680832e-03 1.64237519e+02] [ 8.46280359e-01 5.32721567e-01 -4.15769827e-03 7.56479087e+01] [ 4.92330551e-03 -1.66106832e-05 9.99987880e-01 7.38407767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.120281693 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:164.25, Y:75.67, Z:0.74 [[ 5.34214571e-01 -8.45344808e-01 -2.63582677e-03 1.64253438e+02] [ 8.45334581e-01 5.34221073e-01 -4.15832044e-03 7.56685776e+01] [ 4.92332881e-03 -6.72014673e-06 9.99987880e-01 7.40078565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.150281693 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:164.27, Y:75.69, Z:0.74 [[ 5.34112510e-01 -8.45409300e-01 -2.63489758e-03 1.64269207e+02] [ 8.45399070e-01 5.34119009e-01 -4.15890914e-03 7.56902800e+01] [ 4.92332935e-03 -6.21456556e-06 9.99987880e-01 7.42276325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18028169299998 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:164.29, Y:75.71, Z:0.74 [[ 5.32832077e-01 -8.46216899e-01 -2.63394415e-03 1.64287101e+02] [ 8.46206676e-01 5.32838587e-01 -4.15951288e-03 7.57090730e+01] [ 4.92331717e-03 -1.25392391e-05 9.99987880e-01 7.43852962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21028169299998 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:164.31, Y:75.73, Z:0.74 [[ 5.30431095e-01 -8.47723965e-01 -2.63295004e-03 1.64308623e+02] [ 8.47713758e-01 5.30437629e-01 -4.16014206e-03 7.57271661e+01] [ 4.92326789e-03 -2.53192638e-05 9.99987880e-01 7.42759815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.240281693 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:164.32, Y:75.75, Z:0.74 [[ 5.30238625e-01 -8.47844369e-01 -2.63200788e-03 1.64322706e+02] [ 8.47834160e-01 5.30245157e-01 -4.16073805e-03 7.57499974e+01] [ 4.92326775e-03 -2.53221638e-05 9.99987880e-01 7.42891826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.270281693 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:164.34, Y:75.77, Z:0.74 [[ 5.29046519e-01 -8.48588745e-01 -2.63106313e-03 1.64340567e+02] [ 8.48578542e-01 5.29053061e-01 -4.16133538e-03 7.57702267e+01] [ 4.92323437e-03 -3.11237132e-05 9.99987880e-01 7.43696378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.300281693 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:164.36, Y:75.79, Z:0.75 [[ 5.28624181e-01 -8.48851905e-01 -2.63012232e-03 1.64358313e+02] [ 8.48841703e-01 5.28630723e-01 -4.16192992e-03 7.57905578e+01] [ 4.92322561e-03 -3.24607150e-05 9.99987880e-01 7.45020474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.330281693 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:164.38, Y:75.81, Z:0.75 [[ 5.30585081e-01 -8.47627607e-01 -2.62917747e-03 1.64375276e+02] [ 8.47617386e-01 5.30591594e-01 -4.16252671e-03 7.58086535e+01] [ 4.92329203e-03 -1.99619656e-05 9.99987880e-01 7.45081519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.360281693 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:164.39, Y:75.83, Z:0.74 [[ 5.33072971e-01 -8.46065187e-01 -2.62809419e-03 1.64389998e+02] [ 8.46054944e-01 5.33079450e-01 -4.16321056e-03 7.58307227e+01] [ 4.92333052e-03 -4.21705801e-06 9.99987880e-01 7.44809051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.390281693 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:164.40, Y:75.85, Z:0.74 [[ 5.40565664e-01 -8.41297724e-01 -2.62711174e-03 1.64402823e+02] [ 8.41287421e-01 5.40572047e-01 -4.16383042e-03 7.58528711e+01] [ 4.92316423e-03 4.06676979e-05 9.99987880e-01 7.43857367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.420281693 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:164.41, Y:75.88, Z:0.74 [[ 5.48011062e-01 -8.36466963e-01 -2.62608739e-03 1.64412636e+02] [ 8.36456600e-01 5.48017347e-01 -4.16447637e-03 7.58753756e+01] [ 4.92258834e-03 8.55709854e-05 9.99987880e-01 7.43667128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.450281693 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:164.42, Y:75.90, Z:0.74 [[ 5.50610478e-01 -8.34758174e-01 -2.62522170e-03 1.64424879e+02] [ 8.34747790e-01 5.50616727e-01 -4.16502201e-03 7.58987216e+01] [ 4.92227715e-03 1.01906755e-04 9.99987880e-01 7.43226804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.480281693 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:164.44, Y:75.92, Z:0.75 [[ 5.52282676e-01 -8.33652781e-01 -2.62430631e-03 1.64436366e+02] [ 8.33642381e-01 5.52288900e-01 -4.16559870e-03 7.59228079e+01] [ 4.92203819e-03 1.12855036e-04 9.99987880e-01 7.45330544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.510281693 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:164.44, Y:75.95, Z:0.75 [[ 5.54314025e-01 -8.32303478e-01 -2.62330709e-03 1.64443477e+02] [ 8.32293060e-01 5.54320218e-01 -4.16622787e-03 7.59480235e+01] [ 4.92171811e-03 1.26038258e-04 9.99987880e-01 7.49984115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.540281693 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:164.45, Y:75.97, Z:0.75 [[ 5.54373264e-01 -8.32264025e-01 -2.62251163e-03 1.64453810e+02] [ 8.32253604e-01 5.54379452e-01 -4.16672853e-03 7.59716478e+01] [ 4.92168482e-03 1.27328141e-04 9.99987880e-01 7.50460471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.570281693 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:164.46, Y:76.00, Z:0.75 [[ 5.53191436e-01 -8.33050036e-01 -2.62153296e-03 1.64460551e+02] [ 8.33039621e-01 5.53197634e-01 -4.16734418e-03 7.59961192e+01] [ 4.92183205e-03 1.21498286e-04 9.99987880e-01 7.46924438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.600281693 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:164.47, Y:76.02, Z:0.75 [[ 5.51714430e-01 -8.34028968e-01 -2.62070423e-03 1.64470380e+02] [ 8.34018562e-01 5.51720643e-01 -4.16786527e-03 7.60207438e+01] [ 4.92201699e-03 1.13755440e-04 9.99987880e-01 7.45747495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.630281693 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:164.48, Y:76.05, Z:0.74 [[ 5.48866578e-01 -8.35905866e-01 -2.61972736e-03 1.64477063e+02] [ 8.35895478e-01 5.48872821e-01 -4.16847920e-03 7.60464507e+01] [ 4.92235336e-03 9.81206565e-05 9.99987880e-01 7.42881167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.660281693 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:164.49, Y:76.07, Z:0.74 [[ 5.47331022e-01 -8.36912119e-01 -2.61870586e-03 1.64488580e+02] [ 8.36901739e-01 5.47337279e-01 -4.16912082e-03 7.60699636e+01] [ 4.92250308e-03 9.02896709e-05 9.99987880e-01 7.42129164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.690281693 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:164.50, Y:76.09, Z:0.74 [[ 5.44795930e-01 -8.38564572e-01 -2.61774232e-03 1.64499122e+02] [ 8.38554209e-01 5.44802214e-01 -4.16972573e-03 7.60940815e+01] [ 4.92273608e-03 7.65307649e-05 9.99987880e-01 7.38630497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.720281693 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:164.51, Y:76.12, Z:0.74 [[ 5.43833302e-01 -8.39189187e-01 -2.61678105e-03 1.64509941e+02] [ 8.39178828e-01 5.43839593e-01 -4.17032891e-03 7.61176198e+01] [ 4.92280406e-03 7.20164876e-05 9.99987880e-01 7.36569969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.750281693 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:164.52, Y:76.14, Z:0.74 [[ 5.44676213e-01 -8.38642344e-01 -2.61577579e-03 1.64516830e+02] [ 8.38631975e-01 5.44682488e-01 -4.17095934e-03 7.61427684e+01] [ 4.92271039e-03 7.81491176e-05 9.99987880e-01 7.41063717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.780281693 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:164.53, Y:76.17, Z:0.74 [[ 5.45259711e-01 -8.38263091e-01 -2.61494383e-03 1.64526541e+02] [ 8.38252716e-01 5.45265975e-01 -4.17148087e-03 7.61672848e+01] [ 4.92263834e-03 8.25566810e-05 9.99987880e-01 7.42077161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.810281693 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:164.54, Y:76.19, Z:0.74 [[ 5.45734061e-01 -8.37954356e-01 -2.61398021e-03 1.64536099e+02] [ 8.37943974e-01 5.45740314e-01 -4.17208461e-03 7.61923187e+01] [ 4.92257086e-03 8.64797131e-05 9.99987880e-01 7.42899601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.840281693 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:164.54, Y:76.22, Z:0.74 [[ 5.45200369e-01 -8.38301694e-01 -2.61302745e-03 1.64540365e+02] [ 8.38291313e-01 5.45206625e-01 -4.17268126e-03 7.62211954e+01] [ 4.92260564e-03 8.44691539e-05 9.99987880e-01 7.44961540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.870281693 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:164.55, Y:76.25, Z:0.75 [[ 5.41553833e-01 -8.40662015e-01 -2.61202999e-03 1.64546991e+02] [ 8.40651659e-01 5.41560128e-01 -4.17330556e-03 7.62473074e+01] [ 4.92291075e-03 6.42622771e-05 9.99987880e-01 7.48404763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.900281693 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:164.56, Y:76.27, Z:0.75 [[ 5.38081032e-01 -8.42889071e-01 -2.61098684e-03 1.64557258e+02] [ 8.42878737e-01 5.38087365e-01 -4.17395809e-03 7.62705795e+01] [ 4.92312268e-03 4.51823812e-05 9.99987880e-01 7.50215695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93028169299998 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:164.57, Y:76.30, Z:0.75 [[ 5.28447206e-01 -8.48962154e-01 -2.61002863e-03 1.64565894e+02] [ 8.48951890e-01 5.28453652e-01 -4.17455718e-03 7.62960588e+01] [ 4.92332022e-03 -9.75566075e-06 9.99987880e-01 7.48500453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96028169299998 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:164.58, Y:76.32, Z:0.75 [[ 5.22809808e-01 -8.52445364e-01 -2.60904862e-03 1.64576993e+02] [ 8.52435140e-01 5.22816316e-01 -4.17516959e-03 7.63187472e+01] [ 4.92315715e-03 -4.12251204e-05 9.99987880e-01 7.47233999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.990281693 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:164.59, Y:76.34, Z:0.75 [[ 5.17325505e-01 -8.55784739e-01 -2.60803420e-03 1.64589305e+02] [ 8.55774554e-01 5.17332074e-01 -4.17580315e-03 7.63405560e+01] [ 4.92280835e-03 -7.16398299e-05 9.99987880e-01 7.47164509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.020281693 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:164.60, Y:76.36, Z:0.75 [[ 5.07312003e-01 -8.61758513e-01 -2.60729363e-03 1.64604093e+02] [ 8.61748402e-01 5.07318686e-01 -4.17626550e-03 7.63628568e+01] [ 4.92166112e-03 -1.28161501e-04 9.99987880e-01 7.51684602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.050281693 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:164.62, Y:76.38, Z:0.75 [[ 5.02934789e-01 -8.64320430e-01 -2.60633657e-03 1.64619129e+02] [ 8.64310351e-01 5.02941519e-01 -4.17686270e-03 7.63848355e+01] [ 4.92098264e-03 -1.51994112e-04 9.99987880e-01 7.53162581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.080281693 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:164.64, Y:76.40, Z:0.75 [[ 4.96050768e-01 -8.68289610e-01 -2.60536646e-03 1.64636751e+02] [ 8.68279582e-01 4.96057574e-01 -4.17746773e-03 7.64037536e+01] [ 4.91966359e-03 -1.89950420e-04 9.99987880e-01 7.50085140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.110281693 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:164.65, Y:76.42, Z:0.75 [[ 4.92554513e-01 -8.70277697e-01 -2.60435416e-03 1.64654094e+02] [ 8.70267692e-01 4.92561354e-01 -4.17809873e-03 7.64235035e+01] [ 4.91891035e-03 -2.08543898e-04 9.99987880e-01 7.47641913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.140281693 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:164.68, Y:76.44, Z:0.74 [[ 4.86717340e-01 -8.73555639e-01 -2.60340365e-03 1.64677898e+02] [ 8.73545677e-01 4.86724243e-01 -4.17869092e-03 7.64382731e+01] [ 4.91745868e-03 -2.40350679e-04 9.99987880e-01 7.44016908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.170281693 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:164.70, Y:76.46, Z:0.74 [[ 4.85000588e-01 -8.74509953e-01 -2.60240805e-03 1.64696686e+02] [ 8.74500001e-01 4.85007506e-01 -4.17931087e-03 7.64560136e+01] [ 4.91703638e-03 -2.48837616e-04 9.99987880e-01 7.43069015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.200281693 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:164.72, Y:76.47, Z:0.74 [[ 4.84404331e-01 -8.74840372e-01 -2.60144618e-03 1.64721010e+02] [ 8.74830422e-01 4.84411252e-01 -4.17990950e-03 7.64702471e+01] [ 4.91692338e-03 -2.51057995e-04 9.99987880e-01 7.41996991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.230281693 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:164.74, Y:76.49, Z:0.74 [[ 4.85460692e-01 -8.74254628e-01 -2.60043020e-03 1.64739576e+02] [ 8.74244666e-01 4.85467596e-01 -4.18054148e-03 7.64892569e+01] [ 4.91728233e-03 -2.43923671e-04 9.99987880e-01 7.41597289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.260281693 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:164.76, Y:76.50, Z:0.74 [[ 4.90551394e-01 -8.71408385e-01 -2.59950519e-03 1.64762207e+02] [ 8.71398380e-01 4.90558234e-01 -4.18111658e-03 7.65041297e+01] [ 4.91866872e-03 -2.14152050e-04 9.99987880e-01 7.40458727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.290281693 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:164.79, Y:76.52, Z:0.74 [[ 4.97806405e-01 -8.67284285e-01 -2.59844189e-03 1.64785029e+02] [ 8.67274220e-01 4.97813157e-01 -4.18177728e-03 7.65202780e+01] [ 4.92032828e-03 -1.71846143e-04 9.99987880e-01 7.42566075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.320281693 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:164.80, Y:76.54, Z:0.74 [[ 5.01598176e-01 -8.65096829e-01 -2.59742275e-03 1.64802556e+02] [ 8.65086732e-01 5.01604879e-01 -4.18241021e-03 7.65395593e+01] [ 4.92106973e-03 -1.49106626e-04 9.99987880e-01 7.44401738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.350281693 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:164.82, Y:76.56, Z:0.75 [[ 5.05380121e-01 -8.62892920e-01 -2.59640037e-03 1.64819170e+02] [ 8.62882790e-01 5.05386775e-01 -4.18304479e-03 7.65586078e+01] [ 4.92170615e-03 -1.26361512e-04 9.99987880e-01 7.46006356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.380281693 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:164.84, Y:76.58, Z:0.74 [[ 5.13231801e-01 -8.58246108e-01 -2.59533347e-03 1.64838024e+02] [ 8.58235915e-01 5.13238357e-01 -4.18370663e-03 7.65777958e+01] [ 4.92267462e-03 -8.01971068e-05 9.99987880e-01 7.44670329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.410281693 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:164.85, Y:76.60, Z:0.74 [[ 5.16647817e-01 -8.56194080e-01 -2.59441590e-03 1.64853013e+02] [ 8.56183857e-01 5.16654328e-01 -4.18427556e-03 7.65977665e+01] [ 4.92296817e-03 -5.95001822e-05 9.99987880e-01 7.41948908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.440281693 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:164.87, Y:76.62, Z:0.74 [[ 5.21449768e-01 -8.53278040e-01 -2.59340139e-03 1.64868658e+02] [ 8.53267778e-01 5.21456216e-01 -4.18490426e-03 7.66165928e+01] [ 4.92323218e-03 -3.06484833e-05 9.99987880e-01 7.42477155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.470281693 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:164.88, Y:76.64, Z:0.75 [[ 5.24067475e-01 -8.51672802e-01 -2.59233442e-03 1.64884473e+02] [ 8.51662517e-01 5.24073887e-01 -4.18556509e-03 7.66380258e+01] [ 4.92330672e-03 -1.42755212e-05 9.99987880e-01 7.48122804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.500281693 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:164.90, Y:76.66, Z:0.75 [[ 5.24511292e-01 -8.51399547e-01 -2.59137840e-03 1.64899035e+02] [ 8.51389256e-01 5.24517693e-01 -4.18615690e-03 7.66590216e+01] [ 4.92331591e-03 -1.05851634e-05 9.99987880e-01 7.49565825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.530281693 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:164.91, Y:76.68, Z:0.75 [[ 5.24526511e-01 -8.51390174e-01 -2.59037898e-03 1.64913981e+02] [ 8.51379880e-01 5.24532908e-01 -4.18677525e-03 7.66800089e+01] [ 4.92331832e-03 -9.32192605e-06 9.99987880e-01 7.50082004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.560281693 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:164.93, Y:76.70, Z:0.75 [[ 5.24095828e-01 -8.51655364e-01 -2.58933224e-03 1.64930663e+02] [ 8.51645069e-01 5.24102224e-01 -4.18742251e-03 7.67000969e+01] [ 4.92331562e-03 -1.05813649e-05 9.99987880e-01 7.50704650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.590281693 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:164.94, Y:76.72, Z:0.75 [[ 5.23723337e-01 -8.51884480e-01 -2.58828735e-03 1.64944529e+02] [ 8.51874185e-01 5.23729733e-01 -4.18806827e-03 7.67204395e+01] [ 4.92331340e-03 -1.15060856e-05 9.99987880e-01 7.50745944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.620281693 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:164.96, Y:76.74, Z:0.75 [[ 5.24217670e-01 -8.51580378e-01 -2.58720283e-03 1.64959283e+02] [ 8.51570076e-01 5.24224055e-01 -4.18873812e-03 7.67397660e+01] [ 4.92332116e-03 -7.37397288e-06 9.99987880e-01 7.51433042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.650281693 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:164.97, Y:76.76, Z:0.75 [[ 5.25313048e-01 -8.50905114e-01 -2.58612872e-03 1.64973201e+02] [ 8.50894801e-01 5.25319414e-01 -4.18940118e-03 7.67615296e+01] [ 4.92332651e-03 2.23623049e-07 9.99987880e-01 7.52855563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68028169299998 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:164.99, Y:76.78, Z:0.76 [[ 5.29336598e-01 -8.48407970e-01 -2.58509636e-03 1.64985752e+02] [ 8.48397623e-01 5.29342910e-01 -4.19003810e-03 7.67828461e+01] [ 4.92326415e-03 2.47509023e-05 9.99987880e-01 7.56140975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71028169299998 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:165.00, Y:76.81, Z:0.76 [[ 5.31882886e-01 -8.46813981e-01 -2.58402809e-03 1.64998269e+02] [ 8.46803612e-01 5.31889162e-01 -4.19069681e-03 7.68053209e+01] [ 4.92315718e-03 4.07956011e-05 9.99987880e-01 7.57249684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.740281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:165.01, Y:76.83, Z:0.76 [[ 5.34390080e-01 -8.45234033e-01 -2.58301212e-03 1.65010049e+02] [ 8.45223643e-01 5.34396320e-01 -4.19132293e-03 7.68282972e+01] [ 4.92300095e-03 5.65784825e-05 9.99987880e-01 7.57300284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.770281693 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:165.02, Y:76.85, Z:0.75 [[ 5.38571661e-01 -8.42575753e-01 -2.58199477e-03 1.65017086e+02] [ 8.42565329e-01 5.38577844e-01 -4.19194955e-03 7.68530725e+01] [ 4.92264023e-03 8.21659591e-05 9.99987880e-01 7.54855558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.800281693 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:165.02, Y:76.88, Z:0.75 [[ 5.42604817e-01 -8.39984138e-01 -2.58094254e-03 1.65023257e+02] [ 8.39973681e-01 5.42610944e-01 -4.19259730e-03 7.68779173e+01] [ 4.92216290e-03 1.06999680e-04 9.99987880e-01 7.53736759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.830281693 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:165.03, Y:76.90, Z:0.75 [[ 5.44337675e-01 -8.38862229e-01 -2.57990058e-03 1.65033681e+02] [ 8.38851757e-01 5.44343776e-01 -4.19323837e-03 7.69014828e+01] [ 4.92190211e-03 1.18383497e-04 9.99987880e-01 7.54385252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.860281693 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:165.04, Y:76.93, Z:0.76 [[ 5.47330349e-01 -8.36912683e-01 -2.57891130e-03 1.65038985e+02] [ 8.36902186e-01 5.47336407e-01 -4.19384671e-03 7.69272525e+01] [ 4.92141555e-03 1.37123077e-04 9.99987880e-01 7.56185633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.890281693 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:165.05, Y:76.95, Z:0.76 [[ 5.48645049e-01 -8.36051413e-01 -2.57788112e-03 1.65046596e+02] [ 8.36040903e-01 5.48651086e-01 -4.19447985e-03 7.69523688e+01] [ 4.92115808e-03 1.46066545e-04 9.99987880e-01 7.55691348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.920281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:165.05, Y:76.98, Z:0.75 [[ 5.49819823e-01 -8.35279308e-01 -2.57690180e-03 1.65053855e+02] [ 8.35268787e-01 5.49825840e-01 -4.19508141e-03 7.69778768e+01] [ 4.92091189e-03 1.54133273e-04 9.99987880e-01 7.53833201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.950281693 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:165.06, Y:77.01, Z:0.75 [[ 5.51688166e-01 -8.34046481e-01 -2.57592349e-03 1.65055077e+02] [ 8.34035944e-01 5.51694155e-01 -4.19568204e-03 7.70057790e+01] [ 4.92051577e-03 1.66295355e-04 9.99987880e-01 7.48981213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.980281693 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:165.06, Y:77.03, Z:0.75 [[ 5.51087472e-01 -8.34443508e-01 -2.57490632e-03 1.65057801e+02] [ 8.34432973e-01 5.51093463e-01 -4.19630619e-03 7.70345035e+01] [ 4.92059450e-03 1.63945037e-04 9.99987880e-01 7.49981632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.010281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:165.07, Y:77.06, Z:0.75 [[ 5.49846214e-01 -8.35261944e-01 -2.57393874e-03 1.65066530e+02] [ 8.35251415e-01 5.49852216e-01 -4.19689960e-03 7.70597389e+01] [ 4.92079644e-03 1.57763383e-04 9.99987880e-01 7.52177567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.040281693 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:165.07, Y:77.09, Z:0.75 [[ 5.46333164e-01 -8.37564000e-01 -2.57296087e-03 1.65072578e+02] [ 8.37553493e-01 5.46339206e-01 -4.19749901e-03 7.70855310e+01] [ 4.92138346e-03 1.38240557e-04 9.99987880e-01 7.54021161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.070281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:165.08, Y:77.11, Z:0.75 [[ 5.43520691e-01 -8.39391829e-01 -2.57218216e-03 1.65082546e+02] [ 8.39381340e-01 5.43526764e-01 -4.19797614e-03 7.71095461e+01] [ 4.92179672e-03 1.22645188e-04 9.99987880e-01 7.52225546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.100281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:165.09, Y:77.13, Z:0.75 [[ 5.38162609e-01 -8.42837111e-01 -2.57118597e-03 1.65089319e+02] [ 8.42826658e-01 5.38168743e-01 -4.19858620e-03 7.71349446e+01] [ 4.92245619e-03 9.24580247e-05 9.99987880e-01 7.50017235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.130281693 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:165.10, Y:77.16, Z:0.75 [[ 5.35719172e-01 -8.44392303e-01 -2.57027062e-03 1.65100887e+02] [ 8.44381866e-01 5.35725332e-01 -4.19914648e-03 7.71577627e+01] [ 4.92268605e-03 7.92733768e-05 9.99987880e-01 7.51737710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.160281693 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:165.11, Y:77.18, Z:0.75 [[ 5.35525477e-01 -8.44515164e-01 -2.56930696e-03 1.65114125e+02] [ 8.44504725e-01 5.35531634e-01 -4.19973603e-03 7.71801140e+01] [ 4.92268592e-03 7.92737656e-05 9.99987880e-01 7.51865609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.190281693 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:165.13, Y:77.20, Z:0.75 [[ 5.33192619e-01 -8.45989973e-01 -2.56834351e-03 1.65126580e+02] [ 8.45979549e-01 5.33198800e-01 -4.20032514e-03 7.72025401e+01] [ 4.92287063e-03 6.68162843e-05 9.99987880e-01 7.53561462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.220281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:165.14, Y:77.23, Z:0.76 [[ 5.29672315e-01 -8.48198472e-01 -2.56738001e-03 1.65138166e+02] [ 8.48188070e-01 5.29678535e-01 -4.20091398e-03 7.72255050e+01] [ 4.92309490e-03 4.74867323e-05 9.99987880e-01 7.55833193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.250281693 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:165.15, Y:77.25, Z:0.76 [[ 5.28438891e-01 -8.48967462e-01 -2.56641578e-03 1.65149176e+02] [ 8.48957067e-01 5.28445121e-01 -4.20150296e-03 7.72492887e+01] [ 4.92314921e-03 4.14607485e-05 9.99987880e-01 7.56012694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.280281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:165.16, Y:77.27, Z:0.76 [[ 5.28683246e-01 -8.48815318e-01 -2.56542015e-03 1.65161389e+02] [ 8.48804917e-01 5.28689469e-01 -4.20211080e-03 7.72715571e+01] [ 4.92312664e-03 4.40443402e-05 9.99987880e-01 7.55170796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.310281693 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:165.17, Y:77.29, Z:0.75 [[ 5.29088698e-01 -8.48562652e-01 -2.56438341e-03 1.65174119e+02] [ 8.48552245e-01 5.29094910e-01 -4.20274339e-03 7.72948526e+01] [ 4.92309329e-03 4.76107244e-05 9.99987880e-01 7.54957672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.340281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:165.19, Y:77.32, Z:0.75 [[ 5.28199646e-01 -8.49116342e-01 -2.56339856e-03 1.65185104e+02] [ 8.49105939e-01 5.28205865e-01 -4.20334400e-03 7.73172994e+01] [ 4.92313024e-03 4.36078758e-05 9.99987880e-01 7.54825364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.370281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:165.20, Y:77.34, Z:0.76 [[ 5.26476036e-01 -8.50186108e-01 -2.56236707e-03 1.65197336e+02] [ 8.50175714e-01 5.26482271e-01 -4.20397271e-03 7.73399197e+01] [ 4.92320002e-03 3.48286345e-05 9.99987880e-01 7.56479490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.400281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:165.21, Y:77.36, Z:0.76 [[ 5.23464549e-01 -8.52043605e-01 -2.56140076e-03 1.65209604e+02] [ 8.52033231e-01 5.23470815e-01 -4.20456137e-03 7.73634565e+01] [ 4.92328818e-03 1.85402522e-05 9.99987880e-01 7.58635171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43028169299998 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:165.22, Y:77.39, Z:0.76 [[ 5.21874031e-01 -8.53018722e-01 -2.56043469e-03 1.65221100e+02] [ 8.53008357e-01 5.21880312e-01 -4.20514960e-03 7.73860675e+01] [ 4.92331179e-03 1.04861856e-05 9.99987880e-01 7.55507219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46028169299998 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:165.23, Y:77.41, Z:0.75 [[ 5.21348068e-01 -8.53340284e-01 -2.55942986e-03 1.65233767e+02] [ 8.53329920e-01 5.21354351e-01 -4.20576109e-03 7.74089586e+01] [ 4.92331526e-03 8.62734447e-06 9.99987880e-01 7.51489155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.490281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:165.25, Y:77.43, Z:0.75 [[ 5.20748788e-01 -8.53706129e-01 -2.55848066e-03 1.65246769e+02] [ 8.53695766e-01 5.20755073e-01 -4.20633844e-03 7.74318267e+01] [ 4.92331868e-03 6.28154200e-06 9.99987880e-01 7.46888848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.520281693 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:165.26, Y:77.45, Z:0.74 [[ 5.19601204e-01 -8.54405084e-01 -2.55753115e-03 1.65259955e+02] [ 8.54394727e-01 5.19607498e-01 -4.20691568e-03 7.74540037e+01] [ 4.92332250e-03 7.77318370e-07 9.99987880e-01 7.42119164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.550281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:165.27, Y:77.48, Z:0.75 [[ 5.17668590e-01 -8.55577405e-01 -2.55658383e-03 1.65273228e+02] [ 8.55567059e-01 5.17674903e-01 -4.20749129e-03 7.74752681e+01] [ 4.92331377e-03 -9.24282559e-06 9.99987880e-01 7.46761201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.580281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:165.29, Y:77.50, Z:0.75 [[ 5.16352833e-01 -8.56372128e-01 -2.55559731e-03 1.65287213e+02] [ 8.56361789e-01 5.16359157e-01 -4.20809041e-03 7.74975641e+01] [ 4.92329741e-03 -1.56564771e-05 9.99987880e-01 7.51391764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.610281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:165.30, Y:77.52, Z:0.75 [[ 5.15112111e-01 -8.57119004e-01 -2.55465650e-03 1.65301682e+02] [ 8.57108671e-01 5.15118446e-01 -4.20866148e-03 7.75194718e+01] [ 4.92327442e-03 -2.16857389e-05 9.99987880e-01 7.53498213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.640281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:165.32, Y:77.54, Z:0.75 [[ 5.13467260e-01 -8.58105385e-01 -2.55368419e-03 1.65317701e+02] [ 8.58095062e-01 5.13473609e-01 -4.20925137e-03 7.75399623e+01] [ 4.92323070e-03 -2.99910209e-05 9.99987880e-01 7.52482580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.670281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:165.33, Y:77.56, Z:0.75 [[ 5.12966384e-01 -8.58404900e-01 -2.55271480e-03 1.65331828e+02] [ 8.58394578e-01 5.12972735e-01 -4.20983918e-03 7.75624192e+01] [ 4.92321967e-03 -3.17305635e-05 9.99987880e-01 7.51235065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.700281693 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:165.35, Y:77.58, Z:0.75 [[ 5.13028688e-01 -8.58367668e-01 -2.55173092e-03 1.65346210e+02] [ 8.58357342e-01 5.13035033e-01 -4.21043545e-03 7.75834693e+01] [ 4.92322902e-03 -3.02227955e-05 9.99987880e-01 7.48492344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.730281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:165.36, Y:77.61, Z:0.75 [[ 5.13896808e-01 -8.57848218e-01 -2.55070612e-03 1.65360289e+02] [ 8.57837882e-01 5.13903137e-01 -4.21105619e-03 7.76053391e+01] [ 4.92326293e-03 -2.40440073e-05 9.99987880e-01 7.49264877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.760281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:165.37, Y:77.63, Z:0.75 [[ 5.16249378e-01 -8.56434515e-01 -2.54974614e-03 1.65372661e+02] [ 8.56424159e-01 5.16255675e-01 -4.21163737e-03 7.76271285e+01] [ 4.92331252e-03 -9.40901961e-06 9.99987880e-01 7.50377327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.790281693 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:165.38, Y:77.65, Z:0.75 [[ 5.16957782e-01 -8.56007100e-01 -2.54874064e-03 1.65384909e+02] [ 8.55996736e-01 5.16964065e-01 -4.21224578e-03 7.76505908e+01] [ 4.92331962e-03 -4.16042775e-06 9.99987880e-01 7.51882619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.820281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:165.40, Y:77.67, Z:0.75 [[ 5.17084564e-01 -8.55930524e-01 -2.54774336e-03 1.65396973e+02] [ 8.55920157e-01 5.17090840e-01 -4.21284889e-03 7.76727424e+01] [ 4.92332071e-03 -2.26576825e-06 9.99987880e-01 7.53705302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.850281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:165.41, Y:77.70, Z:0.76 [[ 5.15596151e-01 -8.56827942e-01 -2.54670378e-03 1.65411222e+02] [ 8.56817582e-01 5.15602441e-01 -4.21347723e-03 7.76950927e+01] [ 4.92331171e-03 -9.60792670e-06 9.99987880e-01 7.58919521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.880281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:165.42, Y:77.72, Z:0.76 [[ 5.13946259e-01 -8.57818607e-01 -2.54575365e-03 1.65424682e+02] [ 8.57808256e-01 5.13952564e-01 -4.21405121e-03 7.77170940e+01] [ 4.92328816e-03 -1.79726422e-05 9.99987880e-01 7.61277417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.910281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:165.44, Y:77.74, Z:0.76 [[ 5.10404759e-01 -8.59930524e-01 -2.54481168e-03 1.65439264e+02] [ 8.59920196e-01 5.10411102e-01 -4.21461998e-03 7.77394997e+01] [ 4.92318050e-03 -3.71728624e-05 9.99987880e-01 7.62899668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.940281693 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:165.45, Y:77.76, Z:0.76 [[ 5.08818022e-01 -8.60870344e-01 -2.54385370e-03 1.65453042e+02] [ 8.60860026e-01 5.08824379e-01 -4.21519812e-03 7.77614396e+01] [ 4.92311383e-03 -4.51331922e-05 9.99987880e-01 7.61750974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.970281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:165.47, Y:77.78, Z:0.76 [[ 5.06971744e-01 -8.61958923e-01 -2.54289807e-03 1.65466499e+02] [ 8.61948615e-01 5.06978118e-01 -4.21577454e-03 7.77824343e+01] [ 4.92301816e-03 -5.45689045e-05 9.99987880e-01 7.56186519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.000281693 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:165.48, Y:77.81, Z:0.76 [[ 5.05826829e-01 -8.62631298e-01 -2.54213622e-03 1.65479345e+02] [ 8.62620996e-01 5.05833214e-01 -4.21623389e-03 7.78056145e+01] [ 4.92295225e-03 -6.02158608e-05 9.99987880e-01 7.55183791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.030281693 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:165.49, Y:77.83, Z:0.76 [[ 5.03881526e-01 -8.63769037e-01 -2.54118827e-03 1.65492467e+02] [ 8.63758747e-01 5.03887929e-01 -4.21680516e-03 7.78270676e+01] [ 4.92281983e-03 -7.02033730e-05 9.99987880e-01 7.57265264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.060281693 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:165.51, Y:77.85, Z:0.76 [[ 5.03026236e-01 -8.64267408e-01 -2.54020089e-03 1.65507273e+02] [ 8.64257122e-01 5.03032644e-01 -4.21739987e-03 7.78494367e+01] [ 4.92276523e-03 -7.39239244e-05 9.99987880e-01 7.58273716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.090281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:165.52, Y:77.87, Z:0.76 [[ 5.01918911e-01 -8.64910954e-01 -2.53926344e-03 1.65521886e+02] [ 8.64900673e-01 5.01925328e-01 -4.21796423e-03 7.78712519e+01] [ 4.92268410e-03 -7.91346452e-05 9.99987880e-01 7.58597671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.120281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:165.54, Y:77.89, Z:0.76 [[ 4.98834841e-01 -8.66693348e-01 -2.53833062e-03 1.65536349e+02] [ 8.66683086e-01 4.98841290e-01 -4.21852552e-03 7.78914880e+01] [ 4.92239212e-03 -9.55807083e-05 9.99987880e-01 7.55797773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.150281693 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:165.55, Y:77.91, Z:0.75 [[ 4.96397820e-01 -8.68091450e-01 -2.53726321e-03 1.65550938e+02] [ 8.68081204e-01 4.96404293e-01 -4.21916742e-03 7.79136881e+01] [ 4.92213151e-03 -1.08164996e-04 9.99987880e-01 7.54205891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18028169299998 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:165.57, Y:77.93, Z:0.75 [[ 4.91616760e-01 -8.70807974e-01 -2.53626898e-03 1.65568455e+02] [ 8.70797761e-01 4.91623284e-01 -4.21976499e-03 7.79332763e+01] [ 4.92149389e-03 -1.34070157e-04 9.99987880e-01 7.52880199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21028169299998 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:165.58, Y:77.95, Z:0.75 [[ 4.89543626e-01 -8.71975120e-01 -2.53547632e-03 1.65584926e+02] [ 8.71964919e-01 4.89550171e-01 -4.22024122e-03 7.79545580e+01] [ 4.92118820e-03 -1.44854210e-04 9.99987880e-01 7.53923415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.240281693 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:165.60, Y:77.97, Z:0.76 [[ 4.88106162e-01 -8.72780586e-01 -2.53449545e-03 1.65600445e+02] [ 8.72770393e-01 4.88112719e-01 -4.22083020e-03 7.79745981e+01] [ 4.92097812e-03 -1.51819354e-04 9.99987880e-01 7.55329060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.270281693 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:165.62, Y:77.99, Z:0.76 [[ 4.87055495e-01 -8.73367349e-01 -2.53347174e-03 1.65618999e+02] [ 8.73357161e-01 4.87062058e-01 -4.22144457e-03 7.79933418e+01] [ 4.92082982e-03 -1.56547916e-04 9.99987880e-01 7.56587227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.300281693 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:165.63, Y:78.01, Z:0.76 [[ 4.87222785e-01 -8.73274038e-01 -2.53245488e-03 1.65634858e+02] [ 8.73263845e-01 4.87229342e-01 -4.22205450e-03 7.80134726e+01] [ 4.92089691e-03 -1.54420132e-04 9.99987880e-01 7.55135824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.330281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:165.65, Y:78.03, Z:0.75 [[ 4.89956843e-01 -8.71743015e-01 -2.53144212e-03 1.65652927e+02] [ 8.71732799e-01 4.89963363e-01 -4.22266164e-03 7.80320082e+01] [ 4.92138969e-03 -1.37819154e-04 9.99987880e-01 7.52893308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.360281693 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:165.67, Y:78.05, Z:0.75 [[ 4.91726355e-01 -8.70746110e-01 -2.53049319e-03 1.65668362e+02] [ 8.70735878e-01 4.91732850e-01 -4.22323023e-03 7.80536426e+01] [ 4.92168792e-03 -1.26717602e-04 9.99987880e-01 7.54478552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.390281693 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:165.68, Y:78.07, Z:0.76 [[ 4.93401676e-01 -8.69797901e-01 -2.52952230e-03 1.65682630e+02] [ 8.69787653e-01 4.93408146e-01 -4.22381167e-03 7.80740291e+01] [ 4.92194943e-03 -1.16111505e-04 9.99987880e-01 7.55877101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.420281693 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:165.70, Y:78.09, Z:0.76 [[ 4.97148568e-01 -8.67661748e-01 -2.52850626e-03 1.65698358e+02] [ 8.67651469e-01 4.97154989e-01 -4.22441981e-03 7.80940260e+01] [ 4.92242698e-03 -9.36979140e-05 9.99987880e-01 7.57479708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.450281693 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:165.71, Y:78.12, Z:0.76 [[ 4.99000014e-01 -8.66598291e-01 -2.52750014e-03 1.65712983e+02] [ 8.66587995e-01 4.99006409e-01 -4.22502169e-03 7.81159873e+01] [ 4.92263535e-03 -8.20153971e-05 9.99987880e-01 7.58428620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.480281693 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:165.73, Y:78.14, Z:0.76 [[ 5.01963897e-01 -8.64884884e-01 -2.52653896e-03 1.65727087e+02] [ 8.64874564e-01 5.01970251e-01 -4.22559639e-03 7.81367673e+01] [ 4.92290185e-03 -6.40424544e-05 9.99987880e-01 7.58729006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.510281693 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:165.74, Y:78.16, Z:0.76 [[ 5.03386996e-01 -8.64057379e-01 -2.52553188e-03 1.65740352e+02] [ 8.64047045e-01 5.03393329e-01 -4.22619822e-03 7.81592408e+01] [ 4.92301365e-03 -5.47651300e-05 9.99987880e-01 7.58668816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.540281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:165.75, Y:78.18, Z:0.76 [[ 5.06084345e-01 -8.62480297e-01 -2.52457858e-03 1.65754057e+02] [ 8.62469940e-01 5.06090640e-01 -4.22676761e-03 7.81798227e+01] [ 4.92316937e-03 -3.82722200e-05 9.99987880e-01 7.55667227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.570281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:165.77, Y:78.20, Z:0.76 [[ 5.06952204e-01 -8.61970472e-01 -2.52348499e-03 1.65767755e+02] [ 8.61960107e-01 5.06958483e-01 -4.22742041e-03 7.82014744e+01] [ 4.92321369e-03 -3.20433010e-05 9.99987880e-01 7.55593318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.600281693 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:165.78, Y:78.22, Z:0.76 [[ 5.07642409e-01 -8.61564171e-01 -2.52244898e-03 1.65780628e+02] [ 8.61553797e-01 5.07648676e-01 -4.22803849e-03 7.82233538e+01] [ 4.92324436e-03 -2.68938483e-05 9.99987880e-01 7.56568044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.630281693 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:165.79, Y:78.25, Z:0.76 [[ 5.10113305e-01 -8.60103516e-01 -2.52141633e-03 1.65792528e+02] [ 8.60093121e-01 5.10119536e-01 -4.22865423e-03 7.82463976e+01] [ 4.92330410e-03 -1.15600578e-05 9.99987880e-01 7.60740660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.660281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:165.80, Y:78.27, Z:0.76 [[ 5.12642536e-01 -8.58598438e-01 -2.52038296e-03 1.65804310e+02] [ 8.58588022e-01 5.12648732e-01 -4.22927005e-03 7.82675742e+01] [ 4.92331579e-03 4.13310660e-06 9.99987880e-01 7.62244203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.690281693 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:165.82, Y:78.29, Z:0.76 [[ 5.13050558e-01 -8.58354693e-01 -2.51931064e-03 1.65816819e+02] [ 8.58344270e-01 5.13056743e-01 -4.22990872e-03 7.82897776e+01] [ 4.92331131e-03 7.72117719e-06 9.99987880e-01 7.61547596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.720281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:165.83, Y:78.31, Z:0.76 [[ 5.12828247e-01 -8.58487535e-01 -2.51828536e-03 1.65828409e+02] [ 8.58477111e-01 5.12834430e-01 -4.23051904e-03 7.83110998e+01] [ 4.92331129e-03 7.63932256e-06 9.99987880e-01 7.60055608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.750281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:165.84, Y:78.33, Z:0.76 [[ 5.10895165e-01 -8.59639339e-01 -2.51721652e-03 1.65839688e+02] [ 8.59628926e-01 5.10901367e-01 -4.23115491e-03 7.83324814e+01] [ 4.92331657e-03 -2.19554663e-06 9.99987880e-01 7.56773852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.780281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:165.85, Y:78.35, Z:0.76 [[ 5.09260598e-01 -8.60608687e-01 -2.51616411e-03 1.65852931e+02] [ 8.60598283e-01 5.09266814e-01 -4.23178066e-03 7.83540919e+01] [ 4.92330608e-03 -1.03273593e-05 9.99987880e-01 7.55476370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.810281693 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:165.87, Y:78.37, Z:0.76 [[ 5.06020896e-01 -8.62517551e-01 -2.51515536e-03 1.65867849e+02] [ 8.62507168e-01 5.06027146e-01 -4.23238013e-03 7.83737256e+01] [ 4.92323903e-03 -2.76667365e-05 9.99987880e-01 7.56417485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.840281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:165.88, Y:78.40, Z:0.76 [[ 5.04280484e-01 -8.63536260e-01 -2.51410495e-03 1.65882009e+02] [ 8.63525886e-01 5.04286750e-01 -4.23300400e-03 7.83950081e+01] [ 4.92318226e-03 -3.63733999e-05 9.99987880e-01 7.58920118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.870281693 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:165.90, Y:78.42, Z:0.76 [[ 5.01627619e-01 -8.65080006e-01 -2.51311055e-03 1.65897358e+02] [ 8.65069648e-01 5.01633912e-01 -4.23359429e-03 7.84153815e+01] [ 4.92305924e-03 -5.03278343e-05 9.99987880e-01 7.64940561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.900281693 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:165.91, Y:78.44, Z:0.77 [[ 5.01043638e-01 -8.65418374e-01 -2.51212245e-03 1.65911556e+02] [ 8.65408017e-01 5.01049933e-01 -4.23418052e-03 7.84368528e+01] [ 4.92303641e-03 -5.25017009e-05 9.99987880e-01 7.66471614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93028169299998 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:165.93, Y:78.46, Z:0.76 [[ 5.01072603e-01 -8.65401607e-01 -2.51114261e-03 1.65925574e+02] [ 8.65391247e-01 5.01078893e-01 -4.23476155e-03 7.84585105e+01] [ 4.92305001e-03 -5.11978464e-05 9.99987880e-01 7.64615335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96028169299998 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:165.94, Y:78.48, Z:0.75 [[ 5.01992468e-01 -8.64868349e-01 -2.51016237e-03 1.65939402e+02] [ 8.64857980e-01 5.01998742e-01 -4.23534251e-03 7.84793465e+01] [ 4.92311203e-03 -4.48239130e-05 9.99987880e-01 7.54552016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.990281693 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:165.95, Y:78.50, Z:0.75 [[ 5.02273358e-01 -8.64705255e-01 -2.50914198e-03 1.65952897e+02] [ 8.64694880e-01 5.02279624e-01 -4.23594693e-03 7.85011831e+01] [ 4.92313646e-03 -4.20389309e-05 9.99987880e-01 7.51726298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.020281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:165.97, Y:78.52, Z:0.75 [[ 5.01310212e-01 -8.65263995e-01 -2.50817032e-03 1.65969243e+02] [ 8.65253625e-01 5.01316484e-01 -4.23652219e-03 7.85223474e+01] [ 4.92309724e-03 -4.63916231e-05 9.99987880e-01 7.54213264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.050281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:165.98, Y:78.55, Z:0.75 [[ 5.01112179e-01 -8.65378702e-01 -2.50720080e-03 1.65982649e+02] [ 8.65368331e-01 5.01118449e-01 -4.23709588e-03 7.85455818e+01] [ 4.92309711e-03 -4.63918268e-05 9.99987880e-01 7.54345275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.080281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:166.00, Y:78.57, Z:0.76 [[ 4.99650761e-01 -8.66223317e-01 -2.50623098e-03 1.65996886e+02] [ 8.66212953e-01 4.99657044e-01 -4.23766945e-03 7.85674703e+01] [ 4.92302405e-03 -5.35749725e-05 9.99987880e-01 7.55194101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.110281693 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:166.01, Y:78.59, Z:0.75 [[ 4.96753487e-01 -8.67888067e-01 -2.50525196e-03 1.66010169e+02] [ 8.67877721e-01 4.96759800e-01 -4.23824815e-03 7.85887437e+01] [ 4.92283346e-03 -6.88878177e-05 9.99987880e-01 7.54931528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.140281693 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:166.02, Y:78.61, Z:0.76 [[ 4.95385365e-01 -8.68669712e-01 -2.50422907e-03 1.66023884e+02] [ 8.68659373e-01 4.95391689e-01 -4.23885245e-03 7.86117676e+01] [ 4.92273701e-03 -7.54565834e-05 9.99987880e-01 7.57772203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.170281693 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:166.04, Y:78.63, Z:0.76 [[ 4.94258495e-01 -8.69311379e-01 -2.50324544e-03 1.66038581e+02] [ 8.69301046e-01 4.94264827e-01 -4.23943325e-03 7.86335755e+01] [ 4.92265375e-03 -8.06979825e-05 9.99987880e-01 7.61283117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.200281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:166.05, Y:78.66, Z:0.76 [[ 4.94483589e-01 -8.69183363e-01 -2.50224753e-03 1.66053027e+02] [ 8.69173025e-01 4.94489914e-01 -4.24002217e-03 7.86560447e+01] [ 4.92269290e-03 -7.82646709e-05 9.99987880e-01 7.62070472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.230281693 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:166.07, Y:78.68, Z:0.76 [[ 4.95535442e-01 -8.68584117e-01 -2.50124587e-03 1.66065976e+02] [ 8.68573768e-01 4.95541750e-01 -4.24061298e-03 7.86776183e+01] [ 4.92280084e-03 -7.11425223e-05 9.99987880e-01 7.62727940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.260281693 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:166.08, Y:78.70, Z:0.76 [[ 4.99595052e-01 -8.66255466e-01 -2.50019641e-03 1.66078696e+02] [ 8.66245085e-01 4.99601306e-01 -4.24123164e-03 7.87000331e+01] [ 4.92309148e-03 -4.68845098e-05 9.99987880e-01 7.58483247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.290281693 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:166.09, Y:78.72, Z:0.76 [[ 5.01619440e-01 -8.65084789e-01 -2.49915040e-03 1.66091646e+02] [ 8.65074390e-01 5.01625665e-01 -4.24184791e-03 7.87230436e+01] [ 4.92319608e-03 -3.41576285e-05 9.99987880e-01 7.55844907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.320281693 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:166.10, Y:78.75, Z:0.75 [[ 5.06001338e-01 -8.62529075e-01 -2.49814578e-03 1.66103166e+02] [ 8.62518642e-01 5.06007505e-01 -4.24243948e-03 7.87452185e+01] [ 4.92330791e-03 -8.01725026e-06 9.99987880e-01 7.51936481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.350281693 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:166.12, Y:78.77, Z:0.75 [[ 5.07686430e-01 -8.61538307e-01 -2.49709627e-03 1.66115350e+02] [ 8.61527858e-01 5.07692571e-01 -4.24305713e-03 7.87689021e+01] [ 4.92331348e-03 2.82452600e-06 9.99987880e-01 7.54587601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.380281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:166.13, Y:78.79, Z:0.76 [[ 5.09020749e-01 -8.60750630e-01 -2.49612067e-03 1.66127495e+02] [ 8.60740169e-01 5.09026869e-01 -4.24363098e-03 7.87925546e+01] [ 4.92330053e-03 1.15848902e-05 9.99987880e-01 7.58368551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.410281693 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:166.14, Y:78.82, Z:0.76 [[ 5.09319391e-01 -8.60573955e-01 -2.49512802e-03 1.66136850e+02] [ 8.60563490e-01 5.09325502e-01 -4.24421455e-03 7.88179220e+01] [ 4.92329283e-03 1.44446942e-05 9.99987880e-01 7.63818032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.440281693 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:166.15, Y:78.84, Z:0.77 [[ 5.07904246e-01 -8.61409924e-01 -2.49410768e-03 1.66146136e+02] [ 8.61399465e-01 5.07910370e-01 -4.24481406e-03 7.88417707e+01] [ 4.92330811e-03 7.53605996e-06 9.99987880e-01 7.65535358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.470281693 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:166.16, Y:78.86, Z:0.77 [[ 5.06563815e-01 -8.62198867e-01 -2.49304474e-03 1.66157509e+02] [ 8.62188415e-01 5.06569949e-01 -4.24543825e-03 7.88640966e+01] [ 4.92331360e-03 1.11110024e-06 9.99987880e-01 7.65103485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.500281693 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:166.17, Y:78.89, Z:0.77 [[ 5.04405427e-01 -8.63463349e-01 -2.49201084e-03 1.66170380e+02] [ 8.63452909e-01 5.04411583e-01 -4.24604505e-03 7.88875111e+01] [ 4.92330341e-03 -1.00058431e-05 9.99987880e-01 7.65081319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.530281693 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:166.18, Y:78.91, Z:0.77 [[ 4.98420448e-01 -8.66931861e-01 -2.49101851e-03 1.66183024e+02] [ 8.66921461e-01 4.98426671e-01 -4.24662714e-03 7.89090736e+01] [ 4.92312643e-03 -4.29116059e-05 9.99987880e-01 7.67293665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.560281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:166.20, Y:78.93, Z:0.77 [[ 4.95141452e-01 -8.68808806e-01 -2.49022648e-03 1.66196932e+02] [ 8.68798427e-01 4.95147711e-01 -4.24709154e-03 7.89316064e+01] [ 4.92294047e-03 -6.05937782e-05 9.99987880e-01 7.66966923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.590281693 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:166.21, Y:78.95, Z:0.77 [[ 4.90061927e-01 -8.71684066e-01 -2.48922658e-03 1.66211845e+02] [ 8.71673721e-01 4.90068241e-01 -4.24767750e-03 7.89522372e+01] [ 4.92252368e-03 -8.81683697e-05 9.99987880e-01 7.65518220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.620281693 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:166.23, Y:78.97, Z:0.76 [[ 4.88549273e-01 -8.72532760e-01 -2.48818475e-03 1.66225981e+02] [ 8.72522422e-01 4.88555600e-01 -4.24828769e-03 7.89747664e+01] [ 4.92238677e-03 -9.54991198e-05 9.99987880e-01 7.64065052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.650281693 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:166.24, Y:79.00, Z:0.76 [[ 4.87751016e-01 -8.72979244e-01 -2.48718744e-03 1.66239689e+02] [ 8.72968909e-01 4.87757348e-01 -4.24887149e-03 7.89965092e+01] [ 4.92232057e-03 -9.88459180e-05 9.99987880e-01 7.63544067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68028169299998 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:166.25, Y:79.02, Z:0.76 [[ 4.87708483e-01 -8.73003010e-01 -2.48614272e-03 1.66254766e+02] [ 8.72992673e-01 4.87714810e-01 -4.24948270e-03 7.90181377e+01] [ 4.92233981e-03 -9.78756165e-05 9.99987880e-01 7.64023065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71028169299998 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:166.27, Y:79.04, Z:0.76 [[ 4.87924405e-01 -8.72882351e-01 -2.48515681e-03 1.66269010e+02] [ 8.72872010e-01 4.87930724e-01 -4.25005920e-03 7.90406350e+01] [ 4.92238603e-03 -9.55162133e-05 9.99987880e-01 7.64465013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.740281693 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:166.28, Y:79.06, Z:0.76 [[ 4.88931627e-01 -8.72318573e-01 -2.48416726e-03 1.66284379e+02] [ 8.72308221e-01 4.88937930e-01 -4.25063751e-03 7.90605820e+01] [ 4.92251364e-03 -8.86884050e-05 9.99987880e-01 7.61596197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.770281693 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:166.30, Y:79.08, Z:0.76 [[ 4.89573659e-01 -8.71958409e-01 -2.48313025e-03 1.66298970e+02] [ 8.71948049e-01 4.89579949e-01 -4.25124322e-03 7.90825999e+01] [ 4.92259806e-03 -8.38638806e-05 9.99987880e-01 7.60258564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.800281693 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:166.31, Y:79.10, Z:0.76 [[ 4.93073658e-01 -8.69984027e-01 -2.48212704e-03 1.66311543e+02] [ 8.69973639e-01 4.93079901e-01 -4.25182887e-03 7.91042825e+01] [ 4.92291016e-03 -6.29202796e-05 9.99987880e-01 7.58812506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.830281693 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:166.32, Y:79.13, Z:0.76 [[ 4.95986722e-01 -8.68326561e-01 -2.48107636e-03 1.66322207e+02] [ 8.68316149e-01 4.95992926e-01 -4.25244189e-03 7.91268699e+01] [ 4.92310456e-03 -4.52039503e-05 9.99987880e-01 7.58059115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.860281693 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:166.33, Y:79.15, Z:0.76 [[ 5.03905714e-01 -8.63755104e-01 -2.48027969e-03 1.66330227e+02] [ 8.63744634e-01 5.03911818e-01 -4.25290650e-03 7.91524739e+01] [ 4.92331195e-03 7.35612024e-07 9.99987880e-01 7.57190911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.890281693 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:166.34, Y:79.18, Z:0.76 [[ 5.08673072e-01 -8.60956189e-01 -2.47932248e-03 1.66340043e+02] [ 8.60945682e-01 5.08679113e-01 -4.25346446e-03 7.91765396e+01] [ 4.92322611e-03 2.90608508e-05 9.99987880e-01 7.57113168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.920281693 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:166.35, Y:79.20, Z:0.76 [[ 5.13567190e-01 -8.58045803e-01 -2.47826412e-03 1.66348922e+02] [ 8.58035259e-01 5.13573166e-01 -4.25408102e-03 7.92009663e+01] [ 4.92296631e-03 5.83184397e-05 9.99987880e-01 7.57728064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.950281693 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:166.35, Y:79.23, Z:0.76 [[ 5.21832030e-01 -8.53044662e-01 -2.47720169e-03 1.66353278e+02] [ 8.53034058e-01 5.21837899e-01 -4.25469960e-03 7.92293014e+01] [ 4.92214650e-03 1.07101121e-04 9.99987880e-01 7.58239322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.980281693 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:166.36, Y:79.26, Z:0.76 [[ 5.24302415e-01 -8.51528535e-01 -2.47621544e-03 1.66361581e+02] [ 8.51517911e-01 5.24308249e-01 -4.25527351e-03 7.92551775e+01] [ 4.92178700e-03 1.22508382e-04 9.99987880e-01 7.58529227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.010281693 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:166.37, Y:79.28, Z:0.76 [[ 5.26577831e-01 -8.50123321e-01 -2.47523218e-03 1.66365022e+02] [ 8.50112679e-01 5.26583631e-01 -4.25584538e-03 7.92838122e+01] [ 4.92141016e-03 1.36807573e-04 9.99987880e-01 7.62113402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.040281693 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:166.37, Y:79.31, Z:0.76 [[ 5.25995961e-01 -8.50483467e-01 -2.47424304e-03 1.66372632e+02] [ 8.50472826e-01 5.26001763e-01 -4.25642037e-03 7.93089312e+01] [ 4.92147135e-03 1.34583449e-04 9.99987880e-01 7.62902153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.070281693 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:166.38, Y:79.34, Z:0.76 [[ 5.24632289e-01 -8.51325346e-01 -2.47321032e-03 1.66376753e+02] [ 8.51314712e-01 5.24638103e-01 -4.25702035e-03 7.93374192e+01] [ 4.92164969e-03 1.27889998e-04 9.99987880e-01 7.62803186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.100281693 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:166.39, Y:79.36, Z:0.76 [[ 5.23772355e-01 -8.51854687e-01 -2.47225303e-03 1.66385007e+02] [ 8.51844056e-01 5.23778175e-01 -4.25757622e-03 7.93629932e+01] [ 4.92174844e-03 1.24026675e-04 9.99987880e-01 7.62774436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.130281693 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:166.39, Y:79.39, Z:0.76 [[ 5.22879525e-01 -8.52403012e-01 -2.47125978e-03 1.66393119e+02] [ 8.52392385e-01 5.22885351e-01 -4.25815266e-03 7.93884117e+01] [ 4.92184769e-03 1.20017828e-04 9.99987880e-01 7.62207288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.160281693 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:166.40, Y:79.42, Z:0.76 [[ 5.20504455e-01 -8.53855380e-01 -2.47026231e-03 1.66398538e+02] [ 8.53844766e-01 5.20510306e-01 -4.25873124e-03 7.94159379e+01] [ 4.92213757e-03 1.07468034e-04 9.99987880e-01 7.63527980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.190281693 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:166.41, Y:79.44, Z:0.76 [[ 5.18529234e-01 -8.55056335e-01 -2.46925495e-03 1.66408598e+02] [ 8.55045732e-01 5.18535104e-01 -4.25931524e-03 7.94393940e+01] [ 4.92234985e-03 9.72535558e-05 9.99987880e-01 7.63662169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.220281693 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:166.42, Y:79.46, Z:0.76 [[ 5.13289289e-01 -8.58212103e-01 -2.46820465e-03 1.66416819e+02] [ 8.58201533e-01 5.13295219e-01 -4.25992378e-03 7.94646374e+01] [ 4.92283579e-03 6.83562381e-05 9.99987880e-01 7.60758821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.250281693 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:166.43, Y:79.49, Z:0.76 [[ 5.10426974e-01 -8.59917564e-01 -2.46720424e-03 1.66426802e+02] [ 8.59907011e-01 5.10432934e-01 -4.26050311e-03 7.94886662e+01] [ 4.92302375e-03 5.31094885e-05 9.99987880e-01 7.59426579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.280281693 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:166.44, Y:79.51, Z:0.76 [[ 5.07514517e-01 -8.61639677e-01 -2.46615458e-03 1.66436775e+02] [ 8.61629142e-01 5.07520507e-01 -4.26111061e-03 7.95116996e+01] [ 4.92316599e-03 3.76648372e-05 9.99987880e-01 7.58407691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.310281693 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:166.45, Y:79.54, Z:0.76 [[ 5.01318828e-01 -8.65259127e-01 -2.46513404e-03 1.66447979e+02] [ 8.65248631e-01 5.01324888e-01 -4.26170092e-03 7.95358109e+01] [ 4.92330867e-03 3.51705234e-06 9.99987880e-01 7.58837769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.340281693 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:166.46, Y:79.56, Z:0.76 [[ 4.97703239e-01 -8.67343884e-01 -2.46417073e-03 1.66461209e+02] [ 8.67333412e-01 4.97709339e-01 -4.26225785e-03 7.95589235e+01] [ 4.92328407e-03 -1.59180729e-05 9.99987880e-01 7.59553838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.370281693 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:166.47, Y:79.58, Z:0.76 [[ 4.90998873e-01 -8.71156725e-01 -2.46317265e-03 1.66473827e+02] [ 8.71146297e-01 4.91005048e-01 -4.26283457e-03 7.95821921e+01] [ 4.92302721e-03 -5.27367617e-05 9.99987880e-01 7.60195567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.400281693 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:166.49, Y:79.60, Z:0.76 [[ 4.87940352e-01 -8.72873502e-01 -2.46217121e-03 1.66486366e+02] [ 8.72863093e-01 4.87946560e-01 -4.26341291e-03 7.96040437e+01] [ 4.92282813e-03 -6.88471846e-05 9.99987880e-01 7.61007114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43028169299998 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:166.50, Y:79.63, Z:0.76 [[ 4.82653815e-01 -8.75807763e-01 -2.46113202e-03 1.66501791e+02] [ 8.75797388e-01 4.82660080e-01 -4.26401272e-03 7.96251175e+01] [ 4.92234562e-03 -9.74109883e-05 9.99987880e-01 7.62260438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46028169299998 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:166.52, Y:79.65, Z:0.76 [[ 4.79822089e-01 -8.77362360e-01 -2.46014743e-03 1.66516601e+02] [ 8.77352003e-01 4.79828382e-01 -4.26458071e-03 7.96471667e+01] [ 4.92203116e-03 -1.12175253e-04 9.99987880e-01 7.63592673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.490281693 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:166.53, Y:79.67, Z:0.77 [[ 4.75303214e-01 -8.79818622e-01 -2.45916585e-03 1.66534468e+02] [ 8.79808294e-01 4.75309556e-01 -4.26514666e-03 7.96657758e+01] [ 4.92142048e-03 -1.36356591e-04 9.99987880e-01 7.65735415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.520281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:166.55, Y:79.69, Z:0.77 [[ 4.73475699e-01 -8.80803451e-01 -2.45814275e-03 1.66550211e+02] [ 8.80793134e-01 4.73482058e-01 -4.26573622e-03 7.96855423e+01] [ 4.92116168e-03 -1.45392818e-04 9.99987880e-01 7.66227188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.550281693 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:166.57, Y:79.70, Z:0.77 [[ 4.71908724e-01 -8.81643986e-01 -2.45713205e-03 1.66565876e+02] [ 8.81633677e-01 4.71915096e-01 -4.26631832e-03 7.97048287e+01] [ 4.92093160e-03 -1.52977533e-04 9.99987880e-01 7.65913514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.580281693 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:166.58, Y:79.72, Z:0.77 [[ 4.70474395e-01 -8.82410229e-01 -2.45604136e-03 1.66584900e+02] [ 8.82399927e-01 4.70480778e-01 -4.26694612e-03 7.97225906e+01] [ 4.92071715e-03 -1.59721825e-04 9.99987880e-01 7.67062721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.610281693 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:166.60, Y:79.74, Z:0.77 [[ 4.70207928e-01 -8.82552260e-01 -2.45190582e-03 1.66601827e+02] [ 8.82541948e-01 4.70214295e-01 -4.26932551e-03 7.97445726e+01] [ 4.92082404e-03 -1.56439035e-04 9.99987880e-01 7.68206565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.640281693 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:166.62, Y:79.76, Z:0.77 [[ 4.71718699e-01 -8.81745680e-01 -2.45453363e-03 1.66621313e+02] [ 8.81735364e-01 4.71725061e-01 -4.26781418e-03 7.97620195e+01] [ 4.92099174e-03 -1.51041353e-04 9.99987880e-01 7.68583014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.670281693 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:166.64, Y:79.78, Z:0.77 [[ 4.73509680e-01 -8.80785197e-01 -2.45344611e-03 1.66638054e+02] [ 8.80774865e-01 4.73516016e-01 -4.26843927e-03 7.97824058e+01] [ 4.92132416e-03 -1.39786354e-04 9.99987880e-01 7.66930521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.700281693 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:166.66, Y:79.80, Z:0.76 [[ 4.77057037e-01 -8.78868914e-01 -2.45251326e-03 1.66656640e+02] [ 8.78858554e-01 4.77063326e-01 -4.26897519e-03 7.98009267e+01] [ 4.92187373e-03 -1.18867600e-04 9.99987880e-01 7.64263226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.730281693 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:166.67, Y:79.82, Z:0.76 [[ 4.78153395e-01 -8.78272919e-01 -2.45148186e-03 1.66672133e+02] [ 8.78262548e-01 4.78159667e-01 -4.26956740e-03 7.98213483e+01] [ 4.92204517e-03 -1.11536552e-04 9.99987880e-01 7.64633966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.760281693 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:166.69, Y:79.84, Z:0.77 [[ 4.78988755e-01 -8.77817617e-01 -2.45043838e-03 1.66687426e+02] [ 8.77807237e-01 4.78995011e-01 -4.27016620e-03 7.98403572e+01] [ 4.92217488e-03 -1.05650948e-04 9.99987880e-01 7.65498112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.790281693 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:166.71, Y:79.86, Z:0.77 [[ 4.79858645e-01 -8.77342397e-01 -2.44935019e-03 1.66708120e+02] [ 8.77332008e-01 4.79864885e-01 -4.27079029e-03 7.98580025e+01] [ 4.92230254e-03 -9.95176844e-05 9.99987880e-01 7.69230683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.820281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:166.72, Y:79.88, Z:0.77 [[ 4.80238822e-01 -8.77134356e-01 -2.44830018e-03 1.66723381e+02] [ 8.77123961e-01 4.80245054e-01 -4.27139214e-03 7.98776881e+01] [ 4.92236885e-03 -9.61744190e-05 9.99987880e-01 7.69590273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.850281693 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:166.74, Y:79.90, Z:0.77 [[ 4.83998552e-01 -8.75065377e-01 -2.44720840e-03 1.66740983e+02] [ 8.75054952e-01 4.84004733e-01 -4.27201757e-03 7.98983938e+01] [ 4.92275511e-03 -7.37915098e-05 9.99987880e-01 7.68486540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.880281693 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:166.75, Y:79.92, Z:0.77 [[ 4.87287123e-01 -8.73238384e-01 -2.44621000e-03 1.66754603e+02] [ 8.73227934e-01 4.87293260e-01 -4.27258919e-03 7.99202156e+01] [ 4.92301052e-03 -5.41212090e-05 9.99987880e-01 7.67116081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.910281693 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:166.77, Y:79.94, Z:0.77 [[ 4.91390855e-01 -8.70935732e-01 -2.44516691e-03 1.66767765e+02] [ 8.70925249e-01 4.91396937e-01 -4.27318605e-03 7.99430316e+01] [ 4.92321795e-03 -2.97530572e-05 9.99987880e-01 7.66938787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.940281693 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:166.78, Y:79.97, Z:0.77 [[ 4.99405917e-01 -8.66364678e-01 -2.44417551e-03 1.66779867e+02] [ 8.66354137e-01 4.99411898e-01 -4.27375304e-03 7.99664980e+01] [ 4.92327901e-03 1.68159942e-05 9.99987880e-01 7.67517791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.970281693 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:166.79, Y:79.99, Z:0.77 [[ 5.02521834e-01 -8.64561066e-01 -2.44315816e-03 1.66791245e+02] [ 8.64550501e-01 5.02527772e-01 -4.27433454e-03 7.99889247e+01] [ 4.92317806e-03 3.57128264e-05 9.99987880e-01 7.67904791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.000281693 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:166.80, Y:80.01, Z:0.77 [[ 5.02320590e-01 -8.64678010e-01 -2.44209040e-03 1.66804295e+02] [ 8.64667443e-01 5.02326525e-01 -4.27494451e-03 8.00123589e+01] [ 4.92317729e-03 3.57965890e-05 9.99987880e-01 7.68036796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.030281693 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:166.81, Y:80.04, Z:0.77 [[ 5.07682626e-01 -8.61540708e-01 -2.44109524e-03 1.66814413e+02] [ 8.61530102e-01 5.07688491e-01 -4.27551269e-03 8.00371720e+01] [ 4.92284419e-03 6.75264870e-05 9.99987880e-01 7.68962585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.060281693 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:166.83, Y:80.06, Z:0.77 [[ 5.09298353e-01 -8.60586564e-01 -2.44009654e-03 1.66825207e+02] [ 8.60575944e-01 5.09304192e-01 -4.27608259e-03 8.00604930e+01] [ 4.92269062e-03 7.79134342e-05 9.99987880e-01 7.69360882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.090281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:166.84, Y:80.08, Z:0.77 [[ 5.10267852e-01 -8.60012076e-01 -2.43905833e-03 1.66836088e+02] [ 8.60001446e-01 5.10273674e-01 -4.27667470e-03 8.00842065e+01] [ 4.92257914e-03 8.46559144e-05 9.99987880e-01 7.68827508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.120281693 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:166.84, Y:80.11, Z:0.77 [[ 5.10970469e-01 -8.59594809e-01 -2.43809265e-03 1.66844150e+02] [ 8.59584172e-01 5.10976278e-01 -4.27722515e-03 8.01077902e+01] [ 4.92248804e-03 8.97898930e-05 9.99987880e-01 7.66656785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.150281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:166.85, Y:80.13, Z:0.77 [[ 5.10939662e-01 -8.59613124e-01 -2.43698717e-03 1.66853851e+02] [ 8.59602484e-01 5.10945465e-01 -4.27785491e-03 8.01320651e+01] [ 4.92246777e-03 9.08855143e-05 9.99987880e-01 7.66688758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18028169299998 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:166.87, Y:80.16, Z:0.77 [[ 5.10375813e-01 -8.59948019e-01 -2.43598330e-03 1.66866355e+02] [ 8.59937381e-01 5.10381618e-01 -4.27842648e-03 8.01557423e+01] [ 4.92250548e-03 8.88122929e-05 9.99987880e-01 7.66530928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21028169299998 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:166.88, Y:80.18, Z:0.77 [[ 5.09631525e-01 -8.60389318e-01 -2.43497478e-03 1.66878340e+02] [ 8.60378682e-01 5.09637335e-01 -4.27900039e-03 8.01788027e+01] [ 4.92256028e-03 8.57131036e-05 9.99987880e-01 7.66123876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.240281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:166.89, Y:80.20, Z:0.77 [[ 5.08550204e-01 -8.61028900e-01 -2.43395934e-03 1.66888666e+02] [ 8.61018268e-01 5.08556022e-01 -4.27957791e-03 8.02017312e+01] [ 4.92264493e-03 8.06967625e-05 9.99987880e-01 7.65933416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.270281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:166.90, Y:80.23, Z:0.77 [[ 5.08440654e-01 -8.61093597e-01 -2.43289702e-03 1.66899635e+02] [ 8.61082963e-01 5.08446468e-01 -4.28018174e-03 8.02256068e+01] [ 4.92263498e-03 8.12922219e-05 9.99987880e-01 7.68034409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.300281693 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:166.91, Y:80.25, Z:0.77 [[ 5.08659707e-01 -8.60964220e-01 -2.43192870e-03 1.66907974e+02] [ 8.60953582e-01 5.08665514e-01 -4.28073185e-03 8.02514833e+01] [ 4.92259522e-03 8.36580801e-05 9.99987880e-01 7.70188341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.330281693 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:166.92, Y:80.27, Z:0.77 [[ 5.08852623e-01 -8.60850219e-01 -2.43093536e-03 1.66917781e+02] [ 8.60839577e-01 5.08858422e-01 -4.28129587e-03 8.02748145e+01] [ 4.92255642e-03 8.59032659e-05 9.99987880e-01 7.69645593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.360281693 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:166.93, Y:80.30, Z:0.77 [[ 5.08859023e-01 -8.60846438e-01 -2.42989792e-03 1.66927494e+02] [ 8.60835793e-01 5.08864818e-01 -4.28188460e-03 8.02979626e+01] [ 4.92253467e-03 8.71325171e-05 9.99987880e-01 7.69203450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.390281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:166.93, Y:80.32, Z:0.77 [[ 5.07767226e-01 -8.61490884e-01 -2.42912211e-03 1.66934742e+02] [ 8.61480245e-01 5.07773030e-01 -4.28232467e-03 8.03243911e+01] [ 4.92262636e-03 8.17834064e-05 9.99987880e-01 7.67516046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.420281693 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:166.94, Y:80.35, Z:0.77 [[ 5.06371819e-01 -8.62311826e-01 -2.42814451e-03 1.66944688e+02] [ 8.62301193e-01 5.06377635e-01 -4.28287892e-03 8.03491631e+01] [ 4.92273521e-03 7.49372821e-05 9.99987880e-01 7.66937872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.450281693 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:166.95, Y:80.37, Z:0.77 [[ 5.03633849e-01 -8.63913800e-01 -2.42717102e-03 1.66951195e+02] [ 8.63903184e-01 5.03639694e-01 -4.28343054e-03 8.03747214e+01] [ 4.92293443e-03 6.04398398e-05 9.99987880e-01 7.68198917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.480281693 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:166.96, Y:80.40, Z:0.77 [[ 5.02475359e-01 -8.64588126e-01 -2.42620046e-03 1.66960294e+02] [ 8.64577514e-01 5.02481214e-01 -4.28398021e-03 8.03986088e+01] [ 4.92299857e-03 5.49561309e-05 9.99987880e-01 7.70971382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.510281693 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:166.97, Y:80.42, Z:0.77 [[ 5.01667227e-01 -8.65057288e-01 -2.42513354e-03 1.66970062e+02] [ 8.65046679e-01 5.01673086e-01 -4.28458410e-03 8.04235628e+01] [ 4.92303493e-03 5.15817104e-05 9.99987880e-01 7.73229331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.540281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:166.98, Y:80.45, Z:0.77 [[ 5.00255501e-01 -8.65874447e-01 -2.42410880e-03 1.66977708e+02] [ 8.65863845e-01 5.00261372e-01 -4.28516379e-03 8.04480687e+01] [ 4.92310182e-03 4.47285915e-05 9.99987880e-01 7.74859363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.570281693 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:166.99, Y:80.47, Z:0.77 [[ 4.98909988e-01 -8.66650421e-01 -2.42329287e-03 1.66988965e+02] [ 8.66639825e-01 4.98915872e-01 -4.28562515e-03 8.04724648e+01] [ 4.92315812e-03 3.80190809e-05 9.99987880e-01 7.74436921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.600281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:167.00, Y:80.50, Z:0.77 [[ 4.95546072e-01 -8.68578277e-01 -2.42229910e-03 1.66999176e+02] [ 8.68567702e-01 4.95551992e-01 -4.28618678e-03 8.04970499e+01] [ 4.92326387e-03 2.00722626e-05 9.99987880e-01 7.72536843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.630281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:167.01, Y:80.52, Z:0.77 [[ 4.93559700e-01 -8.69708549e-01 -2.42129056e-03 1.67010564e+02] [ 8.69697984e-01 4.93565639e-01 -4.28675643e-03 8.05195794e+01] [ 4.92329454e-03 9.97869614e-06 9.99987880e-01 7.71841901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.660281693 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:167.02, Y:80.54, Z:0.77 [[ 4.91692759e-01 -8.70765395e-01 -2.42023633e-03 1.67023419e+02] [ 8.70754840e-01 4.91698716e-01 -4.28735155e-03 8.05429091e+01] [ 4.92330446e-03 6.27216010e-07 9.99987880e-01 7.70719274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.690281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:167.04, Y:80.57, Z:0.77 [[ 4.89571876e-01 -8.71959590e-01 -2.41923828e-03 1.67037142e+02] [ 8.71949047e-01 4.89577853e-01 -4.28791465e-03 8.05659023e+01] [ 4.92329378e-03 -1.02100987e-05 9.99987880e-01 7.70130942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.720281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:167.05, Y:80.59, Z:0.77 [[ 4.90741826e-01 -8.71301677e-01 -2.41823866e-03 1.67047332e+02] [ 8.71291123e-01 4.90747785e-01 -4.28847833e-03 8.05895501e+01] [ 4.92330362e-03 -2.45419377e-06 9.99987880e-01 7.73762973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.750281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:167.06, Y:80.61, Z:0.78 [[ 4.92254194e-01 -8.70448141e-01 -2.41719613e-03 1.67057811e+02] [ 8.70437574e-01 4.92260129e-01 -4.28906587e-03 8.06139281e+01] [ 4.92329869e-03 7.29232311e-06 9.99987880e-01 7.75761709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.780281693 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:167.07, Y:80.64, Z:0.78 [[ 4.93983963e-01 -8.69467657e-01 -2.41619643e-03 1.67068221e+02] [ 8.69457075e-01 4.93989871e-01 -4.28962896e-03 8.06388125e+01] [ 4.92327021e-03 1.82288317e-05 9.99987880e-01 7.76165812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.810281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:167.08, Y:80.66, Z:0.78 [[ 4.96175023e-01 -8.68219162e-01 -2.41519392e-03 1.67078190e+02] [ 8.68208563e-01 4.96180900e-01 -4.29019333e-03 8.06624186e+01] [ 4.92320115e-03 3.17947352e-05 9.99987880e-01 7.75946541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.840281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:167.08, Y:80.69, Z:0.78 [[ 5.00705666e-01 -8.65614238e-01 -2.41414448e-03 1.67084697e+02] [ 8.65603605e-01 5.00711482e-01 -4.29078379e-03 8.06887353e+01] [ 4.92295339e-03 5.87275922e-05 9.99987880e-01 7.75927319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.870281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:167.09, Y:80.72, Z:0.78 [[ 5.03333021e-01 -8.64089143e-01 -2.41315892e-03 1.67088948e+02] [ 8.64078490e-01 5.03338800e-01 -4.29133800e-03 8.07150627e+01] [ 4.92273509e-03 7.48133981e-05 9.99987880e-01 7.75073903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.900281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:167.10, Y:80.74, Z:0.77 [[ 5.03119852e-01 -8.64213282e-01 -2.41212775e-03 1.67098339e+02] [ 8.64202627e-01 5.03125629e-01 -4.29191753e-03 8.07395956e+01] [ 4.92273543e-03 7.47817739e-05 9.99987880e-01 7.74993409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93028169299998 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:167.11, Y:80.76, Z:0.78 [[ 5.01674892e-01 -8.65052883e-01 -2.41115509e-03 1.67108656e+02] [ 8.65042235e-01 5.01680681e-01 -4.29246389e-03 8.07644937e+01] [ 4.92283819e-03 6.76703645e-05 9.99987880e-01 7.75881396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96028169299998 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:167.12, Y:80.79, Z:0.78 [[ 4.97635390e-01 -8.67382966e-01 -2.41017228e-03 1.67116255e+02] [ 8.67372343e-01 4.97641224e-01 -4.29301566e-03 8.07893328e+01] [ 4.92308974e-03 4.58397418e-05 9.99987880e-01 7.75558958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.990281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:167.13, Y:80.81, Z:0.77 [[ 4.96095245e-01 -8.68264766e-01 -2.40914698e-03 1.67126974e+02] [ 8.68254151e-01 4.96101093e-01 -4.29359096e-03 8.08133654e+01] [ 4.92315420e-03 3.82781943e-05 9.99987880e-01 7.73553852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.020281693 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:167.14, Y:80.84, Z:0.77 [[ 4.93681058e-01 -8.69639703e-01 -2.40817598e-03 1.67136211e+02] [ 8.69629102e-01 4.93686931e-01 -4.29413550e-03 8.08377146e+01] [ 4.92323573e-03 2.57134494e-05 9.99987880e-01 7.69907654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.050281693 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:167.15, Y:80.86, Z:0.77 [[ 4.92688981e-01 -8.70202145e-01 -2.40715836e-03 1.67147657e+02] [ 8.70191547e-01 4.92694861e-01 -4.29470587e-03 8.08617693e+01] [ 4.92325681e-03 2.12653964e-05 9.99987880e-01 7.69447471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.080281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:167.16, Y:80.89, Z:0.77 [[ 4.90534393e-01 -8.71418510e-01 -2.40619129e-03 1.67157353e+02] [ 8.71407924e-01 4.90540295e-01 -4.29524762e-03 8.08851182e+01] [ 4.92329207e-03 1.01925332e-05 9.99987880e-01 7.66693282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.110281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:167.17, Y:80.91, Z:0.77 [[ 4.89004423e-01 -8.72277989e-01 -2.40518591e-03 1.67169334e+02] [ 8.72267410e-01 4.89010338e-01 -4.29581052e-03 8.09084055e+01] [ 4.92330174e-03 2.70505660e-06 9.99987880e-01 7.66421477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.140281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:167.18, Y:80.93, Z:0.77 [[ 4.85659056e-01 -8.74145012e-01 -2.40418445e-03 1.67181422e+02] [ 8.74134453e-01 4.85665007e-01 -4.29637092e-03 8.09303982e+01] [ 4.92327947e-03 -1.50090160e-05 9.99987880e-01 7.68110744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.170281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:167.19, Y:80.95, Z:0.77 [[ 4.83358479e-01 -8.75419217e-01 -2.40313967e-03 1.67193792e+02] [ 8.75408672e-01 4.83364452e-01 -4.29695523e-03 8.09538231e+01] [ 4.92322948e-03 -2.67595671e-05 9.99987880e-01 7.72152012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.200281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:167.21, Y:80.98, Z:0.78 [[ 4.81384379e-01 -8.76506309e-01 -2.40218506e-03 1.67206178e+02] [ 8.76495774e-01 4.81390371e-01 -4.29748884e-03 8.09755776e+01] [ 4.92316484e-03 -3.67610548e-05 9.99987880e-01 7.75421619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.230281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:167.22, Y:81.00, Z:0.78 [[ 4.78781141e-01 -8.77931007e-01 -2.40118579e-03 1.67220523e+02] [ 8.77920487e-01 4.78787160e-01 -4.29804710e-03 8.09971961e+01] [ 4.92304574e-03 -5.02263001e-05 9.99987880e-01 7.76740832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.260281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:167.23, Y:81.02, Z:0.78 [[ 4.77958065e-01 -8.78379375e-01 -2.40021629e-03 1.67233445e+02] [ 8.78368859e-01 4.77964089e-01 -4.29858844e-03 8.10201660e+01] [ 4.92300862e-03 -5.37302268e-05 9.99987880e-01 7.75241515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.290281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:167.25, Y:81.04, Z:0.77 [[ 4.76989080e-01 -8.78905946e-01 -2.39922021e-03 1.67245514e+02] [ 8.78895433e-01 4.76995110e-01 -4.29914433e-03 8.10424419e+01] [ 4.92295982e-03 -5.80187865e-05 9.99987880e-01 7.74429927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.320281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:167.26, Y:81.06, Z:0.78 [[ 4.76720156e-01 -8.79051842e-01 -2.39842965e-03 1.67258551e+02] [ 8.79041329e-01 4.76726186e-01 -4.29958532e-03 8.10649702e+01] [ 4.92295261e-03 -5.86198016e-05 9.99987880e-01 7.75574782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.350281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.27, Y:81.09, Z:0.78 [[ 4.76116267e-01 -8.79379072e-01 -2.39747218e-03 1.67272308e+02] [ 8.79368560e-01 4.76122300e-01 -4.30011915e-03 8.10873141e+01] [ 4.92292475e-03 -6.09049829e-05 9.99987880e-01 7.75822605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.380281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:167.28, Y:81.11, Z:0.77 [[ 4.75300401e-01 -8.79820315e-01 -2.39650638e-03 1.67284821e+02] [ 8.79809806e-01 4.75306438e-01 -4.30065733e-03 8.11103115e+01] [ 4.92288060e-03 -6.43656554e-05 9.99987880e-01 7.74342774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.410281693 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:167.30, Y:81.13, Z:0.77 [[ 4.72318192e-01 -8.81424862e-01 -2.39553258e-03 1.67298403e+02] [ 8.81414371e-01 4.72324260e-01 -4.30119968e-03 8.11330665e+01] [ 4.92265249e-03 -7.99219889e-05 9.99987880e-01 7.70806205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.440281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:167.31, Y:81.16, Z:0.77 [[ 4.70156732e-01 -8.82579693e-01 -2.39455376e-03 1.67313004e+02] [ 8.82569214e-01 4.70162821e-01 -4.30174454e-03 8.11550804e+01] [ 4.92246252e-03 -9.08652798e-05 9.99987880e-01 7.70851364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.470281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:167.33, Y:81.18, Z:0.77 [[ 4.68044017e-01 -8.83701912e-01 -2.39356381e-03 1.67327975e+02] [ 8.83691445e-01 4.68050126e-01 -4.30229529e-03 8.11758514e+01] [ 4.92225442e-03 -1.01508293e-04 9.99987880e-01 7.72612428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.500281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:167.34, Y:81.20, Z:0.77 [[ 4.63010481e-01 -8.86349576e-01 -2.39253252e-03 1.67343767e+02] [ 8.86339141e-01 4.63016644e-01 -4.30286872e-03 8.11959767e+01] [ 4.92162825e-03 -1.28321903e-04 9.99987880e-01 7.73338009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.530281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:167.36, Y:81.22, Z:0.77 [[ 4.60591413e-01 -8.87609053e-01 -2.39151759e-03 1.67358053e+02] [ 8.87598632e-01 4.60597600e-01 -4.30343275e-03 8.12174668e+01] [ 4.92129313e-03 -1.40583571e-04 9.99987880e-01 7.72114892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.560281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:167.37, Y:81.24, Z:0.77 [[ 4.57291846e-01 -8.89313473e-01 -2.39050287e-03 1.67374892e+02] [ 8.89303072e-01 4.57298067e-01 -4.30399634e-03 8.12364580e+01] [ 4.92077427e-03 -1.57699115e-04 9.99987880e-01 7.71444739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.590281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:167.39, Y:81.26, Z:0.77 [[ 4.56548354e-01 -8.89695392e-01 -2.38944545e-03 1.67389547e+02] [ 8.89684993e-01 4.56554579e-01 -4.30458330e-03 8.12577400e+01] [ 4.92068019e-03 -1.60603342e-04 9.99987880e-01 7.71938595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.620281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:167.40, Y:81.28, Z:0.77 [[ 4.56418920e-01 -8.89761803e-01 -2.38840752e-03 1.67404929e+02] [ 8.89751402e-01 4.56425141e-01 -4.30515912e-03 8.12785686e+01] [ 4.92069538e-03 -1.60132860e-04 9.99987880e-01 7.72021297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.650281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:167.42, Y:81.30, Z:0.77 [[ 4.56418503e-01 -8.89762019e-01 -2.38736751e-03 1.67418870e+02] [ 8.89751615e-01 4.56424719e-01 -4.30573577e-03 8.13004546e+01] [ 4.92073370e-03 -1.58946624e-04 9.99987880e-01 7.71843660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68028169299998 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:167.43, Y:81.32, Z:0.77 [[ 4.56087688e-01 -8.89931641e-01 -2.38637784e-03 1.67432846e+02] [ 8.89921237e-01 4.56093903e-01 -4.30628421e-03 8.13221165e+01] [ 4.92071095e-03 -1.59645112e-04 9.99987880e-01 7.70353188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71028169299998 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:167.45, Y:81.34, Z:0.77 [[ 4.54614545e-01 -8.90685088e-01 -2.38534126e-03 1.67450431e+02] [ 8.90674691e-01 4.54620772e-01 -4.30685831e-03 8.13424094e+01] [ 4.92048016e-03 -1.66602660e-04 9.99987880e-01 7.68216654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.740281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:167.47, Y:81.36, Z:0.77 [[ 4.53142320e-01 -8.91434996e-01 -2.38434766e-03 1.67465539e+02] [ 8.91424606e-01 4.53148560e-01 -4.30740831e-03 8.13633246e+01] [ 4.92023822e-03 -1.73597179e-04 9.99987880e-01 7.66799581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.770281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:167.49, Y:81.38, Z:0.77 [[ 4.50273651e-01 -8.92887428e-01 -2.38330606e-03 1.67485009e+02] [ 8.92877055e-01 4.50279919e-01 -4.30798456e-03 8.13825295e+01] [ 4.91970011e-03 -1.88227361e-04 9.99987880e-01 7.70483900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.800281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.50, Y:81.40, Z:0.77 [[ 4.48352341e-01 -8.93853737e-01 -2.38231362e-03 1.67501025e+02] [ 8.93843375e-01 4.48358627e-01 -4.30853331e-03 8.14021614e+01] [ 4.91932946e-03 -1.97674253e-04 9.99987880e-01 7.73174330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.830281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:167.52, Y:81.42, Z:0.78 [[ 4.46518570e-01 -8.94771198e-01 -2.38128174e-03 1.67517342e+02] [ 8.94760846e-01 4.46524872e-01 -4.30910355e-03 8.14227349e+01] [ 4.91896326e-03 -2.06582907e-04 9.99987880e-01 7.77095880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.860281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:167.53, Y:81.45, Z:0.78 [[ 4.46309924e-01 -8.94875291e-01 -2.38027111e-03 1.67529604e+02] [ 8.94864937e-01 4.46316224e-01 -4.30966172e-03 8.14456355e+01] [ 4.91896340e-03 -2.06576363e-04 9.99987880e-01 7.77223779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.890281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:167.55, Y:81.46, Z:0.78 [[ 4.43785893e-01 -8.96129689e-01 -2.37926609e-03 1.67549842e+02] [ 8.96119351e-01 4.43792217e-01 -4.31021650e-03 8.14619692e+01] [ 4.91841275e-03 -2.19293104e-04 9.99987880e-01 7.79648985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.920281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:167.57, Y:81.48, Z:0.78 [[ 4.42444216e-01 -8.96792875e-01 -2.37822033e-03 1.67566931e+02] [ 8.96782542e-01 4.42450550e-01 -4.31079344e-03 8.14815992e+01] [ 4.91813373e-03 -2.25460848e-04 9.99987880e-01 7.78090640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.950281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:167.59, Y:81.50, Z:0.77 [[ 4.42278831e-01 -8.96874453e-01 -2.37716319e-03 1.67589679e+02] [ 8.96864119e-01 4.42285162e-01 -4.31137631e-03 8.14966165e+01] [ 4.91814728e-03 -2.25161890e-04 9.99987880e-01 7.73273886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.980281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:167.61, Y:81.52, Z:0.77 [[ 4.43150389e-01 -8.96444135e-01 -2.37606399e-03 1.67607320e+02] [ 8.96433791e-01 4.43156704e-01 -4.31198201e-03 8.15165304e+01] [ 4.91841967e-03 -2.19127547e-04 9.99987881e-01 7.73588989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.010281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.63, Y:81.53, Z:0.78 [[ 4.47376875e-01 -8.94342379e-01 -2.37499248e-03 1.67627813e+02] [ 8.94332003e-01 4.47383137e-01 -4.31257211e-03 8.15348577e+01] [ 4.91944758e-03 -1.94686746e-04 9.99987881e-01 7.77473688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.040281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:167.64, Y:81.56, Z:0.78 [[ 4.50241347e-01 -8.92903743e-01 -2.37390718e-03 1.67643117e+02] [ 8.92893343e-01 4.50247570e-01 -4.31316944e-03 8.15557751e+01] [ 4.92009108e-03 -1.77678696e-04 9.99987881e-01 7.79413318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.070281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.66, Y:81.57, Z:0.78 [[ 4.56007871e-01 -8.89972579e-01 -2.37281983e-03 1.67660013e+02] [ 8.89962136e-01 4.56014022e-01 -4.31376755e-03 8.15742543e+01] [ 4.92117394e-03 -1.44607845e-04 9.99987881e-01 7.78576195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.100281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:167.67, Y:81.59, Z:0.78 [[ 4.58466743e-01 -8.88708400e-01 -2.37168522e-03 1.67673792e+02] [ 8.88697937e-01 4.58472859e-01 -4.31439126e-03 8.15943140e+01] [ 4.92158906e-03 -1.29706850e-04 9.99987881e-01 7.78044297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.130281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.69, Y:81.61, Z:0.78 [[ 4.62640828e-01 -8.86542636e-01 -2.37055734e-03 1.67691515e+02] [ 8.86532141e-01 4.62646889e-01 -4.31501089e-03 8.16145621e+01] [ 4.92217210e-03 -1.05275066e-04 9.99987881e-01 7.80729562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.160281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.71, Y:81.63, Z:0.78 [[ 4.64191389e-01 -8.85731753e-01 -2.36959676e-03 1.67705986e+02] [ 8.85721245e-01 4.64197428e-01 -4.31553833e-03 8.16349712e+01] [ 4.92237005e-03 -9.55664618e-05 9.99987881e-01 7.81304288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.190281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.72, Y:81.66, Z:0.78 [[ 4.64988936e-01 -8.85313323e-01 -2.36843322e-03 1.67720378e+02] [ 8.85302806e-01 4.64994959e-01 -4.31617680e-03 8.16559749e+01] [ 4.92247833e-03 -8.98061207e-05 9.99987881e-01 7.79798989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.220281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.74, Y:81.68, Z:0.77 [[ 4.65985890e-01 -8.84788984e-01 -2.36736026e-03 1.67736929e+02] [ 8.84778457e-01 4.65991896e-01 -4.31676522e-03 8.16760344e+01] [ 4.92259701e-03 -8.30376782e-05 9.99987881e-01 7.73549112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.250281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:167.75, Y:81.70, Z:0.77 [[ 4.66418400e-01 -8.84561064e-01 -2.36628921e-03 1.67749826e+02] [ 8.84550532e-01 4.66424396e-01 -4.31735225e-03 8.16970273e+01] [ 4.92265672e-03 -7.94098490e-05 9.99987881e-01 7.72209829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.280281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:167.76, Y:81.72, Z:0.77 [[ 4.67919631e-01 -8.83767856e-01 -2.36538138e-03 1.67764097e+02] [ 8.83757311e-01 4.67925605e-01 -4.31784958e-03 8.17171878e+01] [ 4.92279918e-03 -7.00165012e-05 9.99987881e-01 7.73204378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.310281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.78, Y:81.74, Z:0.78 [[ 4.68817506e-01 -8.83291886e-01 -2.36427752e-03 1.67778972e+02] [ 8.83281332e-01 4.68823463e-01 -4.31845392e-03 8.17395838e+01] [ 4.92288408e-03 -6.37553967e-05 9.99987881e-01 7.76368152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.340281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:167.79, Y:81.76, Z:0.78 [[ 4.70210046e-01 -8.82551374e-01 -2.36323130e-03 1.67793382e+02] [ 8.82540807e-01 4.70215981e-01 -4.31902638e-03 8.17609937e+01] [ 4.92299179e-03 -5.47984693e-05 9.99987881e-01 7.76719653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.370281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:167.81, Y:81.78, Z:0.78 [[ 4.74911741e-01 -8.80030260e-01 -2.36213948e-03 1.67807620e+02] [ 8.80019659e-01 4.74917614e-01 -4.31962343e-03 8.17819709e+01] [ 4.92322098e-03 -2.72893016e-05 9.99987881e-01 7.78112598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.400281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:167.82, Y:81.80, Z:0.78 [[ 4.77663046e-01 -8.78539948e-01 -2.36101912e-03 1.67819048e+02] [ 8.78529326e-01 4.77668881e-01 -4.32023571e-03 8.18036139e+01] [ 4.92328501e-03 -1.06075851e-05 9.99987881e-01 7.79061252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43028169299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.83, Y:81.83, Z:0.78 [[ 4.83341807e-01 -8.75428540e-01 -2.35984884e-03 1.67830082e+02] [ 8.75417877e-01 4.83347567e-01 -4.32087486e-03 8.18259020e+01] [ 4.92324436e-03 2.26055981e-05 9.99987881e-01 7.80614397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46028169299998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:167.84, Y:81.85, Z:0.78 [[ 4.86197051e-01 -8.73846019e-01 -2.35870111e-03 1.67841371e+02] [ 8.73835334e-01 4.86202771e-01 -4.32150129e-03 8.18496769e+01] [ 4.92313372e-03 3.99848124e-05 9.99987881e-01 7.82369234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.490281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.85, Y:81.88, Z:0.78 [[ 4.92893189e-01 -8.70086631e-01 -2.35766601e-03 1.67847134e+02] [ 8.70075900e-01 4.92898822e-01 -4.32206594e-03 8.18752575e+01] [ 4.92266259e-03 7.89684878e-05 9.99987881e-01 7.83313936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.520281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.86, Y:81.90, Z:0.78 [[ 4.96569751e-01 -8.67993623e-01 -2.35658829e-03 1.67855443e+02] [ 8.67982865e-01 4.96575332e-01 -4.32265348e-03 8.19011892e+01] [ 4.92225927e-03 1.01020705e-04 9.99987881e-01 7.84471192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.550281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:167.86, Y:81.93, Z:0.79 [[ 5.02248432e-01 -8.64720165e-01 -2.35557859e-03 1.67860147e+02] [ 8.64709368e-01 5.02253938e-01 -4.32320363e-03 8.19285910e+01] [ 4.92145998e-03 1.34431372e-04 9.99987881e-01 7.85331641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.580281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.87, Y:81.95, Z:0.79 [[ 5.03753846e-01 -8.63844036e-01 -2.35456423e-03 1.67868363e+02] [ 8.63833227e-01 5.03759328e-01 -4.32375601e-03 8.19533774e+01] [ 4.92118454e-03 1.44157901e-04 9.99987881e-01 7.86523981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.610281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.88, Y:81.98, Z:0.79 [[ 5.04293263e-01 -8.63529250e-01 -2.35351034e-03 1.67875878e+02] [ 8.63518435e-01 5.04298733e-01 -4.32432960e-03 8.19792834e+01] [ 4.92105738e-03 1.48430715e-04 9.99987881e-01 7.86602155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.640281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.88, Y:82.01, Z:0.78 [[ 5.03116074e-01 -8.64215645e-01 -2.35251483e-03 1.67878101e+02] [ 8.64204835e-01 5.03121554e-01 -4.32487110e-03 8.20082647e+01] [ 4.92122219e-03 1.42857482e-04 9.99987881e-01 7.83572817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.670281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:167.89, Y:82.03, Z:0.78 [[ 5.01664142e-01 -8.65059280e-01 -2.35150660e-03 1.67885854e+02] [ 8.65048477e-01 5.01669635e-01 -4.32541923e-03 8.20332851e+01] [ 4.92142350e-03 1.35740526e-04 9.99987881e-01 7.80589088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.700281693 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:167.89, Y:82.06, Z:0.78 [[ 4.96361878e-01 -8.68112528e-01 -2.35045176e-03 1.67891173e+02] [ 8.68101756e-01 4.96367431e-01 -4.32599235e-03 8.20597852e+01] [ 4.92213586e-03 1.06826387e-04 9.99987881e-01 7.81357888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.730281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.90, Y:82.08, Z:0.78 [[ 4.92586831e-01 -8.70260130e-01 -2.34945885e-03 1.67900320e+02] [ 8.70249379e-01 4.92592427e-01 -4.32653154e-03 8.20841920e+01] [ 4.92253354e-03 8.65773557e-05 9.99987881e-01 7.82453671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.760281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:167.91, Y:82.11, Z:0.78 [[ 4.85669166e-01 -8.74139546e-01 -2.34865121e-03 1.67908832e+02] [ 8.74128838e-01 4.85674842e-01 -4.32696992e-03 8.21099102e+01] [ 4.92305633e-03 4.84521245e-05 9.99987881e-01 7.83435491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.790281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.92, Y:82.13, Z:0.78 [[ 4.82353547e-01 -8.75973484e-01 -2.34764573e-03 1.67920077e+02] [ 8.75962795e-01 4.82359259e-01 -4.32751539e-03 8.21332322e+01] [ 4.92319738e-03 3.09420823e-05 9.99987881e-01 7.83278576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.820281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.93, Y:82.16, Z:0.78 [[ 4.79407270e-01 -8.77589405e-01 -2.34663546e-03 1.67932082e+02] [ 8.77578732e-01 4.79413013e-01 -4.32806315e-03 8.21560443e+01] [ 4.92326993e-03 1.55475666e-05 9.99987881e-01 7.82046429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.850281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:167.94, Y:82.18, Z:0.78 [[ 4.75688362e-01 -8.79610755e-01 -2.34557864e-03 1.67944801e+02] [ 8.79600104e-01 4.75694145e-01 -4.32863581e-03 8.21786511e+01] [ 4.92329264e-03 -4.08953395e-06 9.99987881e-01 7.80618710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.880281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.96, Y:82.20, Z:0.78 [[ 4.74703260e-01 -8.80142783e-01 -2.34456320e-03 1.67957094e+02] [ 8.80132136e-01 4.74709050e-01 -4.32918574e-03 8.22020141e+01] [ 4.92328696e-03 -8.44682969e-06 9.99987881e-01 7.81449390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.910281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.97, Y:82.22, Z:0.78 [[ 4.75243777e-01 -8.79851044e-01 -2.34354252e-03 1.67968022e+02] [ 8.79840391e-01 4.75249556e-01 -4.32973820e-03 8.22244367e+01] [ 4.92329222e-03 -4.26223272e-06 9.99987881e-01 7.81929496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.940281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.98, Y:82.25, Z:0.78 [[ 4.76096448e-01 -8.79389951e-01 -2.34247868e-03 1.67979894e+02] [ 8.79379289e-01 4.76102210e-01 -4.33031369e-03 8.22479606e+01] [ 4.92329362e-03 1.71972593e-06 9.99987881e-01 7.82457619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.970281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:167.99, Y:82.27, Z:0.78 [[ 4.77095533e-01 -8.78848320e-01 -2.34146433e-03 1.67991900e+02] [ 8.78837649e-01 4.77101278e-01 -4.33086209e-03 8.22705684e+01] [ 4.92328650e-03 8.46795263e-06 9.99987881e-01 7.82291956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.000281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:168.00, Y:82.29, Z:0.78 [[ 4.77436956e-01 -8.78662891e-01 -2.34040514e-03 1.68004192e+02] [ 8.78652215e-01 4.77442692e-01 -4.33143440e-03 8.22932215e+01] [ 4.92328000e-03 1.15846933e-05 9.99987881e-01 7.82609420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.030281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:168.02, Y:82.32, Z:0.79 [[ 4.75714633e-01 -8.79596564e-01 -2.33932279e-03 1.68017234e+02] [ 8.79585896e-01 4.75720385e-01 -4.33201888e-03 8.23152680e+01] [ 4.92329246e-03 3.16944091e-06 9.99987881e-01 7.89060909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.060281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:168.03, Y:82.34, Z:0.79 [[ 4.74409769e-01 -8.80301030e-01 -2.33821986e-03 1.68029768e+02] [ 8.80290368e-01 4.74415531e-01 -4.33261411e-03 8.23375769e+01] [ 4.92329248e-03 -2.87796135e-06 9.99987881e-01 7.90575282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.090281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:168.04, Y:82.36, Z:0.79 [[ 4.72831648e-01 -8.81149687e-01 -2.33712197e-03 1.68041293e+02] [ 8.81139032e-01 4.72837424e-01 -4.33320626e-03 8.23602848e+01] [ 4.92328207e-03 -1.04523325e-05 9.99987881e-01 7.89437202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.120281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:168.05, Y:82.38, Z:0.78 [[ 4.71450271e-01 -8.81889554e-01 -2.33602648e-03 1.68049791e+02] [ 8.81878905e-01 4.71456058e-01 -4.33379675e-03 8.23830846e+01] [ 4.92326392e-03 -1.69228207e-05 9.99987881e-01 7.83955624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.150281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:168.06, Y:82.41, Z:0.78 [[ 4.71384744e-01 -8.81924584e-01 -2.33488683e-03 1.68060020e+02] [ 8.81913932e-01 4.71390527e-01 -4.33441067e-03 8.24058079e+01] [ 4.92326686e-03 -1.59941576e-05 9.99987881e-01 7.83588658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18028169299998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:168.07, Y:82.43, Z:0.79 [[ 4.70506267e-01 -8.82393567e-01 -2.33376390e-03 1.68070346e+02] [ 8.82382918e-01 4.70512054e-01 -4.33501520e-03 8.24292191e+01] [ 4.92325357e-03 -1.96215853e-05 9.99987881e-01 7.88968457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21028169299998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:168.08, Y:82.45, Z:0.79 [[ 4.69529709e-01 -8.82913592e-01 -2.33269517e-03 1.68082012e+02] [ 8.82902947e-01 4.69535503e-01 -4.33559021e-03 8.24519931e+01] [ 4.92323473e-03 -2.38550307e-05 9.99987881e-01 7.90745268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.240281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:168.10, Y:82.47, Z:0.79 [[ 4.65877523e-01 -8.84846143e-01 -2.33162242e-03 1.68095500e+02] [ 8.84835520e-01 4.65883355e-01 -4.33616704e-03 8.24723365e+01] [ 4.92310476e-03 -4.29795781e-05 9.99987881e-01 7.88099468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.270281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:168.11, Y:82.49, Z:0.79 [[ 4.63438038e-01 -8.86126263e-01 -2.33050821e-03 1.68110560e+02] [ 8.86115652e-01 4.63443895e-01 -4.33676581e-03 8.24942043e+01] [ 4.92298188e-03 -5.52775634e-05 9.99987881e-01 7.86288486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.300281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:168.13, Y:82.51, Z:0.79 [[ 4.60902147e-01 -8.87447905e-01 -2.32947513e-03 1.68125768e+02] [ 8.87437309e-01 4.60908028e-01 -4.33732065e-03 8.25148303e+01] [ 4.92281991e-03 -6.81827380e-05 9.99987881e-01 7.85599104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.330281693 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:168.14, Y:82.53, Z:0.79 [[ 4.57131983e-01 -8.89395822e-01 -2.32839319e-03 1.68143268e+02] [ 8.89385248e-01 4.57137905e-01 -4.33790139e-03 8.25336275e+01] [ 4.92250815e-03 -8.78450848e-05 9.99987881e-01 7.88052214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.360281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:168.16, Y:82.55, Z:0.79 [[ 4.56955274e-01 -8.89486628e-01 -2.32724195e-03 1.68159782e+02] [ 8.89476052e-01 4.56961192e-01 -4.33851893e-03 8.25523885e+01] [ 4.92251383e-03 -8.75168760e-05 9.99987881e-01 7.89922767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.390281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:168.17, Y:82.57, Z:0.79 [[ 4.57696745e-01 -8.89105325e-01 -2.32613187e-03 1.68174265e+02] [ 8.89094741e-01 4.57702648e-01 -4.33911402e-03 8.25739070e+01] [ 4.92260610e-03 -8.21532476e-05 9.99987881e-01 7.88107301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.420281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:168.19, Y:82.59, Z:0.79 [[ 4.59406804e-01 -8.88222935e-01 -2.32502671e-03 1.68188017e+02] [ 8.88212337e-01 4.59412682e-01 -4.33970612e-03 8.25939105e+01] [ 4.92277326e-03 -7.14268866e-05 9.99987881e-01 7.86060436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.450281693 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:168.20, Y:82.62, Z:0.78 [[ 4.63880969e-01 -8.85894489e-01 -2.32393130e-03 1.68202361e+02] [ 8.85883858e-01 4.63886788e-01 -4.34029264e-03 8.26150312e+01] [ 4.92308236e-03 -4.53540654e-05 9.99987881e-01 7.82717346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.480281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:168.21, Y:82.64, Z:0.78 [[ 4.65460218e-01 -8.85065754e-01 -2.32290181e-03 1.68214692e+02] [ 8.85055110e-01 4.65466013e-01 -4.34084355e-03 8.26371166e+01] [ 4.92316381e-03 -3.54061309e-05 9.99987881e-01 7.84144797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.510281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:168.23, Y:82.66, Z:0.79 [[ 4.66919832e-01 -8.84296602e-01 -2.32180460e-03 1.68228602e+02] [ 8.84285945e-01 4.66925604e-01 -4.34143034e-03 8.26586129e+01] [ 4.92322211e-03 -2.60392525e-05 9.99987881e-01 7.87524671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.540281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:168.24, Y:82.68, Z:0.79 [[ 4.66674050e-01 -8.84426337e-01 -2.32070296e-03 1.68240688e+02] [ 8.84415679e-01 4.66679820e-01 -4.34201914e-03 8.26801780e+01] [ 4.92322132e-03 -2.61584267e-05 9.99987881e-01 7.88209220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.570281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:168.25, Y:82.70, Z:0.79 [[ 4.66243807e-01 -8.84653227e-01 -2.31955434e-03 1.68253242e+02] [ 8.84642569e-01 4.66249576e-01 -4.34263265e-03 8.27024466e+01] [ 4.92321522e-03 -2.72509295e-05 9.99987881e-01 7.87887643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.600281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:168.27, Y:82.73, Z:0.79 [[ 4.65665284e-01 -8.84957891e-01 -2.31847481e-03 1.68266146e+02] [ 8.84947233e-01 4.65671055e-01 -4.34320892e-03 8.27255862e+01] [ 4.92320362e-03 -2.92462546e-05 9.99987881e-01 7.87290304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.630281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:168.28, Y:82.75, Z:0.79 [[ 4.65647444e-01 -8.84967280e-01 -2.31743717e-03 1.68278304e+02] [ 8.84956620e-01 4.65653210e-01 -4.34376252e-03 8.27473681e+01] [ 4.92320976e-03 -2.81694500e-05 9.99987881e-01 7.86392172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.660281693 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:168.29, Y:82.77, Z:0.79 [[ 4.66779023e-01 -8.84370951e-01 -2.31635558e-03 1.68291354e+02] [ 8.84360280e-01 4.66784770e-01 -4.34433921e-03 8.27704456e+01] [ 4.92324690e-03 -2.06464657e-05 9.99987881e-01 7.87287365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.690281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:168.30, Y:82.79, Z:0.79 [[ 4.67789980e-01 -8.83836622e-01 -2.31532352e-03 1.68303928e+02] [ 8.83825942e-01 4.67795710e-01 -4.34488918e-03 8.27927036e+01] [ 4.92327058e-03 -1.38473659e-05 9.99987881e-01 7.87790325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.720281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:168.32, Y:82.81, Z:0.79 [[ 4.69118098e-01 -8.83132411e-01 -2.31424088e-03 1.68315529e+02] [ 8.83121719e-01 4.69123806e-01 -4.34546575e-03 8.28141771e+01] [ 4.92328713e-03 -5.21975805e-06 9.99987881e-01 7.87627358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.750281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:168.33, Y:82.84, Z:0.79 [[ 4.72382635e-01 -8.81390547e-01 -2.31307704e-03 1.68327050e+02] [ 8.81379832e-01 4.72388298e-01 -4.34608517e-03 8.28370985e+01] [ 4.92326891e-03 1.43157187e-05 9.99987881e-01 7.86667444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.780281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:168.34, Y:82.86, Z:0.79 [[ 4.73654783e-01 -8.80707557e-01 -2.31195162e-03 1.68338570e+02] [ 8.80696831e-01 4.73660425e-01 -4.34668377e-03 8.28591058e+01] [ 4.92323723e-03 2.26990937e-05 9.99987881e-01 7.86187520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.810281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:168.35, Y:82.88, Z:0.79 [[ 4.73437966e-01 -8.80824133e-01 -2.31077841e-03 1.68350457e+02] [ 8.80813405e-01 4.73443604e-01 -4.34730738e-03 8.28822197e+01] [ 4.92323651e-03 2.28157679e-05 9.99987881e-01 7.86315416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.840281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:168.36, Y:82.90, Z:0.79 [[ 4.75043228e-01 -8.79959429e-01 -2.30970808e-03 1.68364053e+02] [ 8.79948688e-01 4.75048842e-01 -4.34787597e-03 8.29040909e+01] [ 4.92317860e-03 3.30044435e-05 9.99987881e-01 7.89552315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.870281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:168.38, Y:82.93, Z:0.79 [[ 4.75006764e-01 -8.79979116e-01 -2.30859697e-03 1.68375390e+02] [ 8.79968372e-01 4.75012373e-01 -4.34846586e-03 8.29255516e+01] [ 4.92317126e-03 3.40583765e-05 9.99987881e-01 7.91031877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.900281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:168.39, Y:82.95, Z:0.79 [[ 4.74728376e-01 -8.80129334e-01 -2.30744338e-03 1.68386766e+02] [ 8.80118590e-01 4.74733982e-01 -4.34907790e-03 8.29485321e+01] [ 4.92317282e-03 3.38068712e-05 9.99987881e-01 7.91215430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93028169299998 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:168.40, Y:82.97, Z:0.79 [[ 4.73560532e-01 -8.80758255e-01 -2.30632359e-03 1.68398955e+02] [ 8.80747515e-01 4.73566147e-01 -4.34967165e-03 8.29699990e+01] [ 4.92320599e-03 2.85440539e-05 9.99987881e-01 7.88437292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96028169299998 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:168.41, Y:82.99, Z:0.79 [[ 4.72611991e-01 -8.81267605e-01 -2.30516023e-03 1.68413384e+02] [ 8.81256868e-01 4.72617612e-01 -4.35028810e-03 8.29923213e+01] [ 4.92322730e-03 2.45600381e-05 9.99987881e-01 7.87333790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.990281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:168.43, Y:83.01, Z:0.79 [[ 4.69803474e-01 -8.82768026e-01 -2.30411919e-03 1.68430609e+02] [ 8.82757304e-01 4.69809124e-01 -4.35083941e-03 8.30123332e+01] [ 4.92327814e-03 1.00614273e-05 9.99987881e-01 7.85068812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.020281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:168.44, Y:83.03, Z:0.79 [[ 4.68982912e-01 -8.83204237e-01 -2.30302992e-03 1.68444743e+02] [ 8.83193518e-01 4.68988567e-01 -4.35141592e-03 8.30346000e+01] [ 4.92328368e-03 6.71860787e-06 9.99987881e-01 7.86194417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.050281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:168.46, Y:83.05, Z:0.79 [[ 4.70837779e-01 -8.82216803e-01 -2.30198383e-03 1.68461372e+02] [ 8.82206069e-01 4.70843406e-01 -4.35196925e-03 8.30548978e+01] [ 4.92325430e-03 1.82474247e-05 9.99987881e-01 7.89511370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.080281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:168.48, Y:83.08, Z:0.79 [[ 4.72801834e-01 -8.81165780e-01 -2.30089272e-03 1.68475780e+02] [ 8.81155031e-01 4.72807431e-01 -4.35254604e-03 8.30764184e+01] [ 4.92319381e-03 3.04485527e-05 9.99987881e-01 7.90377917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.110281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:168.49, Y:83.10, Z:0.79 [[ 4.74751921e-01 -8.80116654e-01 -2.29978902e-03 1.68489033e+02] [ 8.80105890e-01 4.74757489e-01 -4.35312914e-03 8.30974200e+01] [ 4.92310351e-03 4.25985533e-05 9.99987881e-01 7.90934636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.140281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:168.50, Y:83.12, Z:0.79 [[ 4.78669748e-01 -8.77992020e-01 -2.29885110e-03 1.68503679e+02] [ 8.77981229e-01 4.78675263e-01 -4.35362439e-03 8.31189229e+01] [ 4.92285063e-03 6.56001740e-05 9.99987881e-01 7.89766599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.170281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:168.52, Y:83.14, Z:0.79 [[ 4.81253092e-01 -8.76578680e-01 -2.29772900e-03 1.68517874e+02] [ 8.76567869e-01 4.81258570e-01 -4.35421653e-03 8.31387000e+01] [ 4.92261515e-03 8.13647529e-05 9.99987881e-01 7.85982866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.200281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:168.53, Y:83.16, Z:0.79 [[ 4.81769127e-01 -8.76295175e-01 -2.29656108e-03 1.68531274e+02] [ 8.76284359e-01 4.81774593e-01 -4.35483244e-03 8.31617238e+01] [ 4.92254343e-03 8.55832654e-05 9.99987881e-01 7.85430456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.230281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:168.54, Y:83.18, Z:0.79 [[ 4.82027770e-01 -8.76152931e-01 -2.29552805e-03 1.68543968e+02] [ 8.76142110e-01 4.82033228e-01 -4.35537691e-03 8.31843544e+01] [ 4.92249704e-03 8.82038326e-05 9.99987881e-01 7.85593315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.260281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:168.56, Y:83.21, Z:0.79 [[ 4.82105352e-01 -8.76110247e-01 -2.29449167e-03 1.68555859e+02] [ 8.76099423e-01 4.82110804e-01 -4.35592282e-03 8.32062139e+01] [ 4.92246784e-03 8.98108761e-05 9.99987881e-01 7.85387938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.290281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:168.57, Y:83.23, Z:0.79 [[ 4.83245251e-01 -8.75482020e-01 -2.29341021e-03 1.68569401e+02] [ 8.75471187e-01 4.83250683e-01 -4.35649214e-03 8.32284608e+01] [ 4.92232259e-03 9.74395774e-05 9.99987881e-01 7.88728142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.320281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:168.58, Y:83.25, Z:0.79 [[ 4.85208326e-01 -8.74395577e-01 -2.29239208e-03 1.68580308e+02] [ 8.74384728e-01 4.85213729e-01 -4.35702781e-03 8.32516460e+01] [ 4.92206596e-03 1.09633548e-04 9.99987881e-01 7.87251457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.350281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:168.59, Y:83.28, Z:0.79 [[ 4.86512162e-01 -8.73670800e-01 -2.29133102e-03 1.68590853e+02] [ 8.73659941e-01 4.86517543e-01 -4.35758575e-03 8.32758540e+01] [ 4.92186816e-03 1.18174339e-04 9.99987881e-01 7.86455039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.380281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:168.60, Y:83.30, Z:0.79 [[ 4.87966009e-01 -8.72859627e-01 -2.29031081e-03 1.68601402e+02] [ 8.72848757e-01 4.87971367e-01 -4.35812189e-03 8.32992115e+01] [ 4.92163475e-03 1.27520401e-04 9.99987881e-01 7.85539828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.410281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:168.61, Y:83.32, Z:0.79 [[ 4.90645661e-01 -8.71356181e-01 -2.28924760e-03 1.68611443e+02] [ 8.71345291e-01 4.90650981e-01 -4.35868031e-03 8.33221321e+01] [ 4.92118461e-03 1.43842463e-04 9.99987881e-01 7.85537837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.440281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:168.62, Y:83.35, Z:0.79 [[ 4.91288453e-01 -8.70993927e-01 -2.28810837e-03 1.68622290e+02] [ 8.70983030e-01 4.91293759e-01 -4.35927827e-03 8.33457294e+01] [ 4.92103826e-03 1.48759511e-04 9.99987881e-01 7.85492283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.470281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:168.63, Y:83.37, Z:0.79 [[ 4.92636121e-01 -8.70232395e-01 -2.28701948e-03 1.68631261e+02] [ 8.70221488e-01 4.92641404e-01 -4.35984946e-03 8.33691719e+01] [ 4.92076273e-03 1.57605833e-04 9.99987881e-01 7.86861945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.500281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:168.64, Y:83.39, Z:0.79 [[ 4.93091496e-01 -8.69974454e-01 -2.28588509e-03 1.68642241e+02] [ 8.69963542e-01 4.93096768e-01 -4.36044415e-03 8.33926902e+01] [ 4.92063757e-03 1.61461242e-04 9.99987881e-01 7.87175696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.530281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:168.65, Y:83.42, Z:0.79 [[ 4.92955478e-01 -8.70051537e-01 -2.28488603e-03 1.68652394e+02] [ 8.70040622e-01 4.92960747e-01 -4.36096760e-03 8.34156363e+01] [ 4.92062568e-03 1.61819206e-04 9.99987881e-01 7.86195440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.560281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:168.66, Y:83.44, Z:0.79 [[ 4.91950156e-01 -8.70620370e-01 -2.28384308e-03 1.68661327e+02] [ 8.70609459e-01 4.91955432e-01 -4.36151372e-03 8.34390444e+01] [ 4.92077170e-03 1.57311969e-04 9.99987881e-01 7.89013307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.590281693 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:168.67, Y:83.46, Z:0.79 [[ 4.91455096e-01 -8.70899924e-01 -2.28272691e-03 1.68671433e+02] [ 8.70889014e-01 4.91460372e-01 -4.36209782e-03 8.34609568e+01] [ 4.92082048e-03 1.55773418e-04 9.99987881e-01 7.90560673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.620281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:168.68, Y:83.48, Z:0.79 [[ 4.89714337e-01 -8.71879959e-01 -2.28162000e-03 1.68682132e+02] [ 8.71869056e-01 4.89719630e-01 -4.36267672e-03 8.34847244e+01] [ 4.92108450e-03 1.47191465e-04 9.99987881e-01 7.92114793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.650281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:168.69, Y:83.51, Z:0.79 [[ 4.88813385e-01 -8.72385393e-01 -2.28060817e-03 1.68692216e+02] [ 8.72374493e-01 4.88818684e-01 -4.36320559e-03 8.35080458e+01] [ 4.92120071e-03 1.43248894e-04 9.99987881e-01 7.91238462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68028169299998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:168.70, Y:83.53, Z:0.79 [[ 4.88307361e-01 -8.72668737e-01 -2.27955089e-03 1.68702218e+02] [ 8.72657838e-01 4.88312661e-01 -4.36375790e-03 8.35319998e+01] [ 4.92124866e-03 1.41587149e-04 9.99987881e-01 7.90747800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71028169299998 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:168.71, Y:83.56, Z:0.79 [[ 4.88762214e-01 -8.72414068e-01 -2.27854117e-03 1.68709798e+02] [ 8.72403164e-01 4.88767503e-01 -4.36428506e-03 8.35574159e+01] [ 4.92114056e-03 1.45291105e-04 9.99987881e-01 7.93289549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.740281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:168.72, Y:83.58, Z:0.80 [[ 4.89534877e-01 -8.71980744e-01 -2.27748678e-03 1.68718295e+02] [ 8.71969832e-01 4.89540151e-01 -4.36483522e-03 8.35810495e+01] [ 4.92097349e-03 1.50839305e-04 9.99987881e-01 7.95484975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.770281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:168.72, Y:83.61, Z:0.80 [[ 4.91919552e-01 -8.70637681e-01 -2.27665037e-03 1.68722423e+02] [ 8.70626753e-01 4.91924792e-01 -4.36527144e-03 8.36070355e+01] [ 4.92051056e-03 1.65249652e-04 9.99987881e-01 7.96815402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.800281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:168.73, Y:83.63, Z:0.80 [[ 4.92857427e-01 -8.70107107e-01 -2.27559199e-03 1.68729948e+02] [ 8.70096171e-01 4.92862651e-01 -4.36582310e-03 8.36321567e+01] [ 4.92028801e-03 1.71744460e-04 9.99987881e-01 7.96508362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.830281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:168.73, Y:83.66, Z:0.79 [[ 4.95394165e-01 -8.68665325e-01 -2.27453852e-03 1.68734568e+02] [ 8.68654372e-01 4.95399352e-01 -4.36637187e-03 8.36599519e+01] [ 4.91972075e-03 1.87287319e-04 9.99987881e-01 7.94835795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.860281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:168.74, Y:83.68, Z:0.79 [[ 4.96134643e-01 -8.68242620e-01 -2.27348558e-03 1.68741733e+02] [ 8.68231659e-01 4.96139815e-01 -4.36692005e-03 8.36842287e+01] [ 4.91951282e-03 1.92668170e-04 9.99987881e-01 7.93193712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.890281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:168.74, Y:83.71, Z:0.79 [[ 4.96660805e-01 -8.67941750e-01 -2.27238405e-03 1.68744959e+02] [ 8.67930783e-01 4.96665964e-01 -4.36749317e-03 8.37109471e+01] [ 4.91934548e-03 1.96890608e-04 9.99987881e-01 7.91344909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.920281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:168.75, Y:83.74, Z:0.79 [[ 4.95924093e-01 -8.68362905e-01 -2.27158444e-03 1.68753465e+02] [ 8.68351941e-01 4.95929257e-01 -4.36790902e-03 8.37357888e+01] [ 4.91947535e-03 1.93616560e-04 9.99987881e-01 7.92257551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.950281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:168.76, Y:83.76, Z:0.79 [[ 4.94758349e-01 -8.69027629e-01 -2.27056637e-03 1.68762270e+02] [ 8.69016670e-01 4.94763523e-01 -4.36843818e-03 8.37600924e+01] [ 4.91968689e-03 1.88161236e-04 9.99987881e-01 7.93368496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.980281693 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:168.77, Y:83.78, Z:0.80 [[ 4.92193424e-01 -8.70482901e-01 -2.26975668e-03 1.68767156e+02] [ 8.70471955e-01 4.92198626e-01 -4.36885884e-03 8.37846666e+01] [ 4.92018804e-03 1.74564054e-04 9.99987881e-01 7.95251243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.010281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:168.77, Y:83.81, Z:0.80 [[ 4.90535132e-01 -8.71418463e-01 -2.26866281e-03 1.68772946e+02] [ 8.71407524e-01 4.90540350e-01 -4.36942679e-03 8.38104575e+01] [ 4.92046982e-03 1.66427507e-04 9.99987881e-01 7.95142277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.040281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:168.78, Y:83.84, Z:0.79 [[ 4.89978998e-01 -8.71731288e-01 -2.26760315e-03 1.68781723e+02] [ 8.71720351e-01 4.89984218e-01 -4.36997665e-03 8.38352130e+01] [ 4.92053513e-03 1.64480971e-04 9.99987881e-01 7.94260463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.070281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:168.79, Y:83.86, Z:0.79 [[ 4.89540851e-01 -8.71977418e-01 -2.26658187e-03 1.68790526e+02] [ 8.71966481e-01 4.89546071e-01 -4.37050630e-03 8.38606979e+01] [ 4.92057904e-03 1.63157956e-04 9.99987881e-01 7.93250154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.100281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:168.80, Y:83.89, Z:0.79 [[ 4.88356645e-01 -8.72641194e-01 -2.26555608e-03 1.68796011e+02] [ 8.72630261e-01 4.88361875e-01 -4.37103797e-03 8.38866619e+01] [ 4.92075901e-03 1.57632653e-04 9.99987881e-01 7.91611813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.130281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:168.81, Y:83.91, Z:0.79 [[ 4.87295897e-01 -8.73233978e-01 -2.26448133e-03 1.68805010e+02] [ 8.73223049e-01 4.87301135e-01 -4.37159469e-03 8.39115963e+01] [ 4.92090935e-03 1.52862861e-04 9.99987881e-01 7.91866597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.160281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:168.81, Y:83.94, Z:0.79 [[ 4.85611685e-01 -8.74171704e-01 -2.26346730e-03 1.68811793e+02] [ 8.74160782e-01 4.85616939e-01 -4.37211966e-03 8.39373738e+01] [ 4.92116135e-03 1.44518056e-04 9.99987881e-01 7.92153311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.190281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:168.82, Y:83.96, Z:0.79 [[ 4.84439864e-01 -8.74821639e-01 -2.26244441e-03 1.68820400e+02] [ 8.74810722e-01 4.84445127e-01 -4.37264891e-03 8.39618889e+01] [ 4.92131806e-03 1.39074813e-04 9.99987881e-01 7.92056313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.220281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:168.83, Y:83.99, Z:0.79 [[ 4.83099771e-01 -8.75562389e-01 -2.26137542e-03 1.68829448e+02] [ 8.75551478e-01 4.83105045e-01 -4.37320168e-03 8.39868515e+01] [ 4.92149279e-03 1.32742140e-04 9.99987881e-01 7.91874642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.250281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:168.84, Y:84.01, Z:0.79 [[ 4.80515109e-01 -8.76983535e-01 -2.26035392e-03 1.68837010e+02] [ 8.76972637e-01 4.80520411e-01 -4.37372960e-03 8.40117598e+01] [ 4.92183504e-03 1.19374621e-04 9.99987881e-01 7.91069647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.280281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:168.85, Y:84.04, Z:0.79 [[ 4.77483219e-01 -8.78637964e-01 -2.25928616e-03 1.68846835e+02] [ 8.78627081e-01 4.77488553e-01 -4.37428109e-03 8.40368375e+01] [ 4.92219271e-03 1.03575812e-04 9.99987881e-01 7.91885921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.310281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:168.86, Y:84.06, Z:0.79 [[ 4.75760616e-01 -8.79571905e-01 -2.25833571e-03 1.68857385e+02] [ 8.79561031e-01 4.75765967e-01 -4.37477173e-03 8.40612546e+01] [ 4.92236557e-03 9.50000126e-05 9.99987881e-01 7.93053703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.340281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:168.87, Y:84.08, Z:0.79 [[ 4.73515921e-01 -8.80782366e-01 -2.25732377e-03 1.68867416e+02] [ 8.80771503e-01 4.73521294e-01 -4.37529381e-03 8.40844018e+01] [ 4.92257251e-03 8.35848290e-05 9.99987881e-01 7.94439318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.370281693 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:168.88, Y:84.11, Z:0.80 [[ 4.69177625e-01 -8.83100937e-01 -2.25626855e-03 1.68879107e+02] [ 8.83090098e-01 4.69183047e-01 -4.37583791e-03 8.41073566e+01] [ 4.92290951e-03 6.05568237e-05 9.99987881e-01 7.95303604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.400281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:168.89, Y:84.13, Z:0.80 [[ 4.66769660e-01 -8.84376051e-01 -2.25517971e-03 1.68891501e+02] [ 8.84365223e-01 4.66775105e-01 -4.37639899e-03 8.41298764e+01] [ 4.92304420e-03 4.83677628e-05 9.99987881e-01 7.96825885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43028169299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.90, Y:84.15, Z:0.80 [[ 4.63209911e-01 -8.86245732e-01 -2.25408600e-03 1.68903245e+02] [ 8.86234924e-01 4.63215395e-01 -4.37696224e-03 8.41529342e+01] [ 4.92319144e-03 2.98025553e-05 9.99987881e-01 7.98432264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46028169299998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:168.91, Y:84.18, Z:0.80 [[ 4.62262899e-01 -8.86740061e-01 -2.25299248e-03 1.68913357e+02] [ 8.86729256e-01 4.62268389e-01 -4.37752504e-03 8.41750122e+01] [ 4.92321403e-03 2.57730674e-05 9.99987881e-01 7.96154302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.490281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:168.92, Y:84.20, Z:0.79 [[ 4.61529236e-01 -8.87122141e-01 -2.25185872e-03 1.68923441e+02] [ 8.87111338e-01 4.61534729e-01 -4.37810818e-03 8.41969842e+01] [ 4.92322771e-03 2.29755218e-05 9.99987881e-01 7.93192944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.520281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:168.93, Y:84.22, Z:0.79 [[ 4.59913748e-01 -8.87960742e-01 -2.25073320e-03 1.68933734e+02] [ 8.87949946e-01 4.59919255e-01 -4.37868673e-03 8.42186738e+01] [ 4.92325745e-03 1.52797960e-05 9.99987881e-01 7.90674045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.550281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:168.95, Y:84.24, Z:0.79 [[ 4.58713210e-01 -8.88581527e-01 -2.24963106e-03 1.68945271e+02] [ 8.88570736e-01 4.58718726e-01 -4.37925290e-03 8.42416865e+01] [ 4.92327112e-03 9.86482540e-06 9.99987881e-01 7.89651448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.580281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:168.96, Y:84.26, Z:0.79 [[ 4.57757696e-01 -8.89074145e-01 -2.24856422e-03 1.68956410e+02] [ 8.89063357e-01 4.57763219e-01 -4.37980061e-03 8.42637203e+01] [ 4.92327748e-03 5.77138556e-06 9.99987881e-01 7.89579800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.610281693 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:168.97, Y:84.29, Z:0.79 [[ 4.56781465e-01 -8.89576102e-01 -2.24745344e-03 1.68966685e+02] [ 8.89565318e-01 4.56786994e-01 -4.38037052e-03 8.42874086e+01] [ 4.92328044e-03 1.61543233e-06 9.99987881e-01 7.94730468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.640281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:168.98, Y:84.31, Z:0.80 [[ 4.56679878e-01 -8.89628261e-01 -2.24640775e-03 1.68977013e+02] [ 8.89617474e-01 4.56685403e-01 -4.38090672e-03 8.43107874e+01] [ 4.92328006e-03 2.22836176e-06 9.99987881e-01 7.98298510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.670281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:168.99, Y:84.33, Z:0.80 [[ 4.56459818e-01 -8.89741195e-01 -2.24532525e-03 1.68988551e+02] [ 8.89730406e-01 4.56465340e-01 -4.38146146e-03 8.43340531e+01] [ 4.92327991e-03 2.22695305e-06 9.99987881e-01 7.98426409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.700281693 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:169.00, Y:84.36, Z:0.80 [[ 4.56838426e-01 -8.89546860e-01 -2.24424136e-03 1.68997824e+02] [ 8.89536067e-01 4.56843938e-01 -4.38201657e-03 8.43564634e+01] [ 4.92327714e-03 5.53991896e-06 9.99987881e-01 7.99552552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.730281693 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:169.01, Y:84.38, Z:0.80 [[ 4.56885542e-01 -8.89522664e-01 -2.24311387e-03 1.69007644e+02] [ 8.89511868e-01 4.56891048e-01 -4.38259365e-03 8.43785798e+01] [ 4.92327502e-03 7.06726073e-06 9.99987881e-01 7.97708453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.760281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:169.02, Y:84.40, Z:0.79 [[ 4.56951195e-01 -8.89488942e-01 -2.24202060e-03 1.69017333e+02] [ 8.89478143e-01 4.56956695e-01 -4.38315286e-03 8.44023819e+01] [ 4.92327233e-03 8.65861656e-06 9.99987881e-01 7.94166583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.790281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:169.02, Y:84.43, Z:0.79 [[ 4.56820802e-01 -8.89555919e-01 -2.24098211e-03 1.69024864e+02] [ 8.89545118e-01 4.56826298e-01 -4.38368375e-03 8.44286011e+01] [ 4.92327139e-03 9.10323507e-06 9.99987881e-01 7.89769716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.820281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:169.03, Y:84.45, Z:0.79 [[ 4.56422545e-01 -8.89760329e-01 -2.23997754e-03 1.69031485e+02] [ 8.89749528e-01 4.56428042e-01 -4.38419701e-03 8.44526582e+01] [ 4.92327313e-03 8.02739688e-06 9.99987881e-01 7.89020877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.850281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:169.04, Y:84.48, Z:0.79 [[ 4.55875965e-01 -8.90040500e-01 -2.23882866e-03 1.69040608e+02] [ 8.90029699e-01 4.55881463e-01 -4.38478362e-03 8.44769981e+01] [ 4.92327549e-03 6.29346780e-06 9.99987881e-01 7.92443718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.880281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:169.05, Y:84.50, Z:0.80 [[ 4.54901854e-01 -8.90538767e-01 -2.23780536e-03 1.69049944e+02] [ 8.90527970e-01 4.54907358e-01 -4.38530580e-03 8.45019651e+01] [ 4.92327894e-03 2.05547105e-06 9.99987881e-01 7.95392352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.910281693 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:169.06, Y:84.53, Z:0.80 [[ 4.52304272e-01 -8.91860888e-01 -2.23678180e-03 1.69057805e+02] [ 8.91850104e-01 4.52309802e-01 -4.38582782e-03 8.45263761e+01] [ 4.92326662e-03 -1.11454201e-05 9.99987881e-01 8.01105648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.940281693 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:169.07, Y:84.55, Z:0.80 [[ 4.50906524e-01 -8.92568377e-01 -2.23571393e-03 1.69068550e+02] [ 8.92557599e-01 4.50912067e-01 -4.38637211e-03 8.45503260e+01] [ 4.92324742e-03 -1.76596558e-05 9.99987881e-01 8.01611955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.970281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:169.08, Y:84.57, Z:0.80 [[ 4.48170055e-01 -8.93945529e-01 -2.23468403e-03 1.69077608e+02] [ 8.93934765e-01 4.48175625e-01 -4.38689674e-03 8.45736071e+01] [ 4.92317763e-03 -3.15859923e-05 9.99987881e-01 7.95783306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.000281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:169.09, Y:84.60, Z:0.79 [[ 4.46627267e-01 -8.94717327e-01 -2.23361211e-03 1.69087778e+02] [ 8.94706571e-01 4.46632850e-01 -4.38744245e-03 8.45979736e+01] [ 4.92312532e-03 -3.88760008e-05 9.99987881e-01 7.94350666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.030281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:169.10, Y:84.62, Z:0.80 [[ 4.45017913e-01 -8.95518885e-01 -2.23260170e-03 1.69097736e+02] [ 8.95508135e-01 4.45023511e-01 -4.38795654e-03 8.46220844e+01] [ 4.92305820e-03 -4.65937282e-05 9.99987881e-01 7.95640080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.060281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:169.11, Y:84.65, Z:0.80 [[ 4.41673999e-01 -8.97172836e-01 -2.23158188e-03 1.69108240e+02] [ 8.97162106e-01 4.41679632e-01 -4.38847513e-03 8.46452685e+01] [ 4.92286494e-03 -6.38153322e-05 9.99987881e-01 7.98890310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.090281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:169.12, Y:84.67, Z:0.80 [[ 4.37907546e-01 -8.99017246e-01 -2.22997859e-03 1.69120929e+02] [ 8.99006534e-01 4.37913217e-01 -4.38928995e-03 8.46673417e+01] [ 4.92258445e-03 -8.26621329e-05 9.99987881e-01 7.97158295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.120281693 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:169.13, Y:84.69, Z:0.79 [[ 4.36669973e-01 -8.99619011e-01 -2.22942431e-03 1.69133250e+02] [ 8.99608306e-01 4.36675655e-01 -4.38957146e-03 8.46891189e+01] [ 4.92247725e-03 -8.88145781e-05 9.99987881e-01 7.94830039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.150281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:169.15, Y:84.71, Z:0.79 [[ 4.35266500e-01 -9.00298900e-01 -2.22814529e-03 1.69145271e+02] [ 9.00288201e-01 4.35272193e-01 -4.39022070e-03 8.47111023e+01] [ 4.92236055e-03 -9.50569115e-05 9.99987881e-01 7.93344773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18028169299998 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:169.16, Y:84.73, Z:0.79 [[ 4.32531838e-01 -9.01615909e-01 -2.22731203e-03 1.69157859e+02] [ 9.01605225e-01 4.32537559e-01 -4.39064340e-03 8.47318022e+01] [ 4.92207005e-03 -1.09063109e-04 9.99987881e-01 7.93594640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21028169299998 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:169.17, Y:84.75, Z:0.79 [[ 4.30995086e-01 -9.02351528e-01 -2.22618362e-03 1.69170928e+02] [ 9.02340851e-01 4.31000819e-01 -4.39121546e-03 8.47542213e+01] [ 4.92190695e-03 -1.16184133e-04 9.99987881e-01 7.94145611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.240281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:169.19, Y:84.77, Z:0.79 [[ 4.28056306e-01 -9.03749328e-01 -2.22510453e-03 1.69185970e+02] [ 9.03738667e-01 4.28062069e-01 -4.39176219e-03 8.47745123e+01] [ 4.92153497e-03 -1.30991506e-04 9.99987881e-01 7.93552220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.270281693 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:169.20, Y:84.80, Z:0.79 [[ 4.26399638e-01 -9.04532145e-01 -2.22418758e-03 1.69200107e+02] [ 9.04521492e-01 4.26405417e-01 -4.39222653e-03 8.47969326e+01] [ 4.92131571e-03 -1.38981663e-04 9.99987881e-01 7.93393691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.300281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:169.21, Y:84.82, Z:0.79 [[ 4.24828532e-01 -9.05271106e-01 -2.22336763e-03 1.69214204e+02] [ 9.05260460e-01 4.24834325e-01 -4.39264154e-03 8.48178838e+01] [ 4.92109436e-03 -1.46607349e-04 9.99987881e-01 7.93107361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.330281693 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:169.23, Y:84.84, Z:0.79 [[ 4.22628877e-01 -9.06300112e-01 -2.22255418e-03 1.69230991e+02] [ 9.06289479e-01 4.22634691e-01 -4.39305309e-03 8.48369776e+01] [ 4.92075301e-03 -1.57646376e-04 9.99987881e-01 7.93997664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.360281693 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:169.24, Y:84.86, Z:0.80 [[ 4.22430714e-01 -9.06392496e-01 -2.22144781e-03 1.69244123e+02] [ 9.06381861e-01 4.22436525e-01 -4.39361248e-03 8.48587582e+01] [ 4.92075808e-03 -1.57483146e-04 9.99987881e-01 7.95683250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.390281693 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:169.26, Y:84.88, Z:0.80 [[ 4.24795804e-01 -9.05286471e-01 -2.22037869e-03 1.69257614e+02] [ 9.05275818e-01 4.24801583e-01 -4.39415271e-03 8.48817118e+01] [ 4.92118738e-03 -1.43437499e-04 9.99987881e-01 7.96938329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.420281693 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:169.27, Y:84.90, Z:0.80 [[ 4.26565067e-01 -9.04454155e-01 -2.21936763e-03 1.69269943e+02] [ 9.04443488e-01 4.26570820e-01 -4.39466331e-03 8.49041229e+01] [ 4.92148896e-03 -1.32682753e-04 9.99987881e-01 7.97372014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.450281693 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:169.28, Y:84.92, Z:0.79 [[ 4.29153679e-01 -9.03228761e-01 -2.21919839e-03 1.69284940e+02] [ 9.03218077e-01 4.29159400e-01 -4.39474873e-03 8.49243688e+01] [ 4.92185330e-03 -1.18397517e-04 9.99987881e-01 7.94287889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.480281693 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:169.30, Y:84.95, Z:0.79 [[ 4.29118536e-01 -9.03245463e-01 -2.21723256e-03 1.69298468e+02] [ 9.03234774e-01 4.29124248e-01 -4.39574030e-03 8.49458716e+01] [ 4.92190074e-03 -1.16387905e-04 9.99987881e-01 7.92714616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.510281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:169.31, Y:84.97, Z:0.79 [[ 4.27631028e-01 -9.03950658e-01 -2.21619468e-03 1.69312139e+02] [ 9.03939976e-01 4.27636752e-01 -4.39626350e-03 8.49677646e+01] [ 4.92173159e-03 -1.23328290e-04 9.99987881e-01 7.93547890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.540281693 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:169.33, Y:84.99, Z:0.80 [[ 4.23043933e-01 -9.06106464e-01 -2.21510933e-03 1.69330051e+02] [ 9.06095808e-01 4.23049707e-01 -4.39681031e-03 8.49876359e+01] [ 4.92107959e-03 -1.47057348e-04 9.99987881e-01 7.99943014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.570281693 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:169.35, Y:85.00, Z:0.80 [[ 4.18205490e-01 -9.08349749e-01 -2.21399124e-03 1.69349020e+02] [ 9.08339121e-01 4.18211315e-01 -4.39737324e-03 8.50049334e+01] [ 4.92026907e-03 -1.72049229e-04 9.99987881e-01 8.01797731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.600281693 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:169.37, Y:85.03, Z:0.80 [[ 4.16114139e-01 -9.09309698e-01 -2.21283387e-03 1.69365589e+02] [ 9.09299080e-01 4.16119983e-01 -4.39795557e-03 8.50265510e+01] [ 4.91990805e-03 -1.82076303e-04 9.99987881e-01 7.98819626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.630281693 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:169.38, Y:85.05, Z:0.80 [[ 4.14241302e-01 -9.10164409e-01 -2.21181334e-03 1.69382338e+02] [ 9.10153801e-01 4.14247163e-01 -4.39846876e-03 8.50480490e+01] [ 4.91956712e-03 -1.91062896e-04 9.99987881e-01 7.96067762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.660281693 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:169.41, Y:85.07, Z:0.80 [[ 4.13221867e-01 -9.10627696e-01 -2.21077240e-03 1.69405072e+02] [ 9.10617092e-01 4.13227735e-01 -4.39899190e-03 8.50652153e+01] [ 4.91939633e-03 -1.95407485e-04 9.99987881e-01 7.95445721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.690281693 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:169.42, Y:85.09, Z:0.80 [[ 4.14387261e-01 -9.10097970e-01 -2.20968614e-03 1.69422560e+02] [ 9.10087355e-01 4.14393110e-01 -4.39953748e-03 8.50861516e+01] [ 4.91968884e-03 -1.87895126e-04 9.99987881e-01 7.98032147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.720281693 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:169.44, Y:85.10, Z:0.80 [[ 4.18964067e-01 -9.08000128e-01 -2.20865741e-03 1.69444201e+02] [ 9.07989482e-01 4.18969857e-01 -4.40005385e-03 8.51030822e+01] [ 4.92061034e-03 -1.61973245e-04 9.99987881e-01 8.00114357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.750281693 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:169.46, Y:85.12, Z:0.80 [[ 4.21792123e-01 -9.06689877e-01 -2.20747931e-03 1.69460052e+02] [ 9.06679209e-01 4.21797874e-01 -4.40064482e-03 8.51231949e+01] [ 4.92113019e-03 -1.45318275e-04 9.99987881e-01 7.99378032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.780281693 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:169.48, Y:85.14, Z:0.80 [[ 4.29867744e-01 -9.02889171e-01 -2.20634871e-03 1.69478364e+02] [ 9.02878449e-01 4.29873394e-01 -4.40121160e-03 8.51413552e+01] [ 4.92225690e-03 -1.00125797e-04 9.99987881e-01 7.97471507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.810281693 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:169.49, Y:85.16, Z:0.80 [[ 4.34426562e-01 -9.00704557e-01 -2.20516737e-03 1.69491098e+02] [ 9.00693804e-01 4.34432153e-01 -4.40180341e-03 8.51632243e+01] [ 4.92272000e-03 -7.39202664e-05 9.99987881e-01 7.98351624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.840281693 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:169.50, Y:85.18, Z:0.80 [[ 4.39354099e-01 -8.98311259e-01 -2.20408381e-03 1.69501957e+02] [ 8.98300472e-01 4.39359626e-01 -4.40234591e-03 8.51847426e+01] [ 4.92306233e-03 -4.57408005e-05 9.99987881e-01 7.99214792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.870281693 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:169.51, Y:85.21, Z:0.80 [[ 4.49377887e-01 -8.93339052e-01 -2.20289664e-03 1.69510768e+02] [ 8.93328202e-01 4.49383286e-01 -4.40293988e-03 8.52088908e+01] [ 4.92326307e-03 1.06741215e-05 9.99987881e-01 7.97303555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.900281693 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:169.52, Y:85.23, Z:0.79 [[ 4.53484899e-01 -8.91261240e-01 -2.20177004e-03 1.69519923e+02] [ 8.91250363e-01 4.53490243e-01 -4.40350318e-03 8.52320646e+01] [ 4.92315294e-03 3.45938558e-05 9.99987881e-01 7.94976949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93028169299998 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:169.53, Y:85.26, Z:0.80 [[ 4.59201234e-01 -8.88329547e-01 -2.20080903e-03 1.69527741e+02] [ 8.88318632e-01 4.59206503e-01 -4.40398343e-03 8.52568290e+01] [ 4.92281442e-03 6.72949616e-05 9.99987881e-01 7.95236265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96028169299998 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:169.54, Y:85.28, Z:0.80 [[ 4.60428183e-01 -8.87694232e-01 -2.19969174e-03 1.69536602e+02] [ 8.87683308e-01 4.60433431e-01 -4.40454142e-03 8.52792689e+01] [ 4.92269763e-03 7.53453674e-05 9.99987881e-01 7.96927905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.990281693 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:169.55, Y:85.30, Z:0.80 [[ 4.60610651e-01 -8.87599569e-01 -2.19853124e-03 1.69546130e+02] [ 8.87588641e-01 4.60615892e-01 -4.40512061e-03 8.53026914e+01] [ 4.92266158e-03 7.76541201e-05 9.99987881e-01 8.00404573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.020281693 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:169.56, Y:85.33, Z:0.81 [[ 4.59286576e-01 -8.88285434e-01 -2.19742953e-03 1.69555200e+02] [ 8.88274512e-01 4.59291827e-01 -4.40567011e-03 8.53265595e+01] [ 4.92275401e-03 7.15445010e-05 9.99987881e-01 8.05105986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.050281693 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:169.57, Y:85.35, Z:0.80 [[ 4.57596649e-01 -8.89157176e-01 -2.19633096e-03 1.69565656e+02] [ 8.89146260e-01 4.57601916e-01 -4.40621771e-03 8.53509301e+01] [ 4.92286535e-03 6.34110052e-05 9.99987881e-01 8.03709619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.080281693 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:169.58, Y:85.37, Z:0.80 [[ 4.57093606e-01 -8.89415885e-01 -2.19529454e-03 1.69575843e+02] [ 8.89404970e-01 4.57098874e-01 -4.40673402e-03 8.53733273e+01] [ 4.92288590e-03 6.17840701e-05 9.99987881e-01 8.02355352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.110281693 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:169.59, Y:85.40, Z:0.80 [[ 4.57582065e-01 -8.89164687e-01 -2.19410477e-03 1.69586696e+02] [ 8.89153766e-01 4.57587320e-01 -4.40732632e-03 8.53961694e+01] [ 4.92283345e-03 6.58169583e-05 9.99987881e-01 8.02082535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.140281693 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:169.60, Y:85.42, Z:0.80 [[ 4.59015321e-01 -8.88425644e-01 -2.19300251e-03 1.69597043e+02] [ 8.88414713e-01 4.59020554e-01 -4.40787472e-03 8.54183027e+01] [ 4.92270216e-03 7.49863365e-05 9.99987881e-01 8.01921537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.170281693 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:169.61, Y:85.44, Z:0.80 [[ 4.59034558e-01 -8.88415708e-01 -2.19185398e-03 1.69608744e+02] [ 8.88404774e-01 4.59039785e-01 -4.40844576e-03 8.54419850e+01] [ 4.92268064e-03 7.63754163e-05 9.99987881e-01 8.01957309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.200281693 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:169.62, Y:85.46, Z:0.80 [[ 4.57882903e-01 -8.89009813e-01 -2.19081576e-03 1.69620924e+02] [ 8.88998883e-01 4.57888139e-01 -4.40896166e-03 8.54641332e+01] [ 4.92275873e-03 7.11554034e-05 9.99987881e-01 8.00084579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.230281693 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:169.63, Y:85.49, Z:0.80 [[ 4.57292890e-01 -8.89313453e-01 -2.18967953e-03 1.69633127e+02] [ 8.89302524e-01 4.57298128e-01 -4.40952588e-03 8.54869530e+01] [ 4.92278704e-03 6.91573001e-05 9.99987881e-01 7.99202847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.260281693 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:169.64, Y:85.51, Z:0.80 [[ 4.56432936e-01 -8.89755127e-01 -2.18854744e-03 1.69644395e+02] [ 8.89744200e-01 4.56438178e-01 -4.41008769e-03 8.55085904e+01] [ 4.92283474e-03 6.56618830e-05 9.99987881e-01 7.99757193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.290281693 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:169.66, Y:85.53, Z:0.81 [[ 4.54768815e-01 -8.90606838e-01 -2.18758092e-03 1.69657724e+02] [ 8.90595918e-01 4.54774073e-01 -4.41056707e-03 8.55308111e+01] [ 4.92293628e-03 5.75377235e-05 9.99987881e-01 8.06861337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.320281693 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:169.67, Y:85.55, Z:0.81 [[ 4.53917824e-01 -8.91040868e-01 -2.18644878e-03 1.69669545e+02] [ 8.91029951e-01 4.53923086e-01 -4.41112824e-03 8.55525376e+01] [ 4.92297511e-03 5.40983845e-05 9.99987881e-01 8.07862170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.350281693 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:169.68, Y:85.58, Z:0.80 [[ 4.53821679e-01 -8.91089843e-01 -2.18532472e-03 1.69681732e+02] [ 8.91078924e-01 4.53826937e-01 -4.41168504e-03 8.55750708e+01] [ 4.92296695e-03 5.48215105e-05 9.99987881e-01 8.00819366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.380281693 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:169.69, Y:85.60, Z:0.80 [[ 4.54383569e-01 -8.90803458e-01 -2.18421815e-03 1.69692590e+02] [ 8.90792533e-01 4.54388815e-01 -4.41223283e-03 8.55969250e+01] [ 4.92291656e-03 5.91608827e-05 9.99987881e-01 7.95619566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.410281693 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:169.70, Y:85.62, Z:0.79 [[ 4.55665562e-01 -8.90148374e-01 -2.18328466e-03 1.69704120e+02] [ 8.90137440e-01 4.55670788e-01 -4.41269470e-03 8.56194908e+01] [ 4.92281205e-03 6.72895912e-05 9.99987881e-01 7.93859259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.440281693 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:169.72, Y:85.64, Z:0.80 [[ 4.57439838e-01 -8.89237894e-01 -2.18218793e-03 1.69715410e+02] [ 8.89226946e-01 4.57445036e-01 -4.41323699e-03 8.56415839e+01] [ 4.92264861e-03 7.83301024e-05 9.99987881e-01 7.98500927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.470281693 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:169.73, Y:85.66, Z:0.80 [[ 4.57656560e-01 -8.89126378e-01 -2.18104613e-03 1.69726499e+02] [ 8.89115426e-01 4.57661750e-01 -4.41380120e-03 8.56645355e+01] [ 4.92260847e-03 8.08033134e-05 9.99987881e-01 8.01123825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.500281693 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:169.74, Y:85.69, Z:0.80 [[ 4.58120924e-01 -8.88887207e-01 -2.17995571e-03 1.69737731e+02] [ 8.88876250e-01 4.58126103e-01 -4.41433969e-03 8.56858068e+01] [ 4.92254469e-03 8.45905181e-05 9.99987881e-01 7.99499477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.530281693 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:169.75, Y:85.71, Z:0.80 [[ 4.57835493e-01 -8.89034259e-01 -2.17902413e-03 1.69748899e+02] [ 8.89023301e-01 4.57840671e-01 -4.41479949e-03 8.57086158e+01] [ 4.92255387e-03 8.40486775e-05 9.99987881e-01 7.98412230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.560281693 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:169.76, Y:85.73, Z:0.80 [[ 4.57953275e-01 -8.88973596e-01 -2.17794162e-03 1.69759481e+02] [ 8.88962635e-01 4.57958446e-01 -4.41533346e-03 8.57314541e+01] [ 4.92252162e-03 8.59076951e-05 9.99987881e-01 7.99029897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.590281693 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:169.77, Y:85.76, Z:0.80 [[ 4.59501728e-01 -8.88174208e-01 -2.17684180e-03 1.69768215e+02] [ 8.88163235e-01 4.59506875e-01 -4.41587563e-03 8.57559904e+01] [ 4.92234061e-03 9.57116237e-05 9.99987881e-01 8.01551394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.620281693 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:169.78, Y:85.78, Z:0.80 [[ 4.59293430e-01 -8.88281943e-01 -2.17580742e-03 1.69779814e+02] [ 8.88270970e-01 4.59298574e-01 -4.41638523e-03 8.57801758e+01] [ 4.92234050e-03 9.57101583e-05 9.99987881e-01 8.01683403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.650281693 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:169.79, Y:85.80, Z:0.80 [[ 4.60340528e-01 -8.87739753e-01 -2.17477160e-03 1.69790074e+02] [ 8.87728771e-01 4.60345653e-01 -4.41689524e-03 8.58045796e+01] [ 4.92220015e-03 1.02668571e-04 9.99987881e-01 8.02735145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68028169299998 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:169.80, Y:85.83, Z:0.80 [[ 4.62436525e-01 -8.86649726e-01 -2.17373267e-03 1.69798974e+02] [ 8.86638729e-01 4.62441619e-01 -4.41740648e-03 8.58280876e+01] [ 4.92191670e-03 1.15454526e-04 9.99987881e-01 8.03406847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71028169299998 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:169.81, Y:85.85, Z:0.80 [[ 4.62653032e-01 -8.86536774e-01 -2.17264889e-03 1.69809674e+02] [ 8.86525773e-01 4.62658119e-01 -4.41793946e-03 8.58526192e+01] [ 4.92185945e-03 1.17863850e-04 9.99987881e-01 8.03912540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.740281693 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:169.82, Y:85.88, Z:0.81 [[ 4.62294350e-01 -8.86723868e-01 -2.17161695e-03 1.69819229e+02] [ 8.86712867e-01 4.62299436e-01 -4.41844665e-03 8.58772772e+01] [ 4.92187940e-03 1.17022234e-04 9.99987881e-01 8.07927385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.770281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:169.83, Y:85.90, Z:0.81 [[ 4.61827174e-01 -8.86967277e-01 -2.17058638e-03 1.69830598e+02] [ 8.86956277e-01 4.61832260e-01 -4.41895287e-03 8.59005570e+01] [ 4.92191340e-03 1.15577303e-04 9.99987881e-01 8.10702043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.800281693 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:169.84, Y:85.92, Z:0.81 [[ 4.61234554e-01 -8.87275594e-01 -2.16953830e-03 1.69843066e+02] [ 8.87264594e-01 4.61239643e-01 -4.41946738e-03 8.59238634e+01] [ 4.92196261e-03 1.13456548e-04 9.99987881e-01 8.12281687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.830281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:169.86, Y:85.95, Z:0.81 [[ 4.59526434e-01 -8.88161446e-01 -2.16849561e-03 1.69856069e+02] [ 8.88150454e-01 4.59531538e-01 -4.41997893e-03 8.59455198e+01] [ 4.92214700e-03 1.05146798e-04 9.99987881e-01 8.11290155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.860281693 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:169.87, Y:85.97, Z:0.81 [[ 4.58403221e-01 -8.88741689e-01 -2.16740710e-03 1.69867962e+02] [ 8.88730701e-01 4.58408334e-01 -4.42051263e-03 8.59684708e+01] [ 4.92225134e-03 1.00136000e-04 9.99987881e-01 8.09073532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.890281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:169.88, Y:85.99, Z:0.81 [[ 4.57029138e-01 -8.89449084e-01 -2.16637051e-03 1.69881528e+02] [ 8.89438102e-01 4.57034263e-01 -4.42102058e-03 8.59910170e+01] [ 4.92237826e-03 9.36827552e-05 9.99987881e-01 8.06115151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.920281693 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:169.89, Y:86.01, Z:0.80 [[ 4.56514438e-01 -8.89713369e-01 -2.16533026e-03 1.69893974e+02] [ 8.89702387e-01 4.56519564e-01 -4.42153001e-03 8.60126871e+01] [ 4.92240999e-03 9.19927865e-05 9.99987881e-01 8.04773765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.950281693 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:169.91, Y:86.03, Z:0.80 [[ 4.55551907e-01 -8.90206591e-01 -2.16450120e-03 1.69907139e+02] [ 8.90195613e-01 4.55557040e-01 -4.42193584e-03 8.60340524e+01] [ 4.92249019e-03 8.75918303e-05 9.99987881e-01 8.01828813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.980281693 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:169.92, Y:86.06, Z:0.80 [[ 4.55279278e-01 -8.90346056e-01 -2.16332974e-03 1.69918897e+02] [ 8.90335076e-01 4.55284410e-01 -4.42250887e-03 8.60573415e+01] [ 4.92249363e-03 8.73882975e-05 9.99987881e-01 8.01847111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.010281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:169.93, Y:86.08, Z:0.80 [[ 4.55259763e-01 -8.90356037e-01 -2.16228762e-03 1.69930118e+02] [ 8.90345055e-01 4.55264889e-01 -4.42301833e-03 8.60804913e+01] [ 4.92247471e-03 8.84401809e-05 9.99987881e-01 8.02283218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.040281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:169.94, Y:86.10, Z:0.80 [[ 4.55644912e-01 -8.90158999e-01 -2.16114288e-03 1.69941833e+02] [ 8.90148013e-01 4.55650028e-01 -4.42357760e-03 8.61037459e+01] [ 4.92241222e-03 9.18435819e-05 9.99987881e-01 8.03724347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.070281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:169.95, Y:86.13, Z:0.80 [[ 4.55806751e-01 -8.90076143e-01 -2.16009466e-03 1.69951970e+02] [ 8.90065153e-01 4.55811860e-01 -4.42408940e-03 8.61270251e+01] [ 4.92237319e-03 9.39048375e-05 9.99987881e-01 8.04598835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.100281693 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:169.96, Y:86.15, Z:0.80 [[ 4.56395551e-01 -8.89774376e-01 -2.15899748e-03 1.69960129e+02] [ 8.89763380e-01 4.56400647e-01 -4.42462477e-03 8.61520213e+01] [ 4.92228559e-03 9.83821588e-05 9.99987881e-01 8.04636090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.130281693 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:169.97, Y:86.18, Z:0.80 [[ 4.56244886e-01 -8.89851643e-01 -2.15794292e-03 1.69969960e+02] [ 8.89840646e-01 4.56249979e-01 -4.42513903e-03 8.61754713e+01] [ 4.92227865e-03 9.87217282e-05 9.99987881e-01 8.04420278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.160281693 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:169.98, Y:86.20, Z:0.80 [[ 4.55532799e-01 -8.90216388e-01 -2.15683651e-03 1.69979893e+02] [ 8.90205392e-01 4.55537895e-01 -4.42567823e-03 8.61984789e+01] [ 4.92233205e-03 9.60141083e-05 9.99987881e-01 8.03468718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.190281693 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:169.99, Y:86.22, Z:0.81 [[ 4.53719042e-01 -8.91142179e-01 -2.15574910e-03 1.69988321e+02] [ 8.91131191e-01 4.53724155e-01 -4.42620785e-03 8.62235430e+01] [ 4.92249595e-03 8.71995151e-05 9.99987881e-01 8.05583592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.220281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:170.00, Y:86.25, Z:0.81 [[ 4.52790259e-01 -8.91614456e-01 -2.15470780e-03 1.69995482e+02] [ 8.91603471e-01 4.52795378e-01 -4.42671470e-03 8.62498625e+01] [ 4.92256455e-03 8.32283452e-05 9.99987881e-01 8.05903368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.250281693 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:170.00, Y:86.27, Z:0.81 [[ 4.52473389e-01 -8.91775305e-01 -2.15365118e-03 1.70004029e+02] [ 8.91764319e-01 4.52478507e-01 -4.42722870e-03 8.62741836e+01] [ 4.92257409e-03 8.26539016e-05 9.99987881e-01 8.05081428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.280281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:170.01, Y:86.30, Z:0.81 [[ 4.52130393e-01 -8.91949256e-01 -2.15254359e-03 1.70012072e+02] [ 8.91938269e-01 4.52135509e-01 -4.42776715e-03 8.62981208e+01] [ 4.92258501e-03 8.19920933e-05 9.99987881e-01 8.06214530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.310281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:170.02, Y:86.32, Z:0.81 [[ 4.51961101e-01 -8.92035052e-01 -2.15140884e-03 1.70018903e+02] [ 8.92024064e-01 4.51966214e-01 -4.42831845e-03 8.63234195e+01] [ 4.92257939e-03 8.23192230e-05 9.99987881e-01 8.10361547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.340281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:170.03, Y:86.35, Z:0.81 [[ 4.51611780e-01 -8.92211957e-01 -2.15027675e-03 1.70028550e+02] [ 8.92200968e-01 4.51616892e-01 -4.42886809e-03 8.63475287e+01] [ 4.92259037e-03 8.16500037e-05 9.99987881e-01 8.11760740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.370281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:170.04, Y:86.37, Z:0.81 [[ 4.50382383e-01 -8.92833182e-01 -2.14914194e-03 1.70036957e+02] [ 8.92822198e-01 4.50387504e-01 -4.42941870e-03 8.63709886e+01] [ 4.92267866e-03 7.61305219e-05 9.99987881e-01 8.11758602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.400281693 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:170.05, Y:86.39, Z:0.81 [[ 4.49507747e-01 -8.93273850e-01 -2.14796331e-03 1.70046246e+02] [ 8.93262868e-01 4.49512873e-01 -4.42999018e-03 8.63933559e+01] [ 4.92273154e-03 7.26190334e-05 9.99987881e-01 8.10783723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43028169299998 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:170.06, Y:86.42, Z:0.81 [[ 4.48504125e-01 -8.93778184e-01 -2.14681046e-03 1.70055809e+02] [ 8.93767205e-01 4.48509257e-01 -4.43054879e-03 8.64161956e+01] [ 4.92279221e-03 6.83706191e-05 9.99987881e-01 8.09260812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46028169299998 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:170.06, Y:86.44, Z:0.81 [[ 4.47000620e-01 -8.94531073e-01 -2.14587754e-03 1.70064298e+02] [ 8.94520101e-01 4.47005766e-01 -4.43100059e-03 8.64402207e+01] [ 4.92288735e-03 6.11294139e-05 9.99987881e-01 8.06201361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.490281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:170.07, Y:86.46, Z:0.81 [[ 4.45968146e-01 -8.95046263e-01 -2.14475790e-03 1.70073150e+02] [ 8.95035294e-01 4.45973300e-01 -4.43154247e-03 8.64636105e+01] [ 4.92294028e-03 5.66927566e-05 9.99987881e-01 8.05172835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.520281693 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:170.08, Y:86.49, Z:0.81 [[ 4.42952604e-01 -8.96542467e-01 -2.14359313e-03 1.70081081e+02] [ 8.96531513e-01 4.42957789e-01 -4.43210581e-03 8.64879576e+01] [ 4.92309235e-03 4.14140185e-05 9.99987881e-01 8.05466656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.550281693 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:170.09, Y:86.51, Z:0.81 [[ 4.40902492e-01 -8.97552451e-01 -2.14248165e-03 1.70090563e+02] [ 8.97541506e-01 4.40907696e-01 -4.43264304e-03 8.65104681e+01] [ 4.92316627e-03 3.13971505e-05 9.99987881e-01 8.05035863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.580281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:170.10, Y:86.53, Z:0.80 [[ 4.36972644e-01 -8.99472247e-01 -2.14132489e-03 1.70100217e+02] [ 8.99461322e-01 4.36977891e-01 -4.43320177e-03 8.65338783e+01] [ 4.92325359e-03 1.11489860e-05 9.99987881e-01 8.02698787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.610281693 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:170.11, Y:86.56, Z:0.80 [[ 4.35070906e-01 -9.00393651e-01 -2.14022422e-03 1.70110586e+02] [ 9.00382734e-01 4.35076170e-01 -4.43373308e-03 8.65568878e+01] [ 4.92326567e-03 1.96733041e-06 9.99987881e-01 8.01414376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.640281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:170.12, Y:86.58, Z:0.80 [[ 4.33432639e-01 -9.01183428e-01 -2.13912626e-03 1.70121335e+02] [ 9.01172519e-01 4.33437918e-01 -4.43426275e-03 8.65803019e+01] [ 4.92326254e-03 -5.76759749e-06 9.99987881e-01 8.00407944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.670281693 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:170.13, Y:86.60, Z:0.80 [[ 4.30295456e-01 -9.02685576e-01 -2.13803734e-03 1.70132331e+02] [ 9.02674682e-01 4.30300768e-01 -4.43478773e-03 8.66019118e+01] [ 4.92321802e-03 -2.16831646e-05 9.99987881e-01 8.01660983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.700281693 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:170.14, Y:86.62, Z:0.80 [[ 4.28600487e-01 -9.03491591e-01 -2.13710350e-03 1.70143671e+02] [ 9.03480705e-01 4.28605814e-01 -4.43523769e-03 8.66249571e+01] [ 4.92317494e-03 -2.98867470e-05 9.99987881e-01 8.02969701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.730281693 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:170.16, Y:86.65, Z:0.80 [[ 4.25824500e-01 -9.04803257e-01 -2.13602140e-03 1.70155802e+02] [ 9.04792384e-01 4.25829855e-01 -4.43575877e-03 8.66477751e+01] [ 4.92307066e-03 -4.38011334e-05 9.99987881e-01 8.04484592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.760281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:170.17, Y:86.67, Z:0.81 [[ 4.24313591e-01 -9.05512793e-01 -2.13491203e-03 1.70167917e+02] [ 9.05501927e-01 4.24318959e-01 -4.43629264e-03 8.66696288e+01] [ 4.92300339e-03 -5.07876940e-05 9.99987881e-01 8.05160125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.790281693 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:170.18, Y:86.69, Z:0.81 [[ 4.22980553e-01 -9.06136248e-01 -2.13375776e-03 1.70181109e+02] [ 9.06125387e-01 4.22985931e-01 -4.43684775e-03 8.66913561e+01] [ 4.92293808e-03 -5.67517613e-05 9.99987881e-01 8.06127774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.820281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:170.20, Y:86.71, Z:0.81 [[ 4.21167543e-01 -9.06980348e-01 -2.13266018e-03 1.70197392e+02] [ 9.06969496e-01 4.21172938e-01 -4.43737526e-03 8.67109593e+01] [ 4.92283091e-03 -6.53792887e-05 9.99987881e-01 8.07621120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.850281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:170.21, Y:86.73, Z:0.81 [[ 4.20255831e-01 -9.07403159e-01 -2.13172413e-03 1.70209128e+02] [ 9.07392309e-01 4.20261232e-01 -4.43782489e-03 8.67319812e+01] [ 4.92277734e-03 -6.92882968e-05 9.99987881e-01 8.07704398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.880281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:170.22, Y:86.75, Z:0.81 [[ 4.20645255e-01 -9.07222701e-01 -2.13061893e-03 1.70221753e+02] [ 9.07211847e-01 4.20650646e-01 -4.43835545e-03 8.67535358e+01] [ 4.92282305e-03 -6.59495704e-05 9.99987881e-01 8.05958404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.910281693 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:170.23, Y:86.78, Z:0.81 [[ 4.21843966e-01 -9.06665943e-01 -2.12970757e-03 1.70234000e+02] [ 9.06655080e-01 4.21849338e-01 -4.43879271e-03 8.67762454e+01] [ 4.92291791e-03 -5.84322641e-05 9.99987881e-01 8.06776502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.940281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:170.25, Y:86.80, Z:0.81 [[ 4.23777467e-01 -9.05763836e-01 -2.12865560e-03 1.70245346e+02] [ 9.05752959e-01 4.23782811e-01 -4.43929714e-03 8.67982896e+01] [ 4.92304245e-03 -4.67620085e-05 9.99987881e-01 8.08526255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.970281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:170.26, Y:86.82, Z:0.81 [[ 4.28448097e-01 -9.03563889e-01 -2.12774136e-03 1.70255896e+02] [ 9.03552981e-01 4.28453380e-01 -4.43973528e-03 8.68217743e+01] [ 4.92322245e-03 -2.03309161e-05 9.99987881e-01 8.12368295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.000281693 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:170.27, Y:86.84, Z:0.81 [[ 4.32896959e-01 -9.01440902e-01 -2.12663696e-03 1.70266062e+02] [ 9.01429967e-01 4.32902182e-01 -4.44026423e-03 8.68444499e+01] [ 4.92326157e-03 5.16259634e-06 9.99987881e-01 8.13855801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.030281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:170.28, Y:86.87, Z:0.81 [[ 4.34262848e-01 -9.00783693e-01 -2.12548619e-03 1.70277170e+02] [ 9.00772746e-01 4.34268049e-01 -4.44081501e-03 8.68677575e+01] [ 4.92324449e-03 1.39009417e-05 9.99987881e-01 8.14214636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.060281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:170.29, Y:86.89, Z:0.81 [[ 4.34943799e-01 -9.00455095e-01 -2.12442110e-03 1.70287386e+02] [ 9.00444143e-01 4.34948986e-01 -4.44132448e-03 8.68911184e+01] [ 4.92322806e-03 1.88040098e-05 9.99987881e-01 8.13009004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.090281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:170.30, Y:86.91, Z:0.81 [[ 4.35434285e-01 -9.00218015e-01 -2.12329213e-03 1.70296108e+02] [ 9.00207057e-01 4.35439461e-01 -4.44186415e-03 8.69149050e+01] [ 4.92321131e-03 2.27373775e-05 9.99987881e-01 8.08837118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.120281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:170.31, Y:86.94, Z:0.81 [[ 4.35404749e-01 -9.00232304e-01 -2.12217095e-03 1.70306350e+02] [ 9.00221343e-01 4.35409920e-01 -4.44239975e-03 8.69380258e+01] [ 4.92320604e-03 2.38183626e-05 9.99987881e-01 8.09040017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.150281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:170.32, Y:86.96, Z:0.81 [[ 4.34656284e-01 -9.00593924e-01 -2.12104865e-03 1.70316372e+02] [ 9.00582965e-01 4.34661459e-01 -4.44293553e-03 8.69601719e+01] [ 4.92321884e-03 2.09695690e-05 9.99987881e-01 8.11607114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18028169299998 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:170.33, Y:86.98, Z:0.81 [[ 4.34048535e-01 -9.00886993e-01 -2.12008915e-03 1.70326154e+02] [ 9.00876035e-01 4.34053712e-01 -4.44339334e-03 8.69828274e+01] [ 4.92322783e-03 1.87108577e-05 9.99987881e-01 8.11541347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21028169299998 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:170.34, Y:87.01, Z:0.81 [[ 4.34091617e-01 -9.00866238e-01 -2.11897436e-03 1.70335898e+02] [ 9.00855277e-01 4.34096788e-01 -4.44392490e-03 8.70066630e+01] [ 4.92322187e-03 2.01813162e-05 9.99987881e-01 8.09717761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.240281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:170.34, Y:87.03, Z:0.80 [[ 4.35479583e-01 -9.00196116e-01 -2.11790889e-03 1.70344096e+02] [ 9.00185145e-01 4.35484732e-01 -4.44443263e-03 8.70301398e+01] [ 4.92317797e-03 2.89495414e-05 9.99987881e-01 8.04778353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.270281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:170.35, Y:87.05, Z:0.80 [[ 4.35915176e-01 -8.99985265e-01 -2.11699303e-03 1.70353751e+02] [ 8.99974290e-01 4.35920315e-01 -4.44486883e-03 8.70532690e+01] [ 4.92315672e-03 3.23464764e-05 9.99987881e-01 8.04565257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.300281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:170.36, Y:87.08, Z:0.81 [[ 4.35672417e-01 -9.00102810e-01 -2.11593856e-03 1.70362112e+02] [ 9.00091833e-01 4.35677554e-01 -4.44537074e-03 8.70776154e+01] [ 4.92315763e-03 3.21863959e-05 9.99987881e-01 8.07229383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.330281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:170.37, Y:87.10, Z:0.81 [[ 4.34473214e-01 -9.00682271e-01 -2.11485797e-03 1.70371529e+02] [ 9.00671299e-01 4.34478360e-01 -4.44588477e-03 8.71007282e+01] [ 4.92318962e-03 2.68259706e-05 9.99987881e-01 8.07266081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.360281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:170.38, Y:87.12, Z:0.81 [[ 4.32853571e-01 -9.01461767e-01 -2.11393618e-03 1.70381210e+02] [ 9.01450802e-01 4.32858733e-01 -4.44632302e-03 8.71233262e+01] [ 4.92322594e-03 1.89973294e-05 9.99987881e-01 8.05999083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.390281693 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:170.39, Y:87.15, Z:0.80 [[ 4.28188718e-01 -9.03686869e-01 -2.11282145e-03 1.70391589e+02] [ 9.03675928e-01 4.28193930e-01 -4.44685266e-03 8.71470734e+01] [ 4.92325968e-03 -5.21375053e-06 9.99987881e-01 8.03196345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.420281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:170.40, Y:87.17, Z:0.80 [[ 4.25052907e-01 -9.05166044e-01 -2.11175262e-03 1.70401325e+02] [ 9.05155118e-01 4.25058152e-01 -4.44736018e-03 8.71698637e+01] [ 4.92321708e-03 -2.11003187e-05 9.99987881e-01 8.01823276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.450281693 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:170.41, Y:87.19, Z:0.81 [[ 4.18700428e-01 -9.08121961e-01 -2.11082860e-03 1.70413052e+02] [ 9.08111070e-01 4.18705745e-01 -4.44779869e-03 8.71926088e+01] [ 4.92295973e-03 -5.45716052e-05 9.99987881e-01 8.07161022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.480281693 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:170.42, Y:87.22, Z:0.81 [[ 4.18485262e-01 -9.08221138e-01 -2.10976606e-03 1.70423864e+02] [ 9.08210246e-01 4.18490576e-01 -4.44830264e-03 8.72162349e+01] [ 4.92295970e-03 -5.45620555e-05 9.99987881e-01 8.07288918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.510281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:170.44, Y:87.24, Z:0.81 [[ 4.15259536e-01 -9.09700539e-01 -2.10871202e-03 1.70435733e+02] [ 9.09689664e-01 4.15264884e-01 -4.44880225e-03 8.72384188e+01] [ 4.92275186e-03 -7.08659744e-05 9.99987881e-01 8.11987310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.540281693 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:170.45, Y:87.26, Z:0.82 [[ 4.09910618e-01 -9.12123261e-01 -2.10757492e-03 1.70448959e+02] [ 9.12112414e-01 4.09916025e-01 -4.44934088e-03 8.72597038e+01] [ 4.92227604e-03 -9.85131765e-05 9.99987881e-01 8.17015098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.570281693 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:170.46, Y:87.28, Z:0.82 [[ 4.07614777e-01 -9.13151552e-01 -2.10639169e-03 1.70461488e+02] [ 9.13140716e-01 4.07620204e-01 -4.44990097e-03 8.72818965e+01] [ 4.92204179e-03 -1.09586630e-04 9.99987881e-01 8.17854877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.600281693 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:170.47, Y:87.30, Z:0.82 [[ 4.05148605e-01 -9.14248421e-01 -2.10523083e-03 1.70473632e+02] [ 9.14237597e-01 4.05154056e-01 -4.45045010e-03 8.73028752e+01] [ 4.92175979e-03 -1.21587531e-04 9.99987881e-01 8.16579308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.630281693 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:170.49, Y:87.32, Z:0.81 [[ 4.01294120e-01 -9.15946834e-01 -2.10402771e-03 1.70489746e+02] [ 9.15936030e-01 4.01299611e-01 -4.45101882e-03 8.73233647e+01] [ 4.92124210e-03 -1.40987110e-04 9.99987881e-01 8.13772339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.660281693 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:170.50, Y:87.34, Z:0.81 [[ 4.00408369e-01 -9.16334391e-01 -2.10289984e-03 1.70502500e+02] [ 9.16323589e-01 4.00413865e-01 -4.45155163e-03 8.73446606e+01] [ 4.92114010e-03 -1.44498199e-04 9.99987881e-01 8.14288228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.690281693 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:170.52, Y:87.36, Z:0.82 [[ 4.00400926e-01 -9.16337646e-01 -2.10173150e-03 1.70517855e+02] [ 9.16326841e-01 4.00406417e-01 -4.45210317e-03 8.73641930e+01] [ 4.92117651e-03 -1.43246757e-04 9.99987881e-01 8.15270667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.720281693 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:170.53, Y:87.39, Z:0.81 [[ 3.99871286e-01 -9.16568896e-01 -2.10056844e-03 1.70531582e+02] [ 9.16558092e-01 3.99876777e-01 -4.45265185e-03 8.73860965e+01] [ 4.92113073e-03 -1.44805375e-04 9.99987881e-01 8.14626624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.750281693 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:170.55, Y:87.41, Z:0.81 [[ 3.98265739e-01 -9.17267678e-01 -2.09947593e-03 1.70548809e+02] [ 9.17256881e-01 3.98271243e-01 -4.45316692e-03 8.74066738e+01] [ 4.92090697e-03 -1.52214925e-04 9.99987881e-01 8.14327536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.780281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:170.56, Y:87.43, Z:0.81 [[ 3.96973275e-01 -9.17827770e-01 -2.09837072e-03 1.70561615e+02] [ 9.17816978e-01 3.96978789e-01 -4.45368765e-03 8.74287578e+01] [ 4.92072687e-03 -1.57925304e-04 9.99987881e-01 8.14202646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.810281693 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:170.57, Y:87.45, Z:0.81 [[ 3.96079097e-01 -9.18214000e-01 -2.09726687e-03 1.70574038e+02] [ 9.18203211e-01 3.96084617e-01 -4.45420739e-03 8.74498456e+01] [ 4.92061073e-03 -1.61498734e-04 9.99987881e-01 8.13939632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.840281693 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:170.59, Y:87.47, Z:0.81 [[ 3.96507576e-01 -9.18029056e-01 -2.09632856e-03 1.70590767e+02] [ 9.18018261e-01 3.96513086e-01 -4.45464896e-03 8.74706982e+01] [ 4.92071888e-03 -1.58165835e-04 9.99987881e-01 8.11461116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.870281693 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:170.60, Y:87.49, Z:0.81 [[ 3.97527368e-01 -9.17587926e-01 -2.09523023e-03 1.70604379e+02] [ 9.17577123e-01 3.97532861e-01 -4.45516549e-03 8.74913908e+01] [ 4.92092893e-03 -1.51485116e-04 9.99987881e-01 8.10516510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.900281693 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:170.62, Y:87.51, Z:0.81 [[ 4.01089550e-01 -9.16036455e-01 -2.09403038e-03 1.70619122e+02] [ 9.16025628e-01 4.01094995e-01 -4.45572938e-03 8.75116648e+01] [ 4.92151565e-03 -1.31039006e-04 9.99987881e-01 8.08787822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93028169299998 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:170.63, Y:87.53, Z:0.81 [[ 4.03258887e-01 -9.15083542e-01 -2.09305479e-03 1.70630954e+02] [ 9.15072699e-01 4.03264302e-01 -4.45618761e-03 8.75347102e+01] [ 4.92183822e-03 -1.18300043e-04 9.99987881e-01 8.11093869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96028169299998 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:170.64, Y:87.56, Z:0.81 [[ 4.05832094e-01 -9.13945258e-01 -2.09191276e-03 1.70642869e+02] [ 9.13934398e-01 4.05837473e-01 -4.45672366e-03 8.75568705e+01] [ 4.92217804e-03 -1.03189534e-04 9.99987881e-01 8.12622103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.990281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:170.66, Y:87.58, Z:0.81 [[ 4.10458513e-01 -9.11876876e-01 -2.09076936e-03 1.70656087e+02] [ 9.11865986e-01 4.10463831e-01 -4.45726000e-03 8.75776506e+01] [ 4.92265752e-03 -7.69811485e-05 9.99987881e-01 8.13795702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.020281693 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:170.67, Y:87.60, Z:0.81 [[ 4.12284279e-01 -9.11052856e-01 -2.08958064e-03 1.70668082e+02] [ 9.11041953e-01 4.12289569e-01 -4.45781720e-03 8.76004885e+01] [ 4.92281940e-03 -6.58076785e-05 9.99987881e-01 8.12102560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.050281693 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:170.68, Y:87.62, Z:0.81 [[ 4.14940761e-01 -9.09846033e-01 -2.08847387e-03 1.70681203e+02] [ 9.09835111e-01 4.14946014e-01 -4.45833566e-03 8.76220937e+01] [ 4.92300292e-03 -5.02216617e-05 9.99987881e-01 8.11462902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.080281693 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:170.69, Y:87.64, Z:0.81 [[ 4.15422061e-01 -9.09626382e-01 -2.08732170e-03 1.70693287e+02] [ 9.09615454e-01 4.15427302e-01 -4.45887502e-03 8.76435328e+01] [ 4.92304078e-03 -4.63450256e-05 9.99987881e-01 8.13105280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.110281693 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:170.71, Y:87.66, Z:0.82 [[ 4.15620877e-01 -9.09535560e-01 -2.08612276e-03 1.70705228e+02] [ 9.09524629e-01 4.15626110e-01 -4.45943588e-03 8.76644211e+01] [ 4.92306260e-03 -4.39453777e-05 9.99987881e-01 8.15408599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.140281693 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:170.72, Y:87.69, Z:0.82 [[ 4.17611132e-01 -9.08623462e-01 -2.08488783e-03 1.70718720e+02] [ 9.08612516e-01 4.17616336e-01 -4.46001317e-03 8.76851442e+01] [ 4.92315582e-03 -3.18040264e-05 9.99987881e-01 8.20703271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.170281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:170.73, Y:87.71, Z:0.82 [[ 4.19203310e-01 -9.07889995e-01 -2.08371318e-03 1.70730537e+02] [ 9.07879037e-01 4.19208488e-01 -4.46056190e-03 8.77077994e+01] [ 4.92320977e-03 -2.18772044e-05 9.99987881e-01 8.21953384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.200281693 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:170.74, Y:87.73, Z:0.82 [[ 4.24544330e-01 -9.05404757e-01 -2.08256102e-03 1.70742839e+02] [ 9.05393767e-01 4.24549438e-01 -4.46109975e-03 8.77294035e+01] [ 4.92325105e-03 8.39683731e-06 9.99987881e-01 8.22639162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.230281693 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:170.75, Y:87.75, Z:0.82 [[ 4.27515164e-01 -9.04005781e-01 -2.08136149e-03 1.70753953e+02] [ 9.03994771e-01 4.27520230e-01 -4.46165934e-03 8.77519444e+01] [ 4.92318998e-03 2.58871221e-05 9.99987881e-01 8.21773970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.260281693 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:170.76, Y:87.78, Z:0.82 [[ 4.29945031e-01 -9.02852670e-01 -2.08023333e-03 1.70764942e+02] [ 9.02841644e-01 4.29950061e-01 -4.46218527e-03 8.77755113e+01] [ 4.92309234e-03 4.03730999e-05 9.99987881e-01 8.20419776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.290281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:170.77, Y:87.80, Z:0.82 [[ 4.33722082e-01 -9.01044301e-01 -2.07907092e-03 1.70774847e+02] [ 9.01033252e-01 4.33727061e-01 -4.46272681e-03 8.77974483e+01] [ 4.92286388e-03 6.22711322e-05 9.99987881e-01 8.19000319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.320281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:170.79, Y:87.82, Z:0.82 [[ 4.34734697e-01 -9.00556176e-01 -2.07786689e-03 1.70786006e+02] [ 9.00545118e-01 4.34739658e-01 -4.46328735e-03 8.78203706e+01] [ 4.92277212e-03 6.91329945e-05 9.99987881e-01 8.19411821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.350281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:170.80, Y:87.84, Z:0.82 [[ 4.34790035e-01 -9.00529462e-01 -2.07671402e-03 1.70798628e+02] [ 9.00518402e-01 4.34794989e-01 -4.46382369e-03 8.78417044e+01] [ 4.92274960e-03 7.07068667e-05 9.99987881e-01 8.19816768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.380281693 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:170.81, Y:87.86, Z:0.82 [[ 4.33743281e-01 -9.01034105e-01 -2.07551744e-03 1.70809565e+02] [ 9.01023047e-01 4.33748242e-01 -4.46437999e-03 8.78634862e+01] [ 4.92281067e-03 6.63057821e-05 9.99987881e-01 8.19041609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.410281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:170.82, Y:87.89, Z:0.82 [[ 4.32558597e-01 -9.01603437e-01 -2.07433161e-03 1.70820291e+02] [ 9.01592383e-01 4.32563566e-01 -4.46493091e-03 8.78868314e+01] [ 4.92287733e-03 6.11426657e-05 9.99987881e-01 8.18365909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.440281693 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:170.83, Y:87.91, Z:0.82 [[ 4.32791307e-01 -9.01491756e-01 -2.07318814e-03 1.70829024e+02] [ 9.01480699e-01 4.32796268e-01 -4.46546179e-03 8.79093951e+01] [ 4.92284508e-03 6.36739509e-05 9.99987881e-01 8.15568002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.470281693 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:170.84, Y:87.93, Z:0.82 [[ 4.34069925e-01 -9.00876799e-01 -2.07199783e-03 1.70838398e+02] [ 9.00865732e-01 4.34074865e-01 -4.46601403e-03 8.79327803e+01] [ 4.92273060e-03 7.19705384e-05 9.99987881e-01 8.15526383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.500281693 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:170.85, Y:87.96, Z:0.82 [[ 4.38591687e-01 -8.98684062e-01 -2.07084426e-03 1.70845102e+02] [ 8.98672968e-01 4.38596565e-01 -4.46654886e-03 8.79581410e+01] [ 4.92228146e-03 9.79794428e-05 9.99987881e-01 8.18186616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.530281693 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:170.85, Y:87.98, Z:0.82 [[ 4.40488354e-01 -8.97755939e-01 -2.06968409e-03 1.70852439e+02] [ 8.97744832e-01 4.40493202e-01 -4.46708639e-03 8.79821183e+01] [ 4.92203512e-03 1.09651333e-04 9.99987881e-01 8.19599568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.560281693 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:170.86, Y:88.01, Z:0.82 [[ 4.42024656e-01 -8.97000516e-01 -2.06847948e-03 1.70860340e+02] [ 8.96989398e-01 4.42029479e-01 -4.46764412e-03 8.80057616e+01] [ 4.92180799e-03 1.19404687e-04 9.99987881e-01 8.20633174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.590281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:170.87, Y:88.03, Z:0.82 [[ 4.42612905e-01 -8.96710401e-01 -2.06728565e-03 1.70866936e+02] [ 8.96699277e-01 4.42617716e-01 -4.46819646e-03 8.80308506e+01] [ 4.92169549e-03 1.23947868e-04 9.99987881e-01 8.21376492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.620281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:170.88, Y:88.05, Z:0.82 [[ 4.41504120e-01 -8.97256843e-01 -2.06614829e-03 1.70875051e+02] [ 8.97245723e-01 4.41508939e-01 -4.46872233e-03 8.80548951e+01] [ 4.92181463e-03 1.19116603e-04 9.99987881e-01 8.21777416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.650281693 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:170.88, Y:88.08, Z:0.82 [[ 4.39708085e-01 -8.98138372e-01 -2.06501259e-03 1.70882625e+02] [ 8.98127259e-01 4.39712920e-01 -4.46924708e-03 8.80784675e+01] [ 4.92201501e-03 1.10519982e-04 9.99987881e-01 8.21396667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68028169299998 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:170.89, Y:88.10, Z:0.82 [[ 4.35176244e-01 -9.00342921e-01 -2.06404701e-03 1.70888556e+02] [ 9.00331831e-01 4.35181131e-01 -4.46969297e-03 8.81030907e+01] [ 4.92249074e-03 8.67769735e-05 9.99987881e-01 8.19410940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71028169299998 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:170.90, Y:88.13, Z:0.82 [[ 4.32862217e-01 -9.01457734e-01 -2.06288182e-03 1.70896904e+02] [ 9.01446653e-01 4.32867126e-01 -4.47023067e-03 8.81259176e+01] [ 4.92267774e-03 7.54160435e-05 9.99987881e-01 8.18255855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.740281693 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:170.90, Y:88.15, Z:0.82 [[ 4.29061206e-01 -9.03273065e-01 -2.06194682e-03 1.70904637e+02] [ 9.03262003e-01 4.29066157e-01 -4.47066191e-03 8.81501637e+01] [ 4.92294009e-03 5.57093807e-05 9.99987881e-01 8.17071595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.770281693 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:170.91, Y:88.17, Z:0.82 [[ 4.27538841e-01 -9.03994631e-01 -2.06085455e-03 1.70913229e+02] [ 9.03983575e-01 4.27543805e-01 -4.47116537e-03 8.81742816e+01] [ 4.92301508e-03 4.86182011e-05 9.99987881e-01 8.18069647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.800281693 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:170.92, Y:88.20, Z:0.82 [[ 4.26608259e-01 -9.04434161e-01 -2.05974774e-03 1.70921978e+02] [ 9.04423107e-01 4.26613229e-01 -4.47167518e-03 8.81987682e+01] [ 4.92305142e-03 4.47701150e-05 9.99987881e-01 8.19681558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.830281693 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:170.93, Y:88.22, Z:0.82 [[ 4.26277142e-01 -9.04590272e-01 -2.05863423e-03 1.70929120e+02] [ 9.04579218e-01 4.26282110e-01 -4.47218775e-03 8.82221623e+01] [ 4.92305648e-03 4.41936745e-05 9.99987881e-01 8.22369222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.860281693 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:170.94, Y:88.25, Z:0.82 [[ 4.26112658e-01 -9.04667768e-01 -2.05747718e-03 1.70938121e+02] [ 9.04656712e-01 4.26117622e-01 -4.47272000e-03 8.82453226e+01] [ 4.92305290e-03 4.45720637e-05 9.99987881e-01 8.22777794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.890281693 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:170.95, Y:88.27, Z:0.82 [[ 4.25509743e-01 -9.04951507e-01 -2.05633645e-03 1.70946168e+02] [ 9.04940452e-01 4.25514709e-01 -4.47324439e-03 8.82694921e+01] [ 4.92307066e-03 4.25470350e-05 9.99987881e-01 8.23306811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.920281693 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:170.96, Y:88.29, Z:0.82 [[ 4.25235856e-01 -9.05080241e-01 -2.05518183e-03 1.70955276e+02] [ 9.05069185e-01 4.25240820e-01 -4.47377481e-03 8.82938488e+01] [ 4.92307239e-03 4.23277161e-05 9.99987881e-01 8.23418527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.950281693 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:170.96, Y:88.32, Z:0.82 [[ 4.24973784e-01 -9.05203327e-01 -2.05403245e-03 1.70964725e+02] [ 9.05192270e-01 4.24978746e-01 -4.47430246e-03 8.83179633e+01] [ 4.92307361e-03 4.21669529e-05 9.99987881e-01 8.23299340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.980281693 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:170.97, Y:88.34, Z:0.82 [[ 4.22937644e-01 -9.06156463e-01 -2.05288043e-03 1.70973997e+02] [ 9.06145414e-01 4.22942625e-01 -4.47483096e-03 8.83412822e+01] [ 4.92314763e-03 3.23662786e-05 9.99987881e-01 8.22403371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.010281693 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:170.98, Y:88.36, Z:0.82 [[ 4.21225258e-01 -9.06953732e-01 -2.05172102e-03 1.70983970e+02] [ 9.06942691e-01 4.21230254e-01 -4.47536249e-03 8.83631600e+01] [ 4.92319368e-03 2.43423428e-05 9.99987881e-01 8.22682646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.040281693 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:170.99, Y:88.39, Z:0.83 [[ 4.17774848e-01 -9.08548277e-01 -2.05072964e-03 1.70994866e+02] [ 9.08537252e-01 4.17779881e-01 -4.47581672e-03 8.83855693e+01] [ 4.92324915e-03 6.71937564e-06 9.99987881e-01 8.26583257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.070281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:171.01, Y:88.41, Z:0.83 [[ 4.16677621e-01 -9.09052011e-01 -2.04955038e-03 1.71005266e+02] [ 9.09040990e-01 4.16682662e-01 -4.47635666e-03 8.84087507e+01] [ 4.92325313e-03 2.07233850e-06 9.99987881e-01 8.28768469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.100281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:171.02, Y:88.43, Z:0.83 [[ 4.16619097e-01 -9.09078837e-01 -2.04843344e-03 1.71015791e+02] [ 9.09067813e-01 4.16624133e-01 -4.47686773e-03 8.84317663e+01] [ 4.92325251e-03 2.98368715e-06 9.99987881e-01 8.30501544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.130281693 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:171.03, Y:88.45, Z:0.83 [[ 4.18559509e-01 -9.08187065e-01 -2.04731636e-03 1.71026539e+02] [ 9.08176029e-01 4.18564516e-01 -4.47737851e-03 8.84543937e+01] [ 4.92323124e-03 1.47257094e-05 9.99987881e-01 8.29932337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.160281693 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:171.04, Y:88.48, Z:0.83 [[ 4.20176798e-01 -9.07439955e-01 -2.04620013e-03 1.71036741e+02] [ 9.07428907e-01 4.20181779e-01 -4.47788858e-03 8.84774368e+01] [ 4.92319103e-03 2.47237354e-05 9.99987881e-01 8.28843368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.190281693 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:171.05, Y:88.50, Z:0.83 [[ 4.24758524e-01 -9.05304376e-01 -2.04509884e-03 1.71045535e+02] [ 9.05293301e-01 4.24763444e-01 -4.47839150e-03 8.85004337e+01] [ 4.92299065e-03 5.08206892e-05 9.99987881e-01 8.26144836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.220281693 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:171.05, Y:88.52, Z:0.83 [[ 4.27393979e-01 -9.04063167e-01 -2.04389226e-03 1.71053656e+02] [ 9.04052074e-01 4.27398861e-01 -4.47894210e-03 8.85232891e+01] [ 4.92280380e-03 6.64878492e-05 9.99987881e-01 8.25605083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.250281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:171.06, Y:88.55, Z:0.82 [[ 4.32741039e-01 -9.01515957e-01 -2.04293594e-03 1.71059751e+02] [ 9.01504833e-01 4.32745850e-01 -4.47937826e-03 8.85483632e+01] [ 4.92230302e-03 9.66941735e-05 9.99987881e-01 8.24108181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.280281693 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:171.07, Y:88.57, Z:0.82 [[ 4.34630275e-01 -9.00606659e-01 -2.04179147e-03 1.71067404e+02] [ 9.00595524e-01 4.34635058e-01 -4.47989987e-03 8.85720147e+01] [ 4.92206181e-03 1.08271856e-04 9.99987881e-01 8.24878559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.310281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:171.08, Y:88.60, Z:0.83 [[ 4.35635418e-01 -9.00120891e-01 -2.04060513e-03 1.71075229e+02] [ 9.00109748e-01 4.35640182e-01 -4.48044018e-03 8.85965978e+01] [ 4.92190740e-03 1.15069864e-04 9.99987881e-01 8.26151136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.340281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:171.08, Y:88.62, Z:0.83 [[ 4.35923419e-01 -8.99981451e-01 -2.03950934e-03 1.71082845e+02] [ 8.99970304e-01 4.35928174e-01 -4.48093894e-03 8.86203218e+01] [ 4.92184151e-03 1.17848385e-04 9.99987881e-01 8.25706927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.370281693 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:171.09, Y:88.65, Z:0.82 [[ 4.35005148e-01 -9.00425658e-01 -2.03857166e-03 1.71087917e+02] [ 9.00414514e-01 4.35009909e-01 -4.48136549e-03 8.86460081e+01] [ 4.92193534e-03 1.13857550e-04 9.99987881e-01 8.22419342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.400281693 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:171.09, Y:88.67, Z:0.82 [[ 4.33624287e-01 -9.01091464e-01 -2.03746720e-03 1.71093192e+02] [ 9.01080324e-01 4.33629061e-01 -4.48186758e-03 8.86705958e+01] [ 4.92207760e-03 1.07525034e-04 9.99987881e-01 8.22602986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43028169299998 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:171.10, Y:88.69, Z:0.82 [[ 4.33409572e-01 -9.01194760e-01 -2.03631557e-03 1.71103616e+02] [ 9.01183619e-01 4.33414343e-01 -4.48239075e-03 8.86944006e+01] [ 4.92207543e-03 1.07616829e-04 9.99987881e-01 8.22730883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46028169299998 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:171.11, Y:88.72, Z:0.82 [[ 4.32552969e-01 -9.01606226e-01 -2.03524742e-03 1.71111271e+02] [ 9.01595087e-01 4.32557744e-01 -4.48287570e-03 8.87187673e+01] [ 4.92215067e-03 1.04112116e-04 9.99987881e-01 8.24829054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.490281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:171.12, Y:88.74, Z:0.83 [[ 4.31706508e-01 -9.02011837e-01 -2.03416632e-03 1.71118181e+02] [ 9.02000700e-01 4.31711289e-01 -4.48336621e-03 8.87435828e+01] [ 4.92222195e-03 1.00678923e-04 9.99987881e-01 8.26170256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.520281693 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:171.13, Y:88.77, Z:0.83 [[ 4.31120900e-01 -9.02291880e-01 -2.03305363e-03 1.71125047e+02] [ 9.02280744e-01 4.31125682e-01 -4.48387072e-03 8.87688273e+01] [ 4.92226177e-03 9.87052432e-05 9.99987881e-01 8.26679699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.550281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:171.13, Y:88.79, Z:0.83 [[ 4.31775579e-01 -9.01978780e-01 -2.03194305e-03 1.71128220e+02] [ 9.01967639e-01 4.31780348e-01 -4.48437394e-03 8.87949296e+01] [ 4.92216322e-03 1.03496281e-04 9.99987881e-01 8.25155248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.580281693 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:171.13, Y:88.82, Z:0.83 [[ 4.32641092e-01 -9.01563953e-01 -2.03078058e-03 1.71129866e+02] [ 9.01552804e-01 4.32645845e-01 -4.48490031e-03 8.88206254e+01] [ 4.92203323e-03 1.09496247e-04 9.99987881e-01 8.25053192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.610281693 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:171.14, Y:88.85, Z:0.83 [[ 4.32770017e-01 -9.01502075e-01 -2.02978895e-03 1.71135454e+02] [ 9.01490924e-01 4.32774763e-01 -4.48534906e-03 8.88456713e+01] [ 4.92199292e-03 1.11288273e-04 9.99987881e-01 8.27379043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.640281693 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:171.14, Y:88.87, Z:0.83 [[ 4.32667829e-01 -9.01551127e-01 -2.02865624e-03 1.71141446e+02] [ 9.01539973e-01 4.32672571e-01 -4.48586131e-03 8.88714053e+01] [ 4.92197723e-03 1.11973184e-04 9.99987881e-01 8.29677915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.670281693 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:171.15, Y:88.90, Z:0.83 [[ 4.32180964e-01 -9.01784621e-01 -2.02758709e-03 1.71147772e+02] [ 9.01773468e-01 4.32185706e-01 -4.48634451e-03 8.88959644e+01] [ 4.92201064e-03 1.10488448e-04 9.99987881e-01 8.31275974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.700281693 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:171.15, Y:88.92, Z:0.83 [[ 4.29305871e-01 -9.03156887e-01 -2.02646923e-03 1.71151907e+02] [ 9.03145747e-01 4.29310643e-01 -4.48684938e-03 8.89207140e+01] [ 4.92231373e-03 9.60337155e-05 9.99987881e-01 8.29048273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.730281693 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:171.16, Y:88.95, Z:0.83 [[ 4.24430383e-01 -9.05458308e-01 -2.02535510e-03 1.71157285e+02] [ 9.05447191e-01 4.24435210e-01 -4.48735224e-03 8.89463139e+01] [ 4.92274239e-03 7.07165441e-05 9.99987881e-01 8.26484121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.760281693 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:171.17, Y:88.97, Z:0.83 [[ 4.22122903e-01 -9.06536352e-01 -2.02429561e-03 1.71165676e+02] [ 9.06525245e-01 4.22127753e-01 -4.48783014e-03 8.89700573e+01] [ 4.92289252e-03 5.93408154e-05 9.99987881e-01 8.26949103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.790281693 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:171.17, Y:88.99, Z:0.83 [[ 4.20001612e-01 -9.07521103e-01 -2.02316799e-03 1.71174480e+02] [ 9.07510006e-01 4.20006481e-01 -4.48833843e-03 8.89930739e+01] [ 4.92300551e-03 4.90641800e-05 9.99987881e-01 8.30271149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.820281693 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:171.18, Y:89.02, Z:0.83 [[ 4.16772731e-01 -9.09008472e-01 -2.02199467e-03 1.71184068e+02] [ 9.08997389e-01 4.16777634e-01 -4.48886695e-03 8.90167401e+01] [ 4.92314024e-03 3.28494596e-05 9.99987881e-01 8.33480647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.850281693 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:171.19, Y:89.04, Z:0.83 [[ 4.14922258e-01 -9.09854624e-01 -2.02088094e-03 1.71194053e+02] [ 9.09843548e-01 4.14927178e-01 -4.48936829e-03 8.90404988e+01] [ 4.92319092e-03 2.40533394e-05 9.99987881e-01 8.31966760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.880281693 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:171.20, Y:89.06, Z:0.83 [[ 4.12852875e-01 -9.10795490e-01 -2.01976345e-03 1.71204187e+02] [ 9.10784423e-01 4.12857815e-01 -4.48987099e-03 8.90639014e+01] [ 4.92322938e-03 1.40870577e-05 9.99987881e-01 8.28605197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.910281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:171.22, Y:89.09, Z:0.82 [[ 4.08649159e-01 -9.12689318e-01 -2.01859277e-03 1.71215522e+02] [ 9.12678271e-01 4.08654144e-01 -4.49039726e-03 8.90861827e+01] [ 4.92324391e-03 -7.32869994e-06 9.99987881e-01 8.23641888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.940281693 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:171.23, Y:89.11, Z:0.82 [[ 4.06537696e-01 -9.13631782e-01 -2.01737643e-03 1.71226612e+02] [ 9.13620744e-01 4.06542701e-01 -4.49094365e-03 8.91077200e+01] [ 4.92321851e-03 -1.73790755e-05 9.99987881e-01 8.24032125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.970281693 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:171.24, Y:89.13, Z:0.83 [[ 4.02736409e-01 -9.15313782e-01 -2.01618531e-03 1.71238020e+02] [ 9.15302763e-01 4.02741454e-01 -4.49147833e-03 8.91293548e+01] [ 4.92311342e-03 -3.65381290e-05 9.99987881e-01 8.27047003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.000281693 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:171.25, Y:89.15, Z:0.83 [[ 4.01272679e-01 -9.15956428e-01 -2.01501196e-03 1.71247861e+02] [ 9.15945414e-01 4.01277735e-01 -4.49200467e-03 8.91515407e+01] [ 4.92305999e-03 -4.31222180e-05 9.99987881e-01 8.28073630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.030281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:171.26, Y:89.17, Z:0.83 [[ 4.00304693e-01 -9.16379887e-01 -2.01385399e-03 1.71258452e+02] [ 9.16368876e-01 4.00309755e-01 -4.49252375e-03 8.91748658e+01] [ 4.92302381e-03 -4.70547826e-05 9.99987881e-01 8.27924790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.060281693 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:171.27, Y:89.20, Z:0.83 [[ 4.00882994e-01 -9.16127051e-01 -2.01271325e-03 1.71269563e+02] [ 9.16116034e-01 4.00888045e-01 -4.49303476e-03 8.91965776e+01] [ 4.92306336e-03 -4.26976520e-05 9.99987881e-01 8.27147409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.090281693 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:171.28, Y:89.22, Z:0.83 [[ 4.01225475e-01 -9.15977113e-01 -2.01152611e-03 1.71280581e+02] [ 9.15966092e-01 4.01230515e-01 -4.49356618e-03 8.92199334e+01] [ 4.92308943e-03 -3.95564821e-05 9.99987881e-01 8.27098988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.120281693 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:171.29, Y:89.24, Z:0.83 [[ 4.01464960e-01 -9.15872177e-01 -2.01039528e-03 1.71290195e+02] [ 9.15861152e-01 4.01469992e-01 -4.49407205e-03 8.92427808e+01] [ 4.92310893e-03 -3.70304875e-05 9.99987881e-01 8.27425998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.150281693 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:171.30, Y:89.26, Z:0.83 [[ 4.00828728e-01 -9.16150803e-01 -2.00922126e-03 1.71299953e+02] [ 9.16139779e-01 4.00833762e-01 -4.49459687e-03 8.92647007e+01] [ 4.92309225e-03 -3.91639742e-05 9.99987881e-01 8.26582740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18028169299998 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:171.31, Y:89.29, Z:0.83 [[ 3.99670433e-01 -9.16656704e-01 -2.00806362e-03 1.71311074e+02] [ 9.16645683e-01 3.99675475e-01 -4.49511401e-03 8.92874833e+01] [ 4.92305018e-03 -4.41186848e-05 9.99987881e-01 8.26088944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21028169299998 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:171.32, Y:89.31, Z:0.82 [[ 3.98014329e-01 -9.17377003e-01 -2.00695354e-03 1.71323909e+02] [ 9.17365989e-01 3.98019385e-01 -4.49560958e-03 8.93084474e+01] [ 4.92297526e-03 -5.17938897e-05 9.99987881e-01 8.24787409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.240281693 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:171.33, Y:89.33, Z:0.83 [[ 3.97538403e-01 -9.17583345e-01 -2.00600818e-03 1.71334134e+02] [ 9.17572331e-01 3.97543460e-01 -4.49603137e-03 8.93306559e+01] [ 4.92295894e-03 -5.33124708e-05 9.99987881e-01 8.25816677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.270281693 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:171.34, Y:89.35, Z:0.83 [[ 3.98492052e-01 -9.17169594e-01 -2.00486634e-03 1.71343350e+02] [ 9.17158573e-01 3.98497093e-01 -4.49654048e-03 8.93547907e+01] [ 4.92302362e-03 -4.69447073e-05 9.99987881e-01 8.29477108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.300281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:171.35, Y:89.38, Z:0.83 [[ 3.99487814e-01 -9.16736315e-01 -2.00377187e-03 1.71353348e+02] [ 9.16725286e-01 3.99492837e-01 -4.49702816e-03 8.93786704e+01] [ 4.92308153e-03 -4.04003915e-05 9.99987881e-01 8.30410281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.330281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:171.36, Y:89.40, Z:0.83 [[ 4.00911258e-01 -9.16114705e-01 -2.00265053e-03 1.71362946e+02] [ 9.16103665e-01 4.00916259e-01 -4.49752746e-03 8.94017806e+01] [ 4.92314620e-03 -3.15260987e-05 9.99987881e-01 8.30100745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.360281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:171.37, Y:89.43, Z:0.83 [[ 4.04160969e-01 -9.14685686e-01 -2.00153252e-03 1.71370809e+02] [ 9.14674627e-01 4.04165925e-01 -4.49802496e-03 8.94252747e+01] [ 4.92323029e-03 -1.28248864e-05 9.99987881e-01 8.28047715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.390281693 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:171.38, Y:89.45, Z:0.83 [[ 4.05595761e-01 -9.14050369e-01 -2.00057168e-03 1.71378998e+02] [ 9.14039299e-01 4.05600695e-01 -4.49845227e-03 8.94479915e+01] [ 4.92324521e-03 -4.04796257e-06 9.99987881e-01 8.26930566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.420281693 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:171.39, Y:89.47, Z:0.83 [[ 4.07549482e-01 -9.13180936e-01 -1.99941754e-03 1.71387880e+02] [ 9.13169853e-01 4.07554387e-01 -4.49896518e-03 8.94720128e+01] [ 4.92324063e-03 7.74311020e-06 9.99987881e-01 8.26972216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.450281693 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:171.40, Y:89.49, Z:0.83 [[ 4.08146883e-01 -9.12914086e-01 -1.99831294e-03 1.71396490e+02] [ 9.12902998e-01 4.08151775e-01 -4.49945576e-03 8.94947208e+01] [ 4.92323152e-03 1.21729762e-05 9.99987881e-01 8.28184623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.480281693 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:171.40, Y:89.52, Z:0.83 [[ 4.08642955e-01 -9.12692142e-01 -1.99737181e-03 1.71404598e+02] [ 9.12681049e-01 4.08647836e-01 -4.49987350e-03 8.95186786e+01] [ 4.92322086e-03 1.58782044e-05 9.99987881e-01 8.29589537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.510281693 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:171.41, Y:89.54, Z:0.83 [[ 4.09974740e-01 -9.12094692e-01 -1.99622573e-03 1.71411576e+02] [ 9.12083590e-01 4.09979599e-01 -4.50038187e-03 8.95418860e+01] [ 4.92318624e-03 2.43181525e-05 9.99987881e-01 8.30197462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.540281693 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:171.42, Y:89.57, Z:0.83 [[ 4.10113648e-01 -9.12032245e-01 -1.99503211e-03 1.71421269e+02] [ 9.12021139e-01 4.10118500e-01 -4.50091095e-03 8.95658105e+01] [ 4.92317549e-03 2.63735554e-05 9.99987881e-01 8.28654477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.570281693 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:171.43, Y:89.59, Z:0.82 [[ 4.10317503e-01 -9.11940552e-01 -1.99386301e-03 1.71428768e+02] [ 9.11929443e-01 4.10322346e-01 -4.50142878e-03 8.95903257e+01] [ 4.92316200e-03 2.87526305e-05 9.99987881e-01 8.23242702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.600281693 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:171.44, Y:89.61, Z:0.82 [[ 4.10643060e-01 -9.11794004e-01 -1.99268743e-03 1.71436812e+02] [ 9.11782891e-01 4.10647894e-01 -4.50194913e-03 8.96137754e+01] [ 4.92314312e-03 3.17958681e-05 9.99987881e-01 8.21525278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.630281693 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:171.45, Y:89.64, Z:0.82 [[ 4.10624419e-01 -9.11802402e-01 -1.99146429e-03 1.71445036e+02] [ 9.11791286e-01 4.10629247e-01 -4.50249013e-03 8.96372261e+01] [ 4.92313479e-03 3.30326088e-05 9.99987881e-01 8.20153283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.660281693 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:171.45, Y:89.66, Z:0.82 [[ 4.09141788e-01 -9.12468649e-01 -1.99029841e-03 1.71453459e+02] [ 9.12457539e-01 4.09146628e-01 -4.50300544e-03 8.96618019e+01] [ 4.92317517e-03 2.63049098e-05 9.99987881e-01 8.22635957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.690281693 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:171.46, Y:89.69, Z:0.83 [[ 4.07511319e-01 -9.13197989e-01 -1.98918903e-03 1.71463312e+02] [ 9.13186885e-01 4.07516174e-01 -4.50349545e-03 8.96862417e+01] [ 4.92320969e-03 1.87240400e-05 9.99987881e-01 8.25190521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.720281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:171.47, Y:89.71, Z:0.83 [[ 4.03516434e-01 -9.14970237e-01 -1.98805802e-03 1.71474070e+02] [ 9.14959152e-01 4.03521331e-01 -4.50399468e-03 8.97087564e+01] [ 4.92324490e-03 -1.55600868e-06 9.99987881e-01 8.28764392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.750281693 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:171.49, Y:89.73, Z:0.83 [[ 4.01256685e-01 -9.15963496e-01 -1.98687211e-03 1.71485064e+02] [ 9.15952419e-01 4.01261604e-01 -4.50451776e-03 8.97315334e+01] [ 4.92322933e-03 -1.24124537e-05 9.99987881e-01 8.29365683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.780281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:171.50, Y:89.75, Z:0.83 [[ 3.98864334e-01 -9.17007797e-01 -1.98576405e-03 1.71495353e+02] [ 9.16996731e-01 3.98869277e-01 -4.50500618e-03 8.97548330e+01] [ 4.92318607e-03 -2.40528522e-05 9.99987881e-01 8.30197296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.810281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:171.50, Y:89.78, Z:0.83 [[ 3.96120170e-01 -9.18196532e-01 -1.98462150e-03 1.71504849e+02] [ 9.18185479e-01 3.96125140e-01 -4.50550946e-03 8.97777738e+01] [ 4.92310164e-03 -3.75274667e-05 9.99987881e-01 8.31327826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.840281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:171.51, Y:89.80, Z:0.83 [[ 3.95509614e-01 -9.18459694e-01 -1.98364807e-03 1.71514605e+02] [ 9.18448642e-01 3.95514587e-01 -4.50593800e-03 8.98016411e+01] [ 4.92308418e-03 -3.97370770e-05 9.99987881e-01 8.30986914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.870281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:171.52, Y:89.82, Z:0.83 [[ 3.95636446e-01 -9.18405070e-01 -1.98249965e-03 1.71524922e+02] [ 9.18394014e-01 3.95641411e-01 -4.50644322e-03 8.98238323e+01] [ 4.92309926e-03 -3.78026357e-05 9.99987881e-01 8.32412581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.900281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:171.54, Y:89.85, Z:0.83 [[ 3.95544367e-01 -9.18444733e-01 -1.98130629e-03 1.71535754e+02] [ 9.18433676e-01 3.95549328e-01 -4.50696783e-03 8.98469983e+01] [ 4.92310524e-03 -3.69926787e-05 9.99987881e-01 8.32724810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93028169299998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:171.55, Y:89.87, Z:0.83 [[ 3.95096573e-01 -9.18637457e-01 -1.98017210e-03 1.71546777e+02] [ 9.18626399e-01 3.95101533e-01 -4.50746609e-03 8.98696117e+01] [ 4.92309622e-03 -3.81539600e-05 9.99987881e-01 8.31744442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96028169299998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:171.56, Y:89.89, Z:0.83 [[ 3.93675600e-01 -9.19247304e-01 -1.97902936e-03 1.71559818e+02] [ 9.19236251e-01 3.93680572e-01 -4.50796776e-03 8.98905079e+01] [ 4.92304262e-03 -4.45186157e-05 9.99987881e-01 8.32099528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.990281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:171.57, Y:89.91, Z:0.83 [[ 3.92684226e-01 -9.19671238e-01 -1.97783873e-03 1.71571699e+02] [ 9.19660189e-01 3.92689204e-01 -4.50849008e-03 8.99129153e+01] [ 4.92300457e-03 -4.85266047e-05 9.99987881e-01 8.32133979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.020281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:171.59, Y:89.93, Z:0.83 [[ 3.91605055e-01 -9.20131281e-01 -1.97670152e-03 1.71585759e+02] [ 9.20120234e-01 3.91610040e-01 -4.50898862e-03 8.99344402e+01] [ 4.92295764e-03 -5.30603322e-05 9.99987881e-01 8.32277101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.050281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:171.60, Y:89.96, Z:0.83 [[ 3.91671092e-01 -9.20103175e-01 -1.97552799e-03 1.71597911e+02] [ 9.20092126e-01 3.91676071e-01 -4.50950272e-03 8.99572781e+01] [ 4.92297482e-03 -5.14258907e-05 9.99987881e-01 8.32282975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.080281693 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:171.61, Y:89.98, Z:0.83 [[ 3.92476489e-01 -9.19759918e-01 -1.97436215e-03 1.71610058e+02] [ 9.19748862e-01 3.92481453e-01 -4.51001310e-03 8.99802874e+01] [ 4.92302980e-03 -4.58432381e-05 9.99987881e-01 8.31802612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.110281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:171.62, Y:90.00, Z:0.83 [[ 3.95349882e-01 -9.18528484e-01 -1.97326973e-03 1.71621883e+02] [ 9.18517410e-01 3.95354806e-01 -4.51049102e-03 9.00029111e+01] [ 4.92315615e-03 -2.92605074e-05 9.99987881e-01 8.30688722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.140281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:171.63, Y:90.02, Z:0.83 [[ 3.96875844e-01 -9.17870184e-01 -1.97239824e-03 1.71632106e+02] [ 9.17859099e-01 3.96880745e-01 -4.51087208e-03 9.00247927e+01] [ 4.92320186e-03 -2.01275100e-05 9.99987881e-01 8.29116761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.170281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:171.64, Y:90.05, Z:0.83 [[ 3.98154083e-01 -9.17316434e-01 -1.97124185e-03 1.71642883e+02] [ 9.17305341e-01 3.98158962e-01 -4.51137736e-03 9.00483402e+01] [ 4.92322820e-03 -1.20073578e-05 9.99987881e-01 8.26627504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.200281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:90.07, Z:0.83 [[ 3.99600338e-01 -9.16687345e-01 -1.97007178e-03 1.71654777e+02] [ 9.16676241e-01 3.99605194e-01 -4.51188826e-03 9.00711439e+01] [ 4.92324179e-03 -2.96592318e-06 9.99987881e-01 8.26209492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.230281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:171.66, Y:90.09, Z:0.83 [[ 3.99403306e-01 -9.16773212e-01 -1.96890556e-03 1.71664095e+02] [ 9.16762107e-01 3.99408159e-01 -4.51239712e-03 9.00934243e+01] [ 4.92324175e-03 -2.75168049e-06 9.99987881e-01 8.28004352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.260281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:171.67, Y:90.12, Z:0.84 [[ 3.99847798e-01 -9.16579438e-01 -1.96769308e-03 1.71674247e+02] [ 9.16568328e-01 3.99852639e-01 -4.51292578e-03 9.01166349e+01] [ 4.92324225e-03 9.58275030e-07 9.99987881e-01 8.35436146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.290281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:171.68, Y:90.14, Z:0.84 [[ 3.99612030e-01 -9.16682256e-01 -1.96653571e-03 1.71684315e+02] [ 9.16671144e-01 3.99616869e-01 -4.51343005e-03 9.01405827e+01] [ 4.92324208e-03 9.54402153e-07 9.99987881e-01 8.35564047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.320281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:171.69, Y:90.16, Z:0.83 [[ 4.00033725e-01 -9.16498312e-01 -1.96537467e-03 1.71694515e+02] [ 9.16487196e-01 4.00038553e-01 -4.51393557e-03 9.01635661e+01] [ 4.92323997e-03 4.48574456e-06 9.99987881e-01 8.29085055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.350281693 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:171.70, Y:90.19, Z:0.83 [[ 4.01418486e-01 -9.15892647e-01 -1.96420896e-03 1.71704346e+02] [ 9.15881521e-01 4.01423292e-01 -4.51444276e-03 9.01856922e+01] [ 4.92322416e-03 1.31980922e-05 9.99987881e-01 8.30441708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.380281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:171.71, Y:90.21, Z:0.83 [[ 4.02171619e-01 -9.15562197e-01 -1.96299533e-03 1.71714219e+02] [ 9.15551064e-01 4.02176409e-01 -4.51497042e-03 9.02094819e+01] [ 4.92320665e-03 1.85704981e-05 9.99987881e-01 8.31147501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.410281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:171.72, Y:90.23, Z:0.83 [[ 4.02907280e-01 -9.15238698e-01 -1.96184235e-03 1.71723887e+02] [ 9.15227560e-01 4.02912056e-01 -4.51547136e-03 9.02318743e+01] [ 4.92318406e-03 2.37840976e-05 9.99987881e-01 8.31825440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.440281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:171.74, Y:90.25, Z:0.83 [[ 4.04263633e-01 -9.14640405e-01 -1.96086139e-03 1.71735916e+02] [ 9.14629257e-01 4.04268388e-01 -4.51589730e-03 9.02548273e+01] [ 4.92313641e-03 3.21518541e-05 9.99987881e-01 8.29805294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.470281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:171.75, Y:90.28, Z:0.83 [[ 4.04514919e-01 -9.14529300e-01 -1.95969345e-03 1.71746746e+02] [ 9.14518148e-01 4.04519665e-01 -4.51640408e-03 9.02771736e+01] [ 4.92311840e-03 3.47776087e-05 9.99987881e-01 8.28378438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.500281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:171.76, Y:90.30, Z:0.83 [[ 4.04799031e-01 -9.14403581e-01 -1.95847929e-03 1.71759060e+02] [ 9.14392425e-01 4.04803767e-01 -4.51693052e-03 9.02999631e+01] [ 4.92309724e-03 3.76304657e-05 9.99987881e-01 8.30826278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.530281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:171.77, Y:90.32, Z:0.83 [[ 4.04390735e-01 -9.14584224e-01 -1.95735978e-03 1.71769415e+02] [ 9.14573068e-01 4.04395470e-01 -4.51741559e-03 9.03229635e+01] [ 4.92310446e-03 3.66524689e-05 9.99987881e-01 8.33803375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.560281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:171.78, Y:90.35, Z:0.84 [[ 4.04065315e-01 -9.14728044e-01 -1.95623649e-03 1.71779378e+02] [ 9.14716887e-01 4.04070049e-01 -4.51790197e-03 9.03461178e+01] [ 4.92310821e-03 3.61249279e-05 9.99987881e-01 8.35526390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.590281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:171.79, Y:90.37, Z:0.84 [[ 4.04888426e-01 -9.14364009e-01 -1.95511211e-03 1.71789450e+02] [ 9.14352846e-01 4.04893144e-01 -4.51838850e-03 9.03680720e+01] [ 4.92306331e-03 4.17808795e-05 9.99987881e-01 8.36189926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.620281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:171.80, Y:90.39, Z:0.84 [[ 4.05384145e-01 -9.14144341e-01 -1.95415086e-03 1.71800123e+02] [ 9.14133174e-01 4.05388852e-01 -4.51880419e-03 9.03910083e+01] [ 4.92303025e-03 4.54974403e-05 9.99987881e-01 8.35064066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.650281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.81, Y:90.41, Z:0.83 [[ 4.05761960e-01 -9.13976705e-01 -1.95304537e-03 1.71811394e+02] [ 9.13965533e-01 4.05766657e-01 -4.51928194e-03 9.04138507e+01] [ 4.92299910e-03 4.87365459e-05 9.99987881e-01 8.32826469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68028169299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.82, Y:90.44, Z:0.83 [[ 4.05755009e-01 -9.13979794e-01 -1.95190808e-03 1.71821916e+02] [ 9.13968619e-01 4.05759700e-01 -4.51977309e-03 9.04366401e+01] [ 4.92298691e-03 4.99378341e-05 9.99987881e-01 8.33736208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71028169299998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:171.83, Y:90.46, Z:0.84 [[ 4.06092973e-01 -9.13829684e-01 -1.95077540e-03 1.71832143e+02] [ 9.13818506e-01 4.06097655e-01 -4.52026191e-03 9.04587298e+01] [ 4.92295483e-03 5.29919296e-05 9.99987881e-01 8.35494136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.740281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:171.84, Y:90.48, Z:0.84 [[ 4.06506774e-01 -9.13645687e-01 -1.94959681e-03 1.71843269e+02] [ 9.13634504e-01 4.06511445e-01 -4.52077018e-03 9.04813739e+01] [ 4.92291559e-03 5.65047796e-05 9.99987881e-01 8.36042223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.770281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:171.85, Y:90.50, Z:0.83 [[ 4.06739024e-01 -9.13542320e-01 -1.94847054e-03 1.71852898e+02] [ 9.13531133e-01 4.06743687e-01 -4.52125555e-03 9.05048608e+01] [ 4.92288638e-03 5.89825739e-05 9.99987881e-01 8.34008526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.800281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:171.86, Y:90.53, Z:0.83 [[ 4.08269618e-01 -9.12859314e-01 -1.94730897e-03 1.71861840e+02] [ 9.12848117e-01 4.08274257e-01 -4.52175579e-03 9.05289984e+01] [ 4.92276301e-03 6.84981873e-05 9.99987881e-01 8.29753351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.830281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:171.87, Y:90.55, Z:0.83 [[ 4.09299826e-01 -9.12397865e-01 -1.94613891e-03 1.71871166e+02] [ 9.12386661e-01 4.09304446e-01 -4.52225932e-03 9.05516482e+01] [ 4.92266306e-03 7.53287680e-05 9.99987881e-01 8.29789820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.860281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:171.88, Y:90.58, Z:0.83 [[ 4.10402865e-01 -9.11902245e-01 -1.94514555e-03 1.71880572e+02] [ 9.11891033e-01 4.10407467e-01 -4.52268655e-03 9.05755971e+01] [ 4.92255027e-03 8.23627376e-05 9.99987881e-01 8.30411347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.890281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:171.89, Y:90.60, Z:0.83 [[ 4.12145714e-01 -9.11115872e-01 -1.94404358e-03 1.71888251e+02] [ 9.11104649e-01 4.12150288e-01 -4.52316017e-03 9.05998033e+01] [ 4.92236114e-03 9.29739360e-05 9.99987881e-01 8.30156318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.920281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:171.90, Y:90.62, Z:0.83 [[ 4.11891389e-01 -9.11230876e-01 -1.94292017e-03 1.71896271e+02] [ 9.11219652e-01 4.11895961e-01 -4.52364268e-03 9.06227584e+01] [ 4.92236385e-03 9.28224250e-05 9.99987881e-01 8.29176963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.950281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:171.90, Y:90.65, Z:0.83 [[ 4.09462951e-01 -9.12324680e-01 -1.94175361e-03 1.71904258e+02] [ 9.12313466e-01 4.09467547e-01 -4.52414337e-03 9.06466807e+01] [ 4.92257274e-03 8.09811238e-05 9.99987881e-01 8.26465469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.980281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.91, Y:90.67, Z:0.83 [[ 4.07577190e-01 -9.13168696e-01 -1.94066439e-03 1.71913341e+02] [ 9.13157490e-01 4.07581804e-01 -4.52461055e-03 9.06702361e+01] [ 4.92271221e-03 7.19958279e-05 9.99987881e-01 8.26171287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.010281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.92, Y:90.69, Z:0.83 [[ 4.05545527e-01 -9.14072789e-01 -1.93957395e-03 1.71922098e+02] [ 9.14061590e-01 4.05550161e-01 -4.52507794e-03 9.06935301e+01] [ 4.92284514e-03 6.22350680e-05 9.99987881e-01 8.26534579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.040281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.93, Y:90.72, Z:0.83 [[ 4.02492169e-01 -9.15421377e-01 -1.93843647e-03 1.71929755e+02] [ 9.15410191e-01 4.02496834e-01 -4.52556516e-03 9.07183283e+01] [ 4.92301363e-03 4.70400366e-05 9.99987881e-01 8.28360620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.070281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:171.94, Y:90.74, Z:0.83 [[ 4.01480319e-01 -9.15865602e-01 -1.93724557e-03 1.71937543e+02] [ 9.15854419e-01 4.01484990e-01 -4.52607489e-03 9.07415313e+01] [ 4.92305132e-03 4.28950762e-05 9.99987881e-01 8.29772883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.100281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.94, Y:90.77, Z:0.83 [[ 4.01483392e-01 -9.15864257e-01 -1.93600581e-03 1.71944318e+02] [ 9.15853072e-01 4.01488058e-01 -4.52660512e-03 9.07665918e+01] [ 4.92303905e-03 4.42599142e-05 9.99987881e-01 8.33601765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.130281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:171.95, Y:90.79, Z:0.83 [[ 4.01969229e-01 -9.15651132e-01 -1.93485213e-03 1.71952419e+02] [ 9.15639942e-01 4.01973882e-01 -4.52709820e-03 9.07909808e+01] [ 4.92300261e-03 4.81262819e-05 9.99987881e-01 8.34722764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.160281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:171.96, Y:90.82, Z:0.84 [[ 4.03500116e-01 -9.14977550e-01 -1.93366961e-03 1.71957416e+02] [ 9.14966350e-01 4.03504745e-01 -4.52760324e-03 9.08153822e+01] [ 4.92290018e-03 5.76458074e-05 9.99987881e-01 8.35172816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.190281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:171.96, Y:90.84, Z:0.83 [[ 4.04377736e-01 -9.14590024e-01 -1.93244344e-03 1.71964505e+02] [ 9.14578817e-01 4.04382349e-01 -4.52812652e-03 9.08404680e+01] [ 4.92282536e-03 6.37017161e-05 9.99987881e-01 8.34632745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.220281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.97, Y:90.87, Z:0.83 [[ 4.05014053e-01 -9.14308420e-01 -1.93126835e-03 1.71970953e+02] [ 9.14297207e-01 4.05018651e-01 -4.52862765e-03 9.08651056e+01] [ 4.92276209e-03 6.84045824e-05 9.99987881e-01 8.34013263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.250281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:171.97, Y:90.89, Z:0.83 [[ 4.06002573e-01 -9.13869895e-01 -1.93009077e-03 1.71973185e+02] [ 9.13858675e-01 4.06007154e-01 -4.52912948e-03 9.08905675e+01] [ 4.92266574e-03 7.50080286e-05 9.99987881e-01 8.33580188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.280281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:171.98, Y:90.92, Z:0.83 [[ 4.06084585e-01 -9.13833458e-01 -1.92886468e-03 1.71979471e+02] [ 9.13822235e-01 4.06089158e-01 -4.52965158e-03 9.09154382e+01] [ 4.92263820e-03 7.67822520e-05 9.99987881e-01 8.32854594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.310281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:171.98, Y:90.94, Z:0.83 [[ 4.04944390e-01 -9.14339283e-01 -1.92770302e-03 1.71983046e+02] [ 9.14328064e-01 4.04948972e-01 -4.53014590e-03 9.09405084e+01] [ 4.92271171e-03 7.19041967e-05 9.99987881e-01 8.30892279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.340281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.99, Y:90.97, Z:0.83 [[ 4.03555989e-01 -9.14952924e-01 -1.92649512e-03 1.71990469e+02] [ 9.14941708e-01 4.03560582e-01 -4.53065951e-03 9.09654845e+01] [ 4.92279766e-03 6.57440439e-05 9.99987881e-01 8.29543590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.370281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:172.00, Y:90.99, Z:0.83 [[ 4.01432343e-01 -9.15886656e-01 -1.92535907e-03 1.71997213e+02] [ 9.15875449e-01 4.01436957e-01 -4.53114224e-03 9.09889904e+01] [ 4.92292300e-03 5.55579405e-05 9.99987881e-01 8.27961755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40028169299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.00, Y:91.01, Z:0.83 [[ 3.96981135e-01 -9.17824752e-01 -1.92417663e-03 1.72003113e+02] [ 9.17813566e-01 3.96985797e-01 -4.53164432e-03 9.10141191e+01] [ 4.92312611e-03 3.29418940e-05 9.99987881e-01 8.28269117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43028169299998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:172.01, Y:91.04, Z:0.83 [[ 3.94628570e-01 -9.18838720e-01 -1.92298800e-03 1.72011294e+02] [ 9.18827543e-01 3.94633255e-01 -4.53214865e-03 9.10375025e+01] [ 4.92318868e-03 2.16210069e-05 9.99987881e-01 8.28560530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46028169299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.02, Y:91.06, Z:0.83 [[ 3.91351499e-01 -9.20239269e-01 -1.92175974e-03 1.72019165e+02] [ 9.20228106e-01 3.91356217e-01 -4.53266941e-03 9.10608407e+01] [ 4.92323300e-03 5.40964047e-06 9.99987881e-01 8.26458075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.490281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.03, Y:91.08, Z:0.83 [[ 3.90534311e-01 -9.20586369e-01 -1.92054098e-03 1.72027347e+02] [ 9.20575208e-01 3.90539033e-01 -4.53318575e-03 9.10847695e+01] [ 4.92323523e-03 2.36216613e-06 9.99987881e-01 8.25248291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.520281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:172.03, Y:91.11, Z:0.82 [[ 3.90078486e-01 -9.20779610e-01 -1.91937886e-03 1.72033151e+02] [ 9.20768449e-01 3.90083209e-01 -4.53367774e-03 9.11091044e+01] [ 4.92323549e-03 1.18665260e-06 9.99987881e-01 8.23214987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.550281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:172.04, Y:91.13, Z:0.82 [[ 3.90339731e-01 -9.20668895e-01 -1.91839449e-03 1.72042086e+02] [ 9.20657730e-01 3.90344445e-01 -4.53409424e-03 9.11337224e+01] [ 4.92323416e-03 3.65240415e-06 9.99987881e-01 8.23773379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.580281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:172.05, Y:91.16, Z:0.82 [[ 3.90434093e-01 -9.20628884e-01 -1.91731246e-03 1.72050397e+02] [ 9.20617717e-01 3.90438801e-01 -4.53455174e-03 9.11562628e+01] [ 4.92323249e-03 5.33177302e-06 9.99987881e-01 8.24066612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.610281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.06, Y:91.18, Z:0.82 [[ 3.90223863e-01 -9.20718016e-01 -1.91607014e-03 1.72059046e+02] [ 9.20706847e-01 3.90228567e-01 -4.53507663e-03 9.11807666e+01] [ 4.92323206e-03 5.55622561e-06 9.99987881e-01 8.23806735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.640281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:172.07, Y:91.21, Z:0.82 [[ 3.89421027e-01 -9.21057868e-01 -1.91492062e-03 1.72065116e+02] [ 9.21046701e-01 3.89425736e-01 -4.53556195e-03 9.12050874e+01] [ 4.92323439e-03 2.51187233e-06 9.99987881e-01 8.21310398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.670281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.07, Y:91.23, Z:0.82 [[ 3.88660843e-01 -9.21378905e-01 -1.91372166e-03 1.72072362e+02] [ 9.21367739e-01 3.88665555e-01 -4.53606778e-03 9.12299467e+01] [ 4.92323486e-03 -2.49474638e-07 9.99987881e-01 8.22265953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.700281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.08, Y:91.25, Z:0.82 [[ 3.87893429e-01 -9.21702246e-01 -1.91254428e-03 1.72081144e+02] [ 9.21691081e-01 3.87898144e-01 -4.53656415e-03 9.12534277e+01] [ 4.92323374e-03 -3.07158083e-06 9.99987881e-01 8.24542817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.730281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:172.09, Y:91.28, Z:0.83 [[ 3.86376667e-01 -9.22339101e-01 -1.91136450e-03 1.72089445e+02] [ 9.22327942e-01 3.86381395e-01 -4.53706116e-03 9.12763648e+01] [ 4.92322460e-03 -9.89031181e-06 9.99987881e-01 8.26126524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.760281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.10, Y:91.30, Z:0.83 [[ 3.84211320e-01 -9.23243203e-01 -1.91035801e-03 1.72098654e+02] [ 9.23232053e-01 3.84216069e-01 -4.53748491e-03 9.13002611e+01] [ 4.92319235e-03 -2.03506806e-05 9.99987881e-01 8.27372793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.790281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:172.11, Y:91.32, Z:0.83 [[ 3.78727457e-01 -9.25506277e-01 -1.90919929e-03 1.72109382e+02] [ 9.25495152e-01 3.78732266e-01 -4.53797241e-03 9.13234412e+01] [ 4.92299732e-03 -4.82999336e-05 9.99987881e-01 8.29087975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.820281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.12, Y:91.35, Z:0.83 [[ 3.73252499e-01 -9.27727833e-01 -1.90804781e-03 1.72122389e+02] [ 9.27716735e-01 3.73257368e-01 -4.53845651e-03 9.13453838e+01] [ 4.92264532e-03 -7.61376445e-05 9.99987881e-01 8.32079457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.850281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:172.13, Y:91.37, Z:0.83 [[ 3.70691269e-01 -9.28754191e-01 -1.90690003e-03 1.72133845e+02] [ 9.28743104e-01 3.70696163e-01 -4.53893871e-03 9.13683256e+01] [ 4.92243888e-03 -8.84753001e-05 9.99987881e-01 8.32675605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.880281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:172.15, Y:91.39, Z:0.83 [[ 3.68445709e-01 -9.29647314e-01 -1.90575514e-03 1.72145664e+02] [ 9.29636236e-01 3.68450625e-01 -4.53941936e-03 9.13910865e+01] [ 4.92223569e-03 -9.91294517e-05 9.99987881e-01 8.33335525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.910281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:172.16, Y:91.41, Z:0.83 [[ 3.66952130e-01 -9.30237876e-01 -1.90461136e-03 1.72157749e+02] [ 9.30226804e-01 3.66957058e-01 -4.53989921e-03 9.14129752e+01] [ 4.92209678e-03 -1.05794850e-04 9.99987881e-01 8.32344073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.940281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:172.17, Y:91.43, Z:0.83 [[ 3.65929185e-01 -9.30640752e-01 -1.90347891e-03 1.72173463e+02] [ 9.30629682e-01 3.65934119e-01 -4.54037397e-03 9.14340359e+01] [ 4.92200492e-03 -1.09978629e-04 9.99987881e-01 8.26597500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.970281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:172.19, Y:91.46, Z:0.82 [[ 3.66225353e-01 -9.30524246e-01 -1.90230087e-03 1.72185455e+02] [ 9.30513173e-01 3.66230278e-01 -4.54086749e-03 9.14557637e+01] [ 4.92206747e-03 -1.07135222e-04 9.99987881e-01 8.23577492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.000281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:172.20, Y:91.48, Z:0.82 [[ 3.68743469e-01 -9.29529257e-01 -1.90108099e-03 1.72199255e+02] [ 9.29518168e-01 3.68748358e-01 -4.54137814e-03 9.14760710e+01] [ 4.92236435e-03 -9.24857900e-05 9.99987881e-01 8.22015870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.030281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:172.21, Y:91.50, Z:0.82 [[ 3.70323444e-01 -9.28900930e-01 -1.89991309e-03 1.72211544e+02] [ 9.28889830e-01 3.70328308e-01 -4.54186669e-03 9.14989197e+01] [ 4.92253579e-03 -8.28502291e-05 9.99987881e-01 8.22372378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.060281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:172.23, Y:91.52, Z:0.83 [[ 3.74227425e-01 -9.27335015e-01 -1.89880812e-03 1.72225708e+02] [ 9.27323892e-01 3.74232237e-01 -4.54232860e-03 9.15209144e+01] [ 4.92285557e-03 -6.09461983e-05 9.99987881e-01 8.25918914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.090281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:172.24, Y:91.54, Z:0.83 [[ 3.75594404e-01 -9.26782198e-01 -1.89764068e-03 1.72236716e+02] [ 9.26771066e-01 3.75599194e-01 -4.54281626e-03 9.15439714e+01] [ 4.92295355e-03 -5.24221083e-05 9.99987881e-01 8.26257134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.120281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:172.25, Y:91.57, Z:0.83 [[ 3.76871512e-01 -9.26263605e-01 -1.89646962e-03 1.72247475e+02] [ 9.26252464e-01 3.76876281e-01 -4.54330509e-03 9.15664425e+01] [ 4.92303257e-03 -4.43674020e-05 9.99987881e-01 8.25774693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15028169299998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:172.26, Y:91.59, Z:0.83 [[ 3.78048350e-01 -9.25783912e-01 -1.89547070e-03 1.72258467e+02] [ 9.25772763e-01 3.78053100e-01 -4.54372180e-03 9.15899457e+01] [ 4.92309312e-03 -3.70286228e-05 9.99987881e-01 8.25962251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18028169299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:172.27, Y:91.61, Z:0.83 [[ 3.79828872e-01 -9.25054831e-01 -1.89437198e-03 1.72271297e+02] [ 9.25043670e-01 3.79833595e-01 -4.54417983e-03 9.16107532e+01] [ 4.92316163e-03 -2.63661109e-05 9.99987881e-01 8.28476802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21028169299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:172.28, Y:91.63, Z:0.83 [[ 3.79606650e-01 -9.25146046e-01 -1.89322534e-03 1.72280962e+02] [ 9.25134884e-01 3.79611370e-01 -4.54465750e-03 9.16348625e+01] [ 4.92316179e-03 -2.63065945e-05 9.99987881e-01 8.28604702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.240281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:172.29, Y:91.66, Z:0.83 [[ 3.79943723e-01 -9.25007669e-01 -1.89213353e-03 1.72292494e+02] [ 9.24996503e-01 3.79948434e-01 -4.54511203e-03 9.16577853e+01] [ 4.92317665e-03 -2.33301092e-05 9.99987881e-01 8.29429932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.270281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.30, Y:91.68, Z:0.83 [[ 3.79988867e-01 -9.24989127e-01 -1.89103703e-03 1.72304664e+02] [ 9.24977958e-01 3.79993571e-01 -4.54556819e-03 9.16788674e+01] [ 4.92318307e-03 -2.19022663e-05 9.99987881e-01 8.29511115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.300281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.32, Y:91.70, Z:0.83 [[ 3.80012625e-01 -9.24979369e-01 -1.88989366e-03 1.72315127e+02] [ 9.24968198e-01 3.80017323e-01 -4.54604352e-03 9.17016165e+01] [ 4.92318879e-03 -2.05376025e-05 9.99987881e-01 8.29127679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.330281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.33, Y:91.72, Z:0.83 [[ 3.80309884e-01 -9.24857191e-01 -1.88875177e-03 1.72325067e+02] [ 9.24846016e-01 3.80314574e-01 -4.54651789e-03 9.17239429e+01] [ 4.92319959e-03 -1.77188537e-05 9.99987881e-01 8.27885430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.360281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:172.34, Y:91.75, Z:0.83 [[ 3.81723946e-01 -9.24274453e-01 -1.88778016e-03 1.72335926e+02] [ 9.24263269e-01 3.81728614e-01 -4.54692128e-03 9.17475046e+01] [ 4.92322288e-03 -9.13712553e-06 9.99987881e-01 8.28826985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.390281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:172.35, Y:91.77, Z:0.83 [[ 3.82202603e-01 -9.24076626e-01 -1.88660148e-03 1.72346282e+02] [ 9.24065437e-01 3.82207259e-01 -4.54741028e-03 9.17709971e+01] [ 4.92322833e-03 -5.31117625e-06 9.99987881e-01 8.30880679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.420281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.36, Y:91.79, Z:0.83 [[ 3.82187315e-01 -9.24082951e-01 -1.88541902e-03 1.72358024e+02] [ 9.24071760e-01 3.82191966e-01 -4.54790049e-03 9.17924042e+01] [ 4.92322931e-03 -4.11259355e-06 9.99987881e-01 8.32566429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.450281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:172.37, Y:91.82, Z:0.83 [[ 3.80960909e-01 -9.24589225e-01 -1.88419117e-03 1.72368927e+02] [ 9.24578038e-01 3.80965569e-01 -4.54840914e-03 9.18151229e+01] [ 4.92322204e-03 -9.31569034e-06 9.99987881e-01 8.31755198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.480281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:172.38, Y:91.84, Z:0.83 [[ 3.79001567e-01 -9.25394114e-01 -1.88300700e-03 1.72379597e+02] [ 9.25382934e-01 3.79006245e-01 -4.54889932e-03 9.18374675e+01] [ 4.92319607e-03 -1.84625749e-05 9.99987881e-01 8.29988514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.510281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:172.39, Y:91.86, Z:0.83 [[ 3.74391561e-01 -9.27268795e-01 -1.88177532e-03 1.72391949e+02] [ 9.27257635e-01 3.74396288e-01 -4.54940878e-03 9.18599143e+01] [ 4.92305449e-03 -4.16302799e-05 9.99987881e-01 8.29427363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.540281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:172.40, Y:91.88, Z:0.83 [[ 3.71877916e-01 -9.28279742e-01 -1.88060069e-03 1.72402966e+02] [ 9.28268593e-01 3.71882668e-01 -4.54989429e-03 9.18826266e+01] [ 4.92293749e-03 -5.36973475e-05 9.99987881e-01 8.29321328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.570281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:172.42, Y:91.90, Z:0.83 [[ 3.68576513e-01 -9.29595515e-01 -1.87942968e-03 1.72416320e+02] [ 9.29584381e-01 3.68581298e-01 -4.55037795e-03 9.19040313e+01] [ 4.92273356e-03 -6.99260363e-05 9.99987881e-01 8.29980697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.600281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:172.43, Y:91.93, Z:0.83 [[ 3.68337683e-01 -9.29690176e-01 -1.87821675e-03 1.72427971e+02] [ 9.29679040e-01 3.68342465e-01 -4.55087854e-03 9.19264927e+01] [ 4.92273406e-03 -6.98786839e-05 9.99987881e-01 8.31348981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.630281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:172.44, Y:91.95, Z:0.83 [[ 3.70809547e-01 -9.28707035e-01 -1.87705527e-03 1.72440411e+02] [ 9.28695884e-01 3.70814294e-01 -4.55135755e-03 9.19483734e+01] [ 4.92291670e-03 -5.55266721e-05 9.99987881e-01 8.33017026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.660281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:172.45, Y:91.97, Z:0.83 [[ 3.72562171e-01 -9.28005339e-01 -1.87582795e-03 1.72450129e+02] [ 9.27994177e-01 3.72566891e-01 -4.55186333e-03 9.19715163e+01] [ 4.92302486e-03 -4.49053324e-05 9.99987881e-01 8.33562325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.690281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:172.46, Y:91.99, Z:0.83 [[ 3.74331023e-01 -9.27293250e-01 -1.87465457e-03 1.72459402e+02] [ 9.27282076e-01 3.74335716e-01 -4.55234653e-03 9.19941106e+01] [ 4.92311037e-03 -3.42490397e-05 9.99987881e-01 8.33820525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.720281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:172.47, Y:92.02, Z:0.83 [[ 3.77528525e-01 -9.25996060e-01 -1.87343487e-03 1.72467658e+02] [ 9.25984867e-01 3.77533173e-01 -4.55284842e-03 9.20172853e+01] [ 4.92320351e-03 -1.59421894e-05 9.99987881e-01 8.34999883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.750281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:172.48, Y:92.04, Z:0.84 [[ 3.78662115e-01 -9.25533088e-01 -1.87223451e-03 1.72475296e+02] [ 9.25521888e-01 3.78666743e-01 -4.55334198e-03 9.20401893e+01] [ 4.92322161e-03 -8.61591090e-06 9.99987881e-01 8.35647829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.780281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:172.48, Y:92.07, Z:0.84 [[ 3.81698046e-01 -9.24285184e-01 -1.87106029e-03 1.72480998e+02] [ 9.24273966e-01 3.81702632e-01 -4.55382444e-03 9.20656163e+01] [ 4.92322110e-03 8.81357205e-06 9.99987881e-01 8.37209192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.810281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:172.49, Y:92.09, Z:0.84 [[ 3.83507288e-01 -9.23535957e-01 -1.86990661e-03 1.72488521e+02] [ 9.23524727e-01 3.83511847e-01 -4.55429812e-03 9.20902330e+01] [ 4.92318941e-03 1.97015350e-05 9.99987881e-01 8.36552315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.840281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:172.50, Y:92.11, Z:0.83 [[ 3.85373684e-01 -9.22758707e-01 -1.86871937e-03 1.72496068e+02] [ 9.22747466e-01 3.85378214e-01 -4.55478522e-03 9.21138904e+01] [ 4.92313145e-03 3.09382929e-05 9.99987881e-01 8.34523346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.870281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:172.50, Y:92.14, Z:0.83 [[ 3.86607885e-01 -9.22242298e-01 -1.86748338e-03 1.72503536e+02] [ 9.22231049e-01 3.86612393e-01 -4.55529192e-03 9.21372405e+01] [ 4.92307511e-03 3.88606147e-05 9.99987881e-01 8.31384317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90028169299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:92.16, Z:0.83 [[ 3.87292758e-01 -9.21954899e-01 -1.86628086e-03 1.72508764e+02] [ 9.21943644e-01 3.87297252e-01 -4.55578454e-03 9.21629868e+01] [ 4.92303332e-03 4.38165836e-05 9.99987881e-01 8.29794687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93028169299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:92.19, Z:0.83 [[ 3.86870893e-01 -9.22132005e-01 -1.86509942e-03 1.72514687e+02] [ 9.22120749e-01 3.86875386e-01 -4.55626816e-03 9.21867627e+01] [ 4.92304175e-03 4.28406521e-05 9.99987881e-01 8.30799469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96028169299998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:172.52, Y:92.21, Z:0.84 [[ 3.84845164e-01 -9.22979266e-01 -1.86387017e-03 1.72519383e+02] [ 9.22968018e-01 3.84849676e-01 -4.55677096e-03 9.22111891e+01] [ 4.92311495e-03 3.33587157e-05 9.99987881e-01 8.35028588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.990281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.53, Y:92.23, Z:0.84 [[ 3.83220301e-01 -9.23655093e-01 -1.86268389e-03 1.72526397e+02] [ 9.23643851e-01 3.83224827e-01 -4.55725583e-03 9.22343774e+01] [ 4.92315927e-03 2.59764251e-05 9.99987881e-01 8.36739259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.020281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:172.53, Y:92.26, Z:0.84 [[ 3.81695699e-01 -9.24286172e-01 -1.86151213e-03 1.72534531e+02] [ 9.24274935e-01 3.81700238e-01 -4.55773441e-03 9.22587321e+01] [ 4.92319051e-03 1.91186191e-05 9.99987881e-01 8.37148003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.050281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.54, Y:92.28, Z:0.84 [[ 3.79641591e-01 -9.25131775e-01 -1.86039099e-03 1.72541590e+02] [ 9.25120546e-01 3.79646149e-01 -4.55819199e-03 9.22825587e+01] [ 4.92321853e-03 9.39333429e-06 9.99987881e-01 8.35131909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.080281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:172.55, Y:92.31, Z:0.83 [[ 3.78583075e-01 -9.25565448e-01 -1.85922672e-03 1.72549838e+02] [ 9.25554222e-01 3.78587640e-01 -4.55866684e-03 9.23061186e+01] [ 4.92322477e-03 5.01897279e-06 9.99987881e-01 8.34550963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.110281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:172.56, Y:92.33, Z:0.84 [[ 3.77537140e-01 -9.25992578e-01 -1.85826567e-03 1.72557911e+02] [ 9.25981355e-01 3.77541713e-01 -4.55905856e-03 9.23301435e+01] [ 4.92322719e-03 4.94561768e-07 9.99987881e-01 8.35909458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.140281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:172.57, Y:92.35, Z:0.84 [[ 3.75836624e-01 -9.26684080e-01 -1.85716252e-03 1.72565116e+02] [ 9.26672863e-01 3.75841212e-01 -4.55950789e-03 9.23542562e+01] [ 4.92322158e-03 -7.35205658e-06 9.99987881e-01 8.40116466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.170281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:172.57, Y:92.38, Z:0.84 [[ 3.75166248e-01 -9.26955685e-01 -1.85606163e-03 1.72573847e+02] [ 9.26944469e-01 3.75170839e-01 -4.55995599e-03 9.23779403e+01] [ 4.92321732e-03 -9.72448109e-06 9.99987881e-01 8.38452282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.200281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:172.58, Y:92.40, Z:0.83 [[ 3.73331755e-01 -9.27696049e-01 -1.85494015e-03 1.72582207e+02] [ 9.27684840e-01 3.73336363e-01 -4.56041215e-03 9.24015102e+01] [ 4.92319294e-03 -1.82531851e-05 9.99987881e-01 8.33220480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.230281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:172.59, Y:92.42, Z:0.83 [[ 3.71862184e-01 -9.28286098e-01 -1.85397946e-03 1.72591072e+02] [ 9.28274894e-01 3.71866805e-01 -4.56080267e-03 9.24248847e+01] [ 4.92316313e-03 -2.50125455e-05 9.99987881e-01 8.32457090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.260281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:172.60, Y:92.45, Z:0.83 [[ 3.70657656e-01 -9.28767715e-01 -1.85289013e-03 1.72600293e+02] [ 9.28756515e-01 3.70662286e-01 -4.56124518e-03 9.24486490e+01] [ 4.92313376e-03 -3.02233358e-05 9.99987881e-01 8.33672056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.290281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:172.61, Y:92.47, Z:0.84 [[ 3.69596091e-01 -9.29190670e-01 -1.85178995e-03 1.72608812e+02] [ 9.29179473e-01 3.69600728e-01 -4.56169180e-03 9.24718123e+01] [ 4.92310437e-03 -3.46617503e-05 9.99987881e-01 8.35464701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.320281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.62, Y:92.50, Z:0.84 [[ 3.69840068e-01 -9.29093590e-01 -1.85064687e-03 1.72616874e+02] [ 9.29082390e-01 3.69844696e-01 -4.56215549e-03 9.24955338e+01] [ 4.92312135e-03 -3.21355277e-05 9.99987881e-01 8.35984108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.350281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:172.62, Y:92.52, Z:0.83 [[ 3.72580196e-01 -9.27998155e-01 -1.84955632e-03 1.72619040e+02] [ 9.27986939e-01 3.72584787e-01 -4.56259757e-03 9.25207110e+01] [ 4.92319867e-03 -1.64306105e-05 9.99987881e-01 8.33629737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.380281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:172.62, Y:92.55, Z:0.83 [[ 3.74649158e-01 -9.27164814e-01 -1.84843788e-03 1.72623838e+02] [ 9.27153585e-01 3.74653718e-01 -4.56305063e-03 9.25456142e+01] [ 4.92322412e-03 -4.24273218e-06 9.99987881e-01 8.32523673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.410281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:172.63, Y:92.57, Z:0.83 [[ 3.76514463e-01 -9.26408898e-01 -1.84727587e-03 1.72628633e+02] [ 9.26397658e-01 3.76518995e-01 -4.56352101e-03 9.25688770e+01] [ 4.92322092e-03 6.91962194e-06 9.99987881e-01 8.31937316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.440281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:172.63, Y:92.59, Z:0.83 [[ 3.78941652e-01 -9.25418725e-01 -1.84607171e-03 1.72633050e+02] [ 9.25407471e-01 3.78946148e-01 -4.56400807e-03 9.25941599e+01] [ 4.92318029e-03 2.11242115e-05 9.99987881e-01 8.32166778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.470281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:172.64, Y:92.62, Z:0.83 [[ 3.78632379e-01 -9.25545308e-01 -1.84493607e-03 1.72639195e+02] [ 9.25534053e-01 3.78636874e-01 -4.56446709e-03 9.26181612e+01] [ 4.92318193e-03 2.07038727e-05 9.99987881e-01 8.32747202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.500281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:172.64, Y:92.64, Z:0.83 [[ 3.77359360e-01 -9.26065070e-01 -1.84375155e-03 1.72644964e+02] [ 9.26053819e-01 3.77363864e-01 -4.56494551e-03 9.26436368e+01] [ 4.92320179e-03 1.52117528e-05 9.99987881e-01 8.33045327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.530281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:172.65, Y:92.67, Z:0.83 [[ 3.74005720e-01 -9.27424566e-01 -1.84261230e-03 1.72648825e+02] [ 9.27413329e-01 3.74010259e-01 -4.56540532e-03 9.26684668e+01] [ 4.92322495e-03 -1.37550925e-06 9.99987881e-01 8.31824429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.560281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:172.66, Y:92.69, Z:0.83 [[ 3.72379555e-01 -9.28078701e-01 -1.84163885e-03 1.72656585e+02] [ 9.28067470e-01 3.72384109e-01 -4.56579796e-03 9.26915878e+01] [ 4.92321689e-03 -8.95529579e-06 9.99987881e-01 8.30280231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.590281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:172.66, Y:92.72, Z:0.83 [[ 3.69689814e-01 -9.29153407e-01 -1.84068932e-03 1.72662558e+02] [ 9.29142187e-01 3.69694396e-01 -4.56618073e-03 9.27170390e+01] [ 4.92317491e-03 -2.21915920e-05 9.99987881e-01 8.32189627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.620281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:172.67, Y:92.74, Z:0.83 [[ 3.69200419e-01 -9.29347979e-01 -1.83957656e-03 1.72669165e+02] [ 9.29336760e-01 3.69205001e-01 -4.56662899e-03 9.27410485e+01] [ 4.92316829e-03 -2.35847829e-05 9.99987881e-01 8.34803219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65028169299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:172.68, Y:92.77, Z:0.84 [[ 3.69431412e-01 -9.29256182e-01 -1.83841995e-03 1.72676700e+02] [ 9.29244959e-01 3.69435986e-01 -4.56709456e-03 9.27654065e+01] [ 4.92317934e-03 -2.11142748e-05 9.99987881e-01 8.36704872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68028169299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:172.68, Y:92.79, Z:0.84 [[ 3.71354693e-01 -9.28489266e-01 -1.83723863e-03 1.72683466e+02] [ 9.28478031e-01 3.71359237e-01 -4.56756973e-03 9.27892032e+01] [ 4.92321500e-03 -9.64725443e-06 9.99987881e-01 8.38225855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71028169299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.69, Y:92.81, Z:0.84 [[ 3.71782501e-01 -9.28318050e-01 -1.83601025e-03 1.72691072e+02] [ 9.28306810e-01 3.71787034e-01 -4.56806345e-03 9.28123816e+01] [ 4.92322055e-03 -6.05476440e-06 9.99987881e-01 8.39133996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.740281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:172.70, Y:92.84, Z:0.84 [[ 3.71999299e-01 -9.28231197e-01 -1.83479368e-03 1.72697401e+02] [ 9.28219954e-01 3.72003824e-01 -4.56855203e-03 9.28377119e+01] [ 4.92322279e-03 -3.59395386e-06 9.99987881e-01 8.39059053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.770281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:172.71, Y:92.86, Z:0.84 [[ 3.71439837e-01 -9.28455214e-01 -1.83360880e-03 1.72705512e+02] [ 9.28443972e-01 3.71444363e-01 -4.56902754e-03 9.28605476e+01] [ 4.92322110e-03 -5.28419150e-06 9.99987881e-01 8.38493586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.800281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:172.71, Y:92.88, Z:0.84 [[ 3.69903919e-01 -9.29068207e-01 -1.83237611e-03 1.72714507e+02] [ 9.29056970e-01 3.69908457e-01 -4.56952185e-03 9.28847628e+01] [ 4.92320889e-03 -1.20977532e-05 9.99987881e-01 8.36462641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.830281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:172.72, Y:92.91, Z:0.83 [[ 3.65680865e-01 -9.30738498e-01 -1.83122149e-03 1.72722601e+02] [ 9.30727279e-01 3.65685449e-01 -4.56998451e-03 9.29074296e+01] [ 4.92311158e-03 -3.32119040e-05 9.99987881e-01 8.31374037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.860281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:172.73, Y:92.93, Z:0.83 [[ 3.63132987e-01 -9.31735523e-01 -1.83002105e-03 1.72731476e+02] [ 9.31724314e-01 3.63137595e-01 -4.57046517e-03 9.29312239e+01] [ 4.92301420e-03 -4.53884405e-05 9.99987881e-01 8.30799231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.890281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:172.74, Y:92.96, Z:0.83 [[ 3.60593805e-01 -9.32721160e-01 -1.82889120e-03 1.72741307e+02] [ 9.32709962e-01 3.60598438e-01 -4.57091724e-03 9.29551899e+01] [ 4.92288655e-03 -5.75806000e-05 9.99987881e-01 8.32900443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.920281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:172.75, Y:92.98, Z:0.84 [[ 3.57377714e-01 -9.33958152e-01 -1.82774693e-03 1.72752465e+02] [ 9.33946967e-01 3.57382380e-01 -4.57137475e-03 9.29771990e+01] [ 4.92267726e-03 -7.33112420e-05 9.99987881e-01 8.35840327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.950281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:172.76, Y:93.00, Z:0.84 [[ 3.56115477e-01 -9.34440170e-01 -1.82655891e-03 1.72761539e+02] [ 9.34428989e-01 3.56120152e-01 -4.57184939e-03 9.30004685e+01] [ 4.92259416e-03 -7.86832684e-05 9.99987881e-01 8.35140516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.980281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:172.77, Y:93.02, Z:0.83 [[ 3.55338182e-01 -9.34736029e-01 -1.82537401e-03 1.72769794e+02] [ 9.34724850e-01 3.55342861e-01 -4.57232243e-03 9.30240645e+01] [ 4.92254814e-03 -8.15017040e-05 9.99987881e-01 8.31577631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.010281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:172.78, Y:93.05, Z:0.83 [[ 3.54756055e-01 -9.34957119e-01 -1.82419828e-03 1.72779212e+02] [ 9.34945940e-01 3.54760735e-01 -4.57279146e-03 9.30477279e+01] [ 4.92251785e-03 -8.33013143e-05 9.99987881e-01 8.30805951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.040281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:172.79, Y:93.07, Z:0.83 [[ 3.54209636e-01 -9.35164269e-01 -1.82301950e-03 1.72789175e+02] [ 9.35153090e-01 3.54214318e-01 -4.57326135e-03 9.30711895e+01] [ 4.92249022e-03 -8.49090738e-05 9.99987881e-01 8.30072429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.070281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:172.80, Y:93.09, Z:0.83 [[ 3.53769986e-01 -9.35330678e-01 -1.82184457e-03 1.72798947e+02] [ 9.35319499e-01 3.53774667e-01 -4.57372936e-03 9.30939461e+01] [ 4.92247184e-03 -8.59585812e-05 9.99987881e-01 8.28853455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.100281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:172.81, Y:93.12, Z:0.83 [[ 3.53545979e-01 -9.35415376e-01 -1.82062350e-03 1.72808229e+02] [ 9.35404196e-01 3.53550656e-01 -4.57421537e-03 9.31181925e+01] [ 4.92247402e-03 -8.58234113e-05 9.99987881e-01 8.28981361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.130281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:172.82, Y:93.14, Z:0.83 [[ 3.54035006e-01 -9.35230401e-01 -1.81952793e-03 1.72818351e+02] [ 9.35219217e-01 3.54039672e-01 -4.57465112e-03 9.31400099e+01] [ 4.92253787e-03 -8.20708455e-05 9.99987881e-01 8.30236491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.160281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:172.83, Y:93.16, Z:0.83 [[ 3.54410301e-01 -9.35088248e-01 -1.81857505e-03 1.72829233e+02] [ 9.35077059e-01 3.54414958e-01 -4.57502989e-03 9.31635131e+01] [ 4.92258688e-03 -7.90700919e-05 9.99987881e-01 8.31931434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.190281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:172.84, Y:93.19, Z:0.83 [[ 3.55735983e-01 -9.34584725e-01 -1.81740904e-03 1.72842300e+02] [ 9.34573527e-01 3.55740618e-01 -4.57549304e-03 9.31860013e+01] [ 4.92271211e-03 -7.08348622e-05 9.99987881e-01 8.32517968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.220281693 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:172.85, Y:93.21, Z:0.83 [[ 3.56004658e-01 -9.34482416e-01 -1.81624804e-03 1.72852389e+02] [ 9.34471214e-01 3.56009284e-01 -4.57595385e-03 9.32093344e+01] [ 4.92274957e-03 -6.81706315e-05 9.99987881e-01 8.32322087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.250281693 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:172.86, Y:93.23, Z:0.83 [[ 3.56251411e-01 -9.34388376e-01 -1.81521239e-03 1.72861896e+02] [ 9.34377172e-01 3.56256029e-01 -4.57636464e-03 9.32322614e+01] [ 4.92278228e-03 -6.57566652e-05 9.99987881e-01 8.32269997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.280281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:172.87, Y:93.25, Z:0.83 [[ 3.57164798e-01 -9.34039622e-01 -1.81421912e-03 1.72872888e+02] [ 9.34028411e-01 3.57169400e-01 -4.57675837e-03 9.32537229e+01] [ 4.92285721e-03 -5.98752267e-05 9.99987881e-01 8.32882303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.310281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:172.88, Y:93.28, Z:0.83 [[ 3.57327435e-01 -9.33977418e-01 -1.81301328e-03 1.72884284e+02] [ 9.33966204e-01 3.57332030e-01 -4.57723599e-03 9.32757526e+01] [ 4.92288277e-03 -5.77211345e-05 9.99987881e-01 8.32842835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.340281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:172.90, Y:93.30, Z:0.84 [[ 3.56632794e-01 -9.34242884e-01 -1.81203554e-03 1.72898915e+02] [ 9.34231672e-01 3.56637392e-01 -4.57762303e-03 9.32973259e+01] [ 4.92285137e-03 -6.03305041e-05 9.99987881e-01 8.36334870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.370281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:172.91, Y:93.32, Z:0.84 [[ 3.55914579e-01 -9.34516738e-01 -1.81089926e-03 1.72909831e+02] [ 9.34505526e-01 3.55919181e-01 -4.57807250e-03 9.33189303e+01] [ 4.92281915e-03 -6.28926147e-05 9.99987881e-01 8.36581060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40028169299998 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:172.92, Y:93.34, Z:0.84 [[ 3.54841981e-01 -9.34924539e-01 -1.80971506e-03 1.72921706e+02] [ 9.34913330e-01 3.54846589e-01 -4.57854056e-03 9.33418607e+01] [ 4.92276114e-03 -6.72683337e-05 9.99987881e-01 8.36174532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43028169299998 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:172.94, Y:93.36, Z:0.84 [[ 3.53793735e-01 -9.35321721e-01 -1.80858805e-03 1.72937605e+02] [ 9.35310515e-01 3.53798351e-01 -4.57898570e-03 9.33625298e+01] [ 4.92270026e-03 -7.15749674e-05 9.99987881e-01 8.36347769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46028169299998 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:172.95, Y:93.39, Z:0.84 [[ 3.53611870e-01 -9.35390495e-01 -1.80746423e-03 1.72949287e+02] [ 9.35379288e-01 3.53616483e-01 -4.57942927e-03 9.33851489e+01] [ 4.92270375e-03 -7.13240580e-05 9.99987881e-01 8.36123931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.490281693 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:172.96, Y:93.41, Z:0.84 [[ 3.56785366e-01 -9.34184639e-01 -1.80634919e-03 1.72960995e+02] [ 9.34173414e-01 3.56789934e-01 -4.57986905e-03 9.34066809e+01] [ 4.92293053e-03 -5.34131326e-05 9.99987881e-01 8.37555699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.520281693 meters Centerline goodness : 0.997950 Centerline is valid? [True, True] Translation: X:172.97, Y:93.43, Z:0.84 [[ 3.59556297e-01 -9.33121648e-01 -1.80518334e-03 1.72971319e+02] [ 9.33110407e-01 3.59560827e-01 -4.58032853e-03 9.34304791e+01] [ 4.92307692e-03 -3.75493946e-05 9.99987881e-01 8.38351437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.550281693 meters Centerline goodness : 0.997319 Centerline is valid? [True, True] Translation: X:172.98, Y:93.45, Z:0.84 [[ 3.63120362e-01 -9.31740494e-01 -1.80405643e-03 1.72980500e+02] [ 9.31729234e-01 3.63124843e-01 -4.58077234e-03 9.34526837e+01] [ 4.92318880e-03 -1.75204065e-05 9.99987881e-01 8.38876919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.580281693 meters Centerline goodness : 0.996851 Centerline is valid? [True, True] Translation: X:172.99, Y:93.48, Z:0.84 [[ 3.67450480e-01 -9.30041340e-01 -1.80288519e-03 1.72989077e+02] [ 9.30030057e-01 3.67454903e-01 -4.58123327e-03 9.34763238e+01] [ 4.92321533e-03 6.63895193e-06 9.99987881e-01 8.39347207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.610281693 meters Centerline goodness : 0.996556 Centerline is valid? [True, True] Translation: X:172.99, Y:93.50, Z:0.84 [[ 3.76179630e-01 -9.26545001e-01 -1.80175504e-03 1.72993545e+02] [ 9.26533675e-01 3.76183941e-01 -4.58167771e-03 9.35004308e+01] [ 4.92292189e-03 5.41471089e-05 9.99987881e-01 8.37419454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.640281693 meters Centerline goodness : 0.996202 Centerline is valid? [True, True] Translation: X:173.00, Y:93.52, Z:0.84 [[ 3.79309720e-01 -9.25268012e-01 -1.80062650e-03 1.73000445e+02] [ 9.25256669e-01 3.79313987e-01 -4.58212119e-03 9.35243591e+01] [ 4.92269298e-03 7.20014265e-05 9.99987881e-01 8.36788330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.670281693 meters Centerline goodness : 0.995951 Centerline is valid? [True, True] Translation: X:173.01, Y:93.55, Z:0.84 [[ 3.82854809e-01 -9.23806775e-01 -1.79945158e-03 1.73007631e+02] [ 9.23795413e-01 3.82859027e-01 -4.58258254e-03 9.35483335e+01] [ 4.92235708e-03 9.21386503e-05 9.99987881e-01 8.36986389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.700281693 meters Centerline goodness : 0.996209 Centerline is valid? [True, True] Translation: X:173.02, Y:93.57, Z:0.84 [[ 3.82450734e-01 -9.23974135e-01 -1.79826068e-03 1.73015144e+02] [ 9.23962773e-01 3.82454950e-01 -4.58304982e-03 9.35724996e+01] [ 4.92237319e-03 9.12648421e-05 9.99987881e-01 8.36462845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.730281693 meters Centerline goodness : 0.995935 Centerline is valid? [True, True] Translation: X:173.02, Y:93.60, Z:0.83 [[ 3.81290126e-01 -9.24453682e-01 -1.79706294e-03 1.73021423e+02] [ 9.24442324e-01 3.81294351e-01 -4.58351942e-03 9.35971453e+01] [ 4.92246135e-03 8.63696558e-05 9.99987881e-01 8.34981974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.760281693 meters Centerline goodness : 0.995871 Centerline is valid? [True, True] Translation: X:173.03, Y:93.62, Z:0.83 [[ 3.78098109e-01 -9.25763790e-01 -1.79586228e-03 1.73026727e+02] [ 9.25752444e-01 3.78102368e-01 -4.58398980e-03 9.36229289e+01] [ 4.92271155e-03 7.06739800e-05 9.99987881e-01 8.31974187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.790281693 meters Centerline goodness : 0.995979 Centerline is valid? [True, True] Translation: X:173.03, Y:93.65, Z:0.83 [[ 3.76154835e-01 -9.26555082e-01 -1.79474929e-03 1.73034747e+02] [ 9.26543742e-01 3.76159112e-01 -4.58442552e-03 9.36455601e+01] [ 4.92283406e-03 6.15401046e-05 9.99987881e-01 8.31335684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.820281693 meters Centerline goodness : 0.995876 Centerline is valid? [True, True] Translation: X:173.04, Y:93.67, Z:0.83 [[ 3.74125733e-01 -9.27376255e-01 -1.79370791e-03 1.73043670e+02] [ 9.27364923e-01 3.74130029e-01 -4.58483294e-03 9.36698220e+01] [ 4.92294519e-03 5.18821832e-05 9.99987881e-01 8.33103386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.850281693 meters Centerline goodness : 0.996249 Centerline is valid? [True, True] Translation: X:173.05, Y:93.69, Z:0.84 [[ 3.72125162e-01 -9.28180829e-01 -1.79249044e-03 1.73049542e+02] [ 9.28169504e-01 3.72129476e-01 -4.58530887e-03 9.36938483e+01] [ 4.92303432e-03 4.25738373e-05 9.99987881e-01 8.36593565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.880281693 meters Centerline goodness : 0.995975 Centerline is valid? [True, True] Translation: X:173.06, Y:93.72, Z:0.84 [[ 3.72229943e-01 -9.28138815e-01 -1.79145330e-03 1.73056741e+02] [ 9.28127488e-01 3.72234252e-01 -4.58571404e-03 9.37174000e+01] [ 4.92301947e-03 4.42430301e-05 9.99987881e-01 8.37686347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.910281693 meters Centerline goodness : 0.996079 Centerline is valid? [True, True] Translation: X:173.07, Y:93.74, Z:0.83 [[ 3.73830610e-01 -9.27495267e-01 -1.79021277e-03 1.73065381e+02] [ 9.27483930e-01 3.73834893e-01 -4.58619828e-03 9.37398757e+01] [ 4.92292119e-03 5.40677274e-05 9.99987881e-01 8.34613774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.940281693 meters Centerline goodness : 0.995918 Centerline is valid? [True, True] Translation: X:173.07, Y:93.76, Z:0.83 [[ 3.73838855e-01 -9.27491946e-01 -1.78898340e-03 1.73073853e+02] [ 9.27480607e-01 3.73843131e-01 -4.58667778e-03 9.37627256e+01] [ 4.92290586e-03 5.54309573e-05 9.99987881e-01 8.33549628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.970281693 meters Centerline goodness : 0.996009 Centerline is valid? [True, True] Translation: X:173.08, Y:93.79, Z:0.84 [[ 3.73832223e-01 -9.27494621e-01 -1.78783360e-03 1.73082470e+02] [ 9.27483280e-01 3.73836494e-01 -4.58712591e-03 9.37865353e+01] [ 4.92289206e-03 5.66297062e-05 9.99987881e-01 8.36386182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.000281693 meters Centerline goodness : 0.996088 Centerline is valid? [True, True] Translation: X:173.09, Y:93.81, Z:0.84 [[ 3.73451105e-01 -9.27648145e-01 -1.78668683e-03 1.73091880e+02] [ 9.27636802e-01 3.73455375e-01 -4.58757254e-03 9.38105705e+01] [ 4.92290095e-03 5.58375714e-05 9.99987881e-01 8.40868158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.030281693 meters Centerline goodness : 0.996123 Centerline is valid? [True, True] Translation: X:173.10, Y:93.83, Z:0.84 [[ 3.72912265e-01 -9.27864890e-01 -1.78551451e-03 1.73102454e+02] [ 9.27853548e-01 3.72916536e-01 -4.58802877e-03 9.38339738e+01] [ 4.92291869e-03 5.42362247e-05 9.99987881e-01 8.41936600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.060281693 meters Centerline goodness : 0.996067 Centerline is valid? [True, True] Translation: X:173.11, Y:93.86, Z:0.84 [[ 3.72453107e-01 -9.28049298e-01 -1.78434496e-03 1.73113096e+02] [ 9.28037956e-01 3.72457377e-01 -4.58848358e-03 9.38565235e+01] [ 4.92293141e-03 5.30551105e-05 9.99987881e-01 8.43319302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.090281693 meters Centerline goodness : 0.996356 Centerline is valid? [True, True] Translation: X:173.12, Y:93.88, Z:0.84 [[ 3.72081244e-01 -9.28198453e-01 -1.78313072e-03 1.73122539e+02] [ 9.28187111e-01 3.72085513e-01 -4.58895539e-03 9.38794230e+01] [ 4.92293841e-03 5.23852800e-05 9.99987881e-01 8.43071414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.120281693 meters Centerline goodness : 0.996100 Centerline is valid? [True, True] Translation: X:173.13, Y:93.90, Z:0.84 [[ 3.72164592e-01 -9.28165040e-01 -1.78193366e-03 1.73130954e+02] [ 9.28153695e-01 3.72168854e-01 -4.58942018e-03 9.39031820e+01] [ 4.92291957e-03 5.41113792e-05 9.99987881e-01 8.42659134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15028169299998 meters Centerline goodness : 0.996143 Centerline is valid? [True, True] Translation: X:173.14, Y:93.93, Z:0.84 [[ 3.72572943e-01 -9.28001202e-01 -1.78080974e-03 1.73140109e+02] [ 9.27989853e-01 3.72577194e-01 -4.58985625e-03 9.39268027e+01] [ 4.92288121e-03 5.74828841e-05 9.99987881e-01 8.43787469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18028169299998 meters Centerline goodness : 0.996322 Centerline is valid? [True, True] Translation: X:173.15, Y:93.95, Z:0.85 [[ 3.73375736e-01 -9.27678496e-01 -1.77967076e-03 1.73151519e+02] [ 9.27667142e-01 3.73379972e-01 -4.59029783e-03 9.39496520e+01] [ 4.92281401e-03 6.29637452e-05 9.99987881e-01 8.46475262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21028169299998 meters Centerline goodness : 0.996150 Centerline is valid? [True, True] Translation: X:173.16, Y:93.97, Z:0.85 [[ 3.73775623e-01 -9.27517450e-01 -1.77852794e-03 1.73161047e+02] [ 9.27506092e-01 3.73779849e-01 -4.59074057e-03 9.39719614e+01] [ 4.92276990e-03 6.63114171e-05 9.99987881e-01 8.45972643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.240281693 meters Centerline goodness : 0.996133 Centerline is valid? [True, True] Translation: X:173.17, Y:94.00, Z:0.84 [[ 3.74354314e-01 -9.27284039e-01 -1.77755348e-03 1.73169003e+02] [ 9.27272675e-01 3.74358527e-01 -4.59111786e-03 9.39952577e+01] [ 4.92271261e-03 7.04280005e-05 9.99987881e-01 8.43958106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.270281693 meters Centerline goodness : 0.996174 Centerline is valid? [True, True] Translation: X:173.18, Y:94.02, Z:0.84 [[ 3.75811784e-01 -9.26694312e-01 -1.77637581e-03 1.73176539e+02] [ 9.26682940e-01 3.75815974e-01 -4.59157347e-03 9.40198087e+01] [ 4.92257543e-03 7.94302580e-05 9.99987881e-01 8.39128495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.300281693 meters Centerline goodness : 0.995948 Centerline is valid? [True, True] Translation: X:173.19, Y:94.04, Z:0.84 [[ 3.75638062e-01 -9.26764746e-01 -1.77524870e-03 1.73185059e+02] [ 9.26753373e-01 3.75642248e-01 -4.59200921e-03 9.40426966e+01] [ 4.92257066e-03 7.97157205e-05 9.99987881e-01 8.38080501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.330281693 meters Centerline goodness : 0.996262 Centerline is valid? [True, True] Translation: X:173.19, Y:94.07, Z:0.84 [[ 3.74106226e-01 -9.27384162e-01 -1.77407855e-03 1.73193630e+02] [ 9.27372794e-01 3.74110425e-01 -4.59246124e-03 9.40671538e+01] [ 4.92267710e-03 7.28361567e-05 9.99987881e-01 8.41658434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.360281693 meters Centerline goodness : 0.996108 Centerline is valid? [True, True] Translation: X:173.20, Y:94.09, Z:0.84 [[ 3.72687879e-01 -9.27955065e-01 -1.77289318e-03 1.73201507e+02] [ 9.27943701e-01 3.72692090e-01 -4.59291880e-03 9.40906174e+01] [ 4.92276553e-03 6.65801018e-05 9.99987881e-01 8.43061139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.390281693 meters Centerline goodness : 0.996175 Centerline is valid? [True, True] Translation: X:173.21, Y:94.11, Z:0.84 [[ 3.70823112e-01 -9.28701826e-01 -1.77166239e-03 1.73210285e+02] [ 9.28690468e-01 3.70827339e-01 -4.59339352e-03 9.41145610e+01] [ 4.92287379e-03 5.80105062e-05 9.99987881e-01 8.43807945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.420281693 meters Centerline goodness : 0.996298 Centerline is valid? [True, True] Translation: X:173.22, Y:94.14, Z:0.84 [[ 3.65795092e-01 -9.30693729e-01 -1.77042604e-03 1.73221923e+02] [ 9.30682391e-01 3.65799375e-01 -4.59386999e-03 9.41366254e+01] [ 4.92310673e-03 3.27107545e-05 9.99987881e-01 8.41591350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.450281693 meters Centerline goodness : 0.996202 Centerline is valid? [True, True] Translation: X:173.23, Y:94.16, Z:0.84 [[ 3.62543199e-01 -9.31965288e-01 -1.76937696e-03 1.73232838e+02] [ 9.31953964e-01 3.62547516e-01 -4.59427402e-03 9.41600525e+01] [ 4.92318713e-03 1.66449263e-05 9.99987881e-01 8.40622058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.480281693 meters Centerline goodness : 0.996163 Centerline is valid? [True, True] Translation: X:173.24, Y:94.18, Z:0.84 [[ 3.56740879e-01 -9.34201701e-01 -1.76815523e-03 1.73244870e+02] [ 9.34190402e-01 3.56745261e-01 -4.59474417e-03 9.41817964e+01] [ 4.92319882e-03 -1.26605662e-05 9.99987881e-01 8.37719811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.510281693 meters Centerline goodness : 0.996144 Centerline is valid? [True, True] Translation: X:173.26, Y:94.21, Z:0.84 [[ 3.54094148e-01 -9.35208112e-01 -1.76688369e-03 1.73255899e+02] [ 9.35196822e-01 3.54098556e-01 -4.59523308e-03 9.42051570e+01] [ 4.92315021e-03 -2.52388716e-05 9.99987881e-01 8.37706620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.540281693 meters Centerline goodness : 0.996137 Centerline is valid? [True, True] Translation: X:173.27, Y:94.23, Z:0.84 [[ 3.52234962e-01 -9.35909939e-01 -1.76573546e-03 1.73267457e+02] [ 9.35898656e-01 3.52239386e-01 -4.59567425e-03 9.42281368e+01] [ 4.92309878e-03 -3.37923058e-05 9.99987881e-01 8.37702942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.570281693 meters Centerline goodness : 0.996341 Centerline is valid? [True, True] Translation: X:173.28, Y:94.25, Z:0.84 [[ 3.51049019e-01 -9.36355420e-01 -1.76459427e-03 1.73278949e+02] [ 9.36344141e-01 3.51053452e-01 -4.59611238e-03 9.42509513e+01] [ 4.92306165e-03 -3.88067639e-05 9.99987881e-01 8.39251157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.600281693 meters Centerline goodness : 0.996208 Centerline is valid? [True, True] Translation: X:173.29, Y:94.27, Z:0.84 [[ 3.50931978e-01 -9.36399294e-01 -1.76345044e-03 1.73290548e+02] [ 9.36388013e-01 3.50936406e-01 -4.59655121e-03 9.42742961e+01] [ 4.92306627e-03 -3.81970496e-05 9.99987881e-01 8.41011807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.630281693 meters Centerline goodness : 0.996164 Centerline is valid? [True, True] Translation: X:173.30, Y:94.30, Z:0.84 [[ 3.52575386e-01 -9.35781754e-01 -1.76226189e-03 1.73302850e+02] [ 9.35770463e-01 3.52579789e-01 -4.59700684e-03 9.42956888e+01] [ 4.92313305e-03 -2.82811617e-05 9.99987881e-01 8.42216178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.660281693 meters Centerline goodness : 0.996349 Centerline is valid? [True, True] Translation: X:173.32, Y:94.32, Z:0.84 [[ 3.54503380e-01 -9.35053075e-01 -1.76101918e-03 1.73316298e+02] [ 9.35041772e-01 3.54507754e-01 -4.59748285e-03 9.43175292e+01] [ 4.92318543e-03 -1.68032816e-05 9.99987881e-01 8.42403505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.690281693 meters Centerline goodness : 0.996311 Centerline is valid? [True, True] Translation: X:173.33, Y:94.34, Z:0.84 [[ 3.54294697e-01 -9.35132168e-01 -1.75988612e-03 1.73327892e+02] [ 9.35120864e-01 3.54299067e-01 -4.59791654e-03 9.43395462e+01] [ 4.92318567e-03 -1.66887841e-05 9.99987881e-01 8.42647852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.720281693 meters Centerline goodness : 0.996711 Centerline is valid? [True, True] Translation: X:173.34, Y:94.36, Z:0.84 [[ 3.53497495e-01 -9.35433818e-01 -1.75889920e-03 1.73339328e+02] [ 9.35422516e-01 3.53501871e-01 -4.59829405e-03 9.43628457e+01] [ 4.92317391e-03 -1.98284844e-05 9.99987881e-01 8.42847563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.750281693 meters Centerline goodness : 0.996548 Centerline is valid? [True, True] Translation: X:173.35, Y:94.39, Z:0.84 [[ 3.52832423e-01 -9.35684878e-01 -1.75772159e-03 1.73350211e+02] [ 9.35673577e-01 3.52836801e-01 -4.59874415e-03 9.43858003e+01] [ 4.92316422e-03 -2.20676104e-05 9.99987881e-01 8.43599524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.780281693 meters Centerline goodness : 0.996567 Centerline is valid? [True, True] Translation: X:173.36, Y:94.41, Z:0.84 [[ 3.51807352e-01 -9.36070778e-01 -1.75654805e-03 1.73363034e+02] [ 9.36059480e-01 3.51811736e-01 -4.59919235e-03 9.44083373e+01] [ 4.92314378e-03 -2.62037700e-05 9.99987881e-01 8.44470244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.810281693 meters Centerline goodness : 0.996490 Centerline is valid? [True, True] Translation: X:173.37, Y:94.43, Z:0.85 [[ 3.51427562e-01 -9.36213431e-01 -1.75531386e-03 1.73373572e+02] [ 9.36202132e-01 3.51431944e-01 -4.59966334e-03 9.44307561e+01] [ 4.92313996e-03 -2.68801017e-05 9.99987881e-01 8.45448320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.840281693 meters Centerline goodness : 0.996447 Centerline is valid? [True, True] Translation: X:173.39, Y:94.45, Z:0.85 [[ 3.53081955e-01 -9.35590753e-01 -1.75403061e-03 1.73385323e+02] [ 9.35579444e-01 3.53086311e-01 -4.60015264e-03 9.44540100e+01] [ 4.92318447e-03 -1.68040938e-05 9.99987881e-01 8.45631751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.870281693 meters Centerline goodness : 0.996685 Centerline is valid? [True, True] Translation: X:173.39, Y:94.48, Z:0.84 [[ 3.54466292e-01 -9.35067150e-01 -1.75282926e-03 1.73394720e+02] [ 9.35055832e-01 3.54470626e-01 -4.60061036e-03 9.44761949e+01] [ 4.92320610e-03 -8.23192349e-06 9.99987881e-01 8.44391903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90028169299998 meters Centerline goodness : 0.996739 Centerline is valid? [True, True] Translation: X:173.40, Y:94.50, Z:0.84 [[ 3.56341859e-01 -9.34354008e-01 -1.75157544e-03 1.73404152e+02] [ 9.34342679e-01 3.56346163e-01 -4.60108767e-03 9.44999799e+01] [ 4.92321189e-03 2.98844311e-06 9.99987881e-01 8.43947579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93028169299998 meters Centerline goodness : 0.996786 Centerline is valid? [True, True] Translation: X:173.41, Y:94.52, Z:0.84 [[ 3.62010594e-01 -9.32172337e-01 -1.75040279e-03 1.73411866e+02] [ 9.32160980e-01 3.62014825e-01 -4.60153374e-03 9.45227387e+01] [ 4.92309422e-03 3.41467858e-05 9.99987881e-01 8.42259859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96028169299998 meters Centerline goodness : 0.996737 Centerline is valid? [True, True] Translation: X:173.42, Y:94.55, Z:0.84 [[ 3.64941191e-01 -9.31028930e-01 -1.74918379e-03 1.73420417e+02] [ 9.31017557e-01 3.64945379e-01 -4.60199707e-03 9.45468896e+01] [ 4.92294895e-03 5.09374732e-05 9.99987881e-01 8.42757395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.990281693 meters Centerline goodness : 0.996711 Centerline is valid? [True, True] Translation: X:173.43, Y:94.57, Z:0.85 [[ 3.68877455e-01 -9.29476394e-01 -1.74801136e-03 1.73429730e+02] [ 9.29465002e-01 3.68881589e-01 -4.60244236e-03 9.45690747e+01] [ 4.92267074e-03 7.30218448e-05 9.99987881e-01 8.46546649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.020281693 meters Centerline goodness : 0.996711 Centerline is valid? [True, True] Translation: X:173.44, Y:94.59, Z:0.85 [[ 3.68646593e-01 -9.29567984e-01 -1.74700827e-03 1.73438625e+02] [ 9.29556592e-01 3.68650725e-01 -4.60282309e-03 9.45934847e+01] [ 4.92267285e-03 7.28719986e-05 9.99987881e-01 8.46674546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.050281693 meters Centerline goodness : 0.996793 Centerline is valid? [True, True] Translation: X:173.45, Y:94.62, Z:0.85 [[ 3.68750117e-01 -9.29526924e-01 -1.74586496e-03 1.73448445e+02] [ 9.29515529e-01 3.68754242e-01 -4.60325671e-03 9.46169825e+01] [ 4.92264616e-03 7.46428586e-05 9.99987881e-01 8.47989254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.080281693 meters Centerline goodness : 0.996665 Centerline is valid? [True, True] Translation: X:173.46, Y:94.64, Z:0.85 [[ 3.68103829e-01 -9.29783054e-01 -1.74472701e-03 1.73458378e+02] [ 9.29771659e-01 3.68107957e-01 -4.60368798e-03 9.46403564e+01] [ 4.92267896e-03 7.24374478e-05 9.99987881e-01 8.46994431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.110281693 meters Centerline goodness : 0.996720 Centerline is valid? [True, True] Translation: X:173.47, Y:94.66, Z:0.84 [[ 3.66185326e-01 -9.30540309e-01 -1.74356580e-03 1.73470705e+02] [ 9.30528921e-01 3.66189471e-01 -4.60412772e-03 9.46625385e+01] [ 4.92280187e-03 6.35256040e-05 9.99987881e-01 8.44772615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.140281693 meters Centerline goodness : 0.996687 Centerline is valid? [True, True] Translation: X:173.48, Y:94.68, Z:0.85 [[ 3.65714992e-01 -9.30725259e-01 -1.74236341e-03 1.73480963e+02] [ 9.30713871e-01 3.65719138e-01 -4.60458270e-03 9.46849566e+01] [ 4.92281707e-03 6.23231293e-05 9.99987881e-01 8.45083669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.170281693 meters Centerline goodness : 0.996727 Centerline is valid? [True, True] Translation: X:173.49, Y:94.71, Z:0.85 [[ 3.66595300e-01 -9.30378877e-01 -1.74111241e-03 1.73490698e+02] [ 9.30367483e-01 3.66599428e-01 -4.60505569e-03 9.47083212e+01] [ 4.92273735e-03 6.83173967e-05 9.99987881e-01 8.45906425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.200281693 meters Centerline goodness : 0.996690 Centerline is valid? [True, True] Translation: X:173.50, Y:94.73, Z:0.84 [[ 3.67516172e-01 -9.30015503e-01 -1.73991002e-03 1.73498521e+02] [ 9.30004102e-01 3.67520283e-01 -4.60550994e-03 9.47313001e+01] [ 4.92264786e-03 7.44759289e-05 9.99987881e-01 8.44509991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.230281693 meters Centerline goodness : 0.996805 Centerline is valid? [True, True] Translation: X:173.51, Y:94.76, Z:0.84 [[ 3.68482866e-01 -9.29632914e-01 -1.73865689e-03 1.73507513e+02] [ 9.29621507e-01 3.68486959e-01 -4.60598297e-03 9.47554921e+01] [ 4.92254576e-03 8.09329686e-05 9.99987881e-01 8.43782915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.260281693 meters Centerline goodness : 0.996395 Centerline is valid? [True, True] Translation: X:173.52, Y:94.78, Z:0.84 [[ 3.68711787e-01 -9.29542145e-01 -1.73746803e-03 1.73517138e+02] [ 9.29530735e-01 3.68715871e-01 -4.60643138e-03 9.47791454e+01] [ 4.92250415e-03 8.34156114e-05 9.99987881e-01 8.43932699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.290281693 meters Centerline goodness : 0.996523 Centerline is valid? [True, True] Translation: X:173.53, Y:94.80, Z:0.85 [[ 3.68620015e-01 -9.29578544e-01 -1.73627501e-03 1.73528970e+02] [ 9.29567132e-01 3.68624095e-01 -4.60688102e-03 9.48018893e+01] [ 4.92249055e-03 8.42043674e-05 9.99987881e-01 8.47508207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.320281693 meters Centerline goodness : 0.996785 Centerline is valid? [True, True] Translation: X:173.54, Y:94.82, Z:0.85 [[ 3.68600119e-01 -9.29586436e-01 -1.73504131e-03 1.73538297e+02] [ 9.29575022e-01 3.68604192e-01 -4.60734561e-03 9.48243757e+01] [ 4.92246948e-03 8.54170791e-05 9.99987881e-01 8.48417776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.350281693 meters Centerline goodness : 0.996601 Centerline is valid? [True, True] Translation: X:173.55, Y:94.85, Z:0.85 [[ 3.69741900e-01 -9.29132887e-01 -1.73399016e-03 1.73548652e+02] [ 9.29121466e-01 3.69745954e-01 -4.60774118e-03 9.48464081e+01] [ 4.92233971e-03 9.25875002e-05 9.99987881e-01 8.46909562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.380281693 meters Centerline goodness : 0.996692 Centerline is valid? [True, True] Translation: X:173.56, Y:94.87, Z:0.85 [[ 3.70480733e-01 -9.28838535e-01 -1.73298917e-03 1.73557466e+02] [ 9.28827109e-01 3.70484773e-01 -4.60811762e-03 9.48693989e+01] [ 4.92224332e-03 9.75714765e-05 9.99987881e-01 8.45235099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.410281693 meters Centerline goodness : 0.996768 Centerline is valid? [True, True] Translation: X:173.56, Y:94.89, Z:0.84 [[ 3.73473757e-01 -9.27639129e-01 -1.73179929e-03 1.73564716e+02] [ 9.27627688e-01 3.73477754e-01 -4.60856475e-03 9.48934308e+01] [ 4.92187350e-03 1.14713020e-04 9.99987881e-01 8.44638656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.440281693 meters Centerline goodness : 0.996700 Centerline is valid? [True, True] Translation: X:173.57, Y:94.92, Z:0.84 [[ 3.74887691e-01 -9.27068619e-01 -1.73061319e-03 1.73571782e+02] [ 9.27057170e-01 3.74891666e-01 -4.60901012e-03 9.49166813e+01] [ 4.92166110e-03 1.23483800e-04 9.99987881e-01 8.44119509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.470281693 meters Centerline goodness : 0.996734 Centerline is valid? [True, True] Translation: X:173.58, Y:94.94, Z:0.84 [[ 3.76363717e-01 -9.26470378e-01 -1.72937942e-03 1.73580064e+02] [ 9.26458921e-01 3.76367666e-01 -4.60947300e-03 9.49403793e+01] [ 4.92142269e-03 1.32639399e-04 9.99987881e-01 8.44652475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.500281693 meters Centerline goodness : 0.996779 Centerline is valid? [True, True] Translation: X:173.59, Y:94.96, Z:0.84 [[ 3.77498943e-01 -9.26008402e-01 -1.72815928e-03 1.73588020e+02] [ 9.25996938e-01 3.77502873e-01 -4.60993041e-03 9.49639819e+01] [ 4.92121938e-03 1.39973655e-04 9.99987881e-01 8.44446738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.530281693 meters Centerline goodness : 0.996859 Centerline is valid? [True, True] Translation: X:173.59, Y:94.99, Z:0.85 [[ 3.78525423e-01 -9.25589284e-01 -1.72689286e-03 1.73593995e+02] [ 9.25577813e-01 3.78529334e-01 -4.61040476e-03 9.49875540e+01] [ 4.92102084e-03 1.46781698e-04 9.99987881e-01 8.45169514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.560281693 meters Centerline goodness : 0.997008 Centerline is valid? [True, True] Translation: X:173.60, Y:95.01, Z:0.85 [[ 3.77586546e-01 -9.25972690e-01 -1.72567366e-03 1.73600519e+02] [ 9.25961221e-01 3.77590463e-01 -4.61086106e-03 9.50119421e+01] [ 4.92112933e-03 1.43092218e-04 9.99987881e-01 8.46707191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.590281693 meters Centerline goodness : 0.997348 Centerline is valid? [True, True] Translation: X:173.61, Y:95.04, Z:0.85 [[ 3.73320705e-01 -9.27700748e-01 -1.72449457e-03 1.73606259e+02] [ 9.27689295e-01 3.73324669e-01 -4.61130201e-03 9.50359787e+01] [ 4.92170468e-03 1.21699367e-04 9.99987881e-01 8.47333041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.620281693 meters Centerline goodness : 0.997240 Centerline is valid? [True, True] Translation: X:173.61, Y:95.06, Z:0.85 [[ 3.70823244e-01 -9.28701864e-01 -1.72326759e-03 1.73613817e+02] [ 9.28690420e-01 3.70827232e-01 -4.61176049e-03 9.50606715e+01] [ 4.92198511e-03 1.09765891e-04 9.99987881e-01 8.47977175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65028169299998 meters Centerline goodness : 0.997195 Centerline is valid? [True, True] Translation: X:173.62, Y:95.08, Z:0.85 [[ 3.68735370e-01 -9.29532819e-01 -1.72208384e-03 1.73620507e+02] [ 9.29521382e-01 3.68739378e-01 -4.61220248e-03 9.50837944e+01] [ 4.92219369e-03 9.99684414e-05 9.99987881e-01 8.47908172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68028169299998 meters Centerline goodness : 0.997309 Centerline is valid? [True, True] Translation: X:173.63, Y:95.11, Z:0.85 [[ 3.65607844e-01 -9.30767395e-01 -1.72084897e-03 1.73625275e+02] [ 9.30755969e-01 3.65611884e-01 -4.61266317e-03 9.51084489e+01] [ 4.92247931e-03 8.47353830e-05 9.99987881e-01 8.49602118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71028169299998 meters Centerline goodness : 0.997424 Centerline is valid? [True, True] Translation: X:173.63, Y:95.13, Z:0.85 [[ 3.64361263e-01 -9.31256094e-01 -1.71961727e-03 1.73632495e+02] [ 9.31244671e-01 3.64365313e-01 -4.61312230e-03 9.51332804e+01] [ 4.92256714e-03 7.94586489e-05 9.99987881e-01 8.52334347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.740281693 meters Centerline goodness : 0.997540 Centerline is valid? [True, True] Translation: X:173.64, Y:95.16, Z:0.85 [[ 3.63066735e-01 -9.31761554e-01 -1.71847731e-03 1.73639449e+02] [ 9.31750135e-01 3.63070795e-01 -4.61354692e-03 9.51579642e+01] [ 4.92265457e-03 7.38339572e-05 9.99987881e-01 8.54501532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.770281693 meters Centerline goodness : 0.997250 Centerline is valid? [True, True] Translation: X:173.65, Y:95.18, Z:0.86 [[ 3.61707733e-01 -9.32289958e-01 -1.71731768e-03 1.73646165e+02] [ 9.32278543e-01 3.61711804e-01 -4.61397853e-03 9.51816288e+01] [ 4.92273993e-03 6.78932898e-05 9.99987881e-01 8.55369641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.800281693 meters Centerline goodness : 0.997427 Centerline is valid? [True, True] Translation: X:173.65, Y:95.21, Z:0.85 [[ 3.58952571e-01 -9.33354224e-01 -1.71610781e-03 1.73651772e+02] [ 9.33342818e-01 3.58956669e-01 -4.61442849e-03 9.52067078e+01] [ 4.92290466e-03 5.46440754e-05 9.99987881e-01 8.51496615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.830281693 meters Centerline goodness : 0.997358 Centerline is valid? [True, True] Translation: X:173.66, Y:95.23, Z:0.85 [[ 3.57252754e-01 -9.34006172e-01 -1.71495864e-03 1.73659273e+02] [ 9.33994772e-01 3.57256867e-01 -4.61485554e-03 9.52315554e+01] [ 4.92298430e-03 4.69074449e-05 9.99987881e-01 8.49586079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.860281693 meters Centerline goodness : 0.997337 Centerline is valid? [True, True] Translation: X:173.67, Y:95.26, Z:0.85 [[ 3.55151992e-01 -9.34806999e-01 -1.71381136e-03 1.73665419e+02] [ 9.34795607e-01 3.55156125e-01 -4.61528156e-03 9.52564687e+01] [ 4.92306811e-03 3.70631108e-05 9.99987881e-01 8.53310661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.890281693 meters Centerline goodness : 0.997275 Centerline is valid? [True, True] Translation: X:173.67, Y:95.28, Z:0.86 [[ 3.54932193e-01 -9.34890478e-01 -1.71266792e-03 1.73672130e+02] [ 9.34879084e-01 3.54936323e-01 -4.61570584e-03 9.52808743e+01] [ 4.92306749e-03 3.71251838e-05 9.99987881e-01 8.56821576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.920281693 meters Centerline goodness : 0.997443 Centerline is valid? [True, True] Translation: X:173.68, Y:95.30, Z:0.86 [[ 3.55283504e-01 -9.34757029e-01 -1.71146469e-03 1.73678361e+02] [ 9.34745631e-01 3.55287624e-01 -4.61615194e-03 9.53048341e+01] [ 4.92304270e-03 4.02584958e-05 9.99987881e-01 8.58751336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.950281693 meters Centerline goodness : 0.997449 Centerline is valid? [True, True] Translation: X:173.68, Y:95.33, Z:0.86 [[ 3.56048301e-01 -9.34465987e-01 -1.71044069e-03 1.73682786e+02] [ 9.34454585e-01 3.56052407e-01 -4.61653134e-03 9.53305723e+01] [ 4.92299804e-03 4.53789935e-05 9.99987881e-01 8.57556450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.980281693 meters Centerline goodness : 0.997498 Centerline is valid? [True, True] Translation: X:173.69, Y:95.35, Z:0.86 [[ 3.56103348e-01 -9.34445014e-01 -1.70921329e-03 1.73688482e+02] [ 9.34433609e-01 3.56107446e-01 -4.61698572e-03 9.53542306e+01] [ 4.92298287e-03 4.69777320e-05 9.99987881e-01 8.56034801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.010281693 meters Centerline goodness : 0.997395 Centerline is valid? [True, True] Translation: X:173.69, Y:95.38, Z:0.85 [[ 3.57561861e-01 -9.33887894e-01 -1.70793912e-03 1.73691686e+02] [ 9.33876481e-01 3.57565935e-01 -4.61745702e-03 9.53800200e+01] [ 4.92288806e-03 5.60223523e-05 9.99987881e-01 8.51319192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.040281693 meters Centerline goodness : 0.997407 Centerline is valid? [True, True] Translation: X:173.70, Y:95.40, Z:0.85 [[ 3.58646257e-01 -9.33471986e-01 -1.70675834e-03 1.73697026e+02] [ 9.33460566e-01 3.58650313e-01 -4.61789343e-03 9.54042417e+01] [ 4.92280357e-03 6.29985856e-05 9.99987881e-01 8.49263341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.070281693 meters Centerline goodness : 0.997535 Centerline is valid? [True, True] Translation: X:173.70, Y:95.43, Z:0.85 [[ 3.58966573e-01 -9.33348858e-01 -1.70552573e-03 1.73699125e+02] [ 9.33337434e-01 3.58970618e-01 -4.61834863e-03 9.54310332e+01] [ 4.92276404e-03 6.60017683e-05 9.99987881e-01 8.48842970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.100281693 meters Centerline goodness : 0.997590 Centerline is valid? [True, True] Translation: X:173.70, Y:95.45, Z:0.85 [[ 3.58129905e-01 -9.33670213e-01 -1.70432724e-03 1.73704252e+02] [ 9.33658791e-01 3.58133955e-01 -4.61879087e-03 9.54549564e+01] [ 4.92280491e-03 6.28670231e-05 9.99987881e-01 8.49860330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.130281693 meters Centerline goodness : 0.997508 Centerline is valid? [True, True] Translation: X:173.71, Y:95.48, Z:0.85 [[ 3.57095997e-01 -9.34066137e-01 -1.70308311e-03 1.73711209e+02] [ 9.34054717e-01 3.57100053e-01 -4.61924957e-03 9.54794561e+01] [ 4.92285567e-03 5.87427141e-05 9.99987881e-01 8.50745048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.160281693 meters Centerline goodness : 0.997754 Centerline is valid? [True, True] Translation: X:173.72, Y:95.50, Z:0.85 [[ 3.55422667e-01 -9.34704141e-01 -1.70187835e-03 1.73718529e+02] [ 9.34692726e-01 3.55426738e-01 -4.61969340e-03 9.55031129e+01] [ 4.92293962e-03 5.12104385e-05 9.99987881e-01 8.49606916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.190281693 meters Centerline goodness : 0.997782 Centerline is valid? [True, True] Translation: X:173.73, Y:95.53, Z:0.85 [[ 3.51662990e-01 -9.36125125e-01 -1.70062249e-03 1.73725253e+02] [ 9.36113724e-01 3.51667100e-01 -4.62015567e-03 9.55272464e+01] [ 4.92309678e-03 3.27616986e-05 9.99987881e-01 8.46271647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.220281693 meters Centerline goodness : 0.997722 Centerline is valid? [True, True] Translation: X:173.73, Y:95.55, Z:0.85 [[ 3.48547418e-01 -9.37289608e-01 -1.69943493e-03 1.73732233e+02] [ 9.37278219e-01 3.48551561e-01 -4.62059245e-03 9.55522648e+01] [ 4.92317398e-03 1.76522208e-05 9.99987881e-01 8.53991924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.250281693 meters Centerline goodness : 0.997925 Centerline is valid? [True, True] Translation: X:173.74, Y:95.58, Z:0.85 [[ 3.47736649e-01 -9.37590710e-01 -1.69824597e-03 1.73740283e+02] [ 9.37579322e-01 3.47740796e-01 -4.62102939e-03 9.55766045e+01] [ 4.92318363e-03 1.46609737e-05 9.99987881e-01 8.52351444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.280281693 meters Centerline goodness : 0.997947 Centerline is valid? [True, True] Translation: X:173.75, Y:95.60, Z:0.85 [[ 3.46909968e-01 -9.37896900e-01 -1.69706405e-03 1.73749805e+02] [ 9.37885513e-01 3.46914119e-01 -4.62146341e-03 9.56002148e+01] [ 4.92319168e-03 1.15799310e-05 9.99987881e-01 8.53897256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.310281693 meters Centerline goodness : 0.998051 Centerline is valid? [True, True] Translation: X:173.76, Y:95.62, Z:0.85 [[ 3.45819040e-01 -9.38299694e-01 -1.69587334e-03 1.73758970e+02] [ 9.38288310e-01 3.45823198e-01 -4.62190031e-03 9.56233016e+01] [ 4.92319999e-03 7.12299879e-06 9.99987881e-01 8.53643096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.340281693 meters Centerline goodness : 0.997929 Centerline is valid? [True, True] Translation: X:173.77, Y:95.65, Z:0.85 [[ 3.43632191e-01 -9.39102787e-01 -1.69463417e-03 1.73768628e+02] [ 9.39091412e-01 3.43636370e-01 -4.62235461e-03 9.56464965e+01] [ 4.92320403e-03 -3.02654640e-06 9.99987881e-01 8.50839492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.370281693 meters Centerline goodness : 0.998145 Centerline is valid? [True, True] Translation: X:173.78, Y:95.67, Z:0.85 [[ 3.43086660e-01 -9.39302228e-01 -1.69343656e-03 1.73778520e+02] [ 9.39290853e-01 3.43090839e-01 -4.62279332e-03 9.56698866e+01] [ 4.92320264e-03 -4.61074773e-06 9.99987881e-01 8.49473451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40028169299998 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:173.79, Y:95.69, Z:0.85 [[ 3.42944765e-01 -9.39354047e-01 -1.69224740e-03 1.73789719e+02] [ 9.39342669e-01 3.42948940e-01 -4.62322859e-03 9.56914027e+01] [ 4.92320294e-03 -4.08814821e-06 9.99987881e-01 8.51511339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43028169299998 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:173.80, Y:95.71, Z:0.85 [[ 3.43003099e-01 -9.39332750e-01 -1.69100848e-03 1.73799529e+02] [ 9.39321370e-01 3.43007267e-01 -4.62368170e-03 9.57145864e+01] [ 4.92320384e-03 -2.46325416e-06 9.99987881e-01 8.52642540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46028169299998 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:173.81, Y:95.74, Z:0.85 [[ 3.42765996e-01 -9.39419298e-01 -1.68982108e-03 1.73809158e+02] [ 9.39407917e-01 3.42770161e-01 -4.62411562e-03 9.57380353e+01] [ 4.92320369e-03 -2.44170437e-06 9.99987881e-01 8.53284866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.490281693 meters Centerline goodness : 0.998048 Centerline is valid? [True, True] Translation: X:173.82, Y:95.76, Z:0.85 [[ 3.41578930e-01 -9.39851575e-01 -1.68861977e-03 1.73820571e+02] [ 9.39840198e-01 3.41583103e-01 -4.62455427e-03 9.57601484e+01] [ 4.92319859e-03 -7.38244551e-06 9.99987881e-01 8.51330010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.520281693 meters Centerline goodness : 0.998124 Centerline is valid? [True, True] Translation: X:173.83, Y:95.78, Z:0.85 [[ 3.39881702e-01 -9.40466682e-01 -1.68759728e-03 1.73831301e+02] [ 9.40455311e-01 3.39885891e-01 -4.62492737e-03 9.57836133e+01] [ 4.92318060e-03 -1.51816397e-05 9.99987881e-01 8.50637740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.550281693 meters Centerline goodness : 0.998352 Centerline is valid? [True, True] Translation: X:173.84, Y:95.81, Z:0.85 [[ 3.34990186e-01 -9.42220108e-01 -1.68641121e-03 1.73844714e+02] [ 9.42208755e-01 3.34994429e-01 -4.62535981e-03 9.58055617e+01] [ 4.92304538e-03 -3.95012636e-05 9.99987881e-01 8.52684876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.580281693 meters Centerline goodness : 0.998246 Centerline is valid? [True, True] Translation: X:173.86, Y:95.83, Z:0.85 [[ 3.31870919e-01 -9.43323303e-01 -1.68522549e-03 1.73855671e+02] [ 9.43311962e-01 3.31875193e-01 -4.62579178e-03 9.58277238e+01] [ 4.92290171e-03 -5.45275940e-05 9.99987881e-01 8.53898498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.610281693 meters Centerline goodness : 0.998306 Centerline is valid? [True, True] Translation: X:173.87, Y:95.85, Z:0.85 [[ 3.27023233e-01 -9.45014798e-01 -1.68399295e-03 1.73869878e+02] [ 9.45003478e-01 3.27027560e-01 -4.62624043e-03 9.58488945e+01] [ 4.92257778e-03 -7.84910949e-05 9.99987881e-01 8.53921482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.640281693 meters Centerline goodness : 0.998343 Centerline is valid? [True, True] Translation: X:173.88, Y:95.87, Z:0.85 [[ 3.25101199e-01 -9.45677738e-01 -1.68092479e-03 1.73881828e+02] [ 9.45666421e-01 3.25105534e-01 -4.62735649e-03 9.58725957e+01] [ 4.92246597e-03 -8.52349830e-05 9.99987881e-01 8.52405356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.670281693 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:173.89, Y:95.89, Z:0.85 [[ 3.23687265e-01 -9.46162632e-01 -1.68172287e-03 1.73893288e+02] [ 9.46151323e-01 3.23691621e-01 -4.62706643e-03 9.58945076e+01] [ 4.92231695e-03 -9.34418357e-05 9.99987881e-01 8.51986351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.700281693 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:173.91, Y:95.91, Z:0.85 [[ 3.22138079e-01 -9.46691203e-01 -1.68071966e-03 1.73908901e+02] [ 9.46679898e-01 3.22142448e-01 -4.62743080e-03 9.59146693e+01] [ 4.92217918e-03 -1.00431845e-04 9.99987881e-01 8.53247865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.730281693 meters Centerline goodness : 0.998472 Centerline is valid? [True, True] Translation: X:173.92, Y:95.94, Z:0.85 [[ 3.22179507e-01 -9.46677107e-01 -1.67952499e-03 1.73921500e+02] [ 9.46665800e-01 3.22183870e-01 -4.62786437e-03 9.59367867e+01] [ 4.92220911e-03 -9.89458065e-05 9.99987881e-01 8.54131386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.760281693 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:173.94, Y:95.96, Z:0.85 [[ 3.23811596e-01 -9.46120095e-01 -1.67838994e-03 1.73938323e+02] [ 9.46108778e-01 3.23815933e-01 -4.62827598e-03 9.59568385e+01] [ 4.92239431e-03 -8.92500240e-05 9.99987881e-01 8.53006069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.790281693 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:173.95, Y:95.98, Z:0.85 [[ 3.25393602e-01 -9.45577174e-01 -1.67715084e-03 1.73951382e+02] [ 9.45565848e-01 3.25397914e-01 -4.62872495e-03 9.59791237e+01] [ 4.92255804e-03 -7.96990699e-05 9.99987881e-01 8.51847137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.820281693 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:173.96, Y:96.00, Z:0.85 [[ 3.26769537e-01 -9.45102566e-01 -1.67595574e-03 1.73963391e+02] [ 9.45091232e-01 3.26773827e-01 -4.62915763e-03 9.60005882e+01] [ 4.92268722e-03 -7.12633794e-05 9.99987881e-01 8.50974393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.850281693 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:173.98, Y:96.02, Z:0.85 [[ 3.28377221e-01 -9.44545179e-01 -1.67471154e-03 1.73975302e+02] [ 9.44533836e-01 3.28381486e-01 -4.62960770e-03 9.60229297e+01] [ 4.92281790e-03 -6.15640052e-05 9.99987881e-01 8.50981851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.880281693 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:173.99, Y:96.05, Z:0.85 [[ 3.32690843e-01 -9.43034465e-01 -1.67347232e-03 1.73989181e+02] [ 9.43023100e-01 3.32695050e-01 -4.63005560e-03 9.60455171e+01] [ 4.92305796e-03 -3.77459550e-05 9.99987881e-01 8.53854146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.910281693 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:174.00, Y:96.07, Z:0.85 [[ 3.32452248e-01 -9.43118607e-01 -1.67230037e-03 1.73997691e+02] [ 9.43107240e-01 3.32456452e-01 -4.63047885e-03 9.60700729e+01] [ 4.92305781e-03 -3.77454783e-05 9.99987881e-01 8.53982044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.940281693 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:174.01, Y:96.09, Z:0.85 [[ 3.34802031e-01 -9.42287009e-01 -1.67112875e-03 1.74008023e+02] [ 9.42275630e-01 3.34806201e-01 -4.63090165e-03 9.60931344e+01] [ 4.92314273e-03 -2.42286201e-05 9.99987881e-01 8.54446483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.970281693 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:174.02, Y:96.12, Z:0.85 [[ 3.40413429e-01 -9.40274379e-01 -1.66995989e-03 1.74018690e+02] [ 9.40262973e-01 3.40417525e-01 -4.63132312e-03 9.61155053e+01] [ 4.92319808e-03 6.36313506e-06 9.99987881e-01 8.52941205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.000281693 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:174.03, Y:96.14, Z:0.85 [[ 3.43173893e-01 -9.39270405e-01 -1.66879500e-03 1.74026634e+02] [ 9.39258985e-01 3.43177950e-01 -4.63174282e-03 9.61385439e+01] [ 4.92315260e-03 2.20625151e-05 9.99987881e-01 8.53072738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.030281693 meters Centerline goodness : 0.998564 Centerline is valid? [True, True] Translation: X:174.03, Y:96.16, Z:0.85 [[ 3.46049794e-01 -9.38214666e-01 -1.66753262e-03 1.74033861e+02] [ 9.38203232e-01 3.46053810e-01 -4.63219726e-03 9.61618881e+01] [ 4.92305142e-03 3.84864141e-05 9.99987881e-01 8.52532971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.060281693 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:174.04, Y:96.19, Z:0.85 [[ 3.50695683e-01 -9.36487993e-01 -1.66627388e-03 1.74038833e+02] [ 9.36476537e-01 3.50699636e-01 -4.63265000e-03 9.61868384e+01] [ 4.92278275e-03 6.42239604e-05 9.99987881e-01 8.53132940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.090281693 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:174.04, Y:96.21, Z:0.85 [[ 3.51747008e-01 -9.36093623e-01 -1.66508112e-03 1.74044463e+02] [ 9.36082160e-01 3.51750942e-01 -4.63307867e-03 9.62108788e+01] [ 4.92268925e-03 7.10188233e-05 9.99987881e-01 8.53837222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.120281693 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:174.05, Y:96.24, Z:0.85 [[ 3.52229148e-01 -9.35912314e-01 -1.66384446e-03 1.74050387e+02] [ 9.35900847e-01 3.52233070e-01 -4.63352274e-03 9.62356076e+01] [ 4.92263203e-03 7.48683266e-05 9.99987881e-01 8.54885396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15028169299998 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:174.05, Y:96.26, Z:0.86 [[ 3.51436308e-01 -9.36210316e-01 -1.66268229e-03 1.74052813e+02] [ 9.36198851e-01 3.51440234e-01 -4.63393973e-03 9.62614547e+01] [ 4.92267564e-03 7.19334246e-05 9.99987881e-01 8.57800893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18028169299998 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:174.06, Y:96.29, Z:0.86 [[ 3.50075275e-01 -9.36720098e-01 -1.66149543e-03 1.74057653e+02] [ 9.36708636e-01 3.50079211e-01 -4.63436524e-03 9.62872199e+01] [ 4.92275807e-03 6.60395708e-05 9.99987881e-01 8.57954069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21028169299998 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:174.06, Y:96.31, Z:0.86 [[ 3.46652353e-01 -9.37992212e-01 -1.66029457e-03 1.74058291e+02] [ 9.37980763e-01 3.46656325e-01 -4.63479542e-03 9.63129707e+01] [ 4.92295362e-03 4.93383700e-05 9.99987881e-01 8.55908349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.240281693 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:174.06, Y:96.34, Z:0.85 [[ 3.44398635e-01 -9.38822043e-01 -1.65904614e-03 1.74063509e+02] [ 9.38810601e-01 3.44402628e-01 -4.63524226e-03 9.63386856e+01] [ 4.92304746e-03 3.88410055e-05 9.99987881e-01 8.54311423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.270281693 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:174.07, Y:96.36, Z:0.85 [[ 3.41267896e-01 -9.39964614e-01 -1.65785530e-03 1.74069055e+02] [ 9.39953183e-01 3.41271922e-01 -4.63566814e-03 9.63639631e+01] [ 4.92314347e-03 2.36983424e-05 9.99987881e-01 8.52404266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.300281693 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:174.07, Y:96.39, Z:0.85 [[ 3.34353626e-01 -9.42446236e-01 -1.65666223e-03 1.74073435e+02] [ 9.42434833e-01 3.34357730e-01 -4.63609447e-03 9.63886740e+01] [ 4.92318761e-03 -1.12011967e-05 9.99987881e-01 8.51586071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.330281693 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:174.08, Y:96.41, Z:0.85 [[ 3.30551135e-01 -9.43786632e-01 -1.65564527e-03 1.74080588e+02] [ 9.43775244e-01 3.30555280e-01 -4.63645762e-03 9.64132017e+01] [ 4.92310900e-03 -2.99706856e-05 9.99987881e-01 8.52446333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.360281693 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:174.09, Y:96.44, Z:0.85 [[ 3.27162390e-01 -9.44966684e-01 -1.65446962e-03 1.74087652e+02] [ 9.44955308e-01 3.27166570e-01 -4.63687710e-03 9.64379716e+01] [ 4.92298153e-03 -4.63880594e-05 9.99987881e-01 8.53881918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.390281693 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:174.09, Y:96.46, Z:0.85 [[ 3.22258021e-01 -9.46650429e-01 -1.65329903e-03 1.74093975e+02] [ 9.46639073e-01 3.22262254e-01 -4.63729444e-03 9.64629390e+01] [ 4.92269264e-03 -7.06721348e-05 9.99987881e-01 8.53611138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.420281693 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:174.10, Y:96.49, Z:0.85 [[ 3.19630515e-01 -9.47540819e-01 -1.65213692e-03 1.74101824e+02] [ 9.47529473e-01 3.19634774e-01 -4.63770843e-03 9.64871442e+01] [ 4.92249846e-03 -8.30952967e-05 9.99987881e-01 8.53960043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.450281693 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:174.11, Y:96.51, Z:0.86 [[ 3.13021066e-01 -9.49744748e-01 -1.65097695e-03 1.74111162e+02] [ 9.49733430e-01 3.13025398e-01 -4.63812133e-03 9.65095276e+01] [ 4.92182909e-03 -1.16158322e-04 9.99987881e-01 8.57087715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.480281693 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:174.12, Y:96.53, Z:0.86 [[ 3.09783553e-01 -9.50805673e-01 -1.64977056e-03 1.74120075e+02] [ 9.50794368e-01 3.09787918e-01 -4.63855040e-03 9.65317280e+01] [ 4.92143903e-03 -1.31645932e-04 9.99987881e-01 8.58410874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.510281693 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:174.13, Y:96.55, Z:0.86 [[ 3.06937658e-01 -9.51728195e-01 -1.64859616e-03 1.74129888e+02] [ 9.51716900e-01 3.06942051e-01 -4.63896776e-03 9.65542043e+01] [ 4.92105990e-03 -1.45122931e-04 9.99987881e-01 8.59318484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.540281693 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:174.14, Y:96.58, Z:0.86 [[ 3.03305436e-01 -9.52891966e-01 -1.64736597e-03 1.74143285e+02] [ 9.52880686e-01 3.03309866e-01 -4.63940458e-03 9.65753236e+01] [ 4.92051370e-03 -1.62586589e-04 9.99987881e-01 8.58860594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.570281693 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:174.15, Y:96.60, Z:0.86 [[ 3.02309522e-01 -9.53208394e-01 -1.64614060e-03 1.74154011e+02] [ 9.53197116e-01 3.02313958e-01 -4.63983932e-03 9.65980260e+01] [ 4.92038507e-03 -1.66428867e-04 9.99987881e-01 8.58210193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.600281693 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:174.16, Y:96.62, Z:0.86 [[ 3.02004212e-01 -9.53305172e-01 -1.64491352e-03 1.74164228e+02] [ 9.53293893e-01 3.02008645e-01 -4.64027430e-03 9.66197875e+01] [ 4.92037559e-03 -1.66703624e-04 9.99987881e-01 8.58175515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.630281693 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:174.18, Y:96.64, Z:0.86 [[ 3.03556223e-01 -9.52812110e-01 -1.64364725e-03 1.74175911e+02] [ 9.52800822e-01 3.03560632e-01 -4.64072279e-03 9.66410283e+01] [ 4.92068347e-03 -1.57348169e-04 9.99987881e-01 8.58817913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.660281693 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:174.18, Y:96.66, Z:0.86 [[ 3.04760991e-01 -9.52427447e-01 -1.64238997e-03 1.74184587e+02] [ 9.52416150e-01 3.04765379e-01 -4.64116771e-03 9.66629368e+01] [ 4.92091911e-03 -1.49791866e-04 9.99987881e-01 8.59188255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.690281693 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:174.19, Y:96.68, Z:0.86 [[ 3.08525625e-01 -9.51214616e-01 -1.64113625e-03 1.74194106e+02] [ 9.51203300e-01 3.08529963e-01 -4.64161099e-03 9.66845419e+01] [ 4.92150792e-03 -1.28998284e-04 9.99987881e-01 8.56366254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.720281693 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:174.20, Y:96.71, Z:0.85 [[ 3.10603877e-01 -9.50538028e-01 -1.63989165e-03 1.74203519e+02] [ 9.50526700e-01 3.10608184e-01 -4.64205066e-03 9.67073380e+01] [ 4.92180945e-03 -1.16921868e-04 9.99987881e-01 8.54668873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.750281693 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:174.21, Y:96.73, Z:0.85 [[ 3.12624962e-01 -9.49875228e-01 -1.63869966e-03 1.74212884e+02] [ 9.49863888e-01 3.12629239e-01 -4.64247141e-03 9.67303348e+01] [ 4.92207402e-03 -1.05189184e-04 9.99987881e-01 8.53902912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.780281693 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:174.22, Y:96.75, Z:0.86 [[ 3.15808416e-01 -9.48821565e-01 -1.63751144e-03 1.74222457e+02] [ 9.48810210e-01 3.15812650e-01 -4.64289049e-03 9.67522585e+01] [ 4.92242145e-03 -8.74236832e-05 9.99987881e-01 8.56719800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.810281693 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:174.23, Y:96.77, Z:0.86 [[ 3.16738058e-01 -9.48511637e-01 -1.63638682e-03 1.74230688e+02] [ 9.48500275e-01 3.16742274e-01 -4.64328683e-03 9.67749863e+01] [ 4.92252447e-03 -8.14076992e-05 9.99987881e-01 8.58452087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.840281693 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:174.24, Y:96.80, Z:0.86 [[ 3.18426217e-01 -9.47946238e-01 -1.63520226e-03 1.74239460e+02] [ 9.47934867e-01 3.18430407e-01 -4.64370395e-03 9.67970436e+01] [ 4.92267981e-03 -7.13881512e-05 9.99987881e-01 8.63015362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.870281693 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:174.25, Y:96.82, Z:0.87 [[ 3.19081864e-01 -9.47725748e-01 -1.63408333e-03 1.74247736e+02] [ 9.47714372e-01 3.19086042e-01 -4.64409766e-03 9.68200377e+01] [ 4.92274411e-03 -6.67969159e-05 9.99987881e-01 8.65498031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90028169299998 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:174.26, Y:96.84, Z:0.87 [[ 3.20040535e-01 -9.47402443e-01 -1.63290694e-03 1.74256513e+02] [ 9.47391061e-01 3.20044695e-01 -4.64451125e-03 9.68429216e+01] [ 4.92282451e-03 -6.05695721e-05 9.99987881e-01 8.65779090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93028169299998 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:174.27, Y:96.86, Z:0.86 [[ 3.22400486e-01 -9.46601957e-01 -1.63163667e-03 1.74266462e+02] [ 9.46590562e-01 3.22404611e-01 -4.64495746e-03 9.68643741e+01] [ 4.92297301e-03 -4.69553358e-05 9.99987881e-01 8.62690915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96028169299998 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:174.28, Y:96.89, Z:0.86 [[ 3.24071094e-01 -9.46031325e-01 -1.63037641e-03 1.74275608e+02] [ 9.46019920e-01 3.24075193e-01 -4.64539977e-03 9.68883243e+01] [ 4.92305825e-03 -3.69287754e-05 9.99987881e-01 8.61973126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.990281693 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:174.28, Y:96.91, Z:0.86 [[ 3.26403901e-01 -9.45228988e-01 -1.62917415e-03 1.74284039e+02] [ 9.45217571e-01 3.26407966e-01 -4.64582137e-03 9.69112912e+01] [ 4.92314045e-03 -2.35098165e-05 9.99987881e-01 8.62300788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.020281693 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:174.29, Y:96.93, Z:0.86 [[ 3.31572888e-01 -9.43428201e-01 -1.62792659e-03 1.74292699e+02] [ 9.43416759e-01 3.31576885e-01 -4.64625848e-03 9.69341291e+01] [ 4.92319411e-03 4.76011306e-06 9.99987881e-01 8.62363077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.050281693 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:174.30, Y:96.96, Z:0.86 [[ 3.33298778e-01 -9.42819855e-01 -1.62668065e-03 1.74301493e+02] [ 9.42808404e-01 3.33302747e-01 -4.64669465e-03 9.69573438e+01] [ 4.92317311e-03 1.50894602e-05 9.99987881e-01 8.62624794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.080281693 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:174.31, Y:96.98, Z:0.87 [[ 3.35170840e-01 -9.42155967e-01 -1.62551572e-03 1.74310960e+02] [ 9.42144506e-01 3.35174781e-01 -4.64710214e-03 9.69802939e+01] [ 4.92312688e-03 2.61024217e-05 9.99987881e-01 8.66443571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.110281693 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:174.32, Y:97.00, Z:0.87 [[ 3.35944101e-01 -9.41880524e-01 -1.62435069e-03 1.74318628e+02] [ 9.41869059e-01 3.35948027e-01 -4.64750933e-03 9.70038133e+01] [ 4.92309593e-03 3.13776893e-05 9.99987881e-01 8.67915557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.140281693 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:174.33, Y:97.03, Z:0.87 [[ 3.36733980e-01 -9.41598424e-01 -1.62311823e-03 1.74325187e+02] [ 9.41586953e-01 3.36737890e-01 -4.64793971e-03 9.70268617e+01] [ 4.92305812e-03 3.68122883e-05 9.99987881e-01 8.68981096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.170281693 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:174.33, Y:97.05, Z:0.87 [[ 3.37791283e-01 -9.41219644e-01 -1.62184505e-03 1.74331830e+02] [ 9.41208167e-01 3.37795174e-01 -4.64838393e-03 9.70503967e+01] [ 4.92300170e-03 4.36897628e-05 9.99987881e-01 8.68473017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.200281693 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:174.34, Y:97.08, Z:0.87 [[ 3.39815480e-01 -9.40490730e-01 -1.62068341e-03 1.74336614e+02] [ 9.40479242e-01 3.39819340e-01 -4.64878891e-03 9.70753248e+01] [ 4.92288244e-03 5.55113295e-05 9.99987881e-01 8.67640878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.230281693 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:174.34, Y:97.10, Z:0.87 [[ 3.40308592e-01 -9.40312416e-01 -1.61946501e-03 1.74342041e+02] [ 9.40300924e-01 3.40312440e-01 -4.64921332e-03 9.70987611e+01] [ 4.92283710e-03 5.93827906e-05 9.99987881e-01 8.67985420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.260281693 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:174.35, Y:97.12, Z:0.87 [[ 3.40006469e-01 -9.40421705e-01 -1.61820543e-03 1.74347415e+02] [ 9.40410212e-01 3.40010314e-01 -4.64965168e-03 9.71233694e+01] [ 4.92283990e-03 5.91347346e-05 9.99987881e-01 8.66963904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.290281693 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:174.35, Y:97.15, Z:0.86 [[ 3.38403803e-01 -9.40999602e-01 -1.61695601e-03 1.74349651e+02] [ 9.40988114e-01 3.38407662e-01 -4.65008614e-03 9.71477849e+01] [ 4.92291951e-03 5.20704482e-05 9.99987881e-01 8.64003303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.320281693 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:174.36, Y:97.17, Z:0.86 [[ 3.36587750e-01 -9.41650719e-01 -1.61565835e-03 1.74355097e+02] [ 9.41639236e-01 3.36591625e-01 -4.65053697e-03 9.71724404e+01] [ 4.92299855e-03 4.39464847e-05 9.99987881e-01 8.62902859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.350281693 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:174.36, Y:97.20, Z:0.86 [[ 3.32120433e-01 -9.43235608e-01 -1.61444802e-03 1.74359413e+02] [ 9.43224141e-01 3.32124357e-01 -4.65095710e-03 9.71975396e+01] [ 4.92314585e-03 2.18915373e-05 9.99987881e-01 8.58785921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.380281693 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:174.37, Y:97.22, Z:0.86 [[ 3.28815822e-01 -9.44392690e-01 -1.61320333e-03 1.74365944e+02] [ 9.44381235e-01 3.28819779e-01 -4.65138878e-03 9.72218708e+01] [ 4.92319073e-03 5.97127250e-06 9.99987881e-01 8.57608234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.410281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:174.37, Y:97.25, Z:0.86 [[ 3.25319809e-01 -9.45602677e-01 -1.61198664e-03 1.74373397e+02] [ 9.45591235e-01 3.25323802e-01 -4.65181040e-03 9.72455725e+01] [ 4.92318199e-03 -1.09543690e-05 9.99987881e-01 8.56989591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.440281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:174.38, Y:97.27, Z:0.86 [[ 3.17579931e-01 -9.48230137e-01 -1.61095328e-03 1.74383523e+02] [ 9.48218726e-01 3.17584013e-01 -4.65216823e-03 9.72686878e+01] [ 4.92293913e-03 -5.01007974e-05 9.99987881e-01 8.60664650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.470281693 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:174.39, Y:97.29, Z:0.86 [[ 3.14148527e-01 -9.49372483e-01 -1.60976106e-03 1.74392972e+02] [ 9.49361085e-01 3.14152644e-01 -4.65258073e-03 9.72915691e+01] [ 4.92274282e-03 -6.66431228e-05 9.99987881e-01 8.61266296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.500281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:174.40, Y:97.31, Z:0.86 [[ 3.09668047e-01 -9.50843369e-01 -1.60852492e-03 1.74403382e+02] [ 9.50831989e-01 3.09672212e-01 -4.65300806e-03 9.73135317e+01] [ 4.92239733e-03 -8.85490266e-05 9.99987881e-01 8.58899813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.530281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:174.41, Y:97.34, Z:0.86 [[ 3.08000654e-01 -9.51384788e-01 -1.60726573e-03 1.74413585e+02] [ 9.51373412e-01 3.08004833e-01 -4.65344298e-03 9.73372620e+01] [ 4.92226047e-03 -9.58464033e-05 9.99987881e-01 8.58247946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.560281693 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:174.42, Y:97.36, Z:0.86 [[ 3.06221228e-01 -9.51959022e-01 -1.60605681e-03 1.74423621e+02] [ 9.51947652e-01 3.06225422e-01 -4.65386018e-03 9.73595147e+01] [ 4.92209961e-03 -1.03771235e-04 9.99987881e-01 8.58058804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.590281693 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:174.44, Y:97.38, Z:0.86 [[ 3.03327090e-01 -9.52885145e-01 -1.60502396e-03 1.74437205e+02] [ 9.52873786e-01 3.03331314e-01 -4.65421636e-03 9.73794247e+01] [ 4.92178766e-03 -1.17635351e-04 9.99987881e-01 8.61149415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.620281693 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:174.45, Y:97.40, Z:0.86 [[ 3.02033864e-01 -9.53295848e-01 -1.60373939e-03 1.74448208e+02] [ 9.53284492e-01 3.02038097e-01 -4.65465895e-03 9.74027337e+01] [ 4.92165744e-03 -1.22955256e-04 9.99987881e-01 8.62178072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65028169299998 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:174.46, Y:97.42, Z:0.86 [[ 3.01272811e-01 -9.53536641e-01 -1.60252868e-03 1.74458162e+02] [ 9.53525286e-01 3.01277047e-01 -4.65507574e-03 9.74247907e+01] [ 4.92159040e-03 -1.25603864e-04 9.99987881e-01 8.63106284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68028169299998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:174.47, Y:97.45, Z:0.86 [[ 3.02497081e-01 -9.53148966e-01 -1.60126802e-03 1.74471546e+02] [ 9.53137604e-01 3.02501296e-01 -4.65550935e-03 9.74471794e+01] [ 4.92177958e-03 -1.17950779e-04 9.99987881e-01 8.64051013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71028169299998 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:174.48, Y:97.47, Z:0.86 [[ 3.07173780e-01 -9.51652094e-01 -1.60004804e-03 1.74482100e+02] [ 9.51640709e-01 3.07177934e-01 -4.65592861e-03 9.74697557e+01] [ 4.92232366e-03 -9.24916618e-05 9.99987881e-01 8.63200817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.740281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:174.49, Y:97.49, Z:0.86 [[ 3.09837642e-01 -9.50788136e-01 -1.59883371e-03 1.74489780e+02] [ 9.50776737e-01 3.09841758e-01 -4.65634556e-03 9.74940550e+01] [ 4.92258357e-03 -7.74227707e-05 9.99987881e-01 8.61917232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.770281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:174.50, Y:97.52, Z:0.86 [[ 3.13273942e-01 -9.49661458e-01 -1.59765511e-03 1.74496764e+02] [ 9.49650042e-01 3.13278010e-01 -4.65674992e-03 9.75163349e+01] [ 4.92284614e-03 -5.83748372e-05 9.99987881e-01 8.61409952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.800281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:174.50, Y:97.54, Z:0.86 [[ 3.16538846e-01 -9.48578205e-01 -1.59644632e-03 1.74503897e+02] [ 9.48566773e-01 3.16542869e-01 -4.65716429e-03 9.75404843e+01] [ 4.92302824e-03 -4.01625218e-05 9.99987881e-01 8.61873395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.830281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:174.51, Y:97.57, Z:0.86 [[ 3.16292526e-01 -9.48660368e-01 -1.59524149e-03 1.74512004e+02] [ 9.48648935e-01 3.16296546e-01 -4.65757695e-03 9.75651798e+01] [ 4.92302804e-03 -4.01673631e-05 9.99987881e-01 8.62001293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.860281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:174.52, Y:97.59, Z:0.86 [[ 3.23483842e-01 -9.46232352e-01 -1.59403197e-03 1.74517958e+02] [ 9.46220887e-01 3.23487769e-01 -4.65799086e-03 9.75892178e+01] [ 4.92319150e-03 -1.52156662e-06 9.99987881e-01 8.63875999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.890281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:174.52, Y:97.61, Z:0.87 [[ 3.29646460e-01 -9.44103106e-01 -1.59277417e-03 1.74522758e+02] [ 9.44091613e-01 3.29650306e-01 -4.65842092e-03 9.76128084e+01] [ 4.92308816e-03 3.19072315e-05 9.99987881e-01 8.67178592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.920281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:174.53, Y:97.64, Z:0.87 [[ 3.31998213e-01 -9.43278672e-01 -1.59144560e-03 1.74527714e+02] [ 9.43267168e-01 3.32002025e-01 -4.65887476e-03 9.76367144e+01] [ 4.92298035e-03 4.55797118e-05 9.99987881e-01 8.68832515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.950281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:174.53, Y:97.66, Z:0.87 [[ 3.33862804e-01 -9.42620337e-01 -1.59017863e-03 1.74532722e+02] [ 9.42608823e-01 3.33866586e-01 -4.65930716e-03 9.76619675e+01] [ 4.92286520e-03 5.66529407e-05 9.99987881e-01 8.68827865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.980281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:174.54, Y:97.69, Z:0.87 [[ 3.35290405e-01 -9.42113486e-01 -1.58900283e-03 1.74537700e+02] [ 9.42101964e-01 3.35294163e-01 -4.65970812e-03 9.76862143e+01] [ 4.92275723e-03 6.53527326e-05 9.99987881e-01 8.67451026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.010281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:174.54, Y:97.71, Z:0.86 [[ 3.34829251e-01 -9.42277481e-01 -1.58778369e-03 1.74541113e+02] [ 9.42265960e-01 3.34833009e-01 -4.66012350e-03 9.77119613e+01] [ 4.92277183e-03 6.42311396e-05 9.99987881e-01 8.62569530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.040281693 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:174.55, Y:97.74, Z:0.86 [[ 3.33552061e-01 -9.42730346e-01 -1.58661009e-03 1.74547337e+02] [ 9.42718828e-01 3.33555829e-01 -4.66052304e-03 9.77359892e+01] [ 4.92283954e-03 5.87998538e-05 9.99987881e-01 8.61195629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.070281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:174.55, Y:97.76, Z:0.86 [[ 3.29881193e-01 -9.44021125e-01 -1.58539121e-03 1.74551923e+02] [ 9.44009620e-01 3.29885000e-01 -4.66093763e-03 9.77603730e+01] [ 4.92302037e-03 4.09311153e-05 9.99987881e-01 8.58594623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.100281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:174.56, Y:97.78, Z:0.86 [[ 3.27799711e-01 -9.44745913e-01 -1.58413779e-03 1.74558259e+02] [ 9.44734414e-01 3.27803538e-01 -4.66136360e-03 9.77840384e+01] [ 4.92309018e-03 3.14041589e-05 9.99987881e-01 8.59612984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.130281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:174.56, Y:97.81, Z:0.86 [[ 3.26146831e-01 -9.45317798e-01 -1.58287995e-03 1.74564692e+02] [ 9.45306304e-01 3.26150671e-01 -4.66179069e-03 9.78075788e+01] [ 4.92313107e-03 2.41218694e-05 9.99987881e-01 8.61999510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.160281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:174.57, Y:97.83, Z:0.87 [[ 3.23965296e-01 -9.46067643e-01 -1.58162164e-03 1.74568586e+02] [ 9.46056156e-01 3.23969156e-01 -4.66221756e-03 9.78310428e+01] [ 4.92316981e-03 1.40938061e-05 9.99987881e-01 8.66056952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.190281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:174.57, Y:97.85, Z:0.87 [[ 3.22978561e-01 -9.46404962e-01 -1.58031639e-03 1.74574145e+02] [ 9.46393476e-01 3.22982427e-01 -4.66265995e-03 9.78548032e+01] [ 4.92317894e-03 1.03380786e-05 9.99987881e-01 8.66011643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.220281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:174.58, Y:97.88, Z:0.87 [[ 3.21071675e-01 -9.47053581e-01 -1.57906998e-03 1.74579421e+02] [ 9.47042101e-01 3.21075558e-01 -4.66308203e-03 9.78782808e+01] [ 4.92318931e-03 1.73780744e-06 9.99987881e-01 8.65327561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.250281693 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.59, Y:97.90, Z:0.87 [[ 3.20150766e-01 -9.47365293e-01 -1.57777776e-03 1.74586431e+02] [ 9.47353814e-01 3.20154653e-01 -4.66351921e-03 9.79016381e+01] [ 4.92318914e-03 -1.68453239e-06 9.99987881e-01 8.65792043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.280281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.59, Y:97.92, Z:0.87 [[ 3.18959700e-01 -9.47766967e-01 -1.57654672e-03 1.74592674e+02] [ 9.47755492e-01 3.18963596e-01 -4.66393534e-03 9.79242169e+01] [ 4.92318487e-03 -6.57339723e-06 9.99987881e-01 8.66154997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.310281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:174.60, Y:97.95, Z:0.87 [[ 3.17954123e-01 -9.48104791e-01 -1.57527048e-03 1.74598766e+02] [ 9.48093317e-01 3.17958025e-01 -4.66436636e-03 9.79470759e+01] [ 4.92317798e-03 -1.04489021e-05 9.99987881e-01 8.65841687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.340281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:174.61, Y:97.97, Z:0.86 [[ 3.16606263e-01 -9.48555743e-01 -1.57400260e-03 1.74605054e+02] [ 9.48544272e-01 3.16610175e-01 -4.66479417e-03 9.79705213e+01] [ 4.92316254e-03 -1.61081015e-05 9.99987881e-01 8.64055434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.370281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:174.61, Y:97.99, Z:0.86 [[ 3.15006184e-01 -9.49088315e-01 -1.57279268e-03 1.74611323e+02] [ 9.49076850e-01 3.15010110e-01 -4.66520207e-03 9.79942931e+01] [ 4.92313437e-03 -2.31336196e-05 9.99987881e-01 8.63251606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40028169299998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:174.62, Y:98.02, Z:0.86 [[ 3.12293272e-01 -9.49984443e-01 -1.57158686e-03 1.74616704e+02] [ 9.49972987e-01 3.12297225e-01 -4.66560825e-03 9.80179913e+01] [ 4.92305747e-03 -3.59269986e-05 9.99987881e-01 8.64546245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43028169299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:174.62, Y:98.04, Z:0.87 [[ 3.11200621e-01 -9.50342942e-01 -1.57038708e-03 1.74623431e+02] [ 9.50331488e-01 3.11204580e-01 -4.66601204e-03 9.80417752e+01] [ 4.92302327e-03 -4.03224495e-05 9.99987881e-01 8.66394808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46028169299998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:174.63, Y:98.07, Z:0.87 [[ 3.11029560e-01 -9.50398943e-01 -1.56919209e-03 1.74630287e+02] [ 9.50387487e-01 3.11033516e-01 -4.66641389e-03 9.80659791e+01] [ 4.92302616e-03 -3.99478691e-05 9.99987881e-01 8.69135520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.490281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:174.63, Y:98.09, Z:0.87 [[ 3.12604566e-01 -9.49882059e-01 -1.56800141e-03 1.74633639e+02] [ 9.49870596e-01 3.12608497e-01 -4.66681394e-03 9.80893633e+01] [ 4.92309340e-03 -3.05310913e-05 9.99987881e-01 8.72107284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.520281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:174.64, Y:98.11, Z:0.87 [[ 3.14431366e-01 -9.49278916e-01 -1.56677223e-03 1.74638850e+02] [ 9.49267443e-01 3.14435269e-01 -4.66722658e-03 9.81134257e+01] [ 4.92314823e-03 -1.97634349e-05 9.99987881e-01 8.72127348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.550281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:174.64, Y:98.14, Z:0.87 [[ 3.19549025e-01 -9.47568451e-01 -1.56560267e-03 1.74640833e+02] [ 9.47556955e-01 3.19552860e-01 -4.66761887e-03 9.81374093e+01] [ 4.92318119e-03 8.03536192e-06 9.99987881e-01 8.67126274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.580281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:174.64, Y:98.16, Z:0.86 [[ 3.21807021e-01 -9.46803989e-01 -1.56443787e-03 1.74644871e+02] [ 9.46792482e-01 3.21810823e-01 -4.66800924e-03 9.81615515e+01] [ 4.92314281e-03 2.10001392e-05 9.99987881e-01 8.64739650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.610281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:174.65, Y:98.19, Z:0.86 [[ 3.24199248e-01 -9.45987528e-01 -1.56327090e-03 1.74648706e+02] [ 9.45976010e-01 3.24203015e-01 -4.66840001e-03 9.81858698e+01] [ 4.92306533e-03 3.46750005e-05 9.99987881e-01 8.63654323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.640281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:174.65, Y:98.21, Z:0.86 [[ 3.26050539e-01 -9.45351049e-01 -1.56210219e-03 1.74653153e+02] [ 9.45339521e-01 3.26054278e-01 -4.66879104e-03 9.82108824e+01] [ 4.92297661e-03 4.55448963e-05 9.99987881e-01 8.64282396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.670281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:174.66, Y:98.24, Z:0.87 [[ 3.28146862e-01 -9.44625429e-01 -1.56093390e-03 1.74655835e+02] [ 9.44613891e-01 3.28150569e-01 -4.66918161e-03 9.82364737e+01] [ 4.92284903e-03 5.76974508e-05 9.99987881e-01 8.66869019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.700281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:174.66, Y:98.26, Z:0.87 [[ 3.27911553e-01 -9.44707140e-01 -1.55976291e-03 1.74660533e+02] [ 9.44695601e-01 3.27915258e-01 -4.66957275e-03 9.82605761e+01] [ 4.92284878e-03 5.77056884e-05 9.99987881e-01 8.66364304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.730281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:174.66, Y:98.29, Z:0.86 [[ 3.26003136e-01 -9.45367403e-01 -1.55859141e-03 1.74662969e+02] [ 9.45355870e-01 3.26006858e-01 -4.66996374e-03 9.82853661e+01] [ 4.92294298e-03 4.89992788e-05 9.99987881e-01 8.61952799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.760281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:174.67, Y:98.31, Z:0.86 [[ 3.24791088e-01 -9.45784502e-01 -1.55742168e-03 1.74668968e+02] [ 9.45772971e-01 3.24794819e-01 -4.67035381e-03 9.83097742e+01] [ 4.92299074e-03 4.39219618e-05 9.99987881e-01 8.59657352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.790281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.68, Y:98.33, Z:0.86 [[ 3.23951212e-01 -9.46072508e-01 -1.55625113e-03 1.74675092e+02] [ 9.46060979e-01 3.23954947e-01 -4.67074382e-03 9.83336396e+01] [ 4.92301758e-03 4.07846516e-05 9.99987881e-01 8.58730953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.820281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.68, Y:98.36, Z:0.86 [[ 3.24748970e-01 -9.45798968e-01 -1.55507955e-03 1.74678824e+02] [ 9.45787434e-01 3.24752690e-01 -4.67113386e-03 9.83580437e+01] [ 4.92296985e-03 4.61712101e-05 9.99987881e-01 8.63467707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.850281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.68, Y:98.38, Z:0.87 [[ 3.25506045e-01 -9.45538683e-01 -1.55391088e-03 1.74683739e+02] [ 9.45527144e-01 3.25509750e-01 -4.67152260e-03 9.83826904e+01] [ 4.92291846e-03 5.13439313e-05 9.99987881e-01 8.66805498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.880281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.69, Y:98.41, Z:0.87 [[ 3.27033182e-01 -9.45011580e-01 -1.55274448e-03 1.74687359e+02] [ 9.45000034e-01 3.27036862e-01 -4.67191026e-03 9.84077315e+01] [ 4.92281398e-03 6.05260951e-05 9.99987881e-01 8.65164817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.910281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:174.69, Y:98.43, Z:0.86 [[ 3.27403610e-01 -9.44883310e-01 -1.55157239e-03 1.74693870e+02] [ 9.44871760e-01 3.27407280e-01 -4.67229949e-03 9.84318408e+01] [ 4.92277390e-03 6.36907840e-05 9.99987881e-01 8.63768793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.940281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.70, Y:98.46, Z:0.87 [[ 3.26838342e-01 -9.45078989e-01 -1.55040343e-03 1.74699389e+02] [ 9.45067439e-01 3.26842013e-01 -4.67268735e-03 9.84558534e+01] [ 4.92279561e-03 6.19775906e-05 9.99987881e-01 8.65806556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.970281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.71, Y:98.48, Z:0.87 [[ 3.25457455e-01 -9.45555416e-01 -1.54923292e-03 1.74706091e+02] [ 9.45543870e-01 3.25461137e-01 -4.67307540e-03 9.84793191e+01] [ 4.92286686e-03 5.60195339e-05 9.99987881e-01 8.68586044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.000281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.71, Y:98.50, Z:0.87 [[ 3.23434111e-01 -9.46249428e-01 -1.54806075e-03 1.74712569e+02] [ 9.46237888e-01 3.23437812e-01 -4.67346367e-03 9.85028326e+01] [ 4.92296371e-03 4.67238304e-05 9.99987881e-01 8.70824033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.030281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.72, Y:98.53, Z:0.87 [[ 3.21522830e-01 -9.46900563e-01 -1.54689377e-03 1.74719639e+02] [ 9.46889029e-01 3.21526549e-01 -4.67384991e-03 9.85268576e+01] [ 4.92303853e-03 3.80127066e-05 9.99987881e-01 8.71491500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.060281693 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:174.73, Y:98.55, Z:0.87 [[ 3.18178443e-01 -9.48029582e-01 -1.54568284e-03 1.74725056e+02] [ 9.48018059e-01 3.18182197e-01 -4.67425034e-03 9.85519609e+01] [ 4.92313636e-03 2.19104528e-05 9.99987881e-01 8.68543450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.090281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:174.73, Y:98.58, Z:0.87 [[ 3.16668294e-01 -9.48535084e-01 -1.54445523e-03 1.74730969e+02] [ 9.48523565e-01 3.16672060e-01 -4.67465593e-03 9.85760868e+01] [ 4.92316097e-03 1.53631365e-05 9.99987881e-01 8.66661453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.120281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:174.74, Y:98.60, Z:0.87 [[ 3.13783557e-01 -9.49493285e-01 -1.54317520e-03 1.74736042e+02] [ 9.49481775e-01 3.13787351e-01 -4.67507845e-03 9.85999124e+01] [ 4.92318445e-03 1.74601358e-06 9.99987881e-01 8.69097520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15028169299998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:174.74, Y:98.62, Z:0.87 [[ 3.12397528e-01 -9.49950213e-01 -1.54200347e-03 1.74742905e+02] [ 9.49938707e-01 3.12401333e-01 -4.67546489e-03 9.86234221e+01] [ 4.92318281e-03 -4.20510518e-06 9.99987881e-01 8.70585322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18028169299998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:174.75, Y:98.65, Z:0.87 [[ 3.10901240e-01 -9.50440974e-01 -1.54083629e-03 1.74750190e+02] [ 9.50429472e-01 3.10905058e-01 -4.67584951e-03 9.86477236e+01] [ 4.92317276e-03 -1.07288106e-05 9.99987881e-01 8.70708217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21028169299998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:174.76, Y:98.67, Z:0.87 [[ 3.07192411e-01 -9.51646180e-01 -1.53964060e-03 1.74757219e+02] [ 9.51634691e-01 3.07196267e-01 -4.67624319e-03 9.86713774e+01] [ 4.92310082e-03 -2.86689867e-05 9.99987881e-01 8.67201226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.240281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:174.77, Y:98.70, Z:0.87 [[ 3.04977669e-01 -9.52358260e-01 -1.53839769e-03 1.74765954e+02] [ 9.52346778e-01 3.04981547e-01 -4.67665205e-03 9.86956245e+01] [ 4.92303112e-03 -3.88136426e-05 9.99987881e-01 8.66815130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.270281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:174.78, Y:98.72, Z:0.87 [[ 3.02560408e-01 -9.53128972e-01 -1.53720813e-03 1.74775201e+02] [ 9.53117498e-01 3.02564309e-01 -4.67704302e-03 9.87185906e+01] [ 4.92292952e-03 -5.00519235e-05 9.99987881e-01 8.66785259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.300281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:174.79, Y:98.74, Z:0.87 [[ 2.98732495e-01 -9.54335652e-01 -1.53597781e-03 1.74787860e+02] [ 9.54324192e-01 2.98736436e-01 -4.67744704e-03 9.87407729e+01] [ 4.92270701e-03 -6.85153553e-05 9.99987881e-01 8.69067887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.330281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:174.80, Y:98.76, Z:0.87 [[ 2.97632231e-01 -9.54679370e-01 -1.53473345e-03 1.74798203e+02] [ 9.54667912e-01 2.97636179e-01 -4.67785529e-03 9.87643955e+01] [ 4.92264414e-03 -7.28802738e-05 9.99987881e-01 8.69931281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.360281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:174.81, Y:98.79, Z:0.87 [[ 2.97545099e-01 -9.54706532e-01 -1.53357430e-03 1.74811314e+02] [ 9.54695073e-01 2.97549042e-01 -4.67823527e-03 9.87870374e+01] [ 4.92265534e-03 -7.21098530e-05 9.99987881e-01 8.69661264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.390281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:174.82, Y:98.81, Z:0.87 [[ 2.98193152e-01 -9.54504319e-01 -1.53242003e-03 1.74821261e+02] [ 9.54492855e-01 2.98197082e-01 -4.67861334e-03 9.88082616e+01] [ 4.92271982e-03 -6.75535071e-05 9.99987881e-01 8.68732601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.420281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:174.83, Y:98.83, Z:0.87 [[ 2.99210088e-01 -9.54186030e-01 -1.53111020e-03 1.74832153e+02] [ 9.54174559e-01 2.99213999e-01 -4.67904195e-03 9.88314974e+01] [ 4.92280607e-03 -6.09298428e-05 9.99987881e-01 8.68873596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.450281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.85, Y:98.85, Z:0.87 [[ 3.02287412e-01 -9.53215600e-01 -1.52994351e-03 1.74846061e+02] [ 9.53204115e-01 3.02291280e-01 -4.67942340e-03 9.88537324e+01] [ 4.92298797e-03 -4.38176601e-05 9.99987881e-01 8.72497322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.480281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:174.86, Y:98.88, Z:0.88 [[ 3.03736379e-01 -9.52754887e-01 -1.52883169e-03 1.74856262e+02] [ 9.52743394e-01 3.03740225e-01 -4.67978662e-03 9.88773992e+01] [ 4.92305726e-03 -3.51628485e-05 9.99987881e-01 8.75070768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.510281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:174.87, Y:98.90, Z:0.88 [[ 3.05981070e-01 -9.52036371e-01 -1.52766222e-03 1.74867209e+02] [ 9.52024867e-01 3.05984883e-01 -4.68016835e-03 9.88999763e+01] [ 4.92313204e-03 -2.23294987e-05 9.99987881e-01 8.76395748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.540281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:174.88, Y:98.92, Z:0.87 [[ 3.06519657e-01 -9.51863105e-01 -1.52644513e-03 1.74876282e+02] [ 9.51851597e-01 3.06523457e-01 -4.68056527e-03 9.89240357e+01] [ 4.92314863e-03 -1.82639740e-05 9.99987881e-01 8.74863930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.570281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:174.88, Y:98.95, Z:0.87 [[ 3.07135514e-01 -9.51664568e-01 -1.52525959e-03 1.74884985e+02] [ 9.51653056e-01 3.07139301e-01 -4.68095158e-03 9.89466109e+01] [ 4.92316292e-03 -1.38314774e-05 9.99987881e-01 8.73349068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.600281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.89, Y:98.97, Z:0.87 [[ 3.08199209e-01 -9.51320621e-01 -1.52423009e-03 1.74894817e+02] [ 9.51309103e-01 3.08202978e-01 -4.68128678e-03 9.89681656e+01] [ 4.92317690e-03 -7.24508065e-06 9.99987881e-01 8.71340433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.630281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:174.90, Y:98.99, Z:0.87 [[ 3.08630120e-01 -9.51180913e-01 -1.52304714e-03 1.74903302e+02] [ 9.51169391e-01 3.08633878e-01 -4.68167162e-03 9.89917662e+01] [ 4.92318063e-03 -3.77094665e-06 9.99987881e-01 8.71447596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.660281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:174.91, Y:99.02, Z:0.87 [[ 3.09197837e-01 -9.50996520e-01 -1.52179482e-03 1.74912030e+02] [ 9.50984995e-01 3.09201582e-01 -4.68207865e-03 9.90151815e+01] [ 4.92318187e-03 4.84551267e-07 9.99987881e-01 8.72908192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.690281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:174.92, Y:99.04, Z:0.88 [[ 3.09244329e-01 -9.50981405e-01 -1.52053513e-03 1.74921935e+02] [ 9.50969877e-01 3.09248067e-01 -4.68248771e-03 9.90371927e+01] [ 4.92318129e-03 2.04966569e-06 9.99987881e-01 8.75412487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.720281693 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:174.93, Y:99.06, Z:0.87 [[ 3.08494399e-01 -9.51224946e-01 -1.51923237e-03 1.74930958e+02] [ 9.51213419e-01 3.08498140e-01 -4.68291035e-03 9.90606333e+01] [ 4.92318151e-03 -4.62600144e-07 9.99987881e-01 8.74477037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.750281693 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:174.94, Y:99.08, Z:0.87 [[ 3.08244111e-01 -9.51306083e-01 -1.51799518e-03 1.74938327e+02] [ 9.51294555e-01 3.08247849e-01 -4.68331136e-03 9.90846743e+01] [ 4.92318134e-03 -4.57398425e-07 9.99987881e-01 8.74600824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.780281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:174.95, Y:99.11, Z:0.87 [[ 3.07279780e-01 -9.51618010e-01 -1.51676283e-03 1.74948410e+02] [ 9.51606483e-01 3.07283523e-01 -4.68371044e-03 9.91072924e+01] [ 4.92317944e-03 -4.15183181e-06 9.99987881e-01 8.71360435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.810281693 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:174.96, Y:99.13, Z:0.87 [[ 3.07539806e-01 -9.51534009e-01 -1.51553370e-03 1.74957088e+02] [ 9.51522480e-01 3.07543540e-01 -4.68410813e-03 9.91299690e+01] [ 4.92318078e-03 -1.51467972e-06 9.99987881e-01 8.69393797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.840281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:174.97, Y:99.15, Z:0.87 [[ 3.08555835e-01 -9.51205027e-01 -1.51430605e-03 1.74966110e+02] [ 9.51193492e-01 3.08559551e-01 -4.68450497e-03 9.91524008e+01] [ 4.92317828e-03 5.03327983e-06 9.99987881e-01 8.67450905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.870281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:174.98, Y:99.18, Z:0.87 [[ 3.09908854e-01 -9.50765067e-01 -1.51315121e-03 1.74975473e+02] [ 9.50753525e-01 3.09912548e-01 -4.68487797e-03 9.91755569e+01] [ 4.92316287e-03 1.32513140e-05 9.99987881e-01 8.66322012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90028169299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:174.99, Y:99.20, Z:0.87 [[ 3.13109153e-01 -9.49715943e-01 -1.51193554e-03 1.74986513e+02] [ 9.49704387e-01 3.13112802e-01 -4.68527027e-03 9.91983861e+01] [ 4.92308224e-03 3.11091922e-05 9.99987881e-01 8.69155781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93028169299998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:175.00, Y:99.22, Z:0.87 [[ 3.14704077e-01 -9.49188633e-01 -1.51066737e-03 1.74995530e+02] [ 9.49177069e-01 3.14707700e-01 -4.68567913e-03 9.92217019e+01] [ 4.92301202e-03 4.07114965e-05 9.99987881e-01 8.69235691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96028169299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.01, Y:99.24, Z:0.87 [[ 3.19251358e-01 -9.47668873e-01 -1.50934366e-03 1.75006200e+02] [ 9.47657289e-01 3.19254919e-01 -4.68610548e-03 9.92434975e+01] [ 4.92274169e-03 6.57050188e-05 9.99987881e-01 8.70210575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.990281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:175.01, Y:99.27, Z:0.87 [[ 3.21344484e-01 -9.46961165e-01 -1.50807409e-03 1.75014803e+02] [ 9.46949571e-01 3.21348013e-01 -4.68651401e-03 9.92661179e+01] [ 4.92256339e-03 7.79153113e-05 9.99987881e-01 8.71281341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.020281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:175.02, Y:99.29, Z:0.87 [[ 3.22933059e-01 -9.46420609e-01 -1.50686200e-03 1.75023591e+02] [ 9.46409007e-01 3.22936563e-01 -4.68690371e-03 9.92894951e+01] [ 4.92240310e-03 8.74483863e-05 9.99987881e-01 8.72083661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.050281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:175.03, Y:99.31, Z:0.87 [[ 3.25199318e-01 -9.45644297e-01 -1.50565234e-03 1.75033051e+02] [ 9.45632685e-01 3.25202788e-01 -4.68729227e-03 9.93136334e+01] [ 4.92215355e-03 1.00510186e-04 9.99987881e-01 8.73484457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.080281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:175.04, Y:99.34, Z:0.87 [[ 3.26066920e-01 -9.45345493e-01 -1.50440449e-03 1.75041387e+02] [ 9.45333876e-01 3.26070373e-01 -4.68769274e-03 9.93370595e+01] [ 4.92203094e-03 1.06337009e-04 9.99987881e-01 8.72723108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.110281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:175.05, Y:99.36, Z:0.87 [[ 3.28830679e-01 -9.44387699e-01 -1.50310818e-03 1.75049590e+02] [ 9.44376070e-01 3.28834091e-01 -4.68810837e-03 9.93615974e+01] [ 4.92166509e-03 1.22094457e-04 9.99987881e-01 8.72616218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.140281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:175.06, Y:99.39, Z:0.87 [[ 3.30427736e-01 -9.43830099e-01 -1.50194749e-03 1.75056801e+02] [ 9.43818463e-01 3.30431123e-01 -4.68848019e-03 9.93860814e+01] [ 4.92141892e-03 1.31638120e-04 9.99987881e-01 8.73350938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.170281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:175.06, Y:99.41, Z:0.88 [[ 3.32719118e-01 -9.43024780e-01 -1.50076181e-03 1.75063108e+02] [ 9.43013135e-01 3.32722471e-01 -4.68885969e-03 9.94100660e+01] [ 4.92104806e-03 1.44835166e-04 9.99987881e-01 8.75872753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.200281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:175.07, Y:99.43, Z:0.88 [[ 3.33090959e-01 -9.42893507e-01 -1.49952993e-03 1.75069513e+02] [ 9.42881858e-01 3.33094301e-01 -4.68925363e-03 9.94329641e+01] [ 4.92095167e-03 1.48068421e-04 9.99987881e-01 8.77448413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.230281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:175.08, Y:99.46, Z:0.88 [[ 3.33517025e-01 -9.42742886e-01 -1.49823241e-03 1.75076035e+02] [ 9.42731234e-01 3.33520355e-01 -4.68966815e-03 9.94574818e+01] [ 4.92084229e-03 1.51653680e-04 9.99987881e-01 8.78154701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.260281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:175.08, Y:99.48, Z:0.88 [[ 3.34396993e-01 -9.42431117e-01 -1.49707467e-03 1.75081585e+02] [ 9.42419460e-01 3.34400307e-01 -4.69003770e-03 9.94824665e+01] [ 4.92065970e-03 1.57462203e-04 9.99987881e-01 8.76405355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.290281693 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:175.09, Y:99.51, Z:0.88 [[ 3.34164867e-01 -9.42513450e-01 -1.49591072e-03 1.75087821e+02] [ 9.42501793e-01 3.34168178e-01 -4.69040892e-03 9.95072251e+01] [ 4.92065926e-03 1.57471339e-04 9.99987881e-01 8.75706680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.320281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:175.09, Y:99.53, Z:0.88 [[ 3.33554581e-01 -9.42729605e-01 -1.49475024e-03 1.75093986e+02] [ 9.42717947e-01 3.33557894e-01 -4.69077872e-03 9.95323547e+01] [ 4.92072171e-03 1.55502848e-04 9.99987881e-01 8.76640247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.350281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:175.10, Y:99.56, Z:0.88 [[ 3.31865076e-01 -9.43325681e-01 -1.49354539e-03 1.75099032e+02] [ 9.43314028e-01 3.31868403e-01 -4.69116231e-03 9.95567077e+01] [ 4.92095441e-03 1.47950622e-04 9.99987881e-01 8.80422804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.380281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:175.10, Y:99.58, Z:0.88 [[ 3.30849689e-01 -9.43682286e-01 -1.49228965e-03 1.75104858e+02] [ 9.43670634e-01 3.30853024e-01 -4.69156174e-03 9.95803413e+01] [ 4.92107224e-03 1.43971826e-04 9.99987881e-01 8.82176377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.410281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:175.11, Y:99.61, Z:0.88 [[ 3.30378551e-01 -9.43847334e-01 -1.49103788e-03 1.75110057e+02] [ 9.43835683e-01 3.30381885e-01 -4.69195953e-03 9.96054679e+01] [ 4.92110540e-03 1.42828032e-04 9.99987881e-01 8.81990672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.440281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:175.12, Y:99.63, Z:0.88 [[ 3.30719022e-01 -9.43728091e-01 -1.48980636e-03 1.75115280e+02] [ 9.43716436e-01 3.30722345e-01 -4.69235053e-03 9.96289787e+01] [ 4.92101526e-03 1.45894830e-04 9.99987881e-01 8.80319367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.470281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:175.12, Y:99.65, Z:0.88 [[ 3.31348526e-01 -9.43507254e-01 -1.48847075e-03 1.75120587e+02] [ 9.43495596e-01 3.31351835e-01 -4.69277417e-03 9.96544850e+01] [ 4.92087398e-03 1.50578207e-04 9.99987881e-01 8.78507142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.500281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:175.12, Y:99.68, Z:0.88 [[ 3.32354983e-01 -9.43153197e-01 -1.48724324e-03 1.75122642e+02] [ 9.43141533e-01 3.32358274e-01 -4.69316316e-03 9.96794949e+01] [ 4.92066944e-03 1.57115291e-04 9.99987881e-01 8.76339586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.530281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:175.13, Y:99.70, Z:0.88 [[ 3.32306066e-01 -9.43170436e-01 -1.48596705e-03 1.75127553e+02] [ 9.43158770e-01 3.32309350e-01 -4.69356720e-03 9.97042448e+01] [ 4.92063456e-03 1.58197996e-04 9.99987881e-01 8.76228487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.560281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:175.13, Y:99.73, Z:0.88 [[ 3.31000203e-01 -9.43629515e-01 -1.48476101e-03 1.75129973e+02] [ 9.43617852e-01 3.31003498e-01 -4.69394869e-03 9.97288868e+01] [ 4.92080961e-03 1.52650972e-04 9.99987881e-01 8.76328411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.590281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:175.13, Y:99.75, Z:0.88 [[ 3.29672827e-01 -9.44094077e-01 -1.48350984e-03 1.75134910e+02] [ 9.44082418e-01 3.29676132e-01 -4.69434408e-03 9.97543701e+01] [ 4.92098023e-03 1.47042127e-04 9.99987881e-01 8.76048556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.620281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:175.14, Y:99.78, Z:0.88 [[ 3.28117013e-01 -9.44635924e-01 -1.48231601e-03 1.75139968e+02] [ 9.44624268e-01 3.28120331e-01 -4.69472102e-03 9.97786041e+01] [ 4.92118015e-03 1.40186159e-04 9.99987881e-01 8.75145548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65028169299998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:175.15, Y:99.80, Z:0.87 [[ 3.26413580e-01 -9.45225889e-01 -1.48106906e-03 1.75145211e+02] [ 9.45214237e-01 3.26416913e-01 -4.69511437e-03 9.98028397e+01] [ 4.92138965e-03 1.32621532e-04 9.99987881e-01 8.74851075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68028169299998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:175.15, Y:99.83, Z:0.88 [[ 3.24356666e-01 -9.45933699e-01 -1.47984256e-03 1.75148055e+02] [ 9.45922053e-01 3.24360019e-01 -4.69550092e-03 9.98285535e+01] [ 4.92163431e-03 1.23201316e-04 9.99987881e-01 8.77054483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71028169299998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:175.15, Y:99.85, Z:0.88 [[ 3.23898446e-01 -9.46090699e-01 -1.47865173e-03 1.75152266e+02] [ 9.46079053e-01 3.23901798e-01 -4.69587589e-03 9.98536208e+01] [ 4.92166245e-03 1.22065476e-04 9.99987881e-01 8.78084375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.740281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:175.15, Y:99.88, Z:0.88 [[ 3.24004357e-01 -9.46054435e-01 -1.47743094e-03 1.75153538e+02] [ 9.46042787e-01 3.24007702e-01 -4.69625995e-03 9.98789782e+01] [ 4.92161655e-03 1.23895807e-04 9.99987881e-01 8.76802398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.770281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:175.16, Y:99.90, Z:0.87 [[ 3.23817666e-01 -9.46118354e-01 -1.47616167e-03 1.75158060e+02] [ 9.46106705e-01 3.23821007e-01 -4.69665888e-03 9.99030917e+01] [ 4.92160733e-03 1.24254662e-04 9.99987881e-01 8.74839451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.800281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:175.16, Y:99.93, Z:0.88 [[ 3.21604567e-01 -9.46872920e-01 -1.47493370e-03 1.75159955e+02] [ 9.46861277e-01 3.21607928e-01 -4.69704448e-03 9.99292683e+01] [ 4.92185459e-03 1.14033347e-04 9.99987881e-01 8.75206523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.830281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:175.16, Y:99.95, Z:0.88 [[ 3.19321736e-01 -9.47645217e-01 -1.47377115e-03 1.75163955e+02] [ 9.47633580e-01 3.19325120e-01 -4.69740922e-03 9.99522464e+01] [ 4.92208953e-03 1.03389834e-04 9.99987881e-01 8.76616144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.860281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:175.17, Y:99.98, Z:0.88 [[ 3.16517516e-01 -9.48585523e-01 -1.47239822e-03 1.75169203e+02] [ 9.48573894e-01 3.16520928e-01 -4.69783952e-03 9.99759750e+01] [ 4.92234741e-03 9.02699786e-05 9.99987881e-01 8.78069425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.890281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:175.18, Y:100.00, Z:0.88 [[ 3.10110737e-01 -9.50699304e-01 -1.47113670e-03 1.75175288e+02] [ 9.50687697e-01 3.10114221e-01 -4.69823454e-03 9.99991294e+01] [ 4.92282871e-03 5.83814146e-05 9.99987881e-01 8.79628256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.920281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:175.18, Y:100.02, Z:0.88 [[ 3.06534835e-01 -9.51858306e-01 -1.46982759e-03 1.75181662e+02] [ 9.51846710e-01 3.06538356e-01 -4.69864405e-03 1.00021892e+02] [ 4.92300190e-03 4.12475253e-05 9.99987881e-01 8.79682749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.950281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:175.19, Y:100.05, Z:0.88 [[ 3.01230742e-01 -9.53550147e-01 -1.46865014e-03 1.75187382e+02] [ 9.53538569e-01 3.01234322e-01 -4.69901206e-03 1.00045561e+02] [ 4.92315147e-03 1.50723375e-05 9.99987881e-01 8.79715050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.980281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:175.19, Y:100.07, Z:0.88 [[ 2.99084977e-01 -9.54225352e-01 -1.46740566e-03 1.75194126e+02] [ 9.54213780e-01 2.99088577e-01 -4.69940065e-03 1.00068251e+02] [ 4.92317151e-03 5.30143086e-06 9.99987881e-01 8.79517764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.010281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:175.20, Y:100.09, Z:0.88 [[ 2.97290259e-01 -9.54786024e-01 -1.46623665e-03 1.75201772e+02] [ 9.54774457e-01 2.97293874e-01 -4.69976536e-03 1.00091307e+02] [ 4.92317346e-03 -2.73083992e-06 9.99987881e-01 8.78991021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.040281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:175.21, Y:100.11, Z:0.88 [[ 2.95303077e-01 -9.55402505e-01 -1.46500387e-03 1.75209402e+02] [ 9.55390944e-01 2.95306711e-01 -4.70014961e-03 1.00114228e+02] [ 4.92316018e-03 -1.16827886e-05 9.99987881e-01 8.79112899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.070281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:175.22, Y:100.14, Z:0.88 [[ 2.92125431e-01 -9.56378895e-01 -1.46373169e-03 1.75216865e+02] [ 9.56367344e-01 2.92129097e-01 -4.70054576e-03 1.00137158e+02] [ 4.92310137e-03 -2.67162384e-05 9.99987881e-01 8.80667919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.100281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:175.22, Y:100.16, Z:0.88 [[ 2.90502593e-01 -9.56873087e-01 -1.46241121e-03 1.75224589e+02] [ 9.56861540e-01 2.90506272e-01 -4.70095654e-03 1.00160526e+02] [ 4.92305843e-03 -3.36849765e-05 9.99987881e-01 8.79437741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.130281693 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:175.24, Y:100.18, Z:0.88 [[ 2.87856170e-01 -9.57672538e-01 -1.46115398e-03 1.75235369e+02] [ 9.57660999e-01 2.87859875e-01 -4.70134728e-03 1.00183587e+02] [ 4.92295879e-03 -4.59783575e-05 9.99987881e-01 8.75344730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.160281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:175.24, Y:100.21, Z:0.87 [[ 2.86120827e-01 -9.58192434e-01 -1.45991410e-03 1.75244348e+02] [ 9.58180900e-01 2.86124546e-01 -4.70173227e-03 1.00206728e+02] [ 4.92288155e-03 -5.35982804e-05 9.99987881e-01 8.73589499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.190281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:175.25, Y:100.23, Z:0.88 [[ 2.84089241e-01 -9.58796733e-01 -1.45862744e-03 1.75253326e+02] [ 9.58785205e-01 2.84092979e-01 -4.70213140e-03 1.00230195e+02] [ 4.92277404e-03 -6.26854670e-05 9.99987881e-01 8.75316597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.220281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:175.26, Y:100.25, Z:0.88 [[ 2.80680449e-01 -9.59800167e-01 -1.45743246e-03 1.75263884e+02] [ 9.59788651e-01 2.80684222e-01 -4.70250176e-03 1.00253298e+02] [ 4.92254027e-03 -7.89268269e-05 9.99987881e-01 8.78147764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.250281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:175.27, Y:100.28, Z:0.88 [[ 2.79297593e-01 -9.60203486e-01 -1.45622267e-03 1.75273736e+02] [ 9.60191972e-01 2.79301377e-01 -4.70287636e-03 1.00276346e+02] [ 4.92244328e-03 -8.47512685e-05 9.99987881e-01 8.78722123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.280281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:175.28, Y:100.30, Z:0.88 [[ 2.77456439e-01 -9.60737116e-01 -1.45519010e-03 1.75283809e+02] [ 9.60725609e-01 2.77460240e-01 -4.70319585e-03 1.00300029e+02] [ 4.92229221e-03 -9.31064249e-05 9.99987881e-01 8.79032927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.310281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:175.30, Y:100.32, Z:0.88 [[ 2.75418513e-01 -9.61323322e-01 -1.45398028e-03 1.75297707e+02] [ 9.61311820e-01 2.75422332e-01 -4.70356983e-03 1.00322828e+02] [ 4.92211001e-03 -1.02278220e-04 9.99987881e-01 8.75777505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.340281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:175.31, Y:100.35, Z:0.88 [[ 2.75216425e-01 -9.61381198e-01 -1.45277513e-03 1.75308917e+02] [ 9.61369696e-01 2.75220241e-01 -4.70394203e-03 1.00345599e+02] [ 4.92211455e-03 -1.02051873e-04 9.99987881e-01 8.75151278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.370281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:175.32, Y:100.37, Z:0.88 [[ 2.75415289e-01 -9.61324249e-01 -1.45157180e-03 1.75324276e+02] [ 9.61312744e-01 2.75419096e-01 -4.70431333e-03 1.00367619e+02] [ 4.92216107e-03 -9.97746513e-05 9.99987881e-01 8.76088690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40028169299998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:175.33, Y:100.39, Z:0.88 [[ 2.75180248e-01 -9.61391558e-01 -1.45036515e-03 1.75334998e+02] [ 9.61380052e-01 2.75184052e-01 -4.70468532e-03 1.00390430e+02] [ 4.92216211e-03 -9.97156504e-05 9.99987881e-01 8.77192803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43028169299998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:175.35, Y:100.41, Z:0.88 [[ 2.75196106e-01 -9.61387021e-01 -1.44911001e-03 1.75345964e+02] [ 9.61375512e-01 2.75199904e-01 -4.70507189e-03 1.00413482e+02] [ 4.92218998e-03 -9.83214187e-05 9.99987881e-01 8.78056501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46028169299998 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:175.36, Y:100.44, Z:0.88 [[ 2.76667283e-01 -9.60964681e-01 -1.44790579e-03 1.75361892e+02] [ 9.60953165e-01 2.76671058e-01 -4.70544244e-03 1.00435416e+02] [ 4.92235762e-03 -8.95276693e-05 9.99987881e-01 8.80096730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.490281693 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:175.37, Y:100.46, Z:0.88 [[ 2.77986909e-01 -9.60583773e-01 -1.44668995e-03 1.75372336e+02] [ 9.60572250e-01 2.77990662e-01 -4.70581622e-03 1.00457650e+02] [ 4.92249700e-03 -8.14949154e-05 9.99987881e-01 8.80999374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.520281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:175.38, Y:100.48, Z:0.88 [[ 2.82615159e-01 -9.59232288e-01 -1.44543030e-03 1.75383620e+02] [ 9.59220745e-01 2.82618850e-01 -4.70620310e-03 1.00480100e+02] [ 4.92284782e-03 -5.64423878e-05 9.99987881e-01 8.81932410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.550281693 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:175.39, Y:100.50, Z:0.88 [[ 2.85667288e-01 -9.58327770e-01 -1.44413805e-03 1.75391694e+02] [ 9.58316213e-01 2.85670936e-01 -4.70659960e-03 1.00501915e+02] [ 4.92301337e-03 -3.94193637e-05 9.99987881e-01 8.81605422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.580281693 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:175.40, Y:100.52, Z:0.88 [[ 2.93973956e-01 -9.55812341e-01 -1.44279549e-03 1.75400790e+02] [ 9.55800751e-01 2.93977497e-01 -4.70701113e-03 1.00524955e+02] [ 4.92316873e-03 4.71367170e-06 9.99987881e-01 8.78170984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.610281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:175.41, Y:100.55, Z:0.88 [[ 2.98260070e-01 -9.54483553e-01 -1.44152121e-03 1.75406888e+02] [ 9.54471945e-01 2.98263552e-01 -4.70740134e-03 1.00548627e+02] [ 4.92309039e-03 2.81383034e-05 9.99987881e-01 8.76795571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.640281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:175.41, Y:100.57, Z:0.88 [[ 2.98000293e-01 -9.54564692e-01 -1.44024266e-03 1.75413868e+02] [ 9.54553083e-01 2.98003772e-01 -4.70779248e-03 1.00572792e+02] [ 4.92309023e-03 2.81354651e-05 9.99987881e-01 8.76919360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.670281693 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:175.42, Y:100.60, Z:0.88 [[ 3.01878803e-01 -9.53345225e-01 -1.43896130e-03 1.75418755e+02] [ 9.53333600e-01 3.01882229e-01 -4.70818411e-03 1.00596240e+02] [ 4.92292168e-03 4.94908299e-05 9.99987881e-01 8.76645014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.700281693 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:175.42, Y:100.62, Z:0.88 [[ 3.04957150e-01 -9.52364988e-01 -1.43763333e-03 1.75423356e+02] [ 9.52353350e-01 3.04960532e-01 -4.70858956e-03 1.00619493e+02] [ 4.92271727e-03 6.67831368e-05 9.99987881e-01 8.77709177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.730281693 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:175.43, Y:100.64, Z:0.89 [[ 3.08293197e-01 -9.51290304e-01 -1.43643670e-03 1.75428494e+02] [ 9.51278652e-01 3.08296531e-01 -4.70895459e-03 1.00644129e+02] [ 4.92243129e-03 8.52870980e-05 9.99987881e-01 8.85052365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.760281693 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:175.43, Y:100.67, Z:0.89 [[ 3.09111256e-01 -9.51024801e-01 -1.43522586e-03 1.75433316e+02] [ 9.51013145e-01 3.09114574e-01 -4.70932361e-03 1.00669677e+02] [ 4.92233278e-03 9.07862718e-05 9.99987881e-01 8.87430342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.790281693 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:175.44, Y:100.69, Z:0.89 [[ 3.09101130e-01 -9.51028094e-01 -1.43401012e-03 1.75437942e+02] [ 9.51016437e-01 3.09104442e-01 -4.70969378e-03 1.00693594e+02] [ 4.92230999e-03 9.20044745e-05 9.99987881e-01 8.86546820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.820281693 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:175.44, Y:100.72, Z:0.88 [[ 3.09457218e-01 -9.50912287e-01 -1.43274580e-03 1.75442740e+02] [ 9.50900627e-01 3.09460520e-01 -4.71007837e-03 1.00718416e+02] [ 4.92224965e-03 9.51688637e-05 9.99987881e-01 8.84859867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.850281693 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:175.45, Y:100.74, Z:0.88 [[ 3.10103236e-01 -9.50701811e-01 -1.43151079e-03 1.75447631e+02] [ 9.50690147e-01 3.10106524e-01 -4.71045369e-03 1.00743271e+02] [ 4.92215769e-03 9.98037281e-05 9.99987881e-01 8.83488454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.880281693 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:175.45, Y:100.77, Z:0.88 [[ 3.11692062e-01 -9.50182095e-01 -1.43030042e-03 1.75448940e+02] [ 9.50170423e-01 3.11695325e-01 -4.71082118e-03 1.00768474e+02] [ 4.92195589e-03 1.09296418e-04 9.99987881e-01 8.82940609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.910281693 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:175.45, Y:100.80, Z:0.89 [[ 3.13226876e-01 -9.49677251e-01 -1.42903967e-03 1.75449971e+02] [ 9.49665573e-01 3.13230114e-01 -4.71120360e-03 1.00795214e+02] [ 4.92174114e-03 1.18565813e-04 9.99987881e-01 8.85049101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.940281693 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:175.45, Y:100.82, Z:0.88 [[ 3.13639152e-01 -9.49541175e-01 -1.42782220e-03 1.75454729e+02] [ 9.49529494e-01 3.13642378e-01 -4.71157255e-03 1.00819732e+02] [ 4.92165769e-03 1.21974325e-04 9.99987881e-01 8.84601386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.970281693 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:175.46, Y:100.85, Z:0.88 [[ 3.13596733e-01 -9.49555187e-01 -1.42678532e-03 1.75460232e+02] [ 9.49543504e-01 3.13599955e-01 -4.71188652e-03 1.00845140e+02] [ 4.92163610e-03 1.22837487e-04 9.99987881e-01 8.83313013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.000281693 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:175.46, Y:100.87, Z:0.88 [[ 3.12692055e-01 -9.49853487e-01 -1.42560841e-03 1.75464970e+02] [ 9.49841806e-01 3.12695282e-01 -4.71224258e-03 1.00869411e+02] [ 4.92172107e-03 1.19378347e-04 9.99987881e-01 8.81710769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.030281693 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:175.47, Y:100.89, Z:0.88 [[ 3.09341357e-01 -9.50949996e-01 -1.42438428e-03 1.75467567e+02] [ 9.50938325e-01 3.09344619e-01 -4.71261257e-03 1.00894810e+02] [ 4.92208452e-03 1.03304364e-04 9.99987881e-01 8.79782802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.060281693 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:175.47, Y:100.92, Z:0.88 [[ 3.06923194e-01 -9.51733223e-01 -1.42310983e-03 1.75471891e+02] [ 9.51721558e-01 3.06926479e-01 -4.71299739e-03 1.00919077e+02] [ 4.92230629e-03 9.21239037e-05 9.99987881e-01 8.79875693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.090281693 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:175.47, Y:100.94, Z:0.88 [[ 3.02340071e-01 -9.53199066e-01 -1.42189153e-03 1.75474402e+02] [ 9.53187415e-01 3.02343406e-01 -4.71336492e-03 1.00942684e+02] [ 4.92267457e-03 6.97099746e-05 9.99987881e-01 8.82982419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.120281693 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:175.48, Y:100.97, Z:0.89 [[ 3.00711918e-01 -9.53713964e-01 -1.42056693e-03 1.75479590e+02] [ 9.53702317e-01 3.00715267e-01 -4.71376411e-03 1.00967130e+02] [ 4.92276882e-03 6.26870755e-05 9.99987881e-01 8.85658517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15028169299998 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:175.48, Y:100.99, Z:0.89 [[ 2.98668118e-01 -9.54355982e-01 -1.41929921e-03 1.75484578e+02] [ 9.54344341e-01 2.98671486e-01 -4.71414579e-03 1.00991563e+02] [ 4.92287744e-03 5.34648878e-05 9.99987881e-01 8.87453281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18028169299998 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:175.49, Y:101.02, Z:0.89 [[ 2.97704965e-01 -9.54656872e-01 -1.41804035e-03 1.75490783e+02] [ 9.54645232e-01 2.97708338e-01 -4.71452443e-03 1.01015609e+02] [ 4.92291558e-03 4.98118666e-05 9.99987881e-01 8.86325295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21028169299998 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:175.50, Y:101.04, Z:0.88 [[ 2.96791086e-01 -9.54941382e-01 -1.41677759e-03 1.75496496e+02] [ 9.54929744e-01 2.96794464e-01 -4.71490387e-03 1.01038498e+02] [ 4.92294857e-03 4.64183827e-05 9.99987881e-01 8.84557476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.240281693 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:175.50, Y:101.06, Z:0.88 [[ 2.95935376e-01 -9.55206915e-01 -1.41547323e-03 1.75503227e+02] [ 9.55195277e-01 2.95938758e-01 -4.71529543e-03 1.01063396e+02] [ 4.92297619e-03 4.33693779e-05 9.99987881e-01 8.84195274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.270281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:175.51, Y:101.09, Z:0.89 [[ 2.94029551e-01 -9.55795283e-01 -1.41426700e-03 1.75509793e+02] [ 9.55783651e-01 2.94032950e-01 -4.71565719e-03 1.01087174e+02] [ 4.92304399e-03 3.48092921e-05 9.99987881e-01 8.85923229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.300281693 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:175.52, Y:101.11, Z:0.89 [[ 2.92390682e-01 -9.56297910e-01 -1.41322256e-03 1.75516639e+02] [ 9.56286282e-01 2.92394096e-01 -4.71597017e-03 1.01110016e+02] [ 4.92309035e-03 2.74603879e-05 9.99987881e-01 8.86358161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.330281693 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:175.52, Y:101.13, Z:0.89 [[ 2.88321633e-01 -9.57532580e-01 -1.41187967e-03 1.75524418e+02] [ 9.57520965e-01 2.88325090e-01 -4.71637218e-03 1.01133367e+02] [ 4.92316035e-03 7.92774662e-06 9.99987881e-01 8.85860746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.360281693 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:175.53, Y:101.16, Z:0.89 [[ 2.85432678e-01 -9.58397723e-01 -1.41059930e-03 1.75532497e+02] [ 9.58386117e-01 2.85436164e-01 -4.71675508e-03 1.01156885e+02] [ 4.92316339e-03 -5.58274381e-06 9.99987881e-01 8.86157355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.390281693 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:175.54, Y:101.18, Z:0.89 [[ 2.82369606e-01 -9.59304654e-01 -1.40932177e-03 1.75540591e+02] [ 9.59293057e-01 2.82373122e-01 -4.71713677e-03 1.01179207e+02] [ 4.92312584e-03 -1.99765428e-05 9.99987881e-01 8.86100541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.420281693 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:175.55, Y:101.20, Z:0.88 [[ 2.76393191e-01 -9.61043611e-01 -1.40799498e-03 1.75551511e+02] [ 9.61032033e-01 2.76396773e-01 -4.71753276e-03 1.01201403e+02] [ 4.92291999e-03 -4.92343432e-05 9.99987881e-01 8.83580684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.450281693 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:175.56, Y:101.22, Z:0.88 [[ 2.74245331e-01 -9.61658733e-01 -1.40677487e-03 1.75561123e+02] [ 9.61647162e-01 2.74248933e-01 -4.71789657e-03 1.01224762e+02] [ 4.92281295e-03 -5.89599478e-05 9.99987881e-01 8.82732513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.480281693 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:175.57, Y:101.25, Z:0.88 [[ 2.72220682e-01 -9.62233820e-01 -1.40557353e-03 1.75572675e+02] [ 9.62222255e-01 2.72224302e-01 -4.71825445e-03 1.01246889e+02] [ 4.92269528e-03 -6.80676887e-05 9.99987881e-01 8.83877595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.510281693 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:175.58, Y:101.27, Z:0.88 [[ 2.72390629e-01 -9.62185727e-01 -1.40432656e-03 1.75580850e+02] [ 9.62174159e-01 2.72394241e-01 -4.71862557e-03 1.01270594e+02] [ 4.92272464e-03 -6.58973431e-05 9.99987881e-01 8.84369600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.540281693 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:175.59, Y:101.29, Z:0.88 [[ 2.72975870e-01 -9.62019857e-01 -1.40306305e-03 1.75588721e+02] [ 9.62008285e-01 2.72979469e-01 -4.71900124e-03 1.01294465e+02] [ 4.92278030e-03 -6.15848099e-05 9.99987881e-01 8.84361537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.570281693 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:175.60, Y:101.32, Z:0.89 [[ 2.74352536e-01 -9.61628161e-01 -1.40179452e-03 1.75600105e+02] [ 9.61616582e-01 2.74356112e-01 -4.71937803e-03 1.01317055e+02] [ 4.92287771e-03 -5.32155226e-05 9.99987881e-01 8.88901768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.600281693 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:175.61, Y:101.34, Z:0.88 [[ 2.74461311e-01 -9.61597123e-01 -1.40051137e-03 1.75609355e+02] [ 9.61585542e-01 2.74464879e-01 -4.71975878e-03 1.01338850e+02] [ 4.92289765e-03 -5.13202985e-05 9.99987881e-01 8.80884286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.630281693 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:175.62, Y:101.36, Z:0.88 [[ 2.74266090e-01 -9.61652824e-01 -1.39917863e-03 1.75618522e+02] [ 9.61641241e-01 2.74269654e-01 -4.72015384e-03 1.01362301e+02] [ 4.92290151e-03 -5.09297341e-05 9.99987881e-01 8.82012005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.660281693 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:175.63, Y:101.38, Z:0.88 [[ 2.73746700e-01 -9.61800806e-01 -1.39795838e-03 1.75629301e+02] [ 9.61789223e-01 2.73750265e-01 -4.72051521e-03 1.01384678e+02] [ 4.92288681e-03 -5.23158374e-05 9.99987881e-01 8.82196351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.690281693 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:175.64, Y:101.41, Z:0.88 [[ 2.73481996e-01 -9.61876108e-01 -1.39668940e-03 1.75639028e+02] [ 9.61864524e-01 2.73485558e-01 -4.72089064e-03 1.01406988e+02] [ 4.92288630e-03 -5.23473837e-05 9.99987881e-01 8.81545741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.720281693 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:175.65, Y:101.43, Z:0.88 [[ 2.73887205e-01 -9.61760808e-01 -1.39542923e-03 1.75652230e+02] [ 9.61749221e-01 2.73890756e-01 -4.72126310e-03 1.01429104e+02] [ 4.92292098e-03 -4.89594138e-05 9.99987881e-01 8.84234096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.750281693 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:175.66, Y:101.45, Z:0.88 [[ 2.74846288e-01 -9.61487168e-01 -1.39411394e-03 1.75660032e+02] [ 9.61475575e-01 2.74849821e-01 -4.72165145e-03 1.01451893e+02] [ 4.92297925e-03 -4.26781260e-05 9.99987881e-01 8.84326839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.780281693 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:175.67, Y:101.48, Z:0.89 [[ 2.76541182e-01 -9.61001059e-01 -1.39275127e-03 1.75667815e+02] [ 9.60989458e-01 2.76544687e-01 -4.72205337e-03 1.01475213e+02] [ 4.92305625e-03 -3.25770674e-05 9.99987881e-01 8.85015714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.810281693 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:175.68, Y:101.50, Z:0.89 [[ 2.81288188e-01 -9.59622332e-01 -1.39143512e-03 1.75678386e+02] [ 9.59610712e-01 2.81291629e-01 -4.72244116e-03 1.01497026e+02] [ 4.92315905e-03 -6.86913298e-06 9.99987881e-01 8.86847175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.840281693 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:175.69, Y:101.52, Z:0.89 [[ 2.83315218e-01 -9.59025836e-01 -1.39019405e-03 1.75686190e+02] [ 9.59014207e-01 2.83318629e-01 -4.72280648e-03 1.01519426e+02] [ 4.92316131e-03 4.82710533e-06 9.99987881e-01 8.87626871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.870281693 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:175.69, Y:101.54, Z:0.89 [[ 2.86313031e-01 -9.58135126e-01 -1.38890660e-03 1.75693675e+02] [ 9.58123484e-01 2.86316399e-01 -4.72318507e-03 1.01543006e+02] [ 4.92311626e-03 2.15653980e-05 9.99987881e-01 8.85750146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90028169299998 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:175.70, Y:101.57, Z:0.88 [[ 2.86658637e-01 -9.58031785e-01 -1.38761622e-03 1.75700600e+02] [ 9.58020140e-01 2.86661994e-01 -4.72356414e-03 1.01566600e+02] [ 4.92310142e-03 2.46861740e-05 9.99987881e-01 8.84631108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93028169299998 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:175.71, Y:101.59, Z:0.89 [[ 2.86868738e-01 -9.57968896e-01 -1.38633218e-03 1.75707692e+02] [ 9.57957249e-01 2.86872086e-01 -4.72394097e-03 1.01588674e+02] [ 4.92308852e-03 2.71040242e-05 9.99987881e-01 8.85612798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96028169299998 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:175.71, Y:101.61, Z:0.89 [[ 2.86978432e-01 -9.57936042e-01 -1.38499977e-03 1.75713269e+02] [ 9.57924393e-01 2.86981773e-01 -4.72433158e-03 1.01612027e+02] [ 4.92307718e-03 2.90562048e-05 9.99987881e-01 8.88425373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.990281693 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:175.72, Y:101.64, Z:0.89 [[ 2.86253520e-01 -9.58152915e-01 -1.38368003e-03 1.75718239e+02] [ 9.58141266e-01 2.86256863e-01 -4.72471808e-03 1.01636031e+02] [ 4.92309030e-03 2.67062515e-05 9.99987881e-01 8.89471193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.020281693 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:175.72, Y:101.66, Z:0.89 [[ 2.84053026e-01 -9.58807576e-01 -1.38241645e-03 1.75722956e+02] [ 9.58795933e-01 2.84056389e-01 -4.72508776e-03 1.01659111e+02] [ 4.92313417e-03 1.67202111e-05 9.99987881e-01 8.89471372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.050281693 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:175.73, Y:101.68, Z:0.89 [[ 2.82864128e-01 -9.59158995e-01 -1.38122302e-03 1.75729691e+02] [ 9.59147355e-01 2.82867500e-01 -4.72543660e-03 1.01683284e+02] [ 4.92314812e-03 1.18600985e-05 9.99987881e-01 8.90186224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.080281693 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:175.74, Y:101.71, Z:0.89 [[ 2.82024284e-01 -9.59406274e-01 -1.37996091e-03 1.75736280e+02] [ 9.59394635e-01 2.82027660e-01 -4.72580514e-03 1.01706643e+02] [ 4.92315425e-03 8.86471193e-06 9.99987881e-01 8.90392507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.110281693 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:175.74, Y:101.73, Z:0.89 [[ 2.80242027e-01 -9.59928386e-01 -1.37865223e-03 1.75742277e+02] [ 9.59916751e-01 2.80245419e-01 -4.72618689e-03 1.01729402e+02] [ 4.92316192e-03 1.08482870e-06 9.99987881e-01 8.87698642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.140281693 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:175.75, Y:101.75, Z:0.89 [[ 2.79350540e-01 -9.60188200e-01 -1.37729991e-03 1.75749425e+02] [ 9.60176566e-01 2.79353935e-01 -4.72658095e-03 1.01752830e+02] [ 4.92316140e-03 -2.07815428e-06 9.99987881e-01 8.85045976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.170281693 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:175.76, Y:101.78, Z:0.88 [[ 2.78234078e-01 -9.60512314e-01 -1.37600332e-03 1.75756254e+02] [ 9.60500682e-01 2.78237480e-01 -4.72695838e-03 1.01775861e+02] [ 4.92315743e-03 -6.45122271e-06 9.99987881e-01 8.80088113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.200281693 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:175.76, Y:101.80, Z:0.88 [[ 2.78089272e-01 -9.60554250e-01 -1.37466197e-03 1.75761453e+02] [ 9.60542617e-01 2.78092669e-01 -4.72734843e-03 1.01800525e+02] [ 4.92315804e-03 -5.79652414e-06 9.99987881e-01 8.80190393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.230281693 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:175.76, Y:101.83, Z:0.88 [[ 2.79830478e-01 -9.60048445e-01 -1.37343178e-03 1.75764120e+02] [ 9.60036805e-01 2.79833848e-01 -4.72770581e-03 1.01825807e+02] [ 4.92315931e-03 4.41111798e-06 9.99987881e-01 8.84817932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.260281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:175.77, Y:101.85, Z:0.89 [[ 2.81011798e-01 -9.59703333e-01 -1.37215215e-03 1.75768794e+02] [ 9.59691686e-01 2.81015148e-01 -4.72807718e-03 1.01849454e+02] [ 4.92314696e-03 1.18024604e-05 9.99987881e-01 8.86490616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.290281693 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:175.77, Y:101.87, Z:0.89 [[ 2.82264020e-01 -9.59335782e-01 -1.37094213e-03 1.75773117e+02] [ 9.59324130e-01 2.82267349e-01 -4.72842800e-03 1.01872692e+02] [ 4.92312238e-03 1.94872326e-05 9.99987881e-01 8.88459087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.320281693 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:175.77, Y:101.90, Z:0.89 [[ 2.84285887e-01 -9.58738577e-01 -1.36974057e-03 1.75773141e+02] [ 9.58726915e-01 2.84289185e-01 -4.72877605e-03 1.01898622e+02] [ 4.92306245e-03 3.11171469e-05 9.99987881e-01 8.87356148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.350281693 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:175.78, Y:101.92, Z:0.88 [[ 2.84714168e-01 -9.58611480e-01 -1.36847266e-03 1.75775987e+02] [ 9.58599816e-01 2.84717454e-01 -4.72914294e-03 1.01922687e+02] [ 4.92303877e-03 3.46363535e-05 9.99987881e-01 8.84938697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.380281693 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:175.78, Y:101.95, Z:0.88 [[ 2.84257342e-01 -9.58747044e-01 -1.36728200e-03 1.75777151e+02] [ 9.58735379e-01 2.84260628e-01 -4.72948716e-03 1.01946656e+02] [ 4.92304627e-03 3.35298198e-05 9.99987881e-01 8.81839357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.410281693 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:175.78, Y:101.97, Z:0.88 [[ 2.83090108e-01 -9.59092344e-01 -1.36597862e-03 1.75780671e+02] [ 9.59080682e-01 2.83093402e-01 -4.72986357e-03 1.01970418e+02] [ 4.92307548e-03 2.88938807e-05 9.99987881e-01 8.80983009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.440281693 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:175.78, Y:102.00, Z:0.88 [[ 2.81432094e-01 -9.59580176e-01 -1.36468652e-03 1.75784468e+02] [ 9.59568517e-01 2.81435402e-01 -4.73023635e-03 1.01995441e+02] [ 4.92311213e-03 2.17301069e-05 9.99987881e-01 8.80340336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.470281693 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:175.79, Y:102.02, Z:0.88 [[ 2.79347670e-01 -9.60189055e-01 -1.36344633e-03 1.75788176e+02] [ 9.60177401e-01 2.79350997e-01 -4.73059380e-03 1.02019295e+02] [ 4.92314448e-03 1.23300018e-05 9.99987881e-01 8.80507031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.500281693 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:175.79, Y:102.04, Z:0.88 [[ 2.74755705e-01 -9.61513103e-01 -1.36216187e-03 1.75792760e+02] [ 9.61501464e-01 2.74759081e-01 -4.73096362e-03 1.02044427e+02] [ 4.92314986e-03 -9.86138493e-06 9.99987881e-01 8.84624904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.530281693 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:175.80, Y:102.07, Z:0.89 [[ 2.71196307e-01 -9.62523096e-01 -1.36092575e-03 1.75798599e+02] [ 9.62511468e-01 2.71199721e-01 -4.73131918e-03 1.02067702e+02] [ 4.92308667e-03 -2.67903484e-05 9.99987881e-01 8.85083005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.560281693 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:175.81, Y:102.09, Z:0.89 [[ 2.70945522e-01 -9.62593723e-01 -1.35964215e-03 1.75805156e+02] [ 9.62582094e-01 2.70948932e-01 -4.73168802e-03 1.02091976e+02] [ 4.92308678e-03 -2.67375089e-05 9.99987881e-01 8.85206791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.590281693 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:175.81, Y:102.12, Z:0.89 [[ 2.69901170e-01 -9.62887072e-01 -1.35840925e-03 1.75810730e+02] [ 9.62875445e-01 2.69904587e-01 -4.73204195e-03 1.02115756e+02] [ 4.92306290e-03 -3.07952507e-05 9.99987881e-01 8.86860174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.620281693 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:175.82, Y:102.14, Z:0.89 [[ 2.69430851e-01 -9.63018782e-01 -1.35715498e-03 1.75816131e+02] [ 9.63007155e-01 2.69434267e-01 -4.73240165e-03 1.02138548e+02] [ 4.92305573e-03 -3.18949511e-05 9.99987881e-01 8.87167042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65028169299998 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:175.82, Y:102.16, Z:0.89 [[ 2.69008644e-01 -9.63136808e-01 -1.35585567e-03 1.75822019e+02] [ 9.63125180e-01 2.69012059e-01 -4.73277388e-03 1.02162413e+02] [ 4.92305025e-03 -3.27016566e-05 9.99987881e-01 8.87390707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68028169299998 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:175.83, Y:102.19, Z:0.89 [[ 2.67111441e-01 -9.63664694e-01 -1.35462555e-03 1.75828770e+02] [ 9.63653071e-01 2.67114873e-01 -4.73312594e-03 1.02186999e+02] [ 4.92298699e-03 -4.11169762e-05 9.99987881e-01 8.88359961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71028169299998 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:175.84, Y:102.21, Z:0.89 [[ 2.65390560e-01 -9.64140041e-01 -1.35340280e-03 1.75836057e+02] [ 9.64128423e-01 2.65394006e-01 -4.73347555e-03 1.02210872e+02] [ 4.92291830e-03 -4.86343868e-05 9.99987881e-01 8.88424381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.740281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:175.85, Y:102.23, Z:0.89 [[ 2.62398368e-01 -9.64958687e-01 -1.35213148e-03 1.75845145e+02] [ 9.64947078e-01 2.62401844e-01 -4.73383868e-03 1.02234894e+02] [ 4.92276055e-03 -6.25837758e-05 9.99987881e-01 8.88865334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.770281693 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:175.85, Y:102.26, Z:0.89 [[ 2.61129905e-01 -9.65302723e-01 -1.35092974e-03 1.75853314e+02] [ 9.65291117e-01 2.61133390e-01 -4.73418160e-03 1.02258608e+02] [ 4.92269126e-03 -6.78040878e-05 9.99987881e-01 8.88382964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.800281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:175.86, Y:102.28, Z:0.89 [[ 2.59647634e-01 -9.65702482e-01 -1.34961810e-03 1.75861273e+02] [ 9.65690879e-01 2.59651131e-01 -4.73455549e-03 1.02281074e+02] [ 4.92260186e-03 -7.39977586e-05 9.99987881e-01 8.86119145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.830281693 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:175.87, Y:102.30, Z:0.89 [[ 2.59325703e-01 -9.65788984e-01 -1.34826074e-03 1.75867285e+02] [ 9.65777380e-01 2.59329198e-01 -4.73494200e-03 1.02304341e+02] [ 4.92259820e-03 -7.42275630e-05 9.99987881e-01 8.86332654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.860281693 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:175.87, Y:102.33, Z:0.89 [[ 2.59565407e-01 -9.65724591e-01 -1.34691326e-03 1.75873215e+02] [ 9.65712984e-01 2.59568892e-01 -4.73532527e-03 1.02329130e+02] [ 4.92263684e-03 -7.16049872e-05 9.99987881e-01 8.88775380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.890281693 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:175.88, Y:102.35, Z:0.89 [[ 2.61390789e-01 -9.65232119e-01 -1.34567576e-03 1.75879188e+02] [ 9.65220504e-01 2.61394246e-01 -4.73567692e-03 1.02352849e+02] [ 4.92277937e-03 -6.10115032e-05 9.99987881e-01 8.90197656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.920281693 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:175.89, Y:102.38, Z:0.89 [[ 2.62088276e-01 -9.65042967e-01 -1.34439123e-03 1.75885754e+02] [ 9.65031347e-01 2.62091718e-01 -4.73604155e-03 1.02376508e+02] [ 4.92283740e-03 -5.61187170e-05 9.99987881e-01 8.90948781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.950281693 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:175.89, Y:102.40, Z:0.89 [[ 2.62772496e-01 -9.64856886e-01 -1.34310996e-03 1.75891685e+02] [ 9.64845262e-01 2.62775924e-01 -4.73640488e-03 1.02399251e+02] [ 4.92288983e-03 -5.12963458e-05 9.99987881e-01 8.93994695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.980281693 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:175.90, Y:102.42, Z:0.89 [[ 2.62731949e-01 -9.64867930e-01 -1.34178231e-03 1.75897516e+02] [ 9.64856304e-01 2.62735370e-01 -4.73678096e-03 1.02422926e+02] [ 4.92290172e-03 -5.01234300e-05 9.99987881e-01 8.94785894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.010281693 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:175.90, Y:102.45, Z:0.89 [[ 2.62630234e-01 -9.64895623e-01 -1.34050463e-03 1.75903703e+02] [ 9.64883996e-01 2.62633650e-01 -4.73714252e-03 1.02447017e+02] [ 4.92290971e-03 -4.93146184e-05 9.99987881e-01 8.94052021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.040281693 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:175.91, Y:102.47, Z:0.89 [[ 2.61834921e-01 -9.65111745e-01 -1.33923038e-03 1.75909339e+02] [ 9.65100119e-01 2.61838340e-01 -4.73750273e-03 1.02472159e+02] [ 4.92288139e-03 -5.20477493e-05 9.99987881e-01 8.90349624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.070281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:175.91, Y:102.50, Z:0.89 [[ 2.61308420e-01 -9.65254432e-01 -1.33799989e-03 1.75914625e+02] [ 9.65242806e-01 2.61311840e-01 -4.73785023e-03 1.02496614e+02] [ 4.92286615e-03 -5.34546069e-05 9.99987881e-01 8.88886988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.100281693 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:175.92, Y:102.52, Z:0.89 [[ 2.60664094e-01 -9.65428632e-01 -1.33672079e-03 1.75919163e+02] [ 9.65417006e-01 2.60667516e-01 -4.73821108e-03 1.02520362e+02] [ 4.92284433e-03 -5.54114882e-05 9.99987881e-01 8.91074023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.130281693 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:175.92, Y:102.54, Z:0.89 [[ 2.60028274e-01 -9.65600080e-01 -1.33535881e-03 1.75924875e+02] [ 9.65588454e-01 2.60031697e-01 -4.73859490e-03 1.02543641e+02] [ 4.92282323e-03 -5.72383959e-05 9.99987881e-01 8.91681544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.160281693 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:175.93, Y:102.57, Z:0.89 [[ 2.59392373e-01 -9.65771100e-01 -1.33401236e-03 1.75931936e+02] [ 9.65759475e-01 2.59395797e-01 -4.73897392e-03 1.02566931e+02] [ 4.92280125e-03 -5.90813831e-05 9.99987881e-01 8.92411873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.190281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:175.94, Y:102.59, Z:0.89 [[ 2.58799594e-01 -9.65930119e-01 -1.33270771e-03 1.75939207e+02] [ 9.65918494e-01 2.58803018e-01 -4.73934079e-03 1.02590851e+02] [ 4.92278079e-03 -6.07475480e-05 9.99987881e-01 8.92380150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.220281693 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:175.95, Y:102.61, Z:0.89 [[ 2.57348582e-01 -9.66317719e-01 -1.33140612e-03 1.75947666e+02] [ 9.66306098e-01 2.57352017e-01 -4.73970641e-03 1.02614513e+02] [ 4.92270234e-03 -6.67891251e-05 9.99987881e-01 8.92412957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.250281693 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:175.96, Y:102.64, Z:0.89 [[ 2.55507297e-01 -9.66806212e-01 -1.33010619e-03 1.75957985e+02] [ 9.66794595e-01 2.55510748e-01 -4.74007118e-03 1.02637854e+02] [ 4.92258669e-03 -7.48167008e-05 9.99987881e-01 8.92812530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.280281693 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:175.97, Y:102.66, Z:0.89 [[ 2.54277556e-01 -9.67130373e-01 -1.32884804e-03 1.75966325e+02] [ 9.67118759e-01 2.54281016e-01 -4.74042387e-03 1.02661421e+02] [ 4.92250874e-03 -7.97704715e-05 9.99987881e-01 8.91549586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.310281693 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:175.97, Y:102.68, Z:0.89 [[ 2.52831050e-01 -9.67509533e-01 -1.32777739e-03 1.75974486e+02] [ 9.67497922e-01 2.52834522e-01 -4.74072374e-03 1.02684948e+02] [ 4.92240337e-03 -8.60197048e-05 9.99987881e-01 8.91904794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.340281693 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:175.98, Y:102.71, Z:0.89 [[ 2.51787371e-01 -9.67781670e-01 -1.32650520e-03 1.75982128e+02] [ 9.67770061e-01 2.51790849e-01 -4.74107968e-03 1.02707216e+02] [ 4.92233188e-03 -9.00080298e-05 9.99987881e-01 8.91439985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.370281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:175.99, Y:102.73, Z:0.89 [[ 2.52216582e-01 -9.67669902e-01 -1.32518503e-03 1.75992592e+02] [ 9.67658290e-01 2.52220048e-01 -4.74144866e-03 1.02729476e+02] [ 4.92239539e-03 -8.64543129e-05 9.99987881e-01 8.90704396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40028169299998 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:176.00, Y:102.75, Z:0.89 [[ 2.53261667e-01 -9.67396907e-01 -1.32392639e-03 1.76000594e+02] [ 9.67385289e-01 2.53265115e-01 -4.74180007e-03 1.02751906e+02] [ 4.92250709e-03 -7.98307201e-05 9.99987881e-01 8.91598330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43028169299998 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:176.01, Y:102.77, Z:0.89 [[ 2.56814384e-01 -9.66459840e-01 -1.32261792e-03 1.76009141e+02] [ 9.66448208e-01 2.56817783e-01 -4.74216501e-03 1.02774220e+02] [ 4.92278384e-03 -6.03855285e-05 9.99987881e-01 8.94763064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46028169299998 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:176.02, Y:102.80, Z:0.90 [[ 2.58865389e-01 -9.65912504e-01 -1.32131955e-03 1.76016799e+02] [ 9.65900862e-01 2.58868756e-01 -4.74252675e-03 1.02798777e+02] [ 4.92291424e-03 -4.85876568e-05 9.99987881e-01 8.96455750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.490281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:176.02, Y:102.82, Z:0.90 [[ 2.60993512e-01 -9.65339652e-01 -1.32009900e-03 1.76023582e+02] [ 9.65328002e-01 2.60996848e-01 -4.74286647e-03 1.02821430e+02] [ 4.92301875e-03 -3.64711471e-05 9.99987881e-01 8.96998540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.520281693 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:176.03, Y:102.84, Z:0.90 [[ 2.64804691e-01 -9.64301165e-01 -1.31871349e-03 1.76030865e+02] [ 9.64289499e-01 2.64807974e-01 -4.74325167e-03 1.02843501e+02] [ 4.92312896e-03 -1.55862764e-05 9.99987881e-01 8.99864144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.550281693 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:176.04, Y:102.87, Z:0.90 [[ 2.65988835e-01 -9.63975209e-01 -1.31749190e-03 1.76037901e+02] [ 9.63963538e-01 2.65992098e-01 -4.74359096e-03 1.02868243e+02] [ 4.92314652e-03 -8.27192031e-06 9.99987881e-01 9.01348701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.580281693 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:176.05, Y:102.89, Z:0.90 [[ 2.67272955e-01 -9.63619964e-01 -1.31625385e-03 1.76045767e+02] [ 9.63608287e-01 2.67276196e-01 -4.74393447e-03 1.02891775e+02] [ 4.92315328e-03 -4.27738745e-07 9.99987881e-01 9.01706628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.610281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:176.05, Y:102.92, Z:0.90 [[ 2.67267207e-01 -9.63621560e-01 -1.31496270e-03 1.76053009e+02] [ 9.63609881e-01 2.67270442e-01 -4.74429233e-03 1.02915573e+02] [ 4.92315304e-03 8.82709727e-07 9.99987881e-01 9.00580061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.640281693 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:176.06, Y:102.94, Z:0.90 [[ 2.66715804e-01 -9.63774327e-01 -1.31370836e-03 1.76059951e+02] [ 9.63762648e-01 2.66719040e-01 -4.74463964e-03 1.02939258e+02] [ 4.92315291e-03 -6.32671528e-07 9.99987881e-01 8.99605642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.670281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:176.07, Y:102.96, Z:0.90 [[ 2.64029268e-01 -9.64513776e-01 -1.31240304e-03 1.76066898e+02] [ 9.64502104e-01 2.64032529e-01 -4.74500067e-03 1.02961590e+02] [ 4.92313561e-03 -1.29964381e-05 9.99987881e-01 8.98382523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.700281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:176.07, Y:102.98, Z:0.90 [[ 2.62381989e-01 -9.64963198e-01 -1.31105477e-03 1.76073637e+02] [ 9.64951530e-01 2.62385264e-01 -4.74537317e-03 1.02984066e+02] [ 4.92311192e-03 -2.00038511e-05 9.99987881e-01 8.98260304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.730281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:176.08, Y:103.01, Z:0.90 [[ 2.60789907e-01 -9.65394691e-01 -1.30984189e-03 1.76080967e+02] [ 9.65383026e-01 2.60793195e-01 -4.74570793e-03 1.03007636e+02] [ 4.92307909e-03 -2.68663954e-05 9.99987881e-01 8.99011096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.760281693 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:176.09, Y:103.03, Z:0.90 [[ 2.58488860e-01 -9.66013352e-01 -1.30852770e-03 1.76089223e+02] [ 9.66001694e-01 2.58492169e-01 -4.74607027e-03 1.03030066e+02] [ 4.92301141e-03 -3.72336783e-05 9.99987881e-01 9.00233156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.790281693 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:176.10, Y:103.05, Z:0.90 [[ 2.57919046e-01 -9.66165647e-01 -1.30716969e-03 1.76096758e+02] [ 9.66153989e-01 2.57922355e-01 -4.74644426e-03 1.03054066e+02] [ 4.92299968e-03 -3.87288360e-05 9.99987881e-01 9.00953715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.820281693 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:176.11, Y:103.08, Z:0.90 [[ 2.56948035e-01 -9.66424339e-01 -1.30587770e-03 1.76105736e+02] [ 9.66412682e-01 2.56951349e-01 -4.74679970e-03 1.03076441e+02] [ 4.92296979e-03 -4.23359200e-05 9.99987881e-01 8.99724320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.850281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:176.11, Y:103.10, Z:0.90 [[ 2.56121538e-01 -9.66643707e-01 -1.30466349e-03 1.76113308e+02] [ 9.66632051e-01 2.56124857e-01 -4.74713340e-03 1.03099613e+02] [ 4.92294338e-03 -4.52864395e-05 9.99987881e-01 8.98210284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.880281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:176.12, Y:103.12, Z:0.90 [[ 2.55491801e-01 -9.66810344e-01 -1.30338571e-03 1.76120822e+02] [ 9.66798689e-01 2.55495121e-01 -4.74748421e-03 1.03123344e+02] [ 4.92292553e-03 -4.71683040e-05 9.99987881e-01 8.97411221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.910281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:176.13, Y:103.15, Z:0.90 [[ 2.55299711e-01 -9.66861087e-01 -1.30210319e-03 1.76129876e+02] [ 9.66849431e-01 2.55303028e-01 -4.74783594e-03 1.03145031e+02] [ 4.92292870e-03 -4.68165833e-05 9.99987881e-01 8.97337780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.940281693 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:176.14, Y:103.17, Z:0.90 [[ 2.55207810e-01 -9.66885351e-01 -1.30077802e-03 1.76138344e+02] [ 9.66873693e-01 2.55211121e-01 -4.74819897e-03 1.03168267e+02] [ 4.92293705e-03 -4.59105829e-05 9.99987881e-01 8.98954208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.970281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:176.15, Y:103.19, Z:0.90 [[ 2.55092222e-01 -9.66915855e-01 -1.29946017e-03 1.76146790e+02] [ 9.66904195e-01 2.55095527e-01 -4.74855960e-03 1.03191368e+02] [ 4.92294405e-03 -4.51328760e-05 9.99987881e-01 8.99589929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.000281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:176.16, Y:103.21, Z:0.90 [[ 2.55329736e-01 -9.66853164e-01 -1.29814430e-03 1.76156125e+02] [ 9.66841502e-01 2.55333032e-01 -4.74891931e-03 1.03212874e+02] [ 4.92296678e-03 -4.25594677e-05 9.99987881e-01 8.97945191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.030281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:176.16, Y:103.24, Z:0.90 [[ 2.55684044e-01 -9.66759530e-01 -1.29677978e-03 1.76163578e+02] [ 9.66747865e-01 2.55687330e-01 -4.74929188e-03 1.03235830e+02] [ 4.92299335e-03 -3.93409280e-05 9.99987881e-01 8.95962244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.060281693 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:176.17, Y:103.26, Z:0.89 [[ 2.56989910e-01 -9.66413218e-01 -1.29545018e-03 1.76173338e+02] [ 9.66401547e-01 2.56993173e-01 -4.74965453e-03 1.03259067e+02] [ 4.92305077e-03 -3.13117747e-05 9.99987881e-01 8.94699973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.090281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:176.18, Y:103.28, Z:0.90 [[ 2.57667811e-01 -9.66232697e-01 -1.29414830e-03 1.76181268e+02] [ 9.66221021e-01 2.57671060e-01 -4.75000923e-03 1.03281491e+02] [ 4.92307879e-03 -2.65088096e-05 9.99987881e-01 8.96452304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.120281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:176.19, Y:103.30, Z:0.90 [[ 2.58267785e-01 -9.66072502e-01 -1.29279770e-03 1.76188821e+02] [ 9.66060823e-01 2.58271020e-01 -4.75037679e-03 1.03304556e+02] [ 4.92310057e-03 -2.20519239e-05 9.99987881e-01 8.99731199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15028169299998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:176.20, Y:103.33, Z:0.90 [[ 2.59691532e-01 -9.65690758e-01 -1.29145312e-03 1.76198524e+02] [ 9.65679072e-01 2.59694743e-01 -4.75074230e-03 1.03327613e+02] [ 4.92313152e-03 -1.34017061e-05 9.99987881e-01 9.02087347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18028169299998 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:176.21, Y:103.35, Z:0.90 [[ 2.60333912e-01 -9.65517783e-01 -1.29010938e-03 1.76205998e+02] [ 9.65506094e-01 2.60337109e-01 -4.75110718e-03 1.03350031e+02] [ 4.92314182e-03 -8.73414214e-06 9.99987881e-01 8.99289647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21028169299998 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:176.21, Y:103.37, Z:0.90 [[ 2.61500715e-01 -9.65202422e-01 -1.28871022e-03 1.76213714e+02] [ 9.65190727e-01 2.61503890e-01 -4.75148666e-03 1.03373639e+02] [ 4.92314917e-03 -1.33399636e-06 9.99987881e-01 8.97737694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.240281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:176.22, Y:103.40, Z:0.90 [[ 2.65963789e-01 -9.63982160e-01 -1.28738326e-03 1.76220968e+02] [ 9.63970449e-01 2.65966904e-01 -4.75184617e-03 1.03397230e+02] [ 4.92309627e-03 2.28195930e-05 9.99987881e-01 8.98486099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.270281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:176.23, Y:103.42, Z:0.90 [[ 2.68714215e-01 -9.63219091e-01 -1.28606155e-03 1.76227128e+02] [ 9.63207369e-01 2.68717290e-01 -4.75220385e-03 1.03420739e+02] [ 4.92300045e-03 3.82407712e-05 9.99987881e-01 9.00889190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.300281693 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:176.23, Y:103.45, Z:0.90 [[ 2.74522439e-01 -9.61579835e-01 -1.28473503e-03 1.76232094e+02] [ 9.61568093e-01 2.74525437e-01 -4.75256244e-03 1.03446129e+02] [ 4.92266066e-03 6.93248188e-05 9.99987881e-01 9.04703654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.330281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:176.24, Y:103.47, Z:0.90 [[ 2.76496826e-01 -9.61013974e-01 -1.28348191e-03 1.76236305e+02] [ 9.61002224e-01 2.76499793e-01 -4.75290084e-03 1.03470377e+02] [ 4.92248661e-03 8.07330293e-05 9.99987881e-01 9.04333827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.360281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:176.24, Y:103.49, Z:0.90 [[ 2.78080709e-01 -9.60556857e-01 -1.28218284e-03 1.76240219e+02] [ 9.60545100e-01 2.78083650e-01 -4.75325126e-03 1.03494028e+02] [ 4.92232218e-03 9.01930378e-05 9.99987881e-01 9.03935179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.390281693 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:176.24, Y:103.52, Z:0.90 [[ 2.79750099e-01 -9.60071998e-01 -1.28084333e-03 1.76243634e+02] [ 9.60060235e-01 2.79753013e-01 -4.75361219e-03 1.03517863e+02] [ 4.92212973e-03 1.00136734e-04 9.99987881e-01 9.02446557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.420281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:176.25, Y:103.54, Z:0.90 [[ 2.79726296e-01 -9.60078936e-01 -1.27951366e-03 1.76248863e+02] [ 9.60067171e-01 2.79729203e-01 -4.75397006e-03 1.03542308e+02] [ 4.92210386e-03 1.01391374e-04 9.99987881e-01 9.02364253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.450281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:176.26, Y:103.57, Z:0.90 [[ 2.79468006e-01 -9.60154154e-01 -1.27823404e-03 1.76255016e+02] [ 9.60142389e-01 2.79470911e-01 -4.75431410e-03 1.03566705e+02] [ 4.92210366e-03 1.01391995e-04 9.99987881e-01 9.02488040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.480281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:176.26, Y:103.59, Z:0.90 [[ 2.78670088e-01 -9.60386043e-01 -1.27695493e-03 1.76256752e+02] [ 9.60374278e-01 2.78672996e-01 -4.75465763e-03 1.03591257e+02] [ 4.92215968e-03 9.86261882e-05 9.99987881e-01 9.03362384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.510281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:176.26, Y:103.62, Z:0.90 [[ 2.78567822e-01 -9.60415713e-01 -1.27567707e-03 1.76259952e+02] [ 9.60403947e-01 2.78570725e-01 -4.75500045e-03 1.03615478e+02] [ 4.92214344e-03 9.94248270e-05 9.99987881e-01 9.03924696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.540281693 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:176.26, Y:103.64, Z:0.90 [[ 2.78541587e-01 -9.60423323e-01 -1.27435292e-03 1.76263296e+02] [ 9.60411556e-01 2.78544484e-01 -4.75535530e-03 1.03639376e+02] [ 4.92211812e-03 1.00660939e-04 9.99987881e-01 9.03614988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.570281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:176.26, Y:103.66, Z:0.90 [[ 2.79116653e-01 -9.60256358e-01 -1.27298416e-03 1.76264853e+02] [ 9.60244587e-01 2.79119536e-01 -4.75572169e-03 1.03664365e+02] [ 4.92202674e-03 1.05024969e-04 9.99987881e-01 9.04302874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.600281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:176.27, Y:103.69, Z:0.90 [[ 2.79542057e-01 -9.60132606e-01 -1.27166772e-03 1.76268566e+02] [ 9.60120832e-01 2.79544928e-01 -4.75607367e-03 1.03687362e+02] [ 4.92194967e-03 1.08567946e-04 9.99987881e-01 9.04999656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.630281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:176.27, Y:103.71, Z:0.90 [[ 2.80223999e-01 -9.59933798e-01 -1.27030328e-03 1.76269175e+02] [ 9.59922021e-01 2.80226855e-01 -4.75643807e-03 1.03711499e+02] [ 4.92183876e-03 1.13476011e-04 9.99987881e-01 9.02284013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.660281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:176.27, Y:103.74, Z:0.90 [[ 2.79845888e-01 -9.60044097e-01 -1.26896773e-03 1.76273109e+02] [ 9.60032319e-01 2.79848742e-01 -4.75679436e-03 1.03736562e+02] [ 4.92185137e-03 1.12919305e-04 9.99987881e-01 9.02749243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.690281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:176.28, Y:103.76, Z:0.90 [[ 2.79022289e-01 -9.60283789e-01 -1.26773518e-03 1.76277400e+02] [ 9.60272012e-01 2.79025147e-01 -4.75712282e-03 1.03761063e+02] [ 4.92191792e-03 1.09972686e-04 9.99987881e-01 9.01591881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.720281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:176.28, Y:103.78, Z:0.90 [[ 2.75532789e-01 -9.61290840e-01 -1.26645268e-03 1.76280308e+02] [ 9.61279072e-01 2.75535683e-01 -4.75746423e-03 1.03784301e+02] [ 4.92225969e-03 9.34229282e-05 9.99987881e-01 9.02242689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.750281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:176.28, Y:103.81, Z:0.90 [[ 2.73285835e-01 -9.61932041e-01 -1.26511455e-03 1.76284790e+02] [ 9.61920278e-01 2.73288750e-01 -4.75782004e-03 1.03809048e+02] [ 4.92244112e-03 8.33054787e-05 9.99987881e-01 9.03403143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.780281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:176.29, Y:103.83, Z:0.90 [[ 2.71226184e-01 -9.62514810e-01 -1.26383912e-03 1.76289140e+02] [ 9.62503052e-01 2.71229119e-01 -4.75815881e-03 1.03832909e+02] [ 4.92258830e-03 7.40882527e-05 9.99987881e-01 9.04266846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.810281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:176.29, Y:103.86, Z:0.91 [[ 2.67512375e-01 -9.63553597e-01 -1.26255372e-03 1.76292807e+02] [ 9.63541849e-01 2.67515349e-01 -4.75849986e-03 1.03856483e+02] [ 4.92282216e-03 5.64342593e-05 9.99987881e-01 9.07504801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.840281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:176.30, Y:103.88, Z:0.91 [[ 2.65474313e-01 -9.64117108e-01 -1.26133618e-03 1.76298802e+02] [ 9.64105365e-01 2.65477305e-01 -4.75882257e-03 1.03880486e+02] [ 4.92291839e-03 4.72841761e-05 9.99987881e-01 9.08864885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.870281693 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:176.31, Y:103.90, Z:0.91 [[ 2.60104837e-01 -9.65579560e-01 -1.26006373e-03 1.76305315e+02] [ 9.65567831e-01 2.60107888e-01 -4.75915948e-03 1.03904103e+02] [ 4.92309963e-03 2.12033918e-05 9.99987881e-01 9.07994051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90028169299998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:176.31, Y:103.93, Z:0.91 [[ 2.57123953e-01 -9.66377612e-01 -1.25877560e-03 1.76312064e+02] [ 9.66365891e-01 2.57127034e-01 -4.75950016e-03 1.03927758e+02] [ 4.92313963e-03 7.34368946e-06 9.99987881e-01 9.06088123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93028169299998 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:176.32, Y:103.95, Z:0.90 [[ 2.54246302e-01 -9.67138685e-01 -1.25744047e-03 1.76319284e+02] [ 9.67126972e-01 2.54249412e-01 -4.75985287e-03 1.03950943e+02] [ 4.92314134e-03 -5.92960190e-06 9.99987881e-01 9.04831046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96028169299998 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:176.33, Y:103.97, Z:0.90 [[ 2.52064418e-01 -9.67709642e-01 -1.25609602e-03 1.76327544e+02] [ 9.67697934e-01 2.52067547e-01 -4.76020763e-03 1.03974777e+02] [ 4.92311987e-03 -1.56425632e-05 9.99987881e-01 9.03964094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.990281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:176.34, Y:104.00, Z:0.91 [[ 2.50893682e-01 -9.68013836e-01 -1.25476189e-03 1.76337495e+02] [ 9.68002130e-01 2.50896819e-01 -4.76055928e-03 1.03996806e+02] [ 4.92310301e-03 -2.02179330e-05 9.99987881e-01 9.05389966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.020281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:176.34, Y:104.02, Z:0.91 [[ 2.51225726e-01 -9.67927716e-01 -1.25337616e-03 1.76344790e+02] [ 9.67916007e-01 2.51228852e-01 -4.76092409e-03 1.04020592e+02] [ 4.92311463e-03 -1.70962405e-05 9.99987881e-01 9.05140243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.050281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:176.35, Y:104.04, Z:0.90 [[ 2.54647448e-01 -9.67033148e-01 -1.25208891e-03 1.76352915e+02] [ 9.67021427e-01 2.54650527e-01 -4.76126260e-03 1.04044635e+02] [ 4.92314386e-03 1.64656671e-06 9.99987881e-01 9.04435842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.080281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:176.36, Y:104.07, Z:0.90 [[ 2.56925923e-01 -9.66430290e-01 -1.25089446e-03 1.76359362e+02] [ 9.66418560e-01 2.56928967e-01 -4.76157639e-03 1.04067930e+02] [ 4.92312267e-03 1.44847790e-05 9.99987881e-01 9.04037929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.110281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:176.37, Y:104.09, Z:0.91 [[ 2.61800573e-01 -9.65121183e-01 -1.24958590e-03 1.76365757e+02] [ 9.65109436e-01 2.61803552e-01 -4.76191977e-03 1.04091411e+02] [ 4.92297567e-03 4.06861852e-05 9.99987881e-01 9.07945726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.140281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:176.37, Y:104.12, Z:0.91 [[ 2.63527126e-01 -9.64651178e-01 -1.24824075e-03 1.76372017e+02] [ 9.64639425e-01 2.63530077e-01 -4.76227235e-03 1.04115662e+02] [ 4.92288061e-03 5.08857057e-05 9.99987881e-01 9.10253332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.170281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:176.38, Y:104.14, Z:0.91 [[ 2.64090258e-01 -9.64497165e-01 -1.24689131e-03 1.76377592e+02] [ 9.64485408e-01 2.64093195e-01 -4.76262564e-03 1.04139071e+02] [ 4.92283444e-03 5.51545543e-05 9.99987881e-01 9.10741416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.200281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:176.38, Y:104.16, Z:0.91 [[ 2.64191725e-01 -9.64469378e-01 -1.24549965e-03 1.76383438e+02] [ 9.64457619e-01 2.64194654e-01 -4.76298956e-03 1.04161638e+02] [ 4.92281192e-03 5.71107981e-05 9.99987881e-01 9.10535593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.230281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:176.39, Y:104.19, Z:0.91 [[ 2.62898805e-01 -9.64822611e-01 -1.24411568e-03 1.76389574e+02] [ 9.64810854e-01 2.62901744e-01 -4.76335103e-03 1.04185436e+02] [ 4.92286896e-03 5.19429799e-05 9.99987881e-01 9.11100848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.260281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:176.40, Y:104.21, Z:0.91 [[ 2.62296198e-01 -9.64986611e-01 -1.24279687e-03 1.76395890e+02] [ 9.64974854e-01 2.62299138e-01 -4.76369509e-03 1.04207984e+02] [ 4.92288653e-03 5.02313806e-05 9.99987881e-01 9.12706799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.290281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:176.40, Y:104.23, Z:0.91 [[ 2.62888800e-01 -9.64825340e-01 -1.24143052e-03 1.76403080e+02] [ 9.64813580e-01 2.62891726e-01 -4.76405114e-03 1.04231534e+02] [ 4.92283907e-03 5.46666660e-05 9.99987881e-01 9.14804208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.320281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:176.41, Y:104.25, Z:0.91 [[ 2.63466906e-01 -9.64667638e-01 -1.24008998e-03 1.76407990e+02] [ 9.64655874e-01 2.63469818e-01 -4.76440006e-03 1.04254609e+02] [ 4.92278883e-03 5.90016556e-05 9.99987881e-01 9.14472349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.350281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:176.41, Y:104.28, Z:0.91 [[ 2.64184700e-01 -9.64471311e-01 -1.23870684e-03 1.76412230e+02] [ 9.64459544e-01 2.64187596e-01 -4.76475964e-03 1.04278623e+02] [ 4.92272496e-03 6.40939646e-05 9.99987881e-01 9.13277909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.380281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:176.41, Y:104.30, Z:0.91 [[ 2.66297433e-01 -9.63890111e-01 -1.23737181e-03 1.76413219e+02] [ 9.63878336e-01 2.66300297e-01 -4.76510631e-03 1.04303956e+02] [ 4.92255133e-03 7.62596951e-05 9.99987881e-01 9.11335421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.410281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:176.42, Y:104.33, Z:0.91 [[ 2.67169867e-01 -9.63648657e-01 -1.23603005e-03 1.76416211e+02] [ 9.63636877e-01 2.67172714e-01 -4.76545432e-03 1.04327854e+02] [ 4.92245716e-03 8.21016651e-05 9.99987881e-01 9.11749295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.440281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:176.42, Y:104.35, Z:0.91 [[ 2.67419939e-01 -9.63579292e-01 -1.23477114e-03 1.76419496e+02] [ 9.63567510e-01 2.67422777e-01 -4.76578050e-03 1.04352316e+02] [ 4.92241332e-03 8.46793837e-05 9.99987881e-01 9.12887827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.470281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:176.42, Y:104.38, Z:0.92 [[ 2.65392047e-01 -9.64139793e-01 -1.23344959e-03 1.76421196e+02] [ 9.64128015e-01 2.65394902e-01 -4.76612251e-03 1.04376829e+02] [ 4.92255960e-03 7.56877080e-05 9.99987881e-01 9.15319389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.500281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:176.43, Y:104.40, Z:0.92 [[ 2.62995313e-01 -9.64796324e-01 -1.23212534e-03 1.76425244e+02] [ 9.64784552e-01 2.62998191e-01 -4.76646482e-03 1.04399904e+02] [ 4.92271448e-03 6.48224118e-05 9.99987881e-01 9.15825666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.530281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:176.43, Y:104.43, Z:0.91 [[ 2.56839858e-01 -9.66453192e-01 -1.23075069e-03 1.76428724e+02] [ 9.66441437e-01 2.56842805e-01 -4.76681975e-03 1.04425566e+02] [ 4.92301762e-03 3.48608456e-05 9.99987881e-01 9.13325118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.560281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:176.43, Y:104.45, Z:0.91 [[ 2.53552173e-01 -9.67320931e-01 -1.22951665e-03 1.76433311e+02] [ 9.67309185e-01 2.53555154e-01 -4.76713802e-03 1.04448933e+02] [ 4.92310268e-03 1.93954576e-05 9.99987881e-01 9.11156573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.590281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:176.44, Y:104.47, Z:0.91 [[ 2.50640390e-01 -9.68079484e-01 -1.22811559e-03 1.76437859e+02] [ 9.68067744e-01 2.50643399e-01 -4.76749894e-03 1.04472902e+02] [ 4.92313698e-03 6.02870553e-06 9.99987881e-01 9.09420245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.620281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:176.44, Y:104.50, Z:0.91 [[ 2.46682097e-01 -9.69095681e-01 -1.22677047e-03 1.76442304e+02] [ 9.69083952e-01 2.46685147e-01 -4.76784504e-03 1.04496992e+02] [ 4.92312409e-03 -1.27015652e-05 9.99987881e-01 9.09156015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65028169299998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:176.45, Y:104.52, Z:0.91 [[ 2.45128997e-01 -9.69489697e-01 -1.22542405e-03 1.76448690e+02] [ 9.69477972e-01 2.45132059e-01 -4.76819107e-03 1.04522086e+02] [ 4.92310284e-03 -1.91997252e-05 9.99987881e-01 9.09537414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68028169299998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:176.45, Y:104.54, Z:0.91 [[ 2.43875987e-01 -9.69805653e-01 -1.22418583e-03 1.76454975e+02] [ 9.69793930e-01 2.43879059e-01 -4.76850895e-03 1.04544951e+02] [ 4.92308022e-03 -2.42831610e-05 9.99987881e-01 9.09272970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71028169299998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:176.46, Y:104.57, Z:0.91 [[ 2.42988296e-01 -9.70028449e-01 -1.22291801e-03 1.76461637e+02] [ 9.70016727e-01 2.42991372e-01 -4.76883407e-03 1.04568200e+02] [ 4.92306324e-03 -2.74800585e-05 9.99987881e-01 9.08877635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.740281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:176.47, Y:104.59, Z:0.91 [[ 2.41360239e-01 -9.70434821e-01 -1.22158422e-03 1.76469256e+02] [ 9.70423103e-01 2.41363328e-01 -4.76917571e-03 1.04590580e+02] [ 4.92301981e-03 -3.43641617e-05 9.99987881e-01 9.07394626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.770281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:176.48, Y:104.61, Z:0.91 [[ 2.40219642e-01 -9.70717793e-01 -1.22020120e-03 1.76475949e+02] [ 9.70706077e-01 2.40222738e-01 -4.76952953e-03 1.04614133e+02] [ 4.92298725e-03 -3.87220393e-05 9.99987881e-01 9.08128896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.800281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:176.48, Y:104.64, Z:0.91 [[ 2.37662690e-01 -9.71346982e-01 -1.21886125e-03 1.76483468e+02] [ 9.71335272e-01 2.37665810e-01 -4.76987193e-03 1.04636458e+02] [ 4.92288235e-03 -5.03023312e-05 9.99987881e-01 9.11437517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.830281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:176.49, Y:104.66, Z:0.91 [[ 2.36250687e-01 -9.71691376e-01 -1.21759899e-03 1.76489818e+02] [ 9.71679669e-01 2.36253817e-01 -4.77019413e-03 1.04659113e+02] [ 4.92281890e-03 -5.61545455e-05 9.99987881e-01 9.13170677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.860281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:176.50, Y:104.68, Z:0.91 [[ 2.35289138e-01 -9.71924659e-01 -1.21625728e-03 1.76496341e+02] [ 9.71912953e-01 2.35292274e-01 -4.77053620e-03 1.04682416e+02] [ 4.92277771e-03 -5.96408601e-05 9.99987881e-01 9.13134065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.890281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:176.50, Y:104.71, Z:0.91 [[ 2.34814875e-01 -9.72039350e-01 -1.21498447e-03 1.76504061e+02] [ 9.72027644e-01 2.34818010e-01 -4.77086034e-03 1.04706629e+02] [ 4.92276422e-03 -6.07295201e-05 9.99987881e-01 9.11566026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.920281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:176.51, Y:104.73, Z:0.91 [[ 2.34392728e-01 -9.72141232e-01 -1.21374157e-03 1.76510160e+02] [ 9.72129526e-01 2.34395863e-01 -4.77117652e-03 1.04730929e+02] [ 4.92275343e-03 -6.15849326e-05 9.99987881e-01 9.10118928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.950281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:176.52, Y:104.76, Z:0.91 [[ 2.34087530e-01 -9.72214770e-01 -1.21238989e-03 1.76515926e+02] [ 9.72203062e-01 2.34090662e-01 -4.77151997e-03 1.04756261e+02] [ 4.92275134e-03 -6.17358362e-05 9.99987881e-01 9.09038380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.980281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:176.52, Y:104.78, Z:0.91 [[ 2.34674927e-01 -9.72073152e-01 -1.21114318e-03 1.76519593e+02] [ 9.72061441e-01 2.34678045e-01 -4.77183640e-03 1.04780043e+02] [ 4.92280276e-03 -5.74752338e-05 9.99987881e-01 9.07733419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.010281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:176.52, Y:104.80, Z:0.91 [[ 2.35646187e-01 -9.71838161e-01 -1.20972804e-03 1.76524226e+02] [ 9.71826445e-01 2.35649287e-01 -4.77219513e-03 1.04804146e+02] [ 4.92287289e-03 -5.10961113e-05 9.99987881e-01 9.09784442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.040281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:176.53, Y:104.83, Z:0.91 [[ 2.38709358e-01 -9.71090306e-01 -1.20837525e-03 1.76526848e+02] [ 9.71078579e-01 2.38712414e-01 -4.77253765e-03 1.04827692e+02] [ 4.92301922e-03 -3.41779191e-05 9.99987881e-01 9.13351822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.070281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:176.53, Y:104.85, Z:0.91 [[ 2.39589148e-01 -9.70873619e-01 -1.20697443e-03 1.76531542e+02] [ 9.70861887e-01 2.39592187e-01 -4.77289189e-03 1.04852346e+02] [ 4.92305646e-03 -2.82723751e-05 9.99987881e-01 9.14141675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.100281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:176.54, Y:104.88, Z:0.91 [[ 2.40178978e-01 -9.70727874e-01 -1.20568284e-03 1.76537442e+02] [ 9.70716139e-01 2.40182003e-01 -4.77321813e-03 1.04875284e+02] [ 4.92307921e-03 -2.39491357e-05 9.99987881e-01 9.13751049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.130281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:176.54, Y:104.90, Z:0.91 [[ 2.39190372e-01 -9.70971944e-01 -1.20434629e-03 1.76543833e+02] [ 9.70960210e-01 2.39193402e-01 -4.77355534e-03 1.04899001e+02] [ 4.92305999e-03 -2.75838483e-05 9.99987881e-01 9.13149159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.160281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:176.55, Y:104.92, Z:0.91 [[ 2.37762186e-01 -9.71322653e-01 -1.20311249e-03 1.76550015e+02] [ 9.71310922e-01 2.37765227e-01 -4.77386628e-03 1.04922800e+02] [ 4.92302278e-03 -3.35514215e-05 9.99987881e-01 9.12975674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.190281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:176.56, Y:104.95, Z:0.91 [[ 2.36058330e-01 -9.71738144e-01 -1.20182149e-03 1.76555747e+02] [ 9.71726417e-01 2.36061385e-01 -4.77419127e-03 1.04946305e+02] [ 4.92296741e-03 -4.08540768e-05 9.99987881e-01 9.12560297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.220281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:176.56, Y:104.97, Z:0.92 [[ 2.34250571e-01 -9.72175513e-01 -1.20053238e-03 1.76563154e+02] [ 9.72163790e-01 2.34253642e-01 -4.77451541e-03 1.04969326e+02] [ 4.92289605e-03 -4.86811445e-05 9.99987881e-01 9.15764892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.250281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:176.57, Y:104.99, Z:0.92 [[ 2.34338461e-01 -9.72154333e-01 -1.19916532e-03 1.76570185e+02] [ 9.72142608e-01 2.34341525e-01 -4.77485874e-03 1.04991713e+02] [ 4.92291384e-03 -4.68266519e-05 9.99987881e-01 9.18125073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.280281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:176.58, Y:105.01, Z:0.92 [[ 2.35539016e-01 -9.71864156e-01 -1.19780922e-03 1.76579019e+02] [ 9.71852425e-01 2.35542058e-01 -4.77519890e-03 1.05014701e+02] [ 4.92297910e-03 -3.93481437e-05 9.99987881e-01 9.16724674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.310281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:176.59, Y:105.04, Z:0.92 [[ 2.36314146e-01 -9.71675971e-01 -1.19651897e-03 1.76585590e+02] [ 9.71664236e-01 2.36317173e-01 -4.77552218e-03 1.05037040e+02] [ 4.92301813e-03 -3.40912468e-05 9.99987881e-01 9.15132289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.340281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:176.59, Y:105.06, Z:0.92 [[ 2.37136589e-01 -9.71475584e-01 -1.19518178e-03 1.76592694e+02] [ 9.71463845e-01 2.37139599e-01 -4.77585681e-03 1.05059918e+02] [ 4.92305321e-03 -2.85454885e-05 9.99987881e-01 9.15446686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.370281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:176.60, Y:105.08, Z:0.92 [[ 2.36873201e-01 -9.71539840e-01 -1.19388759e-03 1.76598136e+02] [ 9.71528101e-01 2.36876208e-01 -4.77618032e-03 1.05083623e+02] [ 4.92305303e-03 -2.85462243e-05 9.99987881e-01 9.15566365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40028169299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:176.61, Y:105.11, Z:0.92 [[ 2.38532264e-01 -9.71133841e-01 -1.19259260e-03 1.76607628e+02] [ 9.71122094e-01 2.38535245e-01 -4.77650365e-03 1.05106915e+02] [ 4.92309970e-03 -1.88027983e-05 9.99987881e-01 9.19256155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43028169299998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:176.61, Y:105.13, Z:0.92 [[ 2.39243186e-01 -9.70958948e-01 -1.19131216e-03 1.76614453e+02] [ 9.70947198e-01 2.39246152e-01 -4.77682298e-03 1.05129538e+02] [ 4.92311587e-03 -1.38788589e-05 9.99987881e-01 9.19248776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46028169299998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:176.62, Y:105.15, Z:0.92 [[ 2.40077119e-01 -9.70753089e-01 -1.19010384e-03 1.76620789e+02] [ 9.70741335e-01 2.40080068e-01 -4.77712401e-03 1.05153717e+02] [ 4.92312810e-03 -8.40481912e-06 9.99987881e-01 9.18384313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.490281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:176.63, Y:105.18, Z:0.92 [[ 2.41110933e-01 -9.70496834e-01 -1.18883226e-03 1.76627605e+02] [ 9.70485075e-01 2.41113864e-01 -4.77744043e-03 1.05177378e+02] [ 4.92313475e-03 -1.85085145e-06 9.99987881e-01 9.16512984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.520281693 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:176.64, Y:105.20, Z:0.91 [[ 2.42611015e-01 -9.70122923e-01 -1.18756587e-03 1.76636633e+02] [ 9.70111158e-01 2.42613921e-01 -4.77775521e-03 1.05200450e+02] [ 4.92312986e-03 7.06514435e-06 9.99987881e-01 9.14347962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.550281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:176.64, Y:105.22, Z:0.91 [[ 2.42607214e-01 -9.70123875e-01 -1.18630635e-03 1.76643243e+02] [ 9.70112108e-01 2.42610114e-01 -4.77806792e-03 1.05224281e+02] [ 4.92312769e-03 8.34359658e-06 9.99987881e-01 9.14639754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.580281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:176.65, Y:105.25, Z:0.91 [[ 2.42682470e-01 -9.70105053e-01 -1.18504545e-03 1.76650964e+02] [ 9.70093285e-01 2.42685363e-01 -4.77838063e-03 1.05246355e+02] [ 4.92312438e-03 1.00245853e-05 9.99987881e-01 9.13157629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.610281693 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:176.66, Y:105.27, Z:0.91 [[ 2.42657494e-01 -9.70111303e-01 -1.18373826e-03 1.76658935e+02] [ 9.70099533e-01 2.42660381e-01 -4.77870443e-03 1.05269067e+02] [ 4.92312156e-03 1.12445055e-05 9.99987881e-01 9.12695979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.640281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:176.67, Y:105.29, Z:0.91 [[ 2.42688600e-01 -9.70103523e-01 -1.18243934e-03 1.76667074e+02] [ 9.70091751e-01 2.42691480e-01 -4.77902582e-03 1.05292412e+02] [ 4.92311773e-03 1.27404387e-05 9.99987881e-01 9.13677117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.670281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:176.68, Y:105.31, Z:0.91 [[ 2.43001214e-01 -9.70025265e-01 -1.18119697e-03 1.76676277e+02] [ 9.70013491e-01 2.43004085e-01 -4.77933286e-03 1.05314742e+02] [ 4.92310932e-03 1.56066921e-05 9.99987881e-01 9.12037712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.700281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:176.68, Y:105.34, Z:0.91 [[ 2.43313756e-01 -9.69946918e-01 -1.17990751e-03 1.76682910e+02] [ 9.69935142e-01 2.43316616e-01 -4.77965118e-03 1.05337594e+02] [ 4.92309904e-03 1.85211203e-05 9.99987881e-01 9.12510827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.730281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:176.69, Y:105.36, Z:0.91 [[ 2.43768318e-01 -9.69832778e-01 -1.17871523e-03 1.76689724e+02] [ 9.69820999e-01 2.43771167e-01 -4.77994519e-03 1.05360828e+02] [ 4.92308431e-03 2.20564146e-05 9.99987881e-01 9.14424782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.760281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:176.70, Y:105.38, Z:0.92 [[ 2.45625571e-01 -9.69364066e-01 -1.17739558e-03 1.76697252e+02] [ 9.69352280e-01 2.45628391e-01 -4.78027022e-03 1.05384773e+02] [ 4.92302397e-03 3.28455083e-05 9.99987881e-01 9.16502304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.790281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:176.70, Y:105.41, Z:0.92 [[ 2.46833537e-01 -9.69057182e-01 -1.17602873e-03 1.76702073e+02] [ 9.69045391e-01 2.46836336e-01 -4.78060647e-03 1.05408379e+02] [ 4.92296766e-03 4.03887877e-05 9.99987881e-01 9.16962935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.820281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:176.71, Y:105.43, Z:0.92 [[ 2.48143621e-01 -9.68722542e-01 -1.17461836e-03 1.76706638e+02] [ 9.68710745e-01 2.48146397e-01 -4.78095298e-03 1.05432979e+02] [ 4.92289424e-03 4.84975592e-05 9.99987881e-01 9.17568802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.850281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:176.71, Y:105.46, Z:0.92 [[ 2.50901380e-01 -9.68011943e-01 -1.17326486e-03 1.76710715e+02] [ 9.68000137e-01 2.50904115e-01 -4.78128511e-03 1.05455946e+02] [ 4.92271807e-03 6.39104885e-05 9.99987881e-01 9.18464713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.880281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:176.72, Y:105.48, Z:0.92 [[ 2.51841062e-01 -9.67767899e-01 -1.17186314e-03 1.76716276e+02] [ 9.67756089e-01 2.51843779e-01 -4.78162864e-03 1.05479992e+02] [ 4.92263314e-03 7.01327512e-05 9.99987881e-01 9.19206516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.910281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:176.72, Y:105.50, Z:0.92 [[ 2.53252901e-01 -9.67399399e-01 -1.17052154e-03 1.76719701e+02] [ 9.67387584e-01 2.53255594e-01 -4.78195704e-03 1.05504714e+02] [ 4.92250349e-03 7.86964905e-05 9.99987881e-01 9.20583154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.940281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:176.72, Y:105.53, Z:0.92 [[ 2.53609761e-01 -9.67305909e-01 -1.16918289e-03 1.76723594e+02] [ 9.67294091e-01 2.53612443e-01 -4.78228431e-03 1.05528013e+02] [ 4.92245120e-03 8.18902765e-05 9.99987881e-01 9.20467255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.970281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:176.73, Y:105.55, Z:0.92 [[ 2.53774695e-01 -9.67262653e-01 -1.16779086e-03 1.76728189e+02] [ 9.67250833e-01 2.53777368e-01 -4.78262421e-03 1.05552374e+02] [ 4.92241267e-03 8.41623242e-05 9.99987881e-01 9.20179861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.000281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:176.73, Y:105.58, Z:0.92 [[ 2.53075658e-01 -9.67445787e-01 -1.16645613e-03 1.76732440e+02] [ 9.67433967e-01 2.53078333e-01 -4.78294972e-03 1.05575923e+02] [ 4.92244933e-03 8.19788702e-05 9.99987881e-01 9.19037247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.030281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:176.74, Y:105.60, Z:0.92 [[ 2.52042999e-01 -9.67715335e-01 -1.16506967e-03 1.76737477e+02] [ 9.67703516e-01 2.52045680e-01 -4.78328742e-03 1.05599812e+02] [ 4.92251137e-03 7.81520888e-05 9.99987881e-01 9.18632442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.060281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:176.74, Y:105.62, Z:0.92 [[ 2.50564151e-01 -9.68099299e-01 -1.16375921e-03 1.76742775e+02] [ 9.68087483e-01 2.50566843e-01 -4.78360623e-03 1.05623322e+02] [ 4.92260531e-03 7.19795086e-05 9.99987881e-01 9.17818110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.090281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:176.75, Y:105.65, Z:0.92 [[ 2.46855800e-01 -9.69051527e-01 -1.16239880e-03 1.76749574e+02] [ 9.69039720e-01 2.46858531e-01 -4.78393678e-03 1.05647033e+02] [ 4.92282931e-03 5.45319334e-05 9.99987881e-01 9.18434101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.120281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:176.76, Y:105.67, Z:0.92 [[ 2.45099202e-01 -9.69497310e-01 -1.16105201e-03 1.76755594e+02] [ 9.69485506e-01 2.45101948e-01 -4.78426362e-03 1.05669489e+02] [ 4.92290682e-03 4.69960977e-05 9.99987881e-01 9.19119015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15028169299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:176.76, Y:105.69, Z:0.92 [[ 2.43248549e-01 -9.69963298e-01 -1.15965250e-03 1.76761942e+02] [ 9.69951498e-01 2.43251310e-01 -4.78460283e-03 1.05692915e+02] [ 4.92297612e-03 3.90410151e-05 9.99987881e-01 9.17918287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18028169299998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:176.77, Y:105.72, Z:0.92 [[ 2.42978948e-01 -9.70030870e-01 -1.15831511e-03 1.76768226e+02] [ 9.70019070e-01 2.42981705e-01 -4.78492657e-03 1.05715734e+02] [ 4.92297587e-03 3.90486773e-05 9.99987881e-01 9.16134034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21028169299998 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:176.77, Y:105.74, Z:0.91 [[ 2.43014272e-01 -9.70022023e-01 -1.15692724e-03 1.76774597e+02] [ 9.70010221e-01 2.43017023e-01 -4.78526212e-03 1.05739931e+02] [ 4.92296265e-03 4.06557402e-05 9.99987881e-01 9.14955487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.240281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:176.78, Y:105.76, Z:0.91 [[ 2.43651788e-01 -9.69862089e-01 -1.15564555e-03 1.76780563e+02] [ 9.69850283e-01 2.43654524e-01 -4.78557163e-03 1.05763866e+02] [ 4.92292276e-03 4.52099185e-05 9.99987881e-01 9.13862154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.270281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:176.79, Y:105.79, Z:0.91 [[ 2.46479617e-01 -9.69147288e-01 -1.15436511e-03 1.76785859e+02] [ 9.69135473e-01 2.46482312e-01 -4.78588047e-03 1.05787212e+02] [ 4.92275366e-03 6.08858027e-05 9.99987881e-01 9.14588721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.300281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:176.79, Y:105.81, Z:0.92 [[ 2.48019145e-01 -9.68754445e-01 -1.15304201e-03 1.76791160e+02] [ 9.68742624e-01 2.48021815e-01 -4.78619922e-03 1.05810283e+02] [ 4.92263134e-03 7.00680968e-05 9.99987881e-01 9.16061402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.330281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:176.80, Y:105.83, Z:0.92 [[ 2.50342049e-01 -9.68156770e-01 -1.15173159e-03 1.76797145e+02] [ 9.68144942e-01 2.50344684e-01 -4.78651453e-03 1.05834289e+02] [ 4.92242633e-03 8.32227389e-05 9.99987881e-01 9.17319178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.360281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:176.80, Y:105.86, Z:0.92 [[ 2.50966328e-01 -9.67995134e-01 -1.15039221e-03 1.76802648e+02] [ 9.67983302e-01 2.50968949e-01 -4.78683642e-03 1.05857442e+02] [ 4.92234708e-03 8.77743066e-05 9.99987881e-01 9.17312396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.390281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:176.81, Y:105.88, Z:0.92 [[ 2.51692022e-01 -9.67806699e-01 -1.14901020e-03 1.76808345e+02] [ 9.67794863e-01 2.51694628e-01 -4.78716813e-03 1.05882119e+02] [ 4.92225308e-03 9.28858630e-05 9.99987881e-01 9.17174873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.420281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:176.81, Y:105.90, Z:0.92 [[ 2.52348176e-01 -9.67635820e-01 -1.14776005e-03 1.76813292e+02] [ 9.67623982e-01 2.52350767e-01 -4.78746784e-03 1.05904794e+02] [ 4.92216350e-03 9.75086263e-05 9.99987881e-01 9.16661296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.450281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:176.82, Y:105.93, Z:0.92 [[ 2.54110585e-01 -9.67174491e-01 -1.14635078e-03 1.76817438e+02] [ 9.67162647e-01 2.54113148e-01 -4.78780527e-03 1.05928825e+02] [ 4.92194593e-03 1.07924342e-04 9.99987881e-01 9.17524061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.480281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.82, Y:105.95, Z:0.92 [[ 2.54704314e-01 -9.67018304e-01 -1.14507602e-03 1.76821916e+02] [ 9.67006457e-01 2.54706864e-01 -4.78811012e-03 1.05952233e+02] [ 4.92184886e-03 1.12256404e-04 9.99987881e-01 9.17956085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.510281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:176.83, Y:105.98, Z:0.92 [[ 2.55886583e-01 -9.66706133e-01 -1.14387606e-03 1.76827067e+02] [ 9.66694281e-01 2.55889112e-01 -4.78839678e-03 1.05976957e+02] [ 4.92167796e-03 1.19508044e-04 9.99987881e-01 9.18828734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.540281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:176.83, Y:106.00, Z:0.92 [[ 2.56206577e-01 -9.66621376e-01 -1.14262810e-03 1.76832030e+02] [ 9.66609522e-01 2.56209095e-01 -4.78869455e-03 1.06000607e+02] [ 4.92160623e-03 1.22419833e-04 9.99987881e-01 9.20355456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.570281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:176.83, Y:106.03, Z:0.92 [[ 2.57504408e-01 -9.66276450e-01 -1.14133337e-03 1.76834144e+02] [ 9.66264591e-01 2.57506904e-01 -4.78900312e-03 1.06026093e+02] [ 4.92140215e-03 1.30359393e-04 9.99987881e-01 9.23210292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.600281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:176.84, Y:106.05, Z:0.92 [[ 2.57806152e-01 -9.66195988e-01 -1.14010039e-03 1.76837503e+02] [ 9.66184128e-01 2.57808639e-01 -4.78929663e-03 1.06050226e+02] [ 4.92132692e-03 1.33163235e-04 9.99987881e-01 9.23000801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.630281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:176.84, Y:106.07, Z:0.92 [[ 2.58085244e-01 -9.66121478e-01 -1.13875276e-03 1.76841243e+02] [ 9.66109615e-01 2.58087720e-01 -4.78961703e-03 1.06073205e+02] [ 4.92124999e-03 1.35969490e-04 9.99987881e-01 9.21628036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.660281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:176.84, Y:106.10, Z:0.92 [[ 2.57177995e-01 -9.66363381e-01 -1.13749025e-03 1.76844634e+02] [ 9.66351519e-01 2.57180477e-01 -4.78991685e-03 1.06096634e+02] [ 4.92134053e-03 1.32645779e-04 9.99987881e-01 9.16622521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.690281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:176.85, Y:106.12, Z:0.92 [[ 2.56478179e-01 -9.66549354e-01 -1.13611276e-03 1.76848626e+02] [ 9.66537492e-01 2.56480662e-01 -4.79024355e-03 1.06120706e+02] [ 4.92139776e-03 1.30497362e-04 9.99987881e-01 9.15261673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.720281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:176.85, Y:106.15, Z:0.92 [[ 2.55522209e-01 -9.66802520e-01 -1.13479465e-03 1.76852264e+02] [ 9.66790660e-01 2.55524697e-01 -4.79055579e-03 1.06145240e+02] [ 4.92148947e-03 1.26984528e-04 9.99987881e-01 9.15631174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.750281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:176.86, Y:106.17, Z:0.92 [[ 2.54660241e-01 -9.67029926e-01 -1.13347181e-03 1.76856127e+02] [ 9.67018066e-01 2.54662733e-01 -4.79086876e-03 1.06168779e+02] [ 4.92156649e-03 1.23956072e-04 9.99987881e-01 9.17531804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.780281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:176.86, Y:106.19, Z:0.92 [[ 2.53913005e-01 -9.67226397e-01 -1.13223118e-03 1.76858675e+02] [ 9.67214538e-01 2.53915501e-01 -4.79116194e-03 1.06192938e+02] [ 4.92162935e-03 1.21427867e-04 9.99987881e-01 9.20388322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.810281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:176.86, Y:106.22, Z:0.92 [[ 2.54207315e-01 -9.67149090e-01 -1.13087479e-03 1.76862422e+02] [ 9.67137229e-01 2.54209800e-01 -4.79148207e-03 1.06217108e+02] [ 4.92155698e-03 1.24318678e-04 9.99987881e-01 9.20305132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.840281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:176.86, Y:106.24, Z:0.92 [[ 2.57976057e-01 -9.66150650e-01 -1.12957680e-03 1.76862951e+02] [ 9.66138778e-01 2.57978489e-01 -4.79178805e-03 1.06241431e+02] [ 4.92099566e-03 1.44838634e-04 9.99987881e-01 9.20046116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.870281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:176.86, Y:106.27, Z:0.92 [[ 2.61228817e-01 -9.65276247e-01 -1.12834899e-03 1.76864864e+02] [ 9.65264365e-01 2.61231203e-01 -4.79207715e-03 1.06266683e+02] [ 4.92043821e-03 1.62673573e-04 9.99987881e-01 9.20142856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90028169299998 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:176.86, Y:106.29, Z:0.92 [[ 2.67461884e-01 -9.63567782e-01 -1.12707441e-03 1.76860917e+02] [ 9.63555884e-01 2.67464187e-01 -4.79237691e-03 1.06292955e+02] [ 4.91923203e-03 1.95778971e-04 9.99987881e-01 9.18942362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93028169299998 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:176.86, Y:106.32, Z:0.92 [[ 2.69194669e-01 -9.63085127e-01 -1.12579987e-03 1.76861993e+02] [ 9.63073224e-01 2.69196944e-01 -4.79267630e-03 1.06316771e+02] [ 4.91881715e-03 2.05935202e-04 9.99987881e-01 9.20135160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96028169299998 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:176.86, Y:106.34, Z:0.92 [[ 2.69419851e-01 -9.63022159e-01 -1.12448217e-03 1.76864047e+02] [ 9.63010254e-01 2.69422117e-01 -4.79298544e-03 1.06341928e+02] [ 4.91871156e-03 2.08437565e-04 9.99987881e-01 9.23116141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.990281693 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:176.87, Y:106.37, Z:0.93 [[ 2.68030248e-01 -9.63409842e-01 -1.12321911e-03 1.76866455e+02] [ 9.63397940e-01 2.68032525e-01 -4.79328142e-03 1.06365737e+02] [ 4.91895375e-03 2.02637429e-04 9.99987881e-01 9.26247495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.020281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:176.87, Y:106.39, Z:0.93 [[ 2.61349300e-01 -9.65243640e-01 -1.12191080e-03 1.76867858e+02] [ 9.65231752e-01 2.61351653e-01 -4.79358762e-03 1.06390541e+02] [ 4.92019321e-03 1.69896845e-04 9.99987881e-01 9.29906807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.050281693 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:176.87, Y:106.42, Z:0.93 [[ 2.56304478e-01 -9.66595447e-01 -1.12066155e-03 1.76872094e+02] [ 9.66583571e-01 2.56306886e-01 -4.79387966e-03 1.06415099e+02] [ 4.92097553e-03 1.45479780e-04 9.99987881e-01 9.27814796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.080281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:176.88, Y:106.44, Z:0.92 [[ 2.44835147e-01 -9.69564076e-01 -1.11936128e-03 1.76878374e+02] [ 9.69552227e-01 2.44837690e-01 -4.79418325e-03 1.06439397e+02] [ 4.92232968e-03 8.85053349e-05 9.99987881e-01 9.20967774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.110281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:176.89, Y:106.46, Z:0.92 [[ 2.39100290e-01 -9.70994233e-01 -1.11816969e-03 1.76885205e+02] [ 9.70982398e-01 2.39102897e-01 -4.79446115e-03 1.06461740e+02] [ 4.92275174e-03 6.06339600e-05 9.99987881e-01 9.18704654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.140281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:176.89, Y:106.48, Z:0.92 [[ 2.33944921e-01 -9.72249210e-01 -1.11675042e-03 1.76891712e+02] [ 9.72237388e-01 2.33947583e-01 -4.79479171e-03 1.06484163e+02] [ 4.92299352e-03 3.59706584e-05 9.99987881e-01 9.18889039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.170281693 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:176.90, Y:106.51, Z:0.92 [[ 2.27239311e-01 -9.73838308e-01 -1.11557717e-03 1.76899871e+02] [ 9.73826503e-01 2.27242049e-01 -4.79506467e-03 1.06507044e+02] [ 4.92312371e-03 3.24857840e-06 9.99987881e-01 9.21182628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.200281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:176.91, Y:106.53, Z:0.92 [[ 2.25651578e-01 -9.74207434e-01 -1.11424199e-03 1.76907786e+02] [ 9.74195631e-01 2.25654329e-01 -4.79537491e-03 1.06530373e+02] [ 4.92312341e-03 -3.40576113e-06 9.99987881e-01 9.22287379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.230281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:176.92, Y:106.55, Z:0.92 [[ 2.25216925e-01 -9.74308010e-01 -1.11295160e-03 1.76916233e+02] [ 9.74296207e-01 2.25219675e-01 -4.79567438e-03 1.06553850e+02] [ 4.92312256e-03 -4.27748021e-06 9.99987881e-01 9.23215734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.260281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:176.92, Y:106.58, Z:0.92 [[ 2.24944194e-01 -9.74371014e-01 -1.11160552e-03 1.76921540e+02] [ 9.74359211e-01 2.24946941e-01 -4.79598637e-03 1.06578436e+02] [ 4.92312237e-03 -4.27378639e-06 9.99987881e-01 9.23339523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.290281693 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:176.93, Y:106.60, Z:0.92 [[ 2.25451567e-01 -9.74253744e-01 -1.11026295e-03 1.76931228e+02] [ 9.74241938e-01 2.25454301e-01 -4.79629715e-03 1.06600319e+02] [ 4.92312402e-03 -3.32019939e-07 9.99987881e-01 9.24472995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.320281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:176.94, Y:106.62, Z:0.92 [[ 2.25753317e-01 -9.74183869e-01 -1.10887179e-03 1.76937272e+02] [ 9.74172060e-01 2.25756040e-01 -4.79661876e-03 1.06623667e+02] [ 4.92312312e-03 2.62067709e-06 9.99987881e-01 9.24160092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.350281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:176.95, Y:106.65, Z:0.92 [[ 2.26248160e-01 -9.74069065e-01 -1.10766560e-03 1.76945215e+02] [ 9.74057253e-01 2.26250871e-01 -4.79689728e-03 1.06646321e+02] [ 4.92311956e-03 6.35947176e-06 9.99987881e-01 9.23463024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.380281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:176.95, Y:106.67, Z:0.92 [[ 2.25946414e-01 -9.74139104e-01 -1.10634674e-03 1.76952403e+02] [ 9.74127292e-01 2.25949123e-01 -4.79720144e-03 1.06670441e+02] [ 4.92311959e-03 6.18790738e-06 9.99987881e-01 9.22804901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.410281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:176.96, Y:106.69, Z:0.92 [[ 2.26021775e-01 -9.74121623e-01 -1.10509006e-03 1.76959589e+02] [ 9.74109809e-01 2.26024476e-01 -4.79749091e-03 1.06694020e+02] [ 4.92311704e-03 7.85833902e-06 9.99987881e-01 9.22419344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.440281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:176.97, Y:106.72, Z:0.92 [[ 2.26134583e-01 -9.74095443e-01 -1.10383564e-03 1.76967056e+02] [ 9.74083627e-01 2.26137277e-01 -4.79777952e-03 1.06716333e+02] [ 4.92311355e-03 9.71565263e-06 9.99987881e-01 9.24233702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.470281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:176.97, Y:106.74, Z:0.93 [[ 2.26140616e-01 -9.74094044e-01 -1.10262112e-03 1.76973459e+02] [ 9.74082227e-01 2.26143304e-01 -4.79805863e-03 1.06740530e+02] [ 4.92311071e-03 1.09922967e-05 9.99987881e-01 9.25484855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.500281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:176.98, Y:106.76, Z:0.93 [[ 2.25187332e-01 -9.74314863e-01 -1.10137895e-03 1.76980858e+02] [ 9.74303048e-01 2.25190025e-01 -4.79834374e-03 1.06763468e+02] [ 4.92311718e-03 7.44935341e-06 9.99987881e-01 9.25062799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.530281693 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:176.99, Y:106.79, Z:0.93 [[ 2.24279424e-01 -9.74524258e-01 -1.10009496e-03 1.76986904e+02] [ 9.74512444e-01 2.24282122e-01 -4.79863810e-03 1.06786056e+02] [ 4.92312087e-03 4.17956192e-06 9.99987881e-01 9.25302427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.560281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:176.99, Y:106.81, Z:0.93 [[ 2.23313443e-01 -9.74746069e-01 -1.09876170e-03 1.76993204e+02] [ 9.74734256e-01 2.23316146e-01 -4.79894336e-03 1.06810378e+02] [ 4.92312241e-03 6.67902402e-07 9.99987881e-01 9.25177606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.590281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:177.00, Y:106.83, Z:0.92 [[ 2.21688706e-01 -9.75116872e-01 -1.09748047e-03 1.77001963e+02] [ 9.75105061e-01 2.21691422e-01 -4.79923635e-03 1.06833463e+02] [ 4.92311835e-03 -6.22226569e-06 9.99987881e-01 9.22622445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.620281693 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:177.01, Y:106.86, Z:0.92 [[ 2.21177965e-01 -9.75232847e-01 -1.09620074e-03 1.77008607e+02] [ 9.75221037e-01 2.21180682e-01 -4.79952864e-03 1.06856155e+02] [ 4.92311641e-03 -7.48804399e-06 9.99987881e-01 9.21816778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65028169299998 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:177.01, Y:106.88, Z:0.92 [[ 2.21185017e-01 -9.75231249e-01 -1.09487499e-03 1.77014818e+02] [ 9.75219438e-01 2.21187726e-01 -4.79983105e-03 1.06878631e+02] [ 4.92311814e-03 -6.09265640e-06 9.99987881e-01 9.22113298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68028169299998 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:177.02, Y:106.90, Z:0.93 [[ 2.21911100e-01 -9.75066289e-01 -1.09355694e-03 1.77021591e+02] [ 9.75054474e-01 2.21913794e-01 -4.80013133e-03 1.06902289e+02] [ 4.92312161e-03 -1.07515931e-06 9.99987881e-01 9.27804034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71028169299998 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:177.03, Y:106.93, Z:0.93 [[ 2.22092002e-01 -9.75025102e-01 -1.09230182e-03 1.77027229e+02] [ 9.75013285e-01 2.22094688e-01 -4.80041692e-03 1.06926698e+02] [ 4.92312143e-03 1.12541774e-06 9.99987881e-01 9.31063538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.740281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:177.03, Y:106.95, Z:0.93 [[ 2.21188673e-01 -9.75230424e-01 -1.09105470e-03 1.77032768e+02] [ 9.75218608e-01 2.21191364e-01 -4.80070036e-03 1.06949316e+02] [ 4.92312092e-03 -2.15630229e-06 9.99987881e-01 9.34493637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.770281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:177.04, Y:106.97, Z:0.93 [[ 2.19474207e-01 -9.75617694e-01 -1.08976162e-03 1.77038402e+02] [ 9.75605881e-01 2.19476912e-01 -4.80099387e-03 1.06972489e+02] [ 4.92311208e-03 -9.48351836e-06 9.99987881e-01 9.33799292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.800281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:177.04, Y:106.99, Z:0.93 [[ 2.17450530e-01 -9.76070736e-01 -1.08841646e-03 1.77044389e+02] [ 9.76058928e-01 2.17453253e-01 -4.80129880e-03 1.06994276e+02] [ 4.92308696e-03 -1.83136377e-05 9.99987881e-01 9.33524042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.830281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:177.05, Y:107.02, Z:0.93 [[ 2.13609421e-01 -9.76918540e-01 -1.08702898e-03 1.77052523e+02] [ 9.76906741e-01 2.13612183e-01 -4.80161291e-03 1.07016077e+02] [ 4.92298731e-03 -3.62561859e-05 9.99987881e-01 9.29304066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.860281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:177.06, Y:107.04, Z:0.93 [[ 2.11822436e-01 -9.77307565e-01 -1.08566373e-03 1.77058693e+02] [ 9.77295769e-01 2.11825214e-01 -4.80192158e-03 1.07039489e+02] [ 4.92292524e-03 -4.38598415e-05 9.99987881e-01 9.28556227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.890281693 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:177.06, Y:107.06, Z:0.93 [[ 2.10977941e-01 -9.77490221e-01 -1.08434258e-03 1.77064044e+02] [ 9.77478426e-01 2.10980723e-01 -4.80221990e-03 1.07061864e+02] [ 4.92289837e-03 -4.67590120e-05 9.99987881e-01 9.30282606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.920281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:177.07, Y:107.08, Z:0.93 [[ 2.11921361e-01 -9.77286122e-01 -1.08297716e-03 1.77068718e+02] [ 9.77274323e-01 2.11924124e-01 -4.80252780e-03 1.07083745e+02] [ 4.92295276e-03 -4.06075437e-05 9.99987881e-01 9.34184406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.950281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:177.07, Y:107.11, Z:0.93 [[ 2.12961119e-01 -9.77060076e-01 -1.08162414e-03 1.77073735e+02] [ 9.77048272e-01 2.12963863e-01 -4.80283251e-03 1.07107001e+02] [ 4.92300275e-03 -3.39824057e-05 9.99987881e-01 9.33886984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.980281693 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:177.08, Y:107.13, Z:0.93 [[ 2.14439612e-01 -9.76736651e-01 -1.08032297e-03 1.77079250e+02] [ 9.76724842e-01 2.14442332e-01 -4.80312517e-03 1.07129884e+02] [ 4.92305537e-03 -2.51979791e-05 9.99987881e-01 9.32495291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.010281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:177.09, Y:107.15, Z:0.93 [[ 2.17401036e-01 -9.76081772e-01 -1.07901885e-03 1.77085847e+02] [ 9.76069953e-01 2.17403713e-01 -4.80341812e-03 1.07152634e+02] [ 4.92311158e-03 -8.92979767e-06 9.99987881e-01 9.29952869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.040281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:177.09, Y:107.18, Z:0.93 [[ 2.18080680e-01 -9.75930149e-01 -1.07771440e-03 1.77090838e+02] [ 9.75918326e-01 2.18083343e-01 -4.80371078e-03 1.07175701e+02] [ 4.92311773e-03 -4.16472188e-06 9.99987881e-01 9.29769088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.070281693 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:177.10, Y:107.20, Z:0.93 [[ 2.20117646e-01 -9.75472738e-01 -1.07641276e-03 1.77097952e+02] [ 9.75460909e-01 2.20120278e-01 -4.80400243e-03 1.07198597e+02] [ 4.92311368e-03 7.44713881e-06 9.99987881e-01 9.29454371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.100281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:177.10, Y:107.22, Z:0.93 [[ 2.20900584e-01 -9.75295738e-01 -1.07510896e-03 1.77103719e+02] [ 9.75283905e-01 2.20903200e-01 -4.80429420e-03 1.07222359e+02] [ 4.92310266e-03 1.27349306e-05 9.99987881e-01 9.29312072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.130281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:177.11, Y:107.25, Z:0.93 [[ 2.22045826e-01 -9.75035640e-01 -1.07375441e-03 1.77108524e+02] [ 9.75023802e-01 2.22048421e-01 -4.80459692e-03 1.07245158e+02] [ 4.92307870e-03 1.99045799e-05 9.99987881e-01 9.31162962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.160281693 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:177.11, Y:107.27, Z:0.93 [[ 2.23697191e-01 -9.74658102e-01 -1.07234993e-03 1.77112402e+02] [ 9.74646259e-01 2.23699760e-01 -4.80491037e-03 1.07268417e+02] [ 4.92302924e-03 2.96831093e-05 9.99987881e-01 9.31573979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.190281693 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:177.11, Y:107.29, Z:0.93 [[ 2.27828292e-01 -9.73700735e-01 -1.07104843e-03 1.77114714e+02] [ 9.73688880e-01 2.27830804e-01 -4.80520046e-03 1.07293561e+02] [ 4.92284505e-03 5.18926622e-05 9.99987881e-01 9.29154578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.220281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:177.12, Y:107.32, Z:0.93 [[ 2.29554116e-01 -9.73295312e-01 -1.06972673e-03 1.77118414e+02] [ 9.73283450e-01 2.29556600e-01 -4.80549468e-03 1.07317462e+02] [ 4.92272827e-03 6.19737618e-05 9.99987881e-01 9.29575798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.250281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:177.12, Y:107.34, Z:0.93 [[ 2.30485099e-01 -9.73075268e-01 -1.06835745e-03 1.77122093e+02] [ 9.73063403e-01 2.30487565e-01 -4.80579908e-03 1.07341573e+02] [ 4.92264733e-03 6.80855350e-05 9.99987881e-01 9.32720118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.280281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:177.13, Y:107.36, Z:0.93 [[ 2.29410625e-01 -9.73329146e-01 -1.06701055e-03 1.77126530e+02] [ 9.73317282e-01 2.29413097e-01 -4.80609810e-03 1.07364727e+02] [ 4.92270156e-03 6.40301567e-05 9.99987881e-01 9.34140693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.310281693 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:177.13, Y:107.39, Z:0.93 [[ 2.27707485e-01 -9.73729000e-01 -1.06562148e-03 1.77131473e+02] [ 9.73717139e-01 2.27709971e-01 -4.80640607e-03 1.07388071e+02] [ 4.92278962e-03 5.68407399e-05 9.99987881e-01 9.33862316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.340281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:177.14, Y:107.41, Z:0.93 [[ 2.24875737e-01 -9.74386869e-01 -1.06426754e-03 1.77135400e+02] [ 9.74375014e-01 2.24878251e-01 -4.80670585e-03 1.07412025e+02] [ 4.92292169e-03 4.39158220e-05 9.99987881e-01 9.30878919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.370281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:177.14, Y:107.44, Z:0.93 [[ 2.24011362e-01 -9.74585953e-01 -1.06296369e-03 1.77138925e+02] [ 9.74574099e-01 2.24013881e-01 -4.80699417e-03 1.07437001e+02] [ 4.92294762e-03 4.08844373e-05 9.99987881e-01 9.29779016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40028169299998 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:177.14, Y:107.46, Z:0.93 [[ 2.23972425e-01 -9.74594903e-01 -1.06165561e-03 1.77142075e+02] [ 9.74583048e-01 2.23974937e-01 -4.80728305e-03 1.07460238e+02] [ 4.92293781e-03 4.20272883e-05 9.99987881e-01 9.30561091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43028169299998 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:177.14, Y:107.49, Z:0.93 [[ 2.25120177e-01 -9.74330427e-01 -1.06030232e-03 1.77144247e+02] [ 9.74318568e-01 2.25122668e-01 -4.80758152e-03 1.07485401e+02] [ 4.92287104e-03 4.92113645e-05 9.99987881e-01 9.34098737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46028169299998 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:177.15, Y:107.51, Z:0.93 [[ 2.25304213e-01 -9.74287889e-01 -1.05900196e-03 1.77148510e+02] [ 9.74276027e-01 2.25306696e-01 -4.80786794e-03 1.07509817e+02] [ 4.92284774e-03 5.14726757e-05 9.99987881e-01 9.33232320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.490281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:177.15, Y:107.53, Z:0.93 [[ 2.25379541e-01 -9.74270468e-01 -1.05764723e-03 1.77152814e+02] [ 9.74258604e-01 2.25382017e-01 -4.80816594e-03 1.07534028e+02] [ 4.92282874e-03 5.32403180e-05 9.99987881e-01 9.29915018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.520281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:177.16, Y:107.56, Z:0.93 [[ 2.25175270e-01 -9.74317701e-01 -1.05630126e-03 1.77157289e+02] [ 9.74305837e-01 2.25177742e-01 -4.80846162e-03 1.07557692e+02] [ 4.92282480e-03 5.35861614e-05 9.99987881e-01 9.29083995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.550281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:177.16, Y:107.58, Z:0.93 [[ 2.24921221e-01 -9.74376381e-01 -1.05490371e-03 1.77162218e+02] [ 9.74364516e-01 2.24923688e-01 -4.80876820e-03 1.07582047e+02] [ 4.92282299e-03 5.37332754e-05 9.99987881e-01 9.28899874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.580281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:177.17, Y:107.61, Z:0.93 [[ 2.24409729e-01 -9.74494312e-01 -1.05356618e-03 1.77167075e+02] [ 9.74482447e-01 2.24412196e-01 -4.80906122e-03 1.07605350e+02] [ 4.92283591e-03 5.25183811e-05 9.99987881e-01 9.31123538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.610281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:177.17, Y:107.63, Z:0.93 [[ 2.23969104e-01 -9.74595677e-01 -1.05230659e-03 1.77171672e+02] [ 9.74583812e-01 2.23971570e-01 -4.80933683e-03 1.07628936e+02] [ 4.92284564e-03 5.15818900e-05 9.99987881e-01 9.33416454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.640281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:177.18, Y:107.65, Z:0.94 [[ 2.23917671e-01 -9.74607496e-01 -1.05094270e-03 1.77176021e+02] [ 9.74595630e-01 2.23920131e-01 -4.80963485e-03 1.07651955e+02] [ 4.92283341e-03 5.27180705e-05 9.99987881e-01 9.35208821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.670281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:177.18, Y:107.68, Z:0.93 [[ 2.24737568e-01 -9.74418762e-01 -1.04971238e-03 1.77180121e+02] [ 9.74406892e-01 2.24740012e-01 -4.80990335e-03 1.07676446e+02] [ 4.92277244e-03 5.81190009e-05 9.99987881e-01 9.33940143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.700281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:177.18, Y:107.70, Z:0.93 [[ 2.25253749e-01 -9.74299569e-01 -1.04840061e-03 1.77183776e+02] [ 9.74287697e-01 2.25256180e-01 -4.81018926e-03 1.07700466e+02] [ 4.92272404e-03 6.20693418e-05 9.99987881e-01 9.32901807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.730281693 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:177.19, Y:107.72, Z:0.93 [[ 2.26000489e-01 -9.74126626e-01 -1.04709506e-03 1.77187545e+02] [ 9.74114750e-01 2.26002905e-01 -4.81047344e-03 1.07723547e+02] [ 4.92265678e-03 6.71786091e-05 9.99987881e-01 9.32891350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.760281693 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:177.19, Y:107.75, Z:0.93 [[ 2.25943561e-01 -9.74139833e-01 -1.04573944e-03 1.77190814e+02] [ 9.74127956e-01 2.25945970e-01 -4.81076811e-03 1.07748295e+02] [ 4.92264146e-03 6.82780523e-05 9.99987881e-01 9.34592486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.790281693 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:177.20, Y:107.77, Z:0.94 [[ 2.24856125e-01 -9.74391416e-01 -1.04444405e-03 1.77195697e+02] [ 9.74379541e-01 2.24858541e-01 -4.81104933e-03 1.07772508e+02] [ 4.92269734e-03 6.41089911e-05 9.99987881e-01 9.35397363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.820281693 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:177.20, Y:107.80, Z:0.94 [[ 2.22793210e-01 -9.74865169e-01 -1.04314920e-03 1.77200481e+02] [ 9.74853298e-01 2.22795645e-01 -4.81133007e-03 1.07795688e+02] [ 4.92280720e-03 5.50142335e-05 9.99987881e-01 9.36820436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.850281693 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:177.21, Y:107.82, Z:0.94 [[ 2.18282230e-01 -9.75885128e-01 -1.04180492e-03 1.77207356e+02] [ 9.75873267e-01 2.18284713e-01 -4.81162113e-03 1.07819942e+02] [ 4.92299959e-03 3.36218198e-05 9.99987881e-01 9.37497751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.880281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:177.21, Y:107.84, Z:0.93 [[ 2.15953780e-01 -9.76403033e-01 -1.04055266e-03 1.77213746e+02] [ 9.76391176e-01 2.15956286e-01 -4.81189193e-03 1.07843493e+02] [ 4.92305976e-03 2.31598178e-05 9.99987881e-01 9.34443579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.910281693 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:177.22, Y:107.87, Z:0.93 [[ 2.14485624e-01 -9.76726593e-01 -1.03919680e-03 1.77220163e+02] [ 9.76714739e-01 2.14488141e-01 -4.81218473e-03 1.07866120e+02] [ 4.92308419e-03 1.71456159e-05 9.99987881e-01 9.32919892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.940281693 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:177.23, Y:107.89, Z:0.93 [[ 2.13453214e-01 -9.76952736e-01 -1.03791319e-03 1.77226167e+02] [ 9.76940883e-01 2.13455737e-01 -4.81246157e-03 1.07888838e+02] [ 4.92309602e-03 1.32555611e-05 9.99987881e-01 9.31343250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.970281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:177.24, Y:107.91, Z:0.93 [[ 2.13978918e-01 -9.76837729e-01 -1.03658524e-03 1.77235095e+02] [ 9.76825873e-01 2.13981428e-01 -4.81274759e-03 1.07910815e+02] [ 4.92308341e-03 1.72632342e-05 9.99987881e-01 9.31854664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.000281693 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:177.24, Y:107.93, Z:0.93 [[ 2.15590985e-01 -9.76483208e-01 -1.03536231e-03 1.77242333e+02] [ 9.76471347e-01 2.15593470e-01 -4.81301066e-03 1.07934417e+02] [ 4.92304144e-03 2.66400776e-05 9.99987881e-01 9.31719367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.030281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:177.25, Y:107.96, Z:0.93 [[ 2.19778434e-01 -9.75549266e-01 -1.03403381e-03 1.77251091e+02] [ 9.75537393e-01 2.19780861e-01 -4.81329606e-03 1.07956336e+02] [ 4.92286828e-03 4.91200216e-05 9.99987881e-01 9.31688356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.060281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:177.26, Y:107.98, Z:0.93 [[ 2.21988251e-01 -9.75048794e-01 -1.03265725e-03 1.77257679e+02] [ 9.75036914e-01 2.21990644e-01 -4.81359137e-03 1.07978820e+02] [ 4.92272671e-03 6.16817929e-05 9.99987881e-01 9.32092053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.090281693 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:177.26, Y:108.00, Z:0.93 [[ 2.24109502e-01 -9.74563424e-01 -1.03130504e-03 1.77264953e+02] [ 9.74551538e-01 2.24111863e-01 -4.81388106e-03 1.08003002e+02] [ 4.92256011e-03 7.37765729e-05 9.99987881e-01 9.31717337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.120281693 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:177.27, Y:108.03, Z:0.93 [[ 2.25903670e-01 -9.74149101e-01 -1.02999547e-03 1.77271775e+02] [ 9.74137209e-01 2.25906002e-01 -4.81416125e-03 1.08025677e+02] [ 4.92239301e-03 8.41797797e-05 9.99987881e-01 9.33303053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15028169299998 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:177.28, Y:108.05, Z:0.93 [[ 2.25642764e-01 -9.74209569e-01 -1.02871680e-03 1.77276655e+02] [ 9.74197677e-01 2.25645094e-01 -4.81443447e-03 1.08050365e+02] [ 4.92239303e-03 8.41687805e-05 9.99987881e-01 9.33426837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18028169299998 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:177.28, Y:108.07, Z:0.93 [[ 2.28307444e-01 -9.73588545e-01 -1.02742731e-03 1.77283639e+02] [ 9.73576645e-01 2.28309734e-01 -4.81470964e-03 1.08073830e+02] [ 4.92211781e-03 9.89548178e-05 9.99987881e-01 9.29922539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21028169299998 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:177.29, Y:108.10, Z:0.93 [[ 2.29046435e-01 -9.73414957e-01 -1.02608179e-03 1.77288595e+02] [ 9.73403053e-01 2.29048710e-01 -4.81499637e-03 1.08097652e+02] [ 4.92201219e-03 1.04066609e-04 9.99987881e-01 9.27789561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.240281693 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:177.29, Y:108.12, Z:0.93 [[ 2.29257334e-01 -9.73365309e-01 -1.02473711e-03 1.77293335e+02] [ 9.73353404e-01 2.29259600e-01 -4.81528253e-03 1.08121031e+02] [ 4.92195978e-03 1.06507481e-04 9.99987881e-01 9.26491650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.270281693 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:177.30, Y:108.14, Z:0.93 [[ 2.28873559e-01 -9.73455621e-01 -1.02334348e-03 1.77298597e+02] [ 9.73443716e-01 2.28875822e-01 -4.81557868e-03 1.08143712e+02] [ 4.92197072e-03 1.05991349e-04 9.99987881e-01 9.27470061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.300281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:177.30, Y:108.17, Z:0.93 [[ 2.28131539e-01 -9.73629784e-01 -1.02196348e-03 1.77303670e+02] [ 9.73617879e-01 2.28133804e-01 -4.81587153e-03 1.08167797e+02] [ 4.92202037e-03 1.03650271e-04 9.99987881e-01 9.29322121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.330281693 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:177.31, Y:108.19, Z:0.93 [[ 2.27329562e-01 -9.73817349e-01 -1.02062041e-03 1.77308087e+02] [ 9.73805444e-01 2.27331830e-01 -4.81615615e-03 1.08191530e+02] [ 4.92207592e-03 1.00968958e-04 9.99987881e-01 9.32257742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.360281693 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:177.31, Y:108.22, Z:0.93 [[ 2.26871273e-01 -9.73924220e-01 -1.01928490e-03 1.77312211e+02] [ 9.73912316e-01 2.26873540e-01 -4.81643878e-03 1.08215607e+02] [ 4.92209515e-03 1.00017473e-04 9.99987881e-01 9.32622477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.390281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:177.32, Y:108.24, Z:0.93 [[ 2.26158683e-01 -9.74089941e-01 -1.01795959e-03 1.77315594e+02] [ 9.74078037e-01 2.26160953e-01 -4.81671887e-03 1.08238877e+02] [ 4.92214011e-03 9.77707172e-05 9.99987881e-01 9.34498556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.420281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:177.32, Y:108.26, Z:0.94 [[ 2.25375642e-01 -9.74271413e-01 -1.01658712e-03 1.77318813e+02] [ 9.74259510e-01 2.25377914e-01 -4.81700851e-03 1.08263354e+02] [ 4.92218998e-03 9.52167143e-05 9.99987881e-01 9.35561599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.450281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:177.32, Y:108.29, Z:0.94 [[ 2.24403287e-01 -9.74495836e-01 -1.01525646e-03 1.77321307e+02] [ 9.74483933e-01 2.24405565e-01 -4.81728895e-03 1.08287526e+02] [ 4.92225723e-03 9.16643638e-05 9.99987881e-01 9.40379761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.480281693 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:177.33, Y:108.31, Z:0.94 [[ 2.23887421e-01 -9.74614485e-01 -1.01393144e-03 1.77325097e+02] [ 9.74602583e-01 2.23889698e-01 -4.81756783e-03 1.08312448e+02] [ 4.92228019e-03 9.04126365e-05 9.99987881e-01 9.39904808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.510281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:177.33, Y:108.34, Z:0.94 [[ 2.23486130e-01 -9.74706584e-01 -1.01269673e-03 1.77328742e+02] [ 9.74694681e-01 2.23488407e-01 -4.81782736e-03 1.08336831e+02] [ 4.92229402e-03 8.96474746e-05 9.99987881e-01 9.39480883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.540281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:177.33, Y:108.36, Z:0.94 [[ 2.22050936e-01 -9.75034542e-01 -1.01135166e-03 1.77330914e+02] [ 9.75022642e-01 2.22053224e-01 -4.81810970e-03 1.08361660e+02] [ 4.92239728e-03 8.37750059e-05 9.99987881e-01 9.40175481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.570281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:177.33, Y:108.39, Z:0.94 [[ 2.21121472e-01 -9.75245751e-01 -1.01001508e-03 1.77333822e+02] [ 9.75233851e-01 2.21123764e-01 -4.81838987e-03 1.08386139e+02] [ 4.92245258e-03 8.04485584e-05 9.99987881e-01 9.41145520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.600281693 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:177.34, Y:108.41, Z:0.94 [[ 2.20383674e-01 -9.75412743e-01 -1.00867843e-03 1.77336247e+02] [ 9.75400843e-01 2.20385969e-01 -4.81866966e-03 1.08409721e+02] [ 4.92249037e-03 7.80903323e-05 9.99987881e-01 9.42048922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.630281693 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:177.34, Y:108.43, Z:0.94 [[ 2.20826567e-01 -9.75312572e-01 -1.00729147e-03 1.77335874e+02] [ 9.75300670e-01 2.20828849e-01 -4.81895958e-03 1.08434386e+02] [ 4.92243087e-03 8.17422548e-05 9.99987881e-01 9.40703072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.660281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:177.34, Y:108.46, Z:0.94 [[ 2.21068867e-01 -9.75257681e-01 -1.00605066e-03 1.77337471e+02] [ 9.75245777e-01 2.21071140e-01 -4.81921860e-03 1.08458977e+02] [ 4.92238873e-03 8.42325366e-05 9.99987881e-01 9.37974643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.690281693 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:177.34, Y:108.48, Z:0.94 [[ 2.21277604e-01 -9.75210343e-01 -1.00468880e-03 1.77339402e+02] [ 9.75198437e-01 2.21279868e-01 -4.81950250e-03 1.08482370e+02] [ 4.92234609e-03 8.66770219e-05 9.99987881e-01 9.40035380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.720281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:177.34, Y:108.51, Z:0.94 [[ 2.20526880e-01 -9.75380382e-01 -1.00327618e-03 1.77339130e+02] [ 9.75368477e-01 2.20529146e-01 -4.81979655e-03 1.08507894e+02] [ 4.92238664e-03 8.43307404e-05 9.99987881e-01 9.38079191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.750281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:177.34, Y:108.53, Z:0.94 [[ 2.19380896e-01 -9.75638775e-01 -1.00198999e-03 1.77340866e+02] [ 9.75626871e-01 2.19383170e-01 -4.82006392e-03 1.08531454e+02] [ 4.92246100e-03 7.98615829e-05 9.99987881e-01 9.38383092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.780281693 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:177.34, Y:108.56, Z:0.94 [[ 2.17026907e-01 -9.76165109e-01 -1.00065806e-03 1.77341072e+02] [ 9.76153210e-01 2.17029202e-01 -4.82034042e-03 1.08556644e+02] [ 4.92262015e-03 6.93479939e-05 9.99987881e-01 9.36196209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.810281693 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:177.34, Y:108.58, Z:0.94 [[ 2.15808083e-01 -9.76435288e-01 -9.99371973e-04 1.77343286e+02] [ 9.76423391e-01 2.15810388e-01 -4.82060704e-03 1.08580353e+02] [ 4.92268568e-03 6.45157954e-05 9.99987881e-01 9.36415374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.840281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:177.35, Y:108.60, Z:0.94 [[ 2.14897303e-01 -9.76636142e-01 -9.98034501e-04 1.77345261e+02] [ 9.76624245e-01 2.14899611e-01 -4.82088393e-03 1.08604916e+02] [ 4.92272670e-03 6.12902609e-05 9.99987881e-01 9.35482082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.870281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:177.35, Y:108.63, Z:0.93 [[ 2.14341388e-01 -9.76758300e-01 -9.96745016e-04 1.77346403e+02] [ 9.76746403e-01 2.14343698e-01 -4.82115052e-03 1.08629812e+02] [ 4.92274480e-03 5.98049880e-05 9.99987881e-01 9.34047840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90028169299998 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:177.34, Y:108.65, Z:0.93 [[ 2.13745501e-01 -9.76888873e-01 -9.95367175e-04 1.77342888e+02] [ 9.76876976e-01 2.13747811e-01 -4.82143497e-03 1.08654966e+02] [ 4.92276373e-03 5.82087582e-05 9.99987881e-01 9.32482709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93028169299998 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:177.34, Y:108.68, Z:0.93 [[ 2.13485020e-01 -9.76945832e-01 -9.93944373e-04 1.77343868e+02] [ 9.76933935e-01 2.13487326e-01 -4.82172827e-03 1.08678812e+02] [ 4.92276186e-03 5.83487692e-05 9.99987881e-01 9.32321579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96028169299998 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:177.34, Y:108.70, Z:0.94 [[ 2.13161458e-01 -9.77016483e-01 -9.92568082e-04 1.77341609e+02] [ 9.77004585e-01 2.13163761e-01 -4.82201156e-03 1.08703758e+02] [ 4.92276432e-03 5.81234502e-05 9.99987881e-01 9.35633534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.990281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:177.34, Y:108.73, Z:0.94 [[ 2.12551167e-01 -9.77149435e-01 -9.91208316e-04 1.77343003e+02] [ 9.77137538e-01 2.12553471e-01 -4.82229106e-03 1.08728242e+02] [ 4.92278375e-03 5.64367393e-05 9.99987881e-01 9.36119345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.020281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:177.34, Y:108.75, Z:0.94 [[ 2.11518527e-01 -9.77373487e-01 -9.89955183e-04 1.77344594e+02] [ 9.77361591e-01 2.11520837e-01 -4.82254830e-03 1.08753389e+02] [ 4.92282699e-03 5.25141394e-05 9.99987881e-01 9.35858315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.050281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:177.34, Y:108.78, Z:0.93 [[ 2.07951304e-01 -9.78138680e-01 -9.88704621e-04 1.77343144e+02] [ 9.78126791e-01 2.07953651e-01 -4.82280467e-03 1.08777397e+02] [ 4.92297653e-03 3.58300411e-05 9.99987881e-01 9.34123634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.080281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:177.34, Y:108.80, Z:0.93 [[ 2.05625222e-01 -9.78630315e-01 -9.87410190e-04 1.77344701e+02] [ 9.78618430e-01 2.05627591e-01 -4.82306967e-03 1.08801948e+02] [ 4.92304097e-03 2.54469637e-05 9.99987881e-01 9.33259124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.110281693 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:177.35, Y:108.83, Z:0.93 [[ 2.03405492e-01 -9.79094088e-01 -9.86123021e-04 1.77345860e+02] [ 9.79082208e-01 2.03407881e-01 -4.82333283e-03 1.08825684e+02] [ 4.92308186e-03 1.55968821e-05 9.99987881e-01 9.34718940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.140281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:177.35, Y:108.85, Z:0.94 [[ 2.01805734e-01 -9.79425074e-01 -9.84794673e-04 1.77347432e+02] [ 9.79413196e-01 2.01808137e-01 -4.82360403e-03 1.08849390e+02] [ 4.92309831e-03 8.91005488e-06 9.99987881e-01 9.36611208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.170281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:177.35, Y:108.88, Z:0.94 [[ 2.00726474e-01 -9.79646832e-01 -9.83468888e-04 1.77345743e+02] [ 9.79634955e-01 2.00728883e-01 -4.82387433e-03 1.08875341e+02] [ 4.92310381e-03 4.83878438e-06 9.99987881e-01 9.38118212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.200281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:177.35, Y:108.90, Z:0.94 [[ 2.00183020e-01 -9.79758028e-01 -9.82205683e-04 1.77347257e+02] [ 9.79746152e-01 2.00185430e-01 -4.82413152e-03 1.08900422e+02] [ 4.92310485e-03 3.39698031e-06 9.99987881e-01 9.39583242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.230281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:177.35, Y:108.92, Z:0.94 [[ 1.98809304e-01 -9.80037703e-01 -9.80893825e-04 1.77346715e+02] [ 9.80025828e-01 1.98811724e-01 -4.82439824e-03 1.08924632e+02] [ 4.92310536e-03 -2.16602472e-06 9.99987881e-01 9.41779539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.260281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:177.35, Y:108.95, Z:0.94 [[ 1.97861387e-01 -9.80229520e-01 -9.79530398e-04 1.77349306e+02] [ 9.80217646e-01 1.97863812e-01 -4.82467505e-03 1.08948416e+02] [ 4.92310253e-03 -5.53608096e-06 9.99987881e-01 9.43056514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.290281693 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:177.35, Y:108.97, Z:0.94 [[ 1.95943186e-01 -9.80614762e-01 -9.78192316e-04 1.77351237e+02] [ 9.80602892e-01 1.95945627e-01 -4.82494633e-03 1.08971748e+02] [ 4.92308611e-03 -1.38028592e-05 9.99987881e-01 9.43604664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.320281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:177.35, Y:109.00, Z:0.94 [[ 1.95076406e-01 -9.80787562e-01 -9.76915826e-04 1.77354737e+02] [ 9.80775693e-01 1.95078852e-01 -4.82520477e-03 1.08996431e+02] [ 4.92307644e-03 -1.68516895e-05 9.99987881e-01 9.41171180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.350281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:177.36, Y:109.02, Z:0.94 [[ 1.94387627e-01 -9.80924308e-01 -9.75634132e-04 1.77358048e+02] [ 9.80912440e-01 1.94390074e-01 -4.82546391e-03 1.09021225e+02] [ 4.92306844e-03 -1.90011800e-05 9.99987881e-01 9.38531866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.380281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:177.36, Y:109.05, Z:0.94 [[ 1.93867768e-01 -9.81027186e-01 -9.74290389e-04 1.77360819e+02] [ 9.81015317e-01 1.93870215e-01 -4.82573521e-03 1.09046158e+02] [ 4.92306332e-03 -2.02392808e-05 9.99987881e-01 9.39492177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.410281693 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:177.36, Y:109.07, Z:0.94 [[ 1.96196593e-01 -9.80564090e-01 -9.81397203e-04 1.77360905e+02] [ 9.80552222e-01 1.96199047e-01 -4.82430180e-03 1.09068862e+02] [ 4.92308630e-03 -1.57996322e-05 9.99987881e-01 9.39863783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.440281693 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:177.36, Y:109.09, Z:0.94 [[ 1.97652384e-01 -9.80271693e-01 -9.71560119e-04 1.77362134e+02] [ 9.80259812e-01 1.97654772e-01 -4.82628206e-03 1.09091547e+02] [ 4.92310118e-03 1.54481555e-06 9.99987881e-01 9.39651201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.470281693 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:177.36, Y:109.12, Z:0.94 [[ 2.00622821e-01 -9.79668078e-01 -9.70206381e-04 1.77362279e+02] [ 9.79656188e-01 2.00625166e-01 -4.82655418e-03 1.09116219e+02] [ 4.92306888e-03 1.78482303e-05 9.99987881e-01 9.37415348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.500281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:177.36, Y:109.14, Z:0.94 [[ 2.01110324e-01 -9.79568118e-01 -9.68960951e-04 1.77364770e+02] [ 9.79556227e-01 2.01112657e-01 -4.82680420e-03 1.09139785e+02] [ 4.92305382e-03 2.15684235e-05 9.99987881e-01 9.38230050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.530281693 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:177.37, Y:109.16, Z:0.94 [[ 2.01154821e-01 -9.79558983e-01 -9.67668293e-04 1.77367576e+02] [ 9.79547090e-01 2.01157147e-01 -4.82706333e-03 1.09163847e+02] [ 4.92304664e-03 2.31103981e-05 9.99987881e-01 9.37682833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.560281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:177.37, Y:109.19, Z:0.93 [[ 2.00603731e-01 -9.79671991e-01 -9.66364481e-04 1.77368019e+02] [ 9.79660098e-01 2.00606057e-01 -4.82732434e-03 1.09188586e+02] [ 4.92305301e-03 2.16705501e-05 9.99987881e-01 9.34428587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.590281693 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:177.37, Y:109.21, Z:0.94 [[ 2.00206931e-01 -9.79753160e-01 -9.65065140e-04 1.77370035e+02] [ 9.79741266e-01 2.00209256e-01 -4.82758409e-03 1.09211969e+02] [ 4.92305573e-03 2.10016503e-05 9.99987881e-01 9.36529037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.620281693 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:177.37, Y:109.24, Z:0.94 [[ 1.99986837e-01 -9.79798110e-01 -9.63714545e-04 1.77371639e+02] [ 9.79786216e-01 1.99989158e-01 -4.82785369e-03 1.09235810e+02] [ 4.92305438e-03 2.12729603e-05 9.99987881e-01 9.37485792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65028169299998 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:177.37, Y:109.26, Z:0.94 [[ 2.00189002e-01 -9.79756826e-01 -9.62415911e-04 1.77373561e+02] [ 9.79744930e-01 2.00191314e-01 -4.82811255e-03 1.09260433e+02] [ 4.92304353e-03 2.36129245e-05 9.99987881e-01 9.36872616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68028169299998 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:177.37, Y:109.29, Z:0.93 [[ 2.02267379e-01 -9.79329865e-01 -9.61123005e-04 1.77371106e+02] [ 9.79317963e-01 2.02269659e-01 -4.82836991e-03 1.09286301e+02] [ 4.92297288e-03 3.53767037e-05 9.99987881e-01 9.34372676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71028169299998 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:177.37, Y:109.31, Z:0.94 [[ 2.03941579e-01 -9.78982590e-01 -9.59770993e-04 1.77371087e+02] [ 9.78970683e-01 2.03943832e-01 -4.82863865e-03 1.09310583e+02] [ 4.92289254e-03 4.51725239e-05 9.99987881e-01 9.35579822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.740281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:177.37, Y:109.34, Z:0.93 [[ 2.06210218e-01 -9.78507245e-01 -9.58372270e-04 1.77366853e+02] [ 9.78495331e-01 2.06212436e-01 -4.82891625e-03 1.09336923e+02] [ 4.92275781e-03 5.80090780e-05 9.99987881e-01 9.28702334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.770281693 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:177.37, Y:109.36, Z:0.93 [[ 2.05577755e-01 -9.78640317e-01 -9.57037682e-04 1.77367468e+02] [ 9.78628404e-01 2.05579975e-01 -4.82918073e-03 1.09361156e+02] [ 4.92277875e-03 5.61878759e-05 9.99987881e-01 9.30061630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.800281693 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:177.37, Y:109.39, Z:0.93 [[ 2.03341562e-01 -9.79107398e-01 -9.55776830e-04 1.77368255e+02] [ 9.79095488e-01 2.03343803e-01 -4.82943026e-03 1.09386421e+02] [ 4.92288219e-03 4.62271101e-05 9.99987881e-01 9.28033039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.830281693 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:177.37, Y:109.41, Z:0.92 [[ 1.97509688e-01 -9.80300470e-01 -9.54511613e-04 1.77366582e+02] [ 9.80288573e-01 1.97511993e-01 -4.82968031e-03 1.09410972e+02] [ 4.92306537e-03 1.82118240e-05 9.99987881e-01 9.23260107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.860281693 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:177.37, Y:109.44, Z:0.92 [[ 1.94358286e-01 -9.80930144e-01 -9.53263915e-04 1.77368541e+02] [ 9.80918253e-01 1.94360624e-01 -4.82992657e-03 1.09435077e+02] [ 4.92309753e-03 3.66227637e-06 9.99987881e-01 9.21411288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.890281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:177.37, Y:109.46, Z:0.92 [[ 1.91614173e-01 -9.81469868e-01 -9.51966174e-04 1.77370771e+02] [ 9.81457983e-01 1.91616537e-01 -4.83018233e-03 1.09459901e+02] [ 4.92309088e-03 -8.78340857e-06 9.99987881e-01 9.19959136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.920281693 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:177.37, Y:109.48, Z:0.92 [[ 1.87932009e-01 -9.82181580e-01 -9.50730642e-04 1.77369588e+02] [ 9.82169702e-01 1.87934412e-01 -4.83042551e-03 1.09484439e+02] [ 4.92302997e-03 -2.59872615e-05 9.99987881e-01 9.22040220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.950281693 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:177.37, Y:109.51, Z:0.92 [[ 1.86637197e-01 -9.82428448e-01 -9.49449123e-04 1.77371223e+02] [ 9.82416572e-01 1.86639609e-01 -4.83067739e-03 1.09509180e+02] [ 4.92299970e-03 -3.11704647e-05 9.99987881e-01 9.22854158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.980281693 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:177.37, Y:109.54, Z:0.92 [[ 1.85683939e-01 -9.82609065e-01 -9.48237899e-04 1.77373916e+02] [ 9.82597191e-01 1.85686357e-01 -4.83091514e-03 1.09535099e+02] [ 4.92297585e-03 -3.47125421e-05 9.99987881e-01 9.21952044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.010281693 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:177.38, Y:109.56, Z:0.92 [[ 1.83619025e-01 -9.82997028e-01 -9.47061875e-04 1.77376114e+02] [ 9.82985157e-01 1.83621462e-01 -4.83114568e-03 1.09558984e+02] [ 4.92290273e-03 -4.38575056e-05 9.99987881e-01 9.22284496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.040281693 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:177.38, Y:109.58, Z:0.92 [[ 1.82084407e-01 -9.83282449e-01 -9.45664336e-04 1.77379836e+02] [ 9.83270580e-01 1.82086856e-01 -4.83141922e-03 1.09582453e+02] [ 4.92284277e-03 -5.01178180e-05 9.99987881e-01 9.20575211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.070281693 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:177.38, Y:109.61, Z:0.92 [[ 1.81821541e-01 -9.83331092e-01 -9.44367269e-04 1.77384054e+02] [ 9.83319222e-01 1.81823986e-01 -4.83167273e-03 1.09606368e+02] [ 4.92284265e-03 -5.01123075e-05 9.99987881e-01 9.20694889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.100281693 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:177.39, Y:109.63, Z:0.92 [[ 1.77657330e-01 -9.84091959e-01 -9.43075541e-04 1.77388235e+02] [ 9.84080099e-01 1.77659820e-01 -4.83192485e-03 1.09630019e+02] [ 4.92260502e-03 -6.96350022e-05 9.99987881e-01 9.17385210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.130281693 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:177.39, Y:109.66, Z:0.92 [[ 1.75053859e-01 -9.84558410e-01 -9.40290251e-04 1.77393483e+02] [ 9.84546553e-01 1.75056366e-01 -4.83246765e-03 1.09656248e+02] [ 4.92245046e-03 -7.98174159e-05 9.99987881e-01 9.16515248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.160281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:177.40, Y:109.68, Z:0.92 [[ 1.72704388e-01 -9.84973253e-01 -9.40441085e-04 1.77398603e+02] [ 9.84961403e-01 1.72706924e-01 -4.83243830e-03 1.09680470e+02] [ 4.92224316e-03 -9.17148722e-05 9.99987881e-01 9.17422878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.190281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:177.40, Y:109.70, Z:0.92 [[ 1.69393739e-01 -9.85548010e-01 -9.39147318e-04 1.77403484e+02] [ 9.85536167e-01 1.69396309e-01 -4.83268972e-03 1.09703558e+02] [ 4.92193582e-03 -1.06936266e-04 9.99987881e-01 9.19534105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.220281693 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:177.41, Y:109.73, Z:0.92 [[ 1.68925424e-01 -9.85628389e-01 -9.37797078e-04 1.77408144e+02] [ 9.85616546e-01 1.68927993e-01 -4.83295172e-03 1.09727140e+02] [ 4.92191460e-03 -1.07899896e-04 9.99987881e-01 9.20158839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.250281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:177.41, Y:109.75, Z:0.92 [[ 1.69479617e-01 -9.85533248e-01 -9.36508514e-04 1.77412890e+02] [ 9.85521402e-01 1.69482172e-01 -4.83320140e-03 1.09750831e+02] [ 4.92200217e-03 -1.03820062e-04 9.99987881e-01 9.19654858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.280281693 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:177.42, Y:109.77, Z:0.92 [[ 1.72477367e-01 -9.85013037e-01 -9.35175616e-04 1.77417872e+02] [ 9.85001182e-01 1.72479880e-01 -4.83345929e-03 1.09774411e+02] [ 4.92231939e-03 -8.74867535e-05 9.99987881e-01 9.20726977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.310281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:177.42, Y:109.80, Z:0.92 [[ 1.74502294e-01 -9.84656325e-01 -9.33799309e-04 1.77421883e+02] [ 9.84644463e-01 1.74504776e-01 -4.83372517e-03 1.09797856e+02] [ 4.92251050e-03 -7.59641902e-05 9.99987882e-01 9.21676285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.340281693 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:177.42, Y:109.82, Z:0.92 [[ 1.78828196e-01 -9.83879874e-01 -9.32446998e-04 1.77424935e+02] [ 9.83868000e-01 1.78830619e-01 -4.83398602e-03 1.09821881e+02] [ 4.92281163e-03 -5.29517629e-05 9.99987882e-01 9.18570030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.370281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:177.43, Y:109.85, Z:0.92 [[ 1.80313108e-01 -9.83608823e-01 -9.31138130e-04 1.77429324e+02] [ 9.83596944e-01 1.80315507e-01 -4.83423813e-03 1.09845424e+02] [ 4.92289792e-03 -4.41881171e-05 9.99987882e-01 9.18445200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40028169299998 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:177.43, Y:109.87, Z:0.92 [[ 1.81216357e-01 -9.83442814e-01 -9.29778169e-04 1.77434458e+02] [ 9.83430931e-01 1.81218738e-01 -4.83449968e-03 1.09869745e+02] [ 4.92294719e-03 -3.82821921e-05 9.99987882e-01 9.18527737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43028169299998 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:177.44, Y:109.89, Z:0.92 [[ 1.81565324e-01 -9.83378447e-01 -9.28473295e-04 1.77439445e+02] [ 9.83366563e-01 1.81567695e-01 -4.83475027e-03 1.09893263e+02] [ 4.92296997e-03 -3.52065920e-05 9.99987882e-01 9.18307571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46028169299998 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:177.44, Y:109.92, Z:0.92 [[ 1.80789834e-01 -9.83521315e-01 -9.27116689e-04 1.77443957e+02] [ 9.83509431e-01 1.80792207e-01 -4.83501040e-03 1.09917163e+02] [ 4.92295126e-03 -3.77072797e-05 9.99987882e-01 9.17226754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.490281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:177.45, Y:109.94, Z:0.92 [[ 1.79578282e-01 -9.83743251e-01 -9.25823895e-04 1.77448500e+02] [ 9.83731369e-01 1.79580663e-01 -4.83525793e-03 1.09941121e+02] [ 4.92291243e-03 -4.24546963e-05 9.99987882e-01 9.15055064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.520281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:177.45, Y:109.97, Z:0.91 [[ 1.76795149e-01 -9.84247236e-01 -9.24526120e-04 1.77454652e+02] [ 9.84235359e-01 1.76797558e-01 -4.83550606e-03 1.09965953e+02] [ 4.92278743e-03 -5.50572824e-05 9.99987882e-01 9.11012330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.550281693 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:177.46, Y:109.99, Z:0.91 [[ 1.75143670e-01 -9.84542453e-01 -9.23280071e-04 1.77459581e+02] [ 9.84530579e-01 1.75146093e-01 -4.83574397e-03 1.09991022e+02] [ 4.92270413e-03 -6.20475158e-05 9.99987882e-01 9.11013792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.580281693 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:177.46, Y:110.01, Z:0.91 [[ 1.73401362e-01 -9.84850810e-01 -9.22040232e-04 1.77464817e+02] [ 9.84838939e-01 1.73403799e-01 -4.83598036e-03 1.10014854e+02] [ 4.92260445e-03 -6.94955434e-05 9.99987882e-01 9.14107395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.610281693 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:177.47, Y:110.04, Z:0.92 [[ 1.73031280e-01 -9.84915899e-01 -9.20750613e-04 1.77469707e+02] [ 9.84904028e-01 1.73033715e-01 -4.83622589e-03 1.10038604e+02] [ 4.92259667e-03 -7.00326343e-05 9.99987882e-01 9.15571592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.640281693 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:177.47, Y:110.06, Z:0.92 [[ 1.73064238e-01 -9.84910110e-01 -9.19427454e-04 1.77474969e+02] [ 9.84898237e-01 1.73066667e-01 -4.83647742e-03 1.10063940e+02] [ 4.92261775e-03 -6.85211969e-05 9.99987882e-01 9.16369248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.670281693 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:177.48, Y:110.09, Z:0.92 [[ 1.73671488e-01 -9.84803214e-01 -9.18188291e-04 1.77478221e+02] [ 9.84791339e-01 1.73673904e-01 -4.83671266e-03 1.10087947e+02] [ 4.92267552e-03 -6.42247896e-05 9.99987882e-01 9.16157183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.700281693 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:177.48, Y:110.11, Z:0.92 [[ 1.73885979e-01 -9.84765366e-01 -9.17107525e-04 1.77480592e+02] [ 9.84753489e-01 1.73888387e-01 -4.83691758e-03 1.10111286e+02] [ 4.92270326e-03 -6.20526851e-05 9.99987882e-01 9.15529085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.730281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:177.48, Y:110.14, Z:0.91 [[ 1.75445573e-01 -9.84488706e-01 -9.15820919e-04 1.77482610e+02] [ 9.84476824e-01 1.75447956e-01 -4.83716117e-03 1.10135892e+02] [ 4.92280945e-03 -5.29459550e-05 9.99987882e-01 9.13506417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.760281693 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:177.49, Y:110.16, Z:0.91 [[ 1.75741448e-01 -9.84435934e-01 -9.14484585e-04 1.77485729e+02] [ 9.84424050e-01 1.75743820e-01 -4.83741380e-03 1.10160142e+02] [ 4.92283898e-03 -5.01065146e-05 9.99987882e-01 9.13323000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.790281693 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:177.49, Y:110.19, Z:0.91 [[ 1.75780356e-01 -9.84428988e-01 -9.13149473e-04 1.77489246e+02] [ 9.84417103e-01 1.75782721e-01 -4.83766581e-03 1.10185558e+02] [ 4.92285436e-03 -4.85533423e-05 9.99987882e-01 9.13360298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.820281693 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:177.49, Y:110.21, Z:0.91 [[ 1.75371852e-01 -9.84501845e-01 -9.11917062e-04 1.77491402e+02] [ 9.84489959e-01 1.75374216e-01 -4.83789812e-03 1.10208682e+02] [ 4.92284636e-03 -4.93420364e-05 9.99987882e-01 9.13535713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.850281693 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:177.49, Y:110.23, Z:0.91 [[ 1.73294767e-01 -9.84869583e-01 -9.10654111e-04 1.77493052e+02] [ 9.84857701e-01 1.73297150e-01 -4.83813583e-03 1.10233526e+02] [ 4.92274658e-03 -5.84410937e-05 9.99987882e-01 9.12717381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.880281693 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:177.50, Y:110.26, Z:0.91 [[ 1.71458691e-01 -9.85190890e-01 -9.09340100e-04 1.77496202e+02] [ 9.85179012e-01 1.71461089e-01 -4.83838279e-03 1.10256978e+02] [ 4.92264710e-03 -6.62800031e-05 9.99987882e-01 9.11508862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.910281693 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:177.50, Y:110.28, Z:0.91 [[ 1.68445436e-01 -9.85710561e-01 -9.08106003e-04 1.77498611e+02] [ 9.85698689e-01 1.68447865e-01 -4.83861441e-03 1.10281250e+02] [ 4.92244184e-03 -8.00763817e-05 9.99987882e-01 9.10117210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.940281693 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:177.50, Y:110.31, Z:0.91 [[ 1.67703782e-01 -9.85837015e-01 -9.06790213e-04 1.77501729e+02] [ 9.85825143e-01 1.67706213e-01 -4.83886098e-03 1.10305100e+02] [ 4.92240262e-03 -8.24413058e-05 9.99987882e-01 9.09113372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.970281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:177.50, Y:110.33, Z:0.90 [[ 1.67721675e-01 -9.85833972e-01 -9.05430390e-04 1.77504303e+02] [ 9.85822098e-01 1.67724100e-01 -4.83911541e-03 1.10329711e+02] [ 4.92242687e-03 -8.09687417e-05 9.99987882e-01 9.03367693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.000281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:177.51, Y:110.35, Z:0.90 [[ 1.67499318e-01 -9.85871777e-01 -9.04163802e-04 1.77507791e+02] [ 9.85859903e-01 1.67501739e-01 -4.83935206e-03 1.10353961e+02] [ 4.92242962e-03 -8.07906705e-05 9.99987882e-01 9.01560292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.030281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:177.51, Y:110.38, Z:0.90 [[ 1.66842692e-01 -9.85983114e-01 -9.02848835e-04 1.77511846e+02] [ 9.85971240e-01 1.66845114e-01 -4.83959737e-03 1.10377057e+02] [ 4.92239720e-03 -8.27315323e-05 9.99987882e-01 8.99983490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.060281693 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:177.52, Y:110.40, Z:0.90 [[ 1.65995163e-01 -9.86126155e-01 -9.01488539e-04 1.77517225e+02] [ 9.86114282e-01 1.65997589e-01 -4.83985075e-03 1.10400737e+02] [ 4.92234833e-03 -8.55789077e-05 9.99987882e-01 9.01824332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.090281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:177.53, Y:110.42, Z:0.90 [[ 1.64449222e-01 -9.86385139e-01 -9.00173807e-04 1.77525024e+02] [ 9.86373269e-01 1.64451660e-01 -4.84009526e-03 1.10423622e+02] [ 4.92223312e-03 -9.19574802e-05 9.99987882e-01 9.02764705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.120281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:177.53, Y:110.45, Z:0.90 [[ 1.63508003e-01 -9.86541598e-01 -8.98816500e-04 1.77530757e+02] [ 9.86529729e-01 1.63510446e-01 -4.84034730e-03 1.10447266e+02] [ 4.92216985e-03 -9.52736765e-05 9.99987882e-01 9.01856937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15028169299998 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:177.54, Y:110.47, Z:0.90 [[ 1.63763419e-01 -9.86499233e-01 -8.97518109e-04 1.77537819e+02] [ 9.86487362e-01 1.63765852e-01 -4.84058805e-03 1.10471838e+02] [ 4.92221921e-03 -9.26790249e-05 9.99987882e-01 8.99385699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18028169299998 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:177.54, Y:110.50, Z:0.90 [[ 1.65225649e-01 -9.86255384e-01 -8.96283149e-04 1.77543609e+02] [ 9.86243507e-01 1.65228059e-01 -4.84081670e-03 1.10495745e+02] [ 4.92237266e-03 -8.41263542e-05 9.99987882e-01 8.97981246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21028169299998 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:177.55, Y:110.52, Z:0.90 [[ 1.66961170e-01 -9.85963066e-01 -8.94994273e-04 1.77548904e+02] [ 9.85951184e-01 1.66963553e-01 -4.84105498e-03 1.10520238e+02] [ 4.92253283e-03 -7.41524579e-05 9.99987882e-01 8.99657093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.240281693 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:177.55, Y:110.54, Z:0.90 [[ 1.71648808e-01 -9.85157799e-01 -8.93651078e-04 1.77553357e+02] [ 9.85145904e-01 1.71651127e-01 -4.84130292e-03 1.10543497e+02] [ 4.92284354e-03 -4.93728233e-05 9.99987882e-01 9.01542329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.270281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:177.56, Y:110.57, Z:0.90 [[ 1.73848306e-01 -9.84772040e-01 -8.92258832e-04 1.77558033e+02] [ 9.84760139e-01 1.73850592e-01 -4.84155950e-03 1.10566673e+02] [ 4.92295215e-03 -3.69640130e-05 9.99987882e-01 9.01864386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.300281693 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:177.56, Y:110.59, Z:0.90 [[ 1.75567841e-01 -9.84466932e-01 -8.90890292e-04 1.77563110e+02] [ 9.84455025e-01 1.75570099e-01 -4.84181131e-03 1.10590636e+02] [ 4.92301682e-03 -2.69750680e-05 9.99987882e-01 9.02336170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.330281693 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:177.57, Y:110.61, Z:0.90 [[ 1.76863409e-01 -9.84235004e-01 -8.89569833e-04 1.77569831e+02] [ 9.84223094e-01 1.76865645e-01 -4.84205390e-03 1.10614614e+02] [ 4.92305328e-03 -1.91530156e-05 9.99987882e-01 9.01301641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.360281693 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:177.57, Y:110.64, Z:0.90 [[ 1.76557914e-01 -9.84289853e-01 -8.88219203e-04 1.77574686e+02] [ 9.84277942e-01 1.76560147e-01 -4.84230165e-03 1.10638101e+02] [ 4.92305249e-03 -1.93078924e-05 9.99987882e-01 9.01030901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.390281693 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:177.58, Y:110.66, Z:0.90 [[ 1.74781825e-01 -9.84606788e-01 -8.86817486e-04 1.77581550e+02] [ 9.84594880e-01 1.74784072e-01 -4.84255834e-03 1.10661356e+02] [ 4.92301739e-03 -2.67647736e-05 9.99987882e-01 9.02361633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.420281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:177.59, Y:110.68, Z:0.90 [[ 1.72933509e-01 -9.84933103e-01 -8.85401632e-04 1.77586943e+02] [ 9.84921198e-01 1.72935772e-01 -4.84281720e-03 1.10684745e+02] [ 4.92296859e-03 -3.45654634e-05 9.99987882e-01 9.02171604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.450281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:177.59, Y:110.71, Z:0.90 [[ 1.70943676e-01 -9.85280406e-01 -8.83998525e-04 1.77592102e+02] [ 9.85268504e-01 1.70945956e-01 -4.84307331e-03 1.10708597e+02] [ 4.92290121e-03 -4.30831488e-05 9.99987882e-01 9.01600216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.480281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:177.60, Y:110.73, Z:0.90 [[ 1.68358706e-01 -9.85725401e-01 -8.82672340e-04 1.77598659e+02] [ 9.85713504e-01 1.68361011e-01 -4.84331500e-03 1.10731406e+02] [ 4.92278623e-03 -5.46477978e-05 9.99987882e-01 9.01342236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.510281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:177.60, Y:110.76, Z:0.90 [[ 1.67707916e-01 -9.85836334e-01 -8.81296445e-04 1.77604095e+02] [ 9.85824437e-01 1.67710222e-01 -4.84356535e-03 1.10755077e+02] [ 4.92276513e-03 -5.64993218e-05 9.99987882e-01 9.00708954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.540281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:177.61, Y:110.78, Z:0.90 [[ 1.67483508e-01 -9.85874485e-01 -8.79988256e-04 1.77612080e+02] [ 9.85862587e-01 1.67485811e-01 -4.84380301e-03 1.10778572e+02] [ 4.92276734e-03 -5.62903773e-05 9.99987882e-01 8.98643877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.570281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:177.62, Y:110.80, Z:0.90 [[ 1.66737882e-01 -9.86000866e-01 -8.78674469e-04 1.77617396e+02] [ 9.85988968e-01 1.66740187e-01 -4.84404132e-03 1.10801276e+02] [ 4.92273928e-03 -5.86781439e-05 9.99987882e-01 8.96262698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.600281693 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:177.62, Y:110.83, Z:0.89 [[ 1.65784437e-01 -9.86161625e-01 -8.77312556e-04 1.77623147e+02] [ 9.86149729e-01 1.65786746e-01 -4.84428797e-03 1.10825784e+02] [ 4.92269769e-03 -6.20539878e-05 9.99987882e-01 8.93921142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.630281693 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:177.63, Y:110.85, Z:0.89 [[ 1.64424288e-01 -9.86389318e-01 -8.76061187e-04 1.77631839e+02] [ 9.86377423e-01 1.64426608e-01 -4.84451426e-03 1.10848134e+02] [ 4.92262488e-03 -6.75711695e-05 9.99987882e-01 8.90954932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.660281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:177.64, Y:110.87, Z:0.89 [[ 1.64161110e-01 -9.86433153e-01 -8.74763896e-04 1.77637658e+02] [ 9.86421258e-01 1.64163427e-01 -4.84474850e-03 1.10872175e+02] [ 4.92262477e-03 -6.75664103e-05 9.99987882e-01 8.91714449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.690281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:177.64, Y:110.90, Z:0.89 [[ 1.66071968e-01 -9.86113248e-01 -8.73465435e-04 1.77641475e+02] [ 9.86101348e-01 1.66074256e-01 -4.84498259e-03 1.10896786e+02] [ 4.92276164e-03 -5.67096482e-05 9.99987882e-01 8.92340555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.720281693 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:177.65, Y:110.92, Z:0.89 [[ 1.67964372e-01 -9.85792681e-01 -8.72183913e-04 1.77645568e+02] [ 9.85780774e-01 1.67966630e-01 -4.84521327e-03 1.10921238e+02] [ 4.92287357e-03 -4.59589299e-05 9.99987882e-01 8.90535748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.750281693 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:177.65, Y:110.94, Z:0.89 [[ 1.71395672e-01 -9.85201891e-01 -8.70896068e-04 1.77651418e+02] [ 9.85189975e-01 1.71397883e-01 -4.84544474e-03 1.10944408e+02] [ 4.92301106e-03 -2.75098167e-05 9.99987882e-01 8.88515749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.780281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:177.66, Y:110.97, Z:0.89 [[ 1.72251856e-01 -9.85052558e-01 -8.69560515e-04 1.77656575e+02] [ 9.85040640e-01 1.72254049e-01 -4.84568441e-03 1.10968673e+02] [ 4.92303914e-03 -2.18743159e-05 9.99987882e-01 8.88513799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.810281693 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:177.66, Y:110.99, Z:0.89 [[ 1.72583247e-01 -9.84994553e-01 -8.68276646e-04 1.77661284e+02] [ 9.84982633e-01 1.72585430e-01 -4.84591445e-03 1.10991846e+02] [ 4.92305123e-03 -1.89137665e-05 9.99987882e-01 8.88814891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.840281693 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:177.67, Y:111.02, Z:0.89 [[ 1.73393105e-01 -9.84852314e-01 -8.66940352e-04 1.77666967e+02] [ 9.84840390e-01 1.73395271e-01 -4.84615350e-03 1.11015552e+02] [ 4.92306885e-03 -1.35082741e-05 9.99987882e-01 8.93145410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.870281693 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:177.67, Y:111.04, Z:0.90 [[ 1.73687274e-01 -9.84800478e-01 -8.65827071e-04 1.77671923e+02] [ 9.84788553e-01 1.73689432e-01 -4.84635239e-03 1.11039843e+02] [ 4.92307517e-03 -1.09068507e-05 9.99987882e-01 8.95869378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90028169299998 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:177.68, Y:111.06, Z:0.90 [[ 1.73916667e-01 -9.84759994e-01 -8.64518749e-04 1.77676198e+02] [ 9.84748067e-01 1.73918815e-01 -4.84658577e-03 1.11062578e+02] [ 4.92307985e-03 -8.43112591e-06 9.99987882e-01 8.95786553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93028169299998 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:177.68, Y:111.09, Z:0.89 [[ 1.74990865e-01 -9.84569679e-01 -8.63165789e-04 1.77680326e+02] [ 9.84557749e-01 1.74992993e-01 -4.84682672e-03 1.11085799e+02] [ 4.92308659e-03 -1.68616798e-06 9.99987882e-01 8.90347817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96028169299998 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:177.68, Y:111.11, Z:0.89 [[ 1.74736611e-01 -9.84614835e-01 -8.61857899e-04 1.77684329e+02] [ 9.84602905e-01 1.74738736e-01 -4.84705927e-03 1.11110607e+02] [ 4.92308643e-03 -1.62908288e-06 9.99987882e-01 8.90471603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.990281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:177.69, Y:111.14, Z:0.89 [[ 1.75482034e-01 -9.84482257e-01 -8.60606157e-04 1.77688351e+02] [ 9.84470324e-01 1.75484144e-01 -4.84728151e-03 1.11135379e+02] [ 4.92308538e-03 3.36959650e-06 9.99987882e-01 8.86579816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02028169299996 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:177.69, Y:111.16, Z:0.88 [[ 1.76925185e-01 -9.84223928e-01 -8.59371412e-04 1.77692336e+02] [ 9.84211991e-01 1.76927272e-01 -4.84750041e-03 1.11159806e+02] [ 4.92307213e-03 1.18412584e-05 9.99987882e-01 8.83755737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.050281693 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:177.69, Y:111.18, Z:0.89 [[ 1.80202552e-01 -9.83629150e-01 -8.58123889e-04 1.77694493e+02] [ 9.83617204e-01 1.80204592e-01 -4.84772124e-03 1.11184123e+02] [ 4.92299779e-03 2.95063164e-05 9.99987882e-01 8.86333223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08028169299996 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:177.70, Y:111.21, Z:0.89 [[ 1.81861074e-01 -9.83323861e-01 -8.56768341e-04 1.77696720e+02] [ 9.83311911e-01 1.81863088e-01 -4.84796080e-03 1.11208155e+02] [ 4.92293007e-03 3.91848418e-05 9.99987882e-01 8.85233722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.110281693 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:177.70, Y:111.23, Z:0.89 [[ 1.86142716e-01 -9.82522345e-01 -8.55358468e-04 1.77695145e+02] [ 9.82510385e-01 1.86144671e-01 -4.84820954e-03 1.11233635e+02] [ 4.92269463e-03 6.20603151e-05 9.99987882e-01 8.88687017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14028169299996 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:177.70, Y:111.26, Z:0.89 [[ 1.88378086e-01 -9.82096211e-01 -8.53463322e-04 1.77695637e+02] [ 9.82084246e-01 1.88380004e-01 -4.84854346e-03 1.11258285e+02] [ 4.92251158e-03 7.51864512e-05 9.99987882e-01 8.90408724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.170281693 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:177.70, Y:111.28, Z:0.89 [[ 1.91025293e-01 -9.81584744e-01 -8.52881641e-04 1.77695927e+02] [ 9.81572773e-01 1.91027176e-01 -4.84864577e-03 1.11283479e+02] [ 4.92228029e-03 8.90485811e-05 9.99987882e-01 8.92157311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20028169299997 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:177.69, Y:111.31, Z:0.89 [[ 1.96520265e-01 -9.80499393e-01 -8.51513658e-04 1.77691142e+02] [ 9.80487411e-01 1.96522075e-01 -4.84888601e-03 1.11308461e+02] [ 4.92167102e-03 1.18005943e-04 9.99987882e-01 8.92654163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.230281693 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:177.69, Y:111.33, Z:0.89 [[ 1.97846617e-01 -9.80232622e-01 -8.50098087e-04 1.77690553e+02] [ 9.80220636e-01 1.97848403e-01 -4.84913417e-03 1.11333902e+02] [ 4.92147005e-03 1.26101101e-04 9.99987882e-01 8.94099798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26028169299997 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:177.69, Y:111.36, Z:0.90 [[ 1.98320781e-01 -9.80136800e-01 -8.48723112e-04 1.77690356e+02] [ 9.80124812e-01 1.98322554e-01 -4.84937481e-03 1.11359338e+02] [ 4.92137165e-03 1.29877218e-04 9.99987882e-01 8.96464199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29028169299994 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:177.69, Y:111.39, Z:0.90 [[ 1.96321005e-01 -9.80539313e-01 -8.47436244e-04 1.77688189e+02] [ 9.80527328e-01 1.96322797e-01 -4.84959968e-03 1.11385647e+02] [ 4.92159420e-03 1.21143888e-04 9.99987882e-01 9.01091249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32028169299997 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:177.69, Y:111.41, Z:0.90 [[ 1.93683674e-01 -9.81063667e-01 -8.46215549e-04 1.77689515e+02] [ 9.81051685e-01 1.93685492e-01 -4.84981268e-03 1.11411656e+02] [ 4.92187468e-03 1.09148349e-04 9.99987882e-01 9.02837175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35028169299994 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:177.69, Y:111.44, Z:0.90 [[ 1.86480761e-01 -9.82458249e-01 -8.44954535e-04 1.77688632e+02] [ 9.82446281e-01 1.86482660e-01 -4.85003237e-03 1.11435659e+02] [ 4.92252368e-03 7.43152846e-05 9.99987882e-01 9.03429508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.380281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:177.69, Y:111.46, Z:0.90 [[ 1.82628485e-01 -9.83181634e-01 -8.43529732e-04 1.77691156e+02] [ 9.83169672e-01 1.82630424e-01 -4.85028016e-03 1.11460070e+02] [ 4.92276056e-03 5.64664660e-05 9.99987882e-01 9.02867485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41028169299994 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:177.70, Y:111.49, Z:0.90 [[ 1.79236428e-01 -9.83805669e-01 -8.42164292e-04 1.77695078e+02] [ 9.83793712e-01 1.79238401e-01 -4.85051723e-03 1.11485381e+02] [ 4.92291453e-03 4.08734449e-05 9.99987882e-01 9.03034570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.440281693 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:177.70, Y:111.51, Z:0.90 [[ 1.74188525e-01 -9.84711963e-01 -8.40907486e-04 1.77698618e+02] [ 9.84700016e-01 1.74190554e-01 -4.85073511e-03 1.11510347e+02] [ 4.92305503e-03 1.69007797e-05 9.99987882e-01 9.03022298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47028169299995 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:177.70, Y:111.53, Z:0.90 [[ 1.72152749e-01 -9.85069909e-01 -8.39642657e-04 1.77701079e+02] [ 9.85057965e-01 1.72154796e-01 -4.85095403e-03 1.11534421e+02] [ 4.92307736e-03 8.00838479e-06 9.99987882e-01 9.02377648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.500281693 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:177.70, Y:111.56, Z:0.90 [[ 1.70623358e-01 -9.85335967e-01 -8.38329273e-04 1.77703753e+02] [ 9.85324024e-01 1.70625417e-01 -4.85118100e-03 1.11558975e+02] [ 4.92308340e-03 1.69881847e-06 9.99987882e-01 9.00826404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53028169299995 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:177.71, Y:111.58, Z:0.90 [[ 1.68505271e-01 -9.85700397e-01 -8.37015133e-04 1.77707084e+02] [ 9.85688458e-01 1.68507350e-01 -4.85140773e-03 1.11583903e+02] [ 4.92307773e-03 -7.54838189e-06 9.99987882e-01 8.99021588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.560281693 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:177.71, Y:111.61, Z:0.90 [[ 1.67177434e-01 -9.85926471e-01 -8.35715328e-04 1.77710486e+02] [ 9.85914534e-01 1.67179523e-01 -4.85163162e-03 1.11608424e+02] [ 4.92306654e-03 -1.28605604e-05 9.99987882e-01 8.98552822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59028169299995 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:177.71, Y:111.63, Z:0.90 [[ 1.64041734e-01 -9.86453047e-01 -8.34430584e-04 1.77712132e+02] [ 9.86441115e-01 1.64043854e-01 -4.85185258e-03 1.11631689e+02] [ 4.92300797e-03 -2.72103279e-05 9.99987882e-01 8.98744393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.620281693 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:177.72, Y:111.66, Z:0.90 [[ 1.62465201e-01 -9.86713922e-01 -8.33033802e-04 1.77715736e+02] [ 9.86701993e-01 1.62467334e-01 -4.85209238e-03 1.11655730e+02] [ 4.92296789e-03 -3.36599465e-05 9.99987882e-01 8.98721778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65028169299995 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:177.72, Y:111.68, Z:0.90 [[ 1.60508252e-01 -9.87034148e-01 -8.31712322e-04 1.77720388e+02] [ 9.87022222e-01 1.60510402e-01 -4.85231889e-03 1.11679667e+02] [ 4.92290292e-03 -4.20813181e-05 9.99987882e-01 8.97954355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.680281693 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:177.73, Y:111.70, Z:0.90 [[ 1.55829785e-01 -9.87783574e-01 -8.30385922e-04 1.77727830e+02] [ 9.87771657e-01 1.55831984e-01 -4.85254587e-03 1.11703211e+02] [ 4.92266579e-03 -6.40604977e-05 9.99987882e-01 8.95007965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71028169299996 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:177.73, Y:111.73, Z:0.89 [[ 1.53403799e-01 -9.88163239e-01 -8.29060613e-04 1.77733172e+02] [ 9.88151326e-01 1.53406021e-01 -4.85277229e-03 1.11726193e+02] [ 4.92251408e-03 -7.48036393e-05 9.99987882e-01 8.94999265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.740281693 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:177.74, Y:111.75, Z:0.90 [[ 1.51158268e-01 -9.88509228e-01 -8.27688369e-04 1.77738971e+02] [ 9.88497318e-01 1.51160510e-01 -4.85300633e-03 1.11750067e+02] [ 4.92235533e-03 -8.45957030e-05 9.99987882e-01 8.95796880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77028169299996 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:177.75, Y:111.77, Z:0.90 [[ 1.47642752e-01 -9.89040411e-01 -8.26379126e-04 1.77748911e+02] [ 9.89028509e-01 1.47645030e-01 -4.85322926e-03 1.11771984e+02] [ 4.92205063e-03 -1.00768391e-04 9.99987882e-01 8.96577096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.800281693 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:177.76, Y:111.79, Z:0.90 [[ 1.46220469e-01 -9.89251684e-01 -8.25019042e-04 1.77756995e+02] [ 9.89239783e-01 1.46222758e-01 -4.85346045e-03 1.11794920e+02] [ 4.92193049e-03 -1.06466395e-04 9.99987882e-01 8.96605258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83028169299996 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:177.77, Y:111.82, Z:0.90 [[ 1.44974097e-01 -9.89435108e-01 -8.23792775e-04 1.77768453e+02] [ 9.89423209e-01 1.44976395e-01 -4.85366858e-03 1.11816831e+02] [ 4.92182060e-03 -1.11423471e-04 9.99987882e-01 8.97068318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.860281693 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:177.78, Y:111.84, Z:0.90 [[ 1.45492601e-01 -9.89358998e-01 -8.22457978e-04 1.77775025e+02] [ 9.89347097e-01 1.45494886e-01 -4.85389476e-03 1.11840973e+02] [ 4.92190788e-03 -1.07490641e-04 9.99987882e-01 8.96643138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89028169299996 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:177.78, Y:111.87, Z:0.90 [[ 1.46550442e-01 -9.89202858e-01 -8.21176854e-04 1.77781736e+02] [ 9.89190953e-01 1.46552708e-01 -4.85411148e-03 1.11865186e+02] [ 4.92204664e-03 -1.00928532e-04 9.99987882e-01 8.97452604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.920281693 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:177.79, Y:111.89, Z:0.90 [[ 1.51195795e-01 -9.88503495e-01 -8.19826732e-04 1.77791982e+02] [ 9.88491578e-01 1.51197999e-01 -4.85433950e-03 1.11887066e+02] [ 4.92248772e-03 -7.64360981e-05 9.99987882e-01 8.95889934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95028169299997 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:177.80, Y:111.91, Z:0.90 [[ 1.54467689e-01 -9.87997502e-01 -8.18428674e-04 1.77798616e+02] [ 9.87985577e-01 1.54469846e-01 -4.85457520e-03 1.11911247e+02] [ 4.92273072e-03 -5.87207127e-05 9.99987882e-01 9.01662431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.980281693 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:177.80, Y:111.94, Z:0.90 [[ 1.61479974e-01 -9.86875651e-01 -8.17164261e-04 1.77803074e+02] [ 9.86863710e-01 1.61482040e-01 -4.85478803e-03 1.11935208e+02] [ 4.92302944e-03 -2.24787092e-05 9.99987882e-01 8.97736082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01028169299997 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:177.81, Y:111.96, Z:0.90 [[ 1.64288440e-01 -9.86412005e-01 -8.15833597e-04 1.77807393e+02] [ 9.86400057e-01 1.64290465e-01 -4.85501163e-03 1.11958925e+02] [ 4.92307544e-03 -7.11602158e-06 9.99987882e-01 8.97004993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04028169299994 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:177.81, Y:111.98, Z:0.90 [[ 1.66045972e-01 -9.86117676e-01 -8.14448096e-04 1.77812292e+02] [ 9.86105724e-01 1.66047970e-01 -4.85524404e-03 1.11982933e+02] [ 4.92307943e-03 3.06178805e-06 9.99987882e-01 8.96617316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.07028169299997 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:177.82, Y:112.01, Z:0.90 [[ 1.66286207e-01 -9.86077196e-01 -8.13119105e-04 1.77817977e+02] [ 9.86065242e-01 1.66288195e-01 -4.85546660e-03 1.12005605e+02] [ 4.92307700e-03 5.60863882e-06 9.99987882e-01 8.95728865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10028169299994 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:177.83, Y:112.03, Z:0.89 [[ 1.63174708e-01 -9.86596856e-01 -8.11740414e-04 1.77825936e+02] [ 9.86584907e-01 1.63176727e-01 -4.85569708e-03 1.12028984e+02] [ 4.92307262e-03 -8.52388575e-06 9.99987882e-01 8.94705675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.130281693 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:177.83, Y:112.05, Z:0.89 [[ 1.58293929e-01 -9.87391703e-01 -8.10396723e-04 1.77834022e+02] [ 9.87379763e-01 1.58296001e-01 -4.85592133e-03 1.12051541e+02] [ 4.92297899e-03 -3.15064573e-05 9.99987882e-01 8.94495456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16028169299994 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:177.84, Y:112.08, Z:0.89 [[ 1.55526580e-01 -9.87831377e-01 -8.09001507e-04 1.77840197e+02] [ 9.87819441e-01 1.55528678e-01 -4.85615376e-03 1.12075323e+02] [ 4.92288399e-03 -4.38864300e-05 9.99987882e-01 8.94688635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.190281693 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:177.85, Y:112.10, Z:0.89 [[ 1.53000125e-01 -9.88225839e-01 -8.07701465e-04 1.77846190e+02] [ 9.88213908e-01 1.53002247e-01 -4.85636998e-03 1.12098934e+02] [ 4.92277044e-03 -5.51566056e-05 9.99987882e-01 8.94725084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22028169299995 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:177.85, Y:112.12, Z:0.89 [[ 1.50845622e-01 -9.88557003e-01 -8.06408828e-04 1.77851588e+02] [ 9.88545075e-01 1.50847763e-01 -4.85658462e-03 1.12122871e+02] [ 4.92265570e-03 -6.45769505e-05 9.99987882e-01 8.94451284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.250281693 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:177.86, Y:112.15, Z:0.90 [[ 1.47837645e-01 -9.89011316e-01 -8.05121233e-04 1.77859077e+02] [ 9.88999393e-01 1.47839817e-01 -4.85679806e-03 1.12146403e+02] [ 4.92245722e-03 -7.82468228e-05 9.99987882e-01 8.96129648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28028169299995 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:177.87, Y:112.17, Z:0.90 [[ 1.45863795e-01 -9.89304355e-01 -8.03776586e-04 1.77869873e+02] [ 9.89292436e-01 1.45865984e-01 -4.85702059e-03 1.12168409e+02] [ 4.92231528e-03 -8.67066421e-05 9.99987882e-01 8.96097877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.310281693 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:177.88, Y:112.19, Z:0.90 [[ 1.44972474e-01 -9.89435363e-01 -8.02386877e-04 1.77876649e+02] [ 9.89423445e-01 1.44974667e-01 -4.85725016e-03 1.12192258e+02] [ 4.92226084e-03 -8.97328170e-05 9.99987882e-01 8.96293445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34028169299995 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:177.88, Y:112.22, Z:0.90 [[ 1.44345773e-01 -9.89526986e-01 -8.01052045e-04 1.77881982e+02] [ 9.89515068e-01 1.44347967e-01 -4.85747029e-03 1.12215097e+02] [ 4.92222817e-03 -9.14977662e-05 9.99987882e-01 8.95243665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.370281693 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:177.89, Y:112.24, Z:0.89 [[ 1.44102292e-01 -9.89562474e-01 -7.99667708e-04 1.77886821e+02] [ 9.89550555e-01 1.44104481e-01 -4.85769817e-03 1.12238130e+02] [ 4.92223152e-03 -9.13061859e-05 9.99987882e-01 8.94014977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40028169299995 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:177.90, Y:112.26, Z:0.90 [[ 1.42921161e-01 -9.89733754e-01 -7.98307804e-04 1.77895063e+02] [ 9.89721837e-01 1.42923359e-01 -4.85792165e-03 1.12261107e+02] [ 4.92214586e-03 -9.58028630e-05 9.99987882e-01 8.97482349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.430281693 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:177.90, Y:112.28, Z:0.90 [[ 1.41426353e-01 -9.89948459e-01 -7.96984236e-04 1.77901326e+02] [ 9.89936544e-01 1.41428562e-01 -4.85813878e-03 1.12284663e+02] [ 4.92202333e-03 -1.01894968e-04 9.99987882e-01 9.00223622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46028169299996 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:177.91, Y:112.31, Z:0.90 [[ 1.38738570e-01 -9.90328721e-01 -7.95702961e-04 1.77910511e+02] [ 9.90316811e-01 1.38740805e-01 -4.85834863e-03 1.12308150e+02] [ 4.92175865e-03 -1.13957677e-04 9.99987882e-01 9.02189158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.490281693 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:177.92, Y:112.33, Z:0.90 [[ 1.37958099e-01 -9.90437748e-01 -7.94404297e-04 1.77918131e+02] [ 9.90425838e-01 1.37960337e-01 -4.85856097e-03 1.12332296e+02] [ 4.92169847e-03 -1.16520706e-04 9.99987882e-01 9.01180290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52028169299996 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:177.93, Y:112.36, Z:0.90 [[ 1.37432367e-01 -9.90510836e-01 -7.93111078e-04 1.77927152e+02] [ 9.90498926e-01 1.37434605e-01 -4.85877206e-03 1.12356150e+02] [ 4.92166729e-03 -1.17823123e-04 9.99987882e-01 9.00184204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.550281693 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:177.94, Y:112.38, Z:0.90 [[ 1.35944493e-01 -9.90716139e-01 -7.91762319e-04 1.77940589e+02] [ 9.90704231e-01 1.35946743e-01 -4.85899184e-03 1.12379396e+02] [ 4.92151914e-03 -1.23849094e-04 9.99987882e-01 8.96810486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58028169299996 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:177.95, Y:112.40, Z:0.90 [[ 1.35021874e-01 -9.90842303e-01 -7.90471338e-04 1.77947740e+02] [ 9.90830396e-01 1.35024128e-01 -4.85920185e-03 1.12401968e+02] [ 4.92143546e-03 -1.27124488e-04 9.99987882e-01 8.95498914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.610281693 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:177.96, Y:112.43, Z:0.90 [[ 1.33917006e-01 -9.90992237e-01 -7.89070650e-04 1.77959625e+02] [ 9.90980331e-01 1.33919267e-01 -4.85942929e-03 1.12425165e+02] [ 4.92132847e-03 -1.31193271e-04 9.99987882e-01 8.97283389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64028169299996 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:177.97, Y:112.45, Z:0.90 [[ 1.33938220e-01 -9.90989371e-01 -7.87732352e-04 1.77969012e+02] [ 9.90977464e-01 1.33940473e-01 -4.85964623e-03 1.12448333e+02] [ 4.92136700e-03 -1.29732644e-04 9.99987882e-01 8.97130585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.670281693 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:177.98, Y:112.47, Z:0.90 [[ 1.34618690e-01 -9.90897164e-01 -7.86392173e-04 1.77978673e+02] [ 9.90885254e-01 1.34620929e-01 -4.85986309e-03 1.12472062e+02] [ 4.92148940e-03 -1.24996007e-04 9.99987882e-01 8.98712546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70028169299997 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:177.99, Y:112.49, Z:0.90 [[ 1.38704779e-01 -9.90333463e-01 -7.85045492e-04 1.77992097e+02] [ 9.90321543e-01 1.38706962e-01 -4.86008062e-03 1.12494270e+02] [ 4.92199174e-03 -1.03331056e-04 9.99987882e-01 8.99124296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.730281693 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:178.00, Y:112.52, Z:0.90 [[ 1.41108659e-01 -9.89993804e-01 -7.83775704e-04 1.77999183e+02] [ 9.89981878e-01 1.41110807e-01 -4.86028538e-03 1.12518504e+02] [ 4.92225164e-03 -9.00953902e-05 9.99987882e-01 9.00696752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76028169299997 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:178.01, Y:112.54, Z:0.90 [[ 1.46700752e-01 -9.89180609e-01 -7.82411793e-04 1.78008414e+02] [ 9.89168669e-01 1.46702826e-01 -4.86050494e-03 1.12540796e+02] [ 4.92269925e-03 -6.08975009e-05 9.99987882e-01 8.98705190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79028169299994 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:178.02, Y:112.56, Z:0.90 [[ 1.49630797e-01 -9.88741632e-01 -7.80997021e-04 1.78015491e+02] [ 9.88729685e-01 1.49632829e-01 -4.86073226e-03 1.12563772e+02] [ 4.92287114e-03 -4.48796966e-05 9.99987882e-01 8.99540185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82028169299997 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:178.02, Y:112.59, Z:0.90 [[ 1.52505020e-01 -9.88302389e-01 -7.79633137e-04 1.78022611e+02] [ 9.88290435e-01 1.52507010e-01 -4.86095100e-03 1.12587142e+02] [ 4.92298901e-03 -2.91845427e-05 9.99987882e-01 9.01598673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85028169299994 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:178.03, Y:112.61, Z:0.90 [[ 1.58984099e-01 -9.87280837e-01 -7.78322626e-04 1.78030712e+02] [ 9.87268869e-01 1.58986004e-01 -4.86116083e-03 1.12609772e+02] [ 4.92307334e-03 4.43357502e-06 9.99987882e-01 9.01780763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.880281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:178.03, Y:112.63, Z:0.90 [[ 1.58717634e-01 -9.87323710e-01 -7.77016431e-04 1.78034285e+02] [ 9.87311742e-01 1.58719536e-01 -4.86136961e-03 1.12634676e+02] [ 4.92307316e-03 4.42763729e-06 9.99987882e-01 9.01904543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91028169299994 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:178.04, Y:112.66, Z:0.90 [[ 1.62062179e-01 -9.86780243e-01 -7.75704315e-04 1.78039380e+02] [ 9.86768268e-01 1.62064034e-01 -4.86157897e-03 1.12658577e+02] [ 4.92302384e-03 2.24376760e-05 9.99987882e-01 9.01456987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.940281693 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:178.04, Y:112.68, Z:0.90 [[ 1.64894777e-01 -9.86310860e-01 -7.74393522e-04 1.78044421e+02] [ 9.86298878e-01 1.64896591e-01 -4.86178775e-03 1.12682985e+02] [ 4.92292891e-03 3.78999467e-05 9.99987882e-01 9.00970363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97028169299995 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:178.05, Y:112.71, Z:0.90 [[ 1.68889894e-01 -9.85634621e-01 -7.73090502e-04 1.78050251e+02] [ 9.85622631e-01 1.68891653e-01 -4.86199494e-03 1.12707396e+02] [ 4.92271907e-03 5.91663161e-05 9.99987882e-01 9.04513366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.000281693 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:178.05, Y:112.73, Z:0.90 [[ 1.70039346e-01 -9.85436972e-01 -7.71683374e-04 1.78053793e+02] [ 9.85424979e-01 1.70041084e-01 -4.86221827e-03 1.12730510e+02] [ 4.92262752e-03 6.63323405e-05 9.99987882e-01 9.04590589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03028169299995 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:178.06, Y:112.75, Z:0.90 [[ 1.70610592e-01 -9.85338233e-01 -7.70230210e-04 1.78057120e+02] [ 9.85326237e-01 1.70612316e-01 -4.86244845e-03 1.12753966e+02] [ 4.92256712e-03 7.06571738e-05 9.99987882e-01 9.03278520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.060281693 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:178.06, Y:112.78, Z:0.90 [[ 1.70252031e-01 -9.85400251e-01 -7.68859329e-04 1.78060887e+02] [ 9.85388256e-01 1.70253753e-01 -4.86266521e-03 1.12778422e+02] [ 4.92257270e-03 7.02536765e-05 9.99987882e-01 9.01867160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09028169299995 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:178.06, Y:112.80, Z:0.90 [[ 1.68948867e-01 -9.85624518e-01 -7.67498260e-04 1.78064461e+02] [ 9.85612524e-01 1.68950598e-01 -4.86288002e-03 1.12802254e+02] [ 4.92264307e-03 6.51221726e-05 9.99987882e-01 8.96935839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.120281693 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:178.07, Y:112.83, Z:0.90 [[ 1.65953469e-01 -9.86133287e-01 -7.66071958e-04 1.78066179e+02] [ 9.86121297e-01 1.65955229e-01 -4.86310470e-03 1.12827020e+02] [ 4.92280307e-03 5.16092241e-05 9.99987882e-01 8.96898300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15028169299995 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:178.07, Y:112.85, Z:0.90 [[ 1.64364185e-01 -9.86399427e-01 -7.64775582e-04 1.78068437e+02] [ 9.86387439e-01 1.64365958e-01 -4.86330857e-03 1.12851603e+02] [ 4.92286785e-03 4.49887186e-05 9.99987882e-01 8.98257371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.180281693 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:178.07, Y:112.88, Z:0.90 [[ 1.60142936e-01 -9.87093540e-01 -7.63474487e-04 1.78072437e+02] [ 9.87081559e-01 1.60144754e-01 -4.86351281e-03 1.12877060e+02] [ 4.92300851e-03 2.52456327e-05 9.99987882e-01 9.03872854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21028169299996 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:178.08, Y:112.90, Z:0.91 [[ 1.57196904e-01 -9.87566986e-01 -7.62228756e-04 1.78076275e+02] [ 9.87555010e-01 1.57198751e-01 -4.86370804e-03 1.12900140e+02] [ 4.92305890e-03 1.18170195e-05 9.99987882e-01 9.06410579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.240281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:178.08, Y:112.92, Z:0.91 [[ 1.54377523e-01 -9.88011640e-01 -7.60819322e-04 1.78079742e+02] [ 9.87999668e-01 1.54379398e-01 -4.86392850e-03 1.12923442e+02] [ 4.92307281e-03 -8.08002167e-07 9.99987882e-01 9.08137509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27028169299996 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:178.08, Y:112.95, Z:0.91 [[ 1.49074672e-01 -9.88825650e-01 -7.59447111e-04 1.78081306e+02] [ 9.88813686e-01 1.49076604e-01 -4.86414275e-03 1.12947944e+02] [ 4.92300491e-03 -2.58312114e-05 9.99987882e-01 9.05743025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.300281693 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:178.08, Y:112.97, Z:0.91 [[ 1.46109843e-01 -9.89268083e-01 -7.58104635e-04 1.78083688e+02] [ 9.89256124e-01 1.46111804e-01 -4.86435197e-03 1.12971813e+02] [ 4.92291619e-03 -3.92299512e-05 9.99987882e-01 9.05036952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33028169299996 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:178.09, Y:113.00, Z:0.91 [[ 1.40589953e-01 -9.90067620e-01 -7.56718340e-04 1.78087404e+02] [ 9.90055672e-01 1.40591974e-01 -4.86456762e-03 1.12996182e+02] [ 4.92263941e-03 -6.52839520e-05 9.99987882e-01 9.06831744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.360281693 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:178.09, Y:113.02, Z:0.91 [[ 1.37967997e-01 -9.90436399e-01 -7.55387062e-04 1.78091419e+02] [ 9.90424455e-01 1.37970043e-01 -4.86477434e-03 1.13019774e+02] [ 4.92247036e-03 -7.69706491e-05 9.99987882e-01 9.05724081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39028169299996 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:178.10, Y:113.04, Z:0.90 [[ 1.35349364e-01 -9.90797649e-01 -7.54013428e-04 1.78095661e+02] [ 9.90785709e-01 1.35351435e-01 -4.86498723e-03 1.13043841e+02] [ 4.92227471e-03 -8.85928032e-05 9.99987882e-01 9.04686663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.420281693 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:178.10, Y:113.07, Z:0.90 [[ 1.31710889e-01 -9.91287887e-01 -7.52693790e-04 1.78099932e+02] [ 9.91275954e-01 1.31712997e-01 -4.86519140e-03 1.13067536e+02] [ 4.92194485e-03 -1.05328572e-04 9.99987882e-01 8.99552264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45028169299997 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:178.10, Y:113.09, Z:0.90 [[ 1.31601173e-01 -9.91302460e-01 -7.51384698e-04 1.78103426e+02] [ 9.91290525e-01 1.31603276e-01 -4.86539356e-03 1.13091537e+02] [ 4.92196130e-03 -1.04549033e-04 9.99987882e-01 9.00375119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.480281693 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:178.10, Y:113.11, Z:0.91 [[ 1.35323889e-01 -9.90801132e-01 -7.50094772e-04 1.78104765e+02] [ 9.90789188e-01 1.35325941e-01 -4.86559242e-03 1.13114470e+02] [ 4.92234176e-03 -8.47549007e-05 9.99987882e-01 9.06048185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51028169299997 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:178.11, Y:113.14, Z:0.91 [[ 1.38261751e-01 -9.90395440e-01 -7.48692378e-04 1.78106106e+02] [ 9.90383490e-01 1.38263761e-01 -4.86580821e-03 1.13137906e+02] [ 4.92259128e-03 -6.87374073e-05 9.99987882e-01 9.07606546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54028169299994 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:178.11, Y:113.16, Z:0.91 [[ 1.41973797e-01 -9.89870134e-01 -7.47322065e-04 1.78106610e+02] [ 9.89858175e-01 1.41975755e-01 -4.86601866e-03 1.13162335e+02] [ 4.92282816e-03 -4.88957125e-05 9.99987882e-01 9.08747602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.57028169299997 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:178.11, Y:113.19, Z:0.91 [[ 1.46876175e-01 -9.89154605e-01 -7.45985996e-04 1.78106734e+02] [ 9.89142635e-01 1.46878068e-01 -4.86622348e-03 1.13186071e+02] [ 4.92301634e-03 -2.31542622e-05 9.99987882e-01 9.06042580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60028169299994 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:178.10, Y:113.21, Z:0.91 [[ 1.57401907e-01 -9.87534346e-01 -7.44600926e-04 1.78103192e+02] [ 9.87522356e-01 1.57403665e-01 -4.86643540e-03 1.13209960e+02] [ 4.92297502e-03 3.06761524e-05 9.99987882e-01 9.07573935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.630281693 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:178.10, Y:113.23, Z:0.91 [[ 1.61152860e-01 -9.86929178e-01 -7.43161979e-04 1.78103311e+02] [ 9.86917181e-01 1.61154566e-01 -4.86665514e-03 1.13234831e+02] [ 4.92280790e-03 5.08360716e-05 9.99987882e-01 9.11197232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66028169299994 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:178.10, Y:113.26, Z:0.91 [[ 1.65045084e-01 -9.86285745e-01 -7.41836165e-04 1.78098181e+02] [ 9.86273739e-01 1.65046736e-01 -4.86685723e-03 1.13259232e+02] [ 4.92254954e-03 7.15973315e-05 9.99987882e-01 9.13146380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.690281693 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:178.10, Y:113.28, Z:0.91 [[ 1.65004526e-01 -9.86292532e-01 -7.40461945e-04 1.78097229e+02] [ 9.86280526e-01 1.65006171e-01 -4.86706630e-03 1.13283111e+02] [ 4.92253193e-03 7.27847690e-05 9.99987882e-01 9.12499552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72028169299995 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:178.10, Y:113.31, Z:0.91 [[ 1.64282065e-01 -9.86413127e-01 -7.39097456e-04 1.78097790e+02] [ 9.86401121e-01 1.64283712e-01 -4.86727349e-03 1.13307562e+02] [ 4.92256414e-03 7.05591803e-05 9.99987882e-01 9.11323135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.750281693 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:178.10, Y:113.33, Z:0.91 [[ 1.62807791e-01 -9.86657529e-01 -7.37793581e-04 1.78097392e+02] [ 9.86645524e-01 1.62809450e-01 -4.86747113e-03 1.13332525e+02] [ 4.92264680e-03 6.45214884e-05 9.99987882e-01 9.11963516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78028169299995 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:178.10, Y:113.36, Z:0.91 [[ 1.61810632e-01 -9.86821553e-01 -7.36479821e-04 1.78097778e+02] [ 9.86809549e-01 1.61812297e-01 -4.86766990e-03 1.13357569e+02] [ 4.92269306e-03 6.08754236e-05 9.99987882e-01 9.13397494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.810281693 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:178.10, Y:113.38, Z:0.91 [[ 1.60852038e-01 -9.86978258e-01 -7.35096541e-04 1.78098642e+02] [ 9.86966255e-01 1.60853708e-01 -4.86787879e-03 1.13382066e+02] [ 4.92273353e-03 5.74927461e-05 9.99987882e-01 9.11883970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84028169299995 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:178.10, Y:113.41, Z:0.91 [[ 1.59144781e-01 -9.87254982e-01 -7.33714733e-04 1.78100107e+02] [ 9.87242982e-01 1.59146465e-01 -4.86808706e-03 1.13406072e+02] [ 4.92281131e-03 5.03759288e-05 9.99987882e-01 9.10516502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.870281693 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:178.10, Y:113.43, Z:0.91 [[ 1.58199135e-01 -9.87406956e-01 -7.32278892e-04 1.78102642e+02] [ 9.87394956e-01 1.58200823e-01 -4.86830303e-03 1.13429201e+02] [ 4.92284340e-03 4.71128432e-05 9.99987882e-01 9.13088708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90028169299995 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:178.10, Y:113.45, Z:0.92 [[ 1.57678075e-01 -9.87490299e-01 -7.30849430e-04 1.78104424e+02] [ 9.87478299e-01 1.57679762e-01 -4.86851762e-03 1.13453350e+02] [ 4.92285408e-03 4.59605364e-05 9.99987882e-01 9.16643832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.930281693 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:178.10, Y:113.48, Z:0.92 [[ 1.58591373e-01 -9.87344036e-01 -7.29418914e-04 1.78102715e+02] [ 9.87332033e-01 1.58593042e-01 -4.86873194e-03 1.13477686e+02] [ 4.92279420e-03 5.19602221e-05 9.99987882e-01 9.20958140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96028169299996 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:178.10, Y:113.50, Z:0.92 [[ 1.59166981e-01 -9.87251408e-01 -7.27994438e-04 1.78104280e+02] [ 9.87239403e-01 1.59168636e-01 -4.86894492e-03 1.13502384e+02] [ 4.92274661e-03 5.62704716e-05 9.99987882e-01 9.21214566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.990281693 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:178.10, Y:113.53, Z:0.92 [[ 1.60084484e-01 -9.87103049e-01 -7.26574410e-04 1.78104664e+02] [ 9.87091042e-01 1.60086121e-01 -4.86915682e-03 1.13525927e+02] [ 4.92267402e-03 6.22813639e-05 9.99987882e-01 9.19289962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02028169299996 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:178.11, Y:113.55, Z:0.92 [[ 1.59586769e-01 -9.87183639e-01 -7.25245679e-04 1.78106766e+02] [ 9.87171632e-01 1.59588405e-01 -4.86935472e-03 1.13550456e+02] [ 4.92268811e-03 6.11426273e-05 9.99987882e-01 9.17887651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.050281693 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:178.11, Y:113.57, Z:0.92 [[ 1.58372448e-01 -9.87379179e-01 -7.23864014e-04 1.78109033e+02] [ 9.87367173e-01 1.58374093e-01 -4.86956010e-03 1.13574087e+02] [ 4.92274357e-03 5.64845914e-05 9.99987882e-01 9.16490416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08028169299996 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:178.11, Y:113.60, Z:0.92 [[ 1.53762366e-01 -9.88107592e-01 -7.22562387e-04 1.78111055e+02] [ 9.88095592e-01 1.53764059e-01 -4.86975324e-03 1.13598591e+02] [ 4.92294427e-03 3.48240675e-05 9.99987882e-01 9.16795569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.110281693 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:178.11, Y:113.62, Z:0.92 [[ 1.51246418e-01 -9.88495827e-01 -7.21176291e-04 1.78113374e+02] [ 9.88483831e-01 1.51248136e-01 -4.86995850e-03 1.13622265e+02] [ 4.92301023e-03 2.36926781e-05 9.99987882e-01 9.16471667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14028169299996 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:178.11, Y:113.65, Z:0.92 [[ 1.46887619e-01 -9.89152925e-01 -7.19739899e-04 1.78113090e+02] [ 9.89140936e-01 1.46889383e-01 -4.87017078e-03 1.13647388e+02] [ 4.92306582e-03 3.44359427e-06 9.99987882e-01 9.17546925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.170281693 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:178.11, Y:113.67, Z:0.92 [[ 1.44975509e-01 -9.89434983e-01 -7.18359376e-04 1.78114113e+02] [ 9.89422996e-01 1.44977289e-01 -4.87037440e-03 1.13671165e+02] [ 4.92306461e-03 -4.67627706e-06 9.99987882e-01 9.19436551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20028169299997 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:178.12, Y:113.70, Z:0.92 [[ 1.42867891e-01 -9.89741511e-01 -7.11602146e-04 1.78115423e+02] [ 9.89729523e-01 1.42869663e-01 -4.87136904e-03 1.13695536e+02] [ 4.92306251e-03 -8.33143203e-06 9.99987882e-01 9.19220653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.230281693 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:178.12, Y:113.72, Z:0.92 [[ 1.41328299e-01 -9.89962524e-01 -7.15712148e-04 1.78116918e+02] [ 9.89950542e-01 1.41330109e-01 -4.87076511e-03 1.13719752e+02] [ 4.92302660e-03 -2.01426828e-05 9.99987882e-01 9.20336398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26028169299997 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:178.12, Y:113.74, Z:0.92 [[ 1.37996034e-01 -9.90432524e-01 -7.14354607e-04 1.78118119e+02] [ 9.90420547e-01 1.37997878e-01 -4.87096420e-03 1.13743014e+02] [ 4.92294079e-03 -3.53377399e-05 9.99987882e-01 9.17138818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29028169299994 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:178.12, Y:113.77, Z:0.91 [[ 1.34313092e-01 -9.90938689e-01 -7.12949297e-04 1.78120910e+02] [ 9.90926718e-01 1.34314974e-01 -4.87116988e-03 1.13767044e+02] [ 4.92279047e-03 -5.22186200e-05 9.99987882e-01 9.12831471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32028169299997 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:178.12, Y:113.79, Z:0.91 [[ 1.32612137e-01 -9.91167753e-01 -7.11614150e-04 1.78124117e+02] [ 9.91155784e-01 1.32614033e-01 -4.87136492e-03 1.13791440e+02] [ 4.92270985e-03 -5.93183691e-05 9.99987882e-01 9.13231258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35028169299994 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:178.13, Y:113.81, Z:0.91 [[ 1.31144312e-01 -9.91363034e-01 -7.10246737e-04 1.78127203e+02] [ 9.91351066e-01 1.31146219e-01 -4.87156429e-03 1.13814494e+02] [ 4.92263492e-03 -6.52259115e-05 9.99987882e-01 9.13009414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.380281693 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:178.13, Y:113.84, Z:0.92 [[ 1.28874577e-01 -9.91660648e-01 -7.08960222e-04 1.78130872e+02] [ 9.91648684e-01 1.28876505e-01 -4.87175151e-03 1.13838053e+02] [ 4.92249257e-03 -7.51945566e-05 9.99987882e-01 9.15084831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41028169299994 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:178.13, Y:113.86, Z:0.92 [[ 1.28537832e-01 -9.91704354e-01 -7.07613202e-04 1.78134693e+02] [ 9.91692389e-01 1.28539758e-01 -4.87194715e-03 1.13862075e+02] [ 4.92248763e-03 -7.55051007e-05 9.99987882e-01 9.15639939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.440281693 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:178.14, Y:113.89, Z:0.92 [[ 1.28852556e-01 -9.91663512e-01 -7.06301983e-04 1.78138516e+02] [ 9.91651545e-01 1.28854471e-01 -4.87213723e-03 1.13886376e+02] [ 4.92253089e-03 -7.26181193e-05 9.99987882e-01 9.15891891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47028169299995 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:178.14, Y:113.91, Z:0.92 [[ 1.30756672e-01 -9.91414240e-01 -7.04981664e-04 1.78144114e+02] [ 9.91402270e-01 1.30758557e-01 -4.87232827e-03 1.13910338e+02] [ 4.92267802e-03 -6.18309941e-05 9.99987882e-01 9.18272759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.500281693 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:178.15, Y:113.93, Z:0.92 [[ 1.31681699e-01 -9.91291801e-01 -7.03609200e-04 1.78148535e+02] [ 9.91279828e-01 1.31683566e-01 -4.87252646e-03 1.13933811e+02] [ 4.92274930e-03 -5.58510457e-05 9.99987882e-01 9.19857329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53028169299995 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:178.15, Y:113.96, Z:0.92 [[ 1.32263589e-01 -9.91214331e-01 -7.02182341e-04 1.78154181e+02] [ 9.91202355e-01 1.32265443e-01 -4.87273208e-03 1.13957355e+02] [ 4.92279632e-03 -5.15197570e-05 9.99987882e-01 9.20182137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.560281693 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:178.16, Y:113.98, Z:0.92 [[ 1.31946857e-01 -9.91256544e-01 -7.00815096e-04 1.78158475e+02] [ 9.91244568e-01 1.31948708e-01 -4.87292871e-03 1.13981437e+02] [ 4.92279412e-03 -5.17115309e-05 9.99987882e-01 9.18693397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59028169299995 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:178.16, Y:114.01, Z:0.92 [[ 1.31842115e-01 -9.91270482e-01 -6.99489616e-04 1.78162501e+02] [ 9.91258505e-01 1.31843961e-01 -4.87311897e-03 1.14006016e+02] [ 4.92280247e-03 -5.08927200e-05 9.99987882e-01 9.18335916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.620281693 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:178.17, Y:114.03, Z:0.92 [[ 1.34518499e-01 -9.90910837e-01 -6.98110063e-04 1.78166759e+02] [ 9.90898854e-01 1.34520305e-01 -4.87331659e-03 1.14030294e+02] [ 4.92293220e-03 -3.62052288e-05 9.99987882e-01 9.20516561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65028169299995 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:178.17, Y:114.05, Z:0.92 [[ 1.36689425e-01 -9.90613707e-01 -6.96734730e-04 1.78170480e+02] [ 9.90601719e-01 1.36691199e-01 -4.87351322e-03 1.14053733e+02] [ 4.92300650e-03 -2.40289016e-05 9.99987882e-01 9.23447924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.680281693 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:178.17, Y:114.08, Z:0.92 [[ 1.41259675e-01 -9.89972333e-01 -6.95304034e-04 1.78173054e+02] [ 9.89960336e-01 1.41261386e-01 -4.87371733e-03 1.14077305e+02] [ 4.92306493e-03 1.36308872e-07 9.99987882e-01 9.24890225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71028169299996 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:178.17, Y:114.10, Z:0.92 [[ 1.43685906e-01 -9.89623099e-01 -6.93929067e-04 1.78174894e+02] [ 9.89611097e-01 1.43687581e-01 -4.87391309e-03 1.14100761e+02] [ 4.92304597e-03 1.35927147e-05 9.99987882e-01 9.23591057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.740281693 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:178.18, Y:114.13, Z:0.92 [[ 1.46262889e-01 -9.89245514e-01 -6.92563196e-04 1.78176741e+02] [ 9.89233507e-01 1.46264526e-01 -4.87410717e-03 1.14125313e+02] [ 4.92298608e-03 2.77942751e-05 9.99987882e-01 9.23885566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77028169299996 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:178.18, Y:114.15, Z:0.92 [[ 1.45990590e-01 -9.89285737e-01 -6.91226460e-04 1.78179881e+02] [ 9.89273730e-01 1.45992224e-01 -4.87429673e-03 1.14150261e+02] [ 4.92298592e-03 2.77892764e-05 9.99987882e-01 9.24009351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.800281693 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:178.18, Y:114.17, Z:0.92 [[ 1.47868269e-01 -9.89006825e-01 -6.89884723e-04 1.78181266e+02] [ 9.88994813e-01 1.47869873e-01 -4.87448662e-03 1.14174074e+02] [ 4.92291370e-03 3.84894873e-05 9.99987882e-01 9.23992642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83028169299996 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:178.18, Y:114.20, Z:0.92 [[ 1.49296521e-01 -9.88792230e-01 -6.88494335e-04 1.78181039e+02] [ 9.88780215e-01 1.49298102e-01 -4.87468300e-03 1.14198004e+02] [ 4.92283957e-03 4.70036388e-05 9.99987882e-01 9.22738941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.860281693 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:178.18, Y:114.22, Z:0.92 [[ 1.48981562e-01 -9.88839735e-01 -6.87116449e-04 1.78182476e+02] [ 9.88827720e-01 1.48983139e-01 -4.87487722e-03 1.14222998e+02] [ 4.92284106e-03 4.68270299e-05 9.99987882e-01 9.22950923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89028169299996 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:178.18, Y:114.25, Z:0.92 [[ 1.47761094e-01 -9.89022845e-01 -6.85806322e-04 1.78181710e+02] [ 9.89010831e-01 1.47762680e-01 -4.87506152e-03 1.14247840e+02] [ 4.92288380e-03 4.20745425e-05 9.99987882e-01 9.23300950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.920281693 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:178.18, Y:114.27, Z:0.92 [[ 1.46482837e-01 -9.89212975e-01 -6.84500364e-04 1.78182218e+02] [ 9.89200962e-01 1.46484431e-01 -4.87524488e-03 1.14272666e+02] [ 4.92292414e-03 3.70312817e-05 9.99987882e-01 9.22161294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95028169299997 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:178.18, Y:114.30, Z:0.92 [[ 1.44847371e-01 -9.89453775e-01 -6.83197441e-04 1.78182902e+02] [ 9.89441764e-01 1.44848979e-01 -4.87542746e-03 1.14297423e+02] [ 4.92297056e-03 3.02087671e-05 9.99987882e-01 9.21229124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.980281693 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:178.18, Y:114.32, Z:0.92 [[ 1.39141539e-01 -9.90272269e-01 -6.81861247e-04 1.78183950e+02] [ 9.90260267e-01 1.39143210e-01 -4.87561433e-03 1.14322648e+02] [ 4.92306203e-03 3.18038198e-06 9.99987882e-01 9.20148385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01028169299997 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:178.19, Y:114.35, Z:0.92 [[ 1.34696006e-01 -9.90886736e-01 -6.80542059e-04 1.78186662e+02] [ 9.90874740e-01 1.34697724e-01 -4.87579845e-03 1.14345785e+02] [ 4.92303148e-03 -1.75813600e-05 9.99987882e-01 9.17920226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04028169299994 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:178.19, Y:114.37, Z:0.92 [[ 1.29918201e-01 -9.91524483e-01 -6.79123132e-04 1.78190015e+02] [ 9.91512494e-01 1.29919970e-01 -4.87599608e-03 1.14370177e+02] [ 4.92290115e-03 -3.98784330e-05 9.99987882e-01 9.18619855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.07028169299997 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:178.19, Y:114.39, Z:0.92 [[ 1.21394276e-01 -9.92604136e-01 -6.77774635e-04 1.78194428e+02] [ 9.92592162e-01 1.21396141e-01 -4.87618352e-03 1.14394265e+02] [ 4.92239915e-03 -8.08130241e-05 9.99987882e-01 9.16570731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10028169299994 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:178.20, Y:114.42, Z:0.92 [[ 1.17716002e-01 -9.93047071e-01 -6.76427006e-04 1.78198598e+02] [ 9.93035103e-01 1.17717904e-01 -4.87637045e-03 1.14418816e+02] [ 4.92209297e-03 -9.76889302e-05 9.99987882e-01 9.17015119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.130281693 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:178.20, Y:114.44, Z:0.92 [[ 1.13431032e-01 -9.93545643e-01 -6.75079592e-04 1.78204508e+02] [ 9.93533683e-01 1.13432979e-01 -4.87655698e-03 1.14441565e+02] [ 4.92165823e-03 -1.17561424e-04 9.99987882e-01 9.17811758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16028169299994 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:178.21, Y:114.47, Z:0.92 [[ 1.11803603e-01 -9.93730094e-01 -6.73691036e-04 1.78209384e+02] [ 9.93718136e-01 1.11805564e-01 -4.87674880e-03 1.14465698e+02] [ 4.92149445e-03 -1.24220911e-04 9.99987882e-01 9.20666743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.190281693 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:178.21, Y:114.49, Z:0.92 [[ 1.10645475e-01 -9.93859712e-01 -6.72365409e-04 1.78214037e+02] [ 9.93847754e-01 1.10647444e-01 -4.87693156e-03 1.14488876e+02] [ 4.92138131e-03 -1.28618440e-04 9.99987882e-01 9.18808027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22028169299995 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:178.22, Y:114.51, Z:0.92 [[ 1.11517029e-01 -9.93762297e-01 -6.70997256e-04 1.78220792e+02] [ 9.93750336e-01 1.11518980e-01 -4.87711979e-03 1.14512781e+02] [ 4.92152670e-03 -1.22921837e-04 9.99987882e-01 9.19806855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.250281693 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:178.23, Y:114.54, Z:0.92 [[ 1.12761052e-01 -9.93621908e-01 -6.69685771e-04 1.78225491e+02] [ 9.93609945e-01 1.12762982e-01 -4.87729987e-03 1.14536677e+02] [ 4.92170777e-03 -1.15436976e-04 9.99987882e-01 9.18858031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28028169299995 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:178.23, Y:114.56, Z:0.92 [[ 1.14362221e-01 -9.93438894e-01 -6.68375360e-04 1.78230528e+02] [ 9.93426926e-01 1.14364125e-01 -4.87747944e-03 1.14560468e+02] [ 4.92191594e-03 -1.06182696e-04 9.99987882e-01 9.18993772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.310281693 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:178.24, Y:114.58, Z:0.92 [[ 1.17819761e-01 -9.93034772e-01 -6.67066021e-04 1.78237174e+02] [ 9.93022797e-01 1.17821617e-01 -4.87765850e-03 1.14583332e+02] [ 4.92227930e-03 -8.77272040e-05 9.99987882e-01 9.24046963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34028169299995 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:178.24, Y:114.61, Z:0.93 [[ 1.19466645e-01 -9.92837992e-01 -6.65711597e-04 1.78242125e+02] [ 9.92826012e-01 1.19468474e-01 -4.87784335e-03 1.14607615e+02] [ 4.92243974e-03 -7.81962094e-05 9.99987882e-01 9.26647453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.370281693 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:178.25, Y:114.63, Z:0.93 [[ 1.22440737e-01 -9.92475604e-01 -6.64419223e-04 1.78249844e+02] [ 9.92463618e-01 1.22442524e-01 -4.87801938e-03 1.14630138e+02] [ 4.92266840e-03 -6.21436166e-05 9.99987882e-01 9.29743254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40028169299995 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:178.26, Y:114.65, Z:0.93 [[ 1.23332026e-01 -9.92365241e-01 -6.63074708e-04 1.78255381e+02] [ 9.92353253e-01 1.23333796e-01 -4.87820213e-03 1.14654209e+02] [ 4.92273776e-03 -5.63657895e-05 9.99987882e-01 9.31178920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.430281693 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:178.26, Y:114.68, Z:0.93 [[ 1.24169872e-01 -9.92260754e-01 -6.61785744e-04 1.78261036e+02] [ 9.92248764e-01 1.24171626e-01 -4.87837699e-03 1.14678453e+02] [ 4.92279705e-03 -5.09086371e-05 9.99987882e-01 9.33922151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46028169299996 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:178.27, Y:114.70, Z:0.93 [[ 1.26741112e-01 -9.91935610e-01 -6.60411579e-04 1.78268794e+02] [ 9.91923614e-01 1.26742828e-01 -4.87856301e-03 1.14701131e+02] [ 4.92292281e-03 -3.67633369e-05 9.99987882e-01 9.33116313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.490281693 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:178.27, Y:114.72, Z:0.93 [[ 1.28296621e-01 -9.91735621e-01 -6.58985798e-04 1.78274349e+02] [ 9.91723621e-01 1.28298311e-01 -4.87875560e-03 1.14724866e+02] [ 4.92298248e-03 -2.76039238e-05 9.99987882e-01 9.31417296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52028169299996 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:178.28, Y:114.75, Z:0.93 [[ 1.31569019e-01 -9.91306794e-01 -6.57675753e-04 1.78281178e+02] [ 9.91294788e-01 1.31570663e-01 -4.87893219e-03 1.14748774e+02] [ 4.92304946e-03 -1.00342216e-05 9.99987882e-01 9.30755465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.550281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:178.29, Y:114.77, Z:0.93 [[ 1.32919760e-01 -9.91126585e-01 -6.56371845e-04 1.78285557e+02] [ 9.91114575e-01 1.32921380e-01 -4.87910760e-03 1.14772433e+02] [ 4.92305910e-03 -2.00989348e-06 9.99987882e-01 9.31900643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58028169299996 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:178.29, Y:114.80, Z:0.93 [[ 1.33931085e-01 -9.90990432e-01 -6.55018431e-04 1.78289632e+02] [ 9.90978420e-01 1.33932686e-01 -4.87928929e-03 1.14797026e+02] [ 4.92305738e-03 4.37937652e-06 9.99987882e-01 9.33639480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.610281693 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:178.29, Y:114.82, Z:0.93 [[ 1.34900935e-01 -9.90858875e-01 -6.53647697e-04 1.78293606e+02] [ 9.90846861e-01 1.34902518e-01 -4.87947291e-03 1.14820449e+02] [ 4.92304776e-03 1.05806905e-05 9.99987882e-01 9.33263565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64028169299996 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:178.30, Y:114.84, Z:0.93 [[ 1.34885838e-01 -9.90860931e-01 -6.52354177e-04 1.78296970e+02] [ 9.90848916e-01 1.34887415e-01 -4.87964584e-03 1.14843704e+02] [ 4.92304479e-03 1.18106898e-05 9.99987882e-01 9.33339664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.670281693 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:178.30, Y:114.87, Z:0.93 [[ 1.34490232e-01 -9.90914706e-01 -6.50999203e-04 1.78300599e+02] [ 9.90902690e-01 1.34491807e-01 -4.87982660e-03 1.14867661e+02] [ 4.92304600e-03 1.12121490e-05 9.99987882e-01 9.33954880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70028169299997 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:178.30, Y:114.89, Z:0.93 [[ 1.32303651e-01 -9.91209020e-01 -6.49596195e-04 1.78304616e+02] [ 9.91197007e-01 1.32305245e-01 -4.88001336e-03 1.14889940e+02] [ 4.92305825e-03 1.76577925e-06 9.99987882e-01 9.31985914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.730281693 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:178.31, Y:114.91, Z:0.93 [[ 1.30922101e-01 -9.91392447e-01 -6.48157362e-04 1.78308206e+02] [ 9.91380435e-01 1.30923706e-01 -4.88020446e-03 1.14913087e+02] [ 4.92305700e-03 -3.64390428e-06 9.99987882e-01 9.29685384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76028169299997 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:178.31, Y:114.94, Z:0.93 [[ 1.27147723e-01 -9.91883581e-01 -6.46823338e-04 1.78312560e+02] [ 9.91871575e-01 1.27149366e-01 -4.88038126e-03 1.14935277e+02] [ 4.92301322e-03 -2.10363190e-05 9.99987882e-01 9.27212818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79028169299994 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:178.32, Y:114.96, Z:0.93 [[ 1.24327483e-01 -9.92241029e-01 -6.45452205e-04 1.78316158e+02] [ 9.92229027e-01 1.24329154e-01 -4.88056259e-03 1.14958380e+02] [ 4.92294298e-03 -3.36483480e-05 9.99987882e-01 9.26784981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82028169299997 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:178.32, Y:114.98, Z:0.93 [[ 1.21590970e-01 -9.92580083e-01 -6.44131548e-04 1.78319579e+02] [ 9.92568084e-01 1.21592668e-01 -4.88073689e-03 1.14981947e+02] [ 4.92284390e-03 -4.58908843e-05 9.99987882e-01 9.27499922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85028169299994 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:178.32, Y:115.01, Z:0.93 [[ 1.18092311e-01 -9.93002413e-01 -6.42720298e-04 1.78322685e+02] [ 9.92990420e-01 1.18094044e-01 -4.88092272e-03 1.15006501e+02] [ 4.92266948e-03 -6.18156535e-05 9.99987882e-01 9.26843616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.880281693 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:178.33, Y:115.03, Z:0.93 [[ 1.17280831e-01 -9.93098583e-01 -6.41390981e-04 1.78325939e+02] [ 9.93086590e-01 1.17282567e-01 -4.88109740e-03 1.15030875e+02] [ 4.92263489e-03 -6.44976239e-05 9.99987882e-01 9.27402413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91028169299994 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:178.33, Y:115.05, Z:0.93 [[ 1.16718448e-01 -9.93164837e-01 -6.40025844e-04 1.78329212e+02] [ 9.93152844e-01 1.16720184e-01 -4.88127639e-03 1.15054909e+02] [ 4.92261601e-03 -6.59084820e-05 9.99987882e-01 9.27571288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.940281693 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:178.33, Y:115.08, Z:0.93 [[ 1.16548174e-01 -9.93184834e-01 -6.38656603e-04 1.78332776e+02] [ 9.93172840e-01 1.16549905e-01 -4.88145553e-03 1.15078415e+02] [ 4.92262297e-03 -6.53716638e-05 9.99987882e-01 9.29682182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97028169299995 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:178.34, Y:115.10, Z:0.93 [[ 1.16071390e-01 -9.93240669e-01 -6.37233213e-04 1.78335879e+02] [ 9.93228675e-01 1.16073120e-01 -4.88164134e-03 1.15102215e+02] [ 4.92261036e-03 -6.62994060e-05 9.99987882e-01 9.29932484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.000281693 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:178.34, Y:115.13, Z:0.93 [[ 1.14793451e-01 -9.93389178e-01 -6.35869852e-04 1.78341456e+02] [ 9.93377185e-01 1.14795190e-01 -4.88181892e-03 1.15126745e+02] [ 4.92254089e-03 -7.12577618e-05 9.99987882e-01 9.32858739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03028169299995 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:178.35, Y:115.15, Z:0.93 [[ 1.13735943e-01 -9.93510812e-01 -6.34529835e-04 1.78345373e+02] [ 9.93498820e-01 1.13737688e-01 -4.88199309e-03 1.15150217e+02] [ 4.92248287e-03 -7.51465563e-05 9.99987882e-01 9.31996274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.060281693 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:178.35, Y:115.17, Z:0.93 [[ 1.13053308e-01 -9.93588722e-01 -6.33143627e-04 1.78348157e+02] [ 9.93576730e-01 1.13055055e-01 -4.88217286e-03 1.15173895e+02] [ 4.92245198e-03 -7.71309828e-05 9.99987882e-01 9.32965942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09028169299995 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:178.35, Y:115.20, Z:0.93 [[ 1.13626484e-01 -9.93523338e-01 -6.31788301e-04 1.78349975e+02] [ 9.93511344e-01 1.13628217e-01 -4.88234824e-03 1.15198820e+02] [ 4.92251590e-03 -7.29247819e-05 9.99987882e-01 9.32881103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.120281693 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:178.35, Y:115.22, Z:0.93 [[ 1.13632160e-01 -9.93522690e-01 -6.30468891e-04 1.78353451e+02] [ 9.93510695e-01 1.13633887e-01 -4.88251861e-03 1.15222459e+02] [ 4.92253565e-03 -7.15664484e-05 9.99987882e-01 9.30637284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15028169299995 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:178.36, Y:115.25, Z:0.93 [[ 1.14017467e-01 -9.93478546e-01 -6.29102687e-04 1.78357041e+02] [ 9.93466550e-01 1.14019182e-01 -4.88269464e-03 1.15245908e+02] [ 4.92258214e-03 -6.82800019e-05 9.99987882e-01 9.26443571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.180281693 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:178.36, Y:115.27, Z:0.93 [[ 1.14935776e-01 -9.93372726e-01 -6.27697620e-04 1.78359011e+02] [ 9.93360727e-01 1.14937473e-01 -4.88287526e-03 1.15270892e+02] [ 4.92266109e-03 -6.23131075e-05 9.99987882e-01 9.28876279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21028169299996 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:178.36, Y:115.30, Z:0.93 [[ 1.16689373e-01 -9.93168263e-01 -6.26318077e-04 1.78360640e+02] [ 9.93156260e-01 1.16691042e-01 -4.88305221e-03 1.15295216e+02] [ 4.92277819e-03 -5.22314186e-05 9.99987882e-01 9.31214426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.240281693 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:178.36, Y:115.32, Z:0.94 [[ 1.23128396e-01 -9.92390552e-01 -6.24946564e-04 1.78362127e+02] [ 9.92378538e-01 1.23129981e-01 -4.88322773e-03 1.15319388e+02] [ 4.92301872e-03 -1.89195578e-05 9.99987882e-01 9.35543217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27028169299996 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:178.36, Y:115.34, Z:0.93 [[ 1.26775569e-01 -9.91931231e-01 -6.23573498e-04 1.78363613e+02] [ 9.91919210e-01 1.26777103e-01 -4.88340306e-03 1.15342626e+02] [ 4.92305485e-03 5.61670787e-07 9.99987882e-01 9.33921551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.300281693 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:178.36, Y:115.37, Z:0.93 [[ 1.33397342e-01 -9.91062441e-01 -6.22147290e-04 1.78363523e+02] [ 9.91050409e-01 1.33398788e-01 -4.88358475e-03 1.15367081e+02] [ 4.92293112e-03 3.48778973e-05 9.99987882e-01 9.31136775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33028169299996 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:178.36, Y:115.39, Z:0.93 [[ 1.36128249e-01 -9.90691029e-01 -6.20755235e-04 1.78364884e+02] [ 9.90678992e-01 1.36129655e-01 -4.88376169e-03 1.15390978e+02] [ 4.92280209e-03 4.98487581e-05 9.99987882e-01 9.32896267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.360281693 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:178.37, Y:115.41, Z:0.94 [[ 1.39007313e-01 -9.90291161e-01 -6.19363757e-04 1.78365466e+02] [ 9.90279120e-01 1.39008678e-01 -4.88393815e-03 1.15413443e+02] [ 4.92261772e-03 6.55601249e-05 9.99987882e-01 9.35806362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39028169299996 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:178.37, Y:115.44, Z:0.94 [[ 1.41747563e-01 -9.89902645e-01 -6.17940616e-04 1.78365390e+02] [ 9.89890599e-01 1.41748887e-01 -4.88411821e-03 1.15438608e+02] [ 4.92239393e-03 8.06182491e-05 9.99987882e-01 9.38684042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.420281693 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:178.36, Y:115.46, Z:0.94 [[ 1.48387833e-01 -9.88929053e-01 -6.16604900e-04 1.78361200e+02] [ 9.88916997e-01 1.48389069e-01 -4.88428683e-03 1.15464380e+02] [ 4.92171058e-03 1.14997672e-04 9.99987882e-01 9.39175264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45028169299997 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:178.36, Y:115.49, Z:0.94 [[ 1.51130971e-01 -9.88513556e-01 -6.15270561e-04 1.78361089e+02] [ 9.88501497e-01 1.51132167e-01 -4.88445491e-03 1.15487741e+02] [ 4.92133707e-03 1.29996542e-04 9.99987882e-01 9.37127261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.480281693 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:178.36, Y:115.51, Z:0.93 [[ 1.55128101e-01 -9.87894172e-01 -6.13891758e-04 1.78358363e+02] [ 9.87882108e-01 1.55129242e-01 -4.88462820e-03 1.15512404e+02] [ 4.92072829e-03 1.51290413e-04 9.99987882e-01 9.34114663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51028169299997 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:178.36, Y:115.54, Z:0.94 [[ 1.55919251e-01 -9.87769615e-01 -6.12542691e-04 1.78357220e+02] [ 9.87757549e-01 1.55920376e-01 -4.88479737e-03 1.15537057e+02] [ 4.92056230e-03 1.56590281e-04 9.99987882e-01 9.35262652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54028169299994 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:178.36, Y:115.56, Z:0.93 [[ 1.56138577e-01 -9.87734970e-01 -6.11221484e-04 1.78355732e+02] [ 9.87722903e-01 1.56139693e-01 -4.88496268e-03 1.15561057e+02] [ 4.92048440e-03 1.59013665e-04 9.99987882e-01 9.34331411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.57028169299997 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:178.35, Y:115.59, Z:0.93 [[ 1.55316440e-01 -9.87864582e-01 -6.09849266e-04 1.78351711e+02] [ 9.87852515e-01 1.55317559e-01 -4.88513399e-03 1.15586498e+02] [ 4.92057114e-03 1.56300490e-04 9.99987882e-01 9.32937737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60028169299994 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:178.35, Y:115.61, Z:0.93 [[ 1.54326771e-01 -9.88019675e-01 -6.08551077e-04 1.78351988e+02] [ 9.88007609e-01 1.54327896e-01 -4.88529570e-03 1.15611731e+02] [ 4.92068468e-03 1.52678819e-04 9.99987882e-01 9.33589284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.630281693 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:178.35, Y:115.64, Z:0.94 [[ 1.51919362e-01 -9.88392705e-01 -6.07187197e-04 1.78348292e+02] [ 9.88380641e-01 1.51920509e-01 -4.88546521e-03 1.15635705e+02] [ 4.92100236e-03 1.42064688e-04 9.99987882e-01 9.38067471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66028169299994 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:178.35, Y:115.66, Z:0.94 [[ 1.50422993e-01 -9.88621543e-01 -6.05774544e-04 1.78347241e+02] [ 9.88609481e-01 1.50424152e-01 -4.88564037e-03 1.15660574e+02] [ 4.92117244e-03 1.36038191e-04 9.99987882e-01 9.40534645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.690281693 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:178.35, Y:115.69, Z:0.94 [[ 1.50152813e-01 -9.88662616e-01 -6.04437248e-04 1.78349946e+02] [ 9.88650552e-01 1.50153968e-01 -4.88580581e-03 1.15685570e+02] [ 4.92117220e-03 1.36040266e-04 9.99987882e-01 9.40658430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72028169299995 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:178.35, Y:115.71, Z:0.94 [[ 1.46119635e-01 -9.89266743e-01 -6.03101973e-04 1.78347787e+02] [ 9.89254684e-01 1.46120833e-01 -4.88597063e-03 1.15709207e+02] [ 4.92165401e-03 1.17314793e-04 9.99987882e-01 9.37019245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.750281693 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:178.35, Y:115.73, Z:0.94 [[ 1.43860500e-01 -9.89597794e-01 -6.01718240e-04 1.78348884e+02] [ 9.89585737e-01 1.43861719e-01 -4.88614103e-03 1.15734355e+02] [ 4.92187861e-03 1.07470904e-04 9.99987882e-01 9.36308810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78028169299995 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:178.35, Y:115.76, Z:0.94 [[ 1.42452303e-01 -9.89801486e-01 -6.00384816e-04 1.78349523e+02] [ 9.89789430e-01 1.42453532e-01 -4.88630487e-03 1.15758291e+02] [ 4.92199876e-03 1.01810836e-04 9.99987882e-01 9.36469987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.810281693 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:178.35, Y:115.78, Z:0.94 [[ 1.42067630e-01 -9.89856772e-01 -5.99000989e-04 1.78346478e+02] [ 9.89844716e-01 1.42068857e-01 -4.88647450e-03 1.15782325e+02] [ 4.92200927e-03 1.01291890e-04 9.99987882e-01 9.37909905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84028169299995 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:178.35, Y:115.81, Z:0.94 [[ 1.42006562e-01 -9.89865536e-01 -5.97622806e-04 1.78347084e+02] [ 9.89853479e-01 1.42007783e-01 -4.88664305e-03 1.15806016e+02] [ 4.92198663e-03 1.02376366e-04 9.99987882e-01 9.37356236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.870281693 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:178.35, Y:115.83, Z:0.94 [[ 1.40590007e-01 -9.90067722e-01 -5.96262430e-04 1.78346814e+02] [ 9.90055667e-01 1.40591238e-01 -4.88680904e-03 1.15830681e+02] [ 4.92210117e-03 9.67035196e-05 9.99987882e-01 9.36740052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90028169299995 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:178.35, Y:115.85, Z:0.94 [[ 1.39386305e-01 -9.90237903e-01 -5.94952466e-04 1.78346894e+02] [ 9.90225848e-01 1.39387544e-01 -4.88696852e-03 1.15854190e+02] [ 4.92219042e-03 9.20391719e-05 9.99987882e-01 9.36678237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.930281693 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:178.35, Y:115.88, Z:0.94 [[ 1.38281913e-01 -9.90392730e-01 -5.93593683e-04 1.78347367e+02] [ 9.90380676e-01 1.38283159e-01 -4.88713355e-03 1.15879254e+02] [ 4.92226555e-03 8.79184611e-05 9.99987882e-01 9.37877899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96028169299996 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:178.35, Y:115.90, Z:0.94 [[ 1.36683983e-01 -9.90614525e-01 -5.92267535e-04 1.78348079e+02] [ 9.90602473e-01 1.36685242e-01 -4.88729426e-03 1.15903762e+02] [ 4.92237892e-03 8.13131628e-05 9.99987882e-01 9.38367865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.990281693 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:178.35, Y:115.93, Z:0.94 [[ 1.33178271e-01 -9.91091923e-01 -5.90947301e-04 1.78349925e+02] [ 9.91079874e-01 1.33179566e-01 -4.88745389e-03 1.15926999e+02] [ 4.92261818e-03 6.52266807e-05 9.99987882e-01 9.40519003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02028169299996 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:178.35, Y:115.95, Z:0.94 [[ 1.31631064e-01 -9.91298601e-01 -5.89575935e-04 1.78351773e+02] [ 9.91286553e-01 1.31632371e-01 -4.88761932e-03 1.15950084e+02] [ 4.92269747e-03 5.89238361e-05 9.99987882e-01 9.41181550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.050281693 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:178.35, Y:115.97, Z:0.94 [[ 1.31028402e-01 -9.91378440e-01 -5.88305470e-04 1.78351386e+02] [ 9.91366393e-01 1.31029710e-01 -4.88777223e-03 1.15974951e+02] [ 4.92271751e-03 5.72107115e-05 9.99987882e-01 9.41788060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08028169299996 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:178.35, Y:116.00, Z:0.94 [[ 1.31151199e-01 -9.91362204e-01 -5.86943199e-04 1.78352948e+02] [ 9.91350155e-01 1.31152499e-01 -4.88793582e-03 1.15998552e+02] [ 4.92269389e-03 5.91924101e-05 9.99987882e-01 9.41453925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.110281693 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:178.36, Y:116.02, Z:0.94 [[ 1.31069246e-01 -9.91373043e-01 -5.85531759e-04 1.78355077e+02] [ 9.91360994e-01 1.31070540e-01 -4.88810489e-03 1.16023279e+02] [ 4.92268138e-03 6.02068744e-05 9.99987882e-01 9.42120940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14028169299996 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:178.36, Y:116.05, Z:0.94 [[ 1.30844242e-01 -9.91402765e-01 -5.84124447e-04 1.78358026e+02] [ 9.91390716e-01 1.30845531e-01 -4.88827306e-03 1.16046385e+02] [ 4.92267750e-03 6.05068274e-05 9.99987882e-01 9.40352964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.170281693 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:178.36, Y:116.07, Z:0.94 [[ 1.29841060e-01 -9.91534649e-01 -5.82806837e-04 1.78361356e+02] [ 9.91522600e-01 1.29842355e-01 -4.88843014e-03 1.16070458e+02] [ 4.92272088e-03 5.68527998e-05 9.99987882e-01 9.38546078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20028169299997 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:178.37, Y:116.10, Z:0.94 [[ 1.29935183e-01 -9.91522320e-01 -5.81499822e-04 1.78365632e+02] [ 9.91510270e-01 1.29936471e-01 -4.88858561e-03 1.16095032e+02] [ 4.92269978e-03 5.86362216e-05 9.99987882e-01 9.35632824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.230281693 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:178.37, Y:116.12, Z:0.93 [[ 1.30703821e-01 -9.91421290e-01 -5.80156515e-04 1.78368302e+02] [ 9.91409239e-01 1.30705093e-01 -4.88874503e-03 1.16118842e+02] [ 4.92263531e-03 6.38051282e-05 9.99987882e-01 9.33813541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26028169299997 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:178.37, Y:116.14, Z:0.94 [[ 1.32119441e-01 -9.91233635e-01 -5.78888425e-04 1.78369343e+02] [ 9.91221581e-01 1.32120690e-01 -4.88889518e-03 1.16143894e+02] [ 4.92252047e-03 7.21113981e-05 9.99987882e-01 9.37849970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29028169299994 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:178.37, Y:116.17, Z:0.94 [[ 1.31929038e-01 -9.91258995e-01 -5.77513092e-04 1.78371472e+02] [ 9.91246941e-01 1.31930282e-01 -4.88905764e-03 1.16167339e+02] [ 4.92251383e-03 7.25505871e-05 9.99987882e-01 9.37247472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32028169299997 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:178.37, Y:116.19, Z:0.94 [[ 1.31301638e-01 -9.91342296e-01 -5.76085236e-04 1.78373660e+02] [ 9.91330242e-01 1.31302882e-01 -4.88922588e-03 1.16190432e+02] [ 4.92253806e-03 7.08726477e-05 9.99987882e-01 9.36649270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35028169299994 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:178.38, Y:116.22, Z:0.94 [[ 1.29580354e-01 -9.91568758e-01 -5.74715722e-04 1.78375571e+02] [ 9.91556705e-01 1.29581613e-01 -4.88938686e-03 1.16215267e+02] [ 4.92263584e-03 6.37052510e-05 9.99987882e-01 9.36510064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.380281693 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:178.38, Y:116.24, Z:0.94 [[ 1.28300074e-01 -9.91735228e-01 -5.73338060e-04 1.78377177e+02] [ 9.91723176e-01 1.28301342e-01 -4.88954840e-03 1.16238624e+02] [ 4.92269744e-03 5.87367809e-05 9.99987882e-01 9.35604092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41028169299994 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:178.38, Y:116.26, Z:0.94 [[ 1.26956870e-01 -9.91908073e-01 -5.72039570e-04 1.78379410e+02] [ 9.91896023e-01 1.26958148e-01 -4.88970031e-03 1.16262655e+02] [ 4.92275829e-03 5.33772730e-05 9.99987882e-01 9.36344764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.440281693 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:178.38, Y:116.29, Z:0.94 [[ 1.24241833e-01 -9.92251803e-01 -5.70772531e-04 1.78381686e+02] [ 9.92239755e-01 1.24243137e-01 -4.88984820e-03 1.16286676e+02] [ 4.92287527e-03 4.11805075e-05 9.99987882e-01 9.39825516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47028169299995 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:178.38, Y:116.31, Z:0.94 [[ 1.22299359e-01 -9.92493095e-01 -5.69344154e-04 1.78383251e+02] [ 9.92481049e-01 1.22300679e-01 -4.89001451e-03 1.16310170e+02] [ 4.92293681e-03 3.29823549e-05 9.99987882e-01 9.40693542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.500281693 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:178.38, Y:116.33, Z:0.94 [[ 1.18226149e-01 -9.92986533e-01 -5.67927399e-04 1.78383592e+02] [ 9.92974492e-01 1.18227512e-01 -4.89017905e-03 1.16334444e+02] [ 4.92302658e-03 1.42096135e-05 9.99987882e-01 9.41644971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53028169299995 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:178.39, Y:116.36, Z:0.94 [[ 1.16941287e-01 -9.93138668e-01 -5.66572872e-04 1.78385927e+02] [ 9.93126628e-01 1.16942659e-01 -4.89033598e-03 1.16357658e+02] [ 4.92303830e-03 9.20357791e-06 9.99987882e-01 9.38177082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.560281693 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:178.39, Y:116.38, Z:0.94 [[ 1.15564475e-01 -9.93299820e-01 -5.65177589e-04 1.78388680e+02] [ 9.93287781e-01 1.15565857e-01 -4.89049722e-03 1.16381929e+02] [ 4.92304524e-03 3.78375315e-06 9.99987882e-01 9.37697031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59028169299995 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:178.39, Y:116.41, Z:0.94 [[ 1.14443608e-01 -9.93429586e-01 -5.63817638e-04 1.78391603e+02] [ 9.93417548e-01 1.14444996e-01 -4.89065400e-03 1.16405152e+02] [ 4.92304649e-03 -4.02247151e-07 9.99987882e-01 9.36943433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.620281693 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:178.39, Y:116.43, Z:0.94 [[ 1.13082657e-01 -9.93585425e-01 -5.62407510e-04 1.78393641e+02] [ 9.93573388e-01 1.13084055e-01 -4.89081616e-03 1.16429036e+02] [ 4.92304297e-03 -5.72665033e-06 9.99987882e-01 9.42539190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65028169299995 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:178.40, Y:116.45, Z:0.94 [[ 1.12473860e-01 -9.93654526e-01 -5.61085379e-04 1.78396176e+02] [ 9.93642488e-01 1.12475259e-01 -4.89096783e-03 1.16453015e+02] [ 4.92304054e-03 -7.41224176e-06 9.99987882e-01 9.44784441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.680281693 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:178.40, Y:116.48, Z:0.94 [[ 1.11569112e-01 -9.93756519e-01 -5.59711209e-04 1.78401989e+02] [ 9.93744483e-01 1.11570516e-01 -4.89112508e-03 1.16476295e+02] [ 4.92303471e-03 -1.05114419e-05 9.99987882e-01 9.44826585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71028169299996 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:178.41, Y:116.50, Z:0.94 [[ 1.10837240e-01 -9.93838415e-01 -5.58463790e-04 1.78406313e+02] [ 9.93826378e-01 1.10838646e-01 -4.89126751e-03 1.16500940e+02] [ 4.92302892e-03 -1.28814550e-05 9.99987882e-01 9.44048416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.740281693 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:178.41, Y:116.52, Z:0.94 [[ 1.10190639e-01 -9.93910314e-01 -5.57060713e-04 1.78409900e+02] [ 9.93898278e-01 1.10192046e-01 -4.89142730e-03 1.16523908e+02] [ 4.92302370e-03 -1.46721836e-05 9.99987882e-01 9.42696243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77028169299996 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:178.41, Y:116.55, Z:0.94 [[ 1.09911748e-01 -9.93941195e-01 -5.55609143e-04 1.78412590e+02] [ 9.93929158e-01 1.09913151e-01 -4.89159217e-03 1.16547369e+02] [ 4.92302372e-03 -1.45926836e-05 9.99987882e-01 9.41047024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.800281693 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:178.42, Y:116.57, Z:0.94 [[ 1.11260078e-01 -9.93791169e-01 -5.54175431e-04 1.78415519e+02] [ 9.93779130e-01 1.11261458e-01 -4.89175460e-03 1.16571457e+02] [ 4.92304089e-03 -6.47098075e-06 9.99987882e-01 9.42805841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83028169299996 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:178.42, Y:116.60, Z:0.94 [[ 1.12962138e-01 -9.93599139e-01 -5.52869964e-04 1.78418054e+02] [ 9.93587097e-01 1.12963491e-01 -4.89190214e-03 1.16596100e+02] [ 4.92304387e-03 3.27526390e-06 9.99987882e-01 9.44770290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.860281693 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:178.42, Y:116.62, Z:0.94 [[ 1.19329922e-01 -9.92854504e-01 -5.51445010e-04 1.78418428e+02] [ 9.92842452e-01 1.19331190e-01 -4.89206276e-03 1.16620021e+02] [ 4.92291113e-03 3.62714506e-05 9.99987882e-01 9.40960111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89028169299996 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:178.42, Y:116.64, Z:0.94 [[ 1.22526969e-01 -9.92465032e-01 -5.50116829e-04 1.78418704e+02] [ 9.92452975e-01 1.22528193e-01 -4.89221211e-03 1.16643973e+02] [ 4.92275427e-03 5.34628396e-05 9.99987882e-01 9.36502076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.920281693 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:178.42, Y:116.67, Z:0.94 [[ 1.27026895e-01 -9.91899121e-01 -5.48664727e-04 1.78416526e+02] [ 9.91887059e-01 1.27028056e-01 -4.89237496e-03 1.16669156e+02] [ 4.92243824e-03 7.72497575e-05 9.99987882e-01 9.36157540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95028169299997 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:178.42, Y:116.69, Z:0.94 [[ 1.27821908e-01 -9.91796985e-01 -5.47318289e-04 1.78416249e+02] [ 9.91784921e-01 1.27823053e-01 -4.89252558e-03 1.16692792e+02] [ 4.92235202e-03 8.25499279e-05 9.99987882e-01 9.36801236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.980281693 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:178.42, Y:116.72, Z:0.94 [[ 1.27845963e-01 -9.91793886e-01 -5.46043826e-04 1.78415669e+02] [ 9.91781821e-01 1.27847101e-01 -4.89266782e-03 1.16717283e+02] [ 4.92232815e-03 8.39514873e-05 9.99987882e-01 9.38746348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01028169299997 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:178.41, Y:116.74, Z:0.94 [[ 1.25902417e-01 -9.92042481e-01 -5.44660558e-04 1.78412657e+02] [ 9.92030418e-01 1.25903573e-01 -4.89282180e-03 1.16742672e+02] [ 4.92246179e-03 7.56982513e-05 9.99987882e-01 9.40029143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04028169299994 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:178.41, Y:116.77, Z:0.94 [[ 1.24392447e-01 -9.92232949e-01 -5.43272939e-04 1.78412303e+02] [ 9.92220887e-01 1.24393613e-01 -4.89297587e-03 1.16766287e+02] [ 4.92255156e-03 6.96024821e-05 9.99987882e-01 9.38427465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07028169299997 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:178.41, Y:116.79, Z:0.94 [[ 1.20417735e-01 -9.92723162e-01 -5.41832371e-04 1.78409876e+02] [ 9.92711104e-01 1.20418943e-01 -4.89313539e-03 1.16791383e+02] [ 4.92277572e-03 5.13372698e-05 9.99987882e-01 9.38876186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10028169299994 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:178.41, Y:116.82, Z:0.94 [[ 1.18357561e-01 -9.92970894e-01 -5.40451457e-04 1.78410483e+02] [ 9.92958838e-01 1.18358787e-01 -4.89328791e-03 1.16815385e+02] [ 4.92285965e-03 4.25115705e-05 9.99987882e-01 9.40899848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.130281693 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:178.41, Y:116.84, Z:0.94 [[ 1.16126470e-01 -9.93234289e-01 -5.39022369e-04 1.78411714e+02] [ 9.93222235e-01 1.16127716e-01 -4.89344533e-03 1.16838781e+02] [ 4.92293312e-03 3.28895294e-05 9.99987882e-01 9.42904958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16028169299994 meters Centerline goodness : 0.998495 Centerline is valid? [True, True] Translation: X:178.41, Y:116.86, Z:0.95 [[ 1.12343673e-01 -9.93669266e-01 -5.37612681e-04 1.78412519e+02] [ 9.93657216e-01 1.12344958e-01 -4.89360019e-03 1.16862953e+02] [ 4.92301819e-03 1.55622990e-05 9.99987882e-01 9.45128854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.190281693 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:178.41, Y:116.89, Z:0.94 [[ 1.10691229e-01 -9.93854700e-01 -5.36209795e-04 1.78414103e+02] [ 9.93842651e-01 1.10692527e-01 -4.89375391e-03 1.16887723e+02] [ 4.92303474e-03 8.78746827e-06 9.99987882e-01 9.43713414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22028169299995 meters Centerline goodness : 0.998563 Centerline is valid? [True, True] Translation: X:178.42, Y:116.91, Z:0.94 [[ 1.07125012e-01 -9.94245415e-01 -5.34813784e-04 1.78415858e+02] [ 9.94233371e-01 1.07126347e-01 -4.89390647e-03 1.16911129e+02] [ 4.92303671e-03 -7.46992151e-06 9.99987882e-01 9.39042217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.250281693 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:178.42, Y:116.94, Z:0.94 [[ 1.05341182e-01 -9.94435996e-01 -5.33374533e-04 1.78417947e+02] [ 9.94423953e-01 1.05342532e-01 -4.89406332e-03 1.16935323e+02] [ 4.92301976e-03 -1.48539946e-05 9.99987882e-01 9.40477478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28028169299995 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:178.42, Y:116.96, Z:0.94 [[ 1.02038278e-01 -9.94780331e-01 -5.32029988e-04 1.78420995e+02] [ 9.94768292e-01 1.02039661e-01 -4.89420948e-03 1.16958237e+02] [ 4.92295149e-03 -2.98498548e-05 9.99987882e-01 9.44240726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.310281693 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:178.42, Y:116.98, Z:0.94 [[ 9.98810947e-02 -9.94999239e-01 -5.30843881e-04 1.78424313e+02] [ 9.94987202e-01 9.98824976e-02 -4.89433813e-03 1.16982433e+02] [ 4.92288473e-03 -3.93310176e-05 9.99987882e-01 9.44959894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34028169299995 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:178.43, Y:117.01, Z:0.94 [[ 9.63957671e-02 -9.95342944e-01 -5.29514634e-04 1.78430733e+02] [ 9.95330911e-01 9.63972057e-02 -4.89448193e-03 1.17006842e+02] [ 4.92273179e-03 -5.52349424e-05 9.99987882e-01 9.42301169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.370281693 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:178.44, Y:117.03, Z:0.94 [[ 9.47558798e-02 -9.95500399e-01 -5.28151707e-04 1.78435265e+02] [ 9.95488368e-01 9.47573315e-02 -4.89462900e-03 1.17030856e+02] [ 4.92265137e-03 -6.19740034e-05 9.99987882e-01 9.41967271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40028169299995 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:178.44, Y:117.06, Z:0.94 [[ 9.36124550e-02 -9.95608573e-01 -5.26781575e-04 1.78439563e+02] [ 9.95596543e-01 9.36139137e-02 -4.89477646e-03 1.17055152e+02] [ 4.92259549e-03 -6.62498746e-05 9.99987882e-01 9.43626855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.430281693 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:178.44, Y:117.08, Z:0.95 [[ 9.35328742e-02 -9.95616053e-01 -5.25414659e-04 1.78443171e+02] [ 9.95604022e-01 9.35343271e-02 -4.89492318e-03 1.17078983e+02] [ 4.92260840e-03 -6.52687142e-05 9.99987882e-01 9.49216372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46028169299996 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:178.45, Y:117.10, Z:0.95 [[ 9.40640325e-02 -9.95566011e-01 -5.24062825e-04 1.78445684e+02] [ 9.95553979e-01 9.40654724e-02 -4.89506791e-03 1.17103394e+02] [ 4.92265945e-03 -6.12830040e-05 9.99987882e-01 9.50583413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.490281693 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:178.45, Y:117.13, Z:0.94 [[ 9.57031884e-02 -9.95409778e-01 -5.22692447e-04 1.78449536e+02] [ 9.95397743e-01 9.57046017e-02 -4.89521423e-03 1.17126970e+02] [ 4.92276818e-03 -5.17992721e-05 9.99987882e-01 9.44191595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52028169299996 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:178.45, Y:117.15, Z:0.94 [[ 9.59727780e-02 -9.95383823e-01 -5.21271386e-04 1.78452664e+02] [ 9.95371786e-01 9.59741811e-02 -4.89536555e-03 1.17151683e+02] [ 4.92279627e-03 -4.90370000e-05 9.99987882e-01 9.42481334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.550281693 meters Centerline goodness : 0.998539 Centerline is valid? [True, True] Translation: X:178.46, Y:117.18, Z:0.94 [[ 9.61687361e-02 -9.95364910e-01 -5.19925837e-04 1.78455278e+02] [ 9.95352872e-01 9.61701302e-02 -4.89550845e-03 1.17176065e+02] [ 4.92281866e-03 -4.67148149e-05 9.99987882e-01 9.41268329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58028169299996 meters Centerline goodness : 0.998539 Centerline is valid? [True, True] Translation: X:178.46, Y:117.20, Z:0.94 [[ 9.58932819e-02 -9.95391486e-01 -5.18576175e-04 1.78457551e+02] [ 9.95379447e-01 9.58946727e-02 -4.89565142e-03 1.17201091e+02] [ 4.92281843e-03 -4.67199848e-05 9.99987882e-01 9.41392108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.610281693 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:178.46, Y:117.23, Z:0.94 [[ 9.53994526e-02 -9.95438937e-01 -5.17221329e-04 1.78461151e+02] [ 9.95426899e-01 9.54008427e-02 -4.89579455e-03 1.17225117e+02] [ 4.92280787e-03 -4.77999038e-05 9.99987882e-01 9.41096379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64028169299996 meters Centerline goodness : 0.998440 Centerline is valid? [True, True] Translation: X:178.46, Y:117.25, Z:0.94 [[ 9.43043155e-02 -9.95543284e-01 -5.15851969e-04 1.78464204e+02] [ 9.95531246e-01 9.43057122e-02 -4.89593883e-03 1.17249981e+02] [ 4.92276681e-03 -5.18385931e-05 9.99987882e-01 9.41515652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.670281693 meters Centerline goodness : 0.998553 Centerline is valid? [True, True] Translation: X:178.47, Y:117.27, Z:0.94 [[ 9.34835889e-02 -9.95620688e-01 -5.14460391e-04 1.78468101e+02] [ 9.95608651e-01 9.34849886e-02 -4.89608505e-03 1.17273447e+02] [ 4.92273789e-03 -5.44976134e-05 9.99987882e-01 9.42619559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70028169299997 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:178.47, Y:117.30, Z:0.94 [[ 9.30390442e-02 -9.95662329e-01 -5.13017908e-04 1.78471582e+02] [ 9.95650292e-01 9.30404422e-02 -4.89623619e-03 1.17296452e+02] [ 4.92272934e-03 -5.52452940e-05 9.99987882e-01 9.44649938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.730281693 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:178.48, Y:117.32, Z:0.95 [[ 9.24427520e-02 -9.95717870e-01 -5.11627010e-04 1.78475533e+02] [ 9.95705832e-01 9.24441503e-02 -4.89638153e-03 1.17320491e+02] [ 4.92271151e-03 -5.67950142e-05 9.99987882e-01 9.46829329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76028169299997 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:178.48, Y:117.34, Z:0.95 [[ 9.22319843e-02 -9.95737416e-01 -5.10256265e-04 1.78479855e+02] [ 9.95725378e-01 9.22333784e-02 -4.89652437e-03 1.17344819e+02] [ 4.92271518e-03 -5.64589532e-05 9.99987882e-01 9.47506042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.79028169299994 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:178.49, Y:117.37, Z:0.95 [[ 9.23649764e-02 -9.95725089e-01 -5.08878111e-04 1.78486611e+02] [ 9.95713050e-01 9.23663621e-02 -4.89666759e-03 1.17367480e+02] [ 4.92273799e-03 -5.44159896e-05 9.99987882e-01 9.45652722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82028169299997 meters Centerline goodness : 0.998388 Centerline is valid? [True, True] Translation: X:178.49, Y:117.39, Z:0.95 [[ 9.14157336e-02 -9.95812686e-01 -5.07578688e-04 1.78494034e+02] [ 9.95800648e-01 9.14171245e-02 -4.89680228e-03 1.17391513e+02] [ 4.92269922e-03 -5.78024128e-05 9.99987882e-01 9.45578818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.85028169299994 meters Centerline goodness : 0.998553 Centerline is valid? [True, True] Translation: X:178.50, Y:117.42, Z:0.95 [[ 9.12645454e-02 -9.95826554e-01 -5.06216446e-04 1.78498540e+02] [ 9.95814516e-01 9.12659314e-02 -4.89694310e-03 1.17415006e+02] [ 4.92270629e-03 -5.71803983e-05 9.99987882e-01 9.45789941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.880281693 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:178.50, Y:117.44, Z:0.95 [[ 9.13101255e-02 -9.95822377e-01 -5.04805186e-04 1.78502934e+02] [ 9.95810337e-01 9.13115040e-02 -4.89708858e-03 1.17438241e+02] [ 4.92272491e-03 -5.55364499e-05 9.99987882e-01 9.45197422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.91028169299994 meters Centerline goodness : 0.998452 Centerline is valid? [True, True] Translation: X:178.51, Y:117.46, Z:0.94 [[ 9.08999080e-02 -9.95859906e-01 -5.03407426e-04 1.78510131e+02] [ 9.95847867e-01 9.09012846e-02 -4.89723226e-03 1.17462164e+02] [ 4.92271764e-03 -5.61592488e-05 9.99987882e-01 9.42968358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.940281693 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:178.51, Y:117.49, Z:0.94 [[ 9.06860183e-02 -9.95879407e-01 -5.02031663e-04 1.78514574e+02] [ 9.95867367e-01 9.06873907e-02 -4.89737329e-03 1.17485282e+02] [ 4.92272115e-03 -5.58336670e-05 9.99987882e-01 9.42292126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97028169299995 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:178.52, Y:117.51, Z:0.95 [[ 9.06893013e-02 -9.95879109e-01 -5.00729582e-04 1.78518665e+02] [ 9.95867068e-01 9.06906673e-02 -4.89750642e-03 1.17509712e+02] [ 4.92273583e-03 -5.45086652e-05 9.99987882e-01 9.45618942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.000281693 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:178.52, Y:117.53, Z:0.95 [[ 9.15230456e-02 -9.95802833e-01 -4.99331234e-04 1.78524538e+02] [ 9.95790790e-01 9.15243946e-02 -4.89764899e-03 1.17532835e+02] [ 4.92279373e-03 -4.89816928e-05 9.99987882e-01 9.46079408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03028169299995 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:178.53, Y:117.56, Z:0.95 [[ 9.17811305e-02 -9.95779080e-01 -4.97876805e-04 1.78529096e+02] [ 9.95767036e-01 9.17824692e-02 -4.89779683e-03 1.17557417e+02] [ 4.92281999e-03 -4.62439799e-05 9.99987882e-01 9.47414941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.060281693 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:178.54, Y:117.58, Z:0.95 [[ 9.33031600e-02 -9.95637622e-01 -4.96559773e-04 1.78535840e+02] [ 9.95625575e-01 9.33044739e-02 -4.89793036e-03 1.17581204e+02] [ 4.92289498e-03 -3.73952293e-05 9.99987882e-01 9.47691792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09028169299995 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:178.54, Y:117.61, Z:0.95 [[ 9.40027514e-02 -9.95571814e-01 -4.95188595e-04 1.78539917e+02] [ 9.95559766e-01 9.40040501e-02 -4.89806898e-03 1.17605229e+02] [ 4.92292916e-03 -3.25578812e-05 9.99987882e-01 9.47495279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.120281693 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:178.54, Y:117.63, Z:0.95 [[ 9.49822312e-02 -9.95478846e-01 -4.93816555e-04 1.78544310e+02] [ 9.95466795e-01 9.49835113e-02 -4.89820730e-03 1.17629947e+02] [ 4.92296618e-03 -2.63353248e-05 9.99987882e-01 9.48526877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15028169299995 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:178.55, Y:117.65, Z:0.95 [[ 9.89082220e-02 -9.95096438e-01 -4.92451778e-04 1.78550314e+02] [ 9.95084382e-01 9.89094478e-02 -4.89834451e-03 1.17654116e+02] [ 4.92303331e-03 -5.54452669e-06 9.99987882e-01 9.53199574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.180281693 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:178.55, Y:117.68, Z:0.96 [[ 1.01417217e-01 -9.94843861e-01 -4.91127830e-04 1.78554504e+02] [ 9.94831801e-01 1.01418406e-01 -4.89847725e-03 1.17678005e+02] [ 4.92302942e-03 8.20034819e-06 9.99987882e-01 9.55110637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21028169299996 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:178.56, Y:117.70, Z:0.95 [[ 1.07098548e-01 -9.94248290e-01 -4.89757721e-04 1.78560473e+02] [ 9.94236223e-01 1.07099661e-01 -4.89861423e-03 1.17702256e+02] [ 4.92289171e-03 3.76996045e-05 9.99987882e-01 9.53426952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.240281693 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:178.56, Y:117.73, Z:0.95 [[ 1.08822339e-01 -9.94061095e-01 -4.88383077e-04 1.78564456e+02] [ 9.94049025e-01 1.08823424e-01 -4.89875128e-03 1.17725163e+02] [ 4.92280558e-03 4.76168499e-05 9.99987882e-01 9.52348112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27028169299996 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:178.57, Y:117.75, Z:0.95 [[ 1.09588339e-01 -9.93976941e-01 -4.86957777e-04 1.78567801e+02] [ 9.93964870e-01 1.09589408e-01 -4.89889296e-03 1.17749739e+02] [ 4.92275205e-03 5.28426174e-05 9.99987882e-01 9.52150497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.300281693 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:178.57, Y:117.77, Z:0.95 [[ 1.10633799e-01 -9.93861121e-01 -4.85569004e-04 1.78571700e+02] [ 9.93849048e-01 1.10634848e-01 -4.89903060e-03 1.17772949e+02] [ 4.92267690e-03 5.94160737e-05 9.99987882e-01 9.51520426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33028169299996 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:178.58, Y:117.80, Z:0.95 [[ 1.12914766e-01 -9.93604560e-01 -4.84132418e-04 1.78577343e+02] [ 9.93592484e-01 1.12915781e-01 -4.89917257e-03 1.17797377e+02] [ 4.92250639e-03 7.21585922e-05 9.99987882e-01 9.49868475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.360281693 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:178.58, Y:117.82, Z:0.95 [[ 1.14193334e-01 -9.93458429e-01 -4.82811880e-04 1.78580362e+02] [ 9.93446351e-01 1.14194326e-01 -4.89930270e-03 1.17821529e+02] [ 4.92238794e-03 7.98200083e-05 9.99987882e-01 9.49446738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39028169299996 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:178.58, Y:117.85, Z:0.95 [[ 1.14800744e-01 -9.93388422e-01 -4.81411748e-04 1.78582964e+02] [ 9.93376344e-01 1.14801723e-01 -4.89944028e-03 1.17845030e+02] [ 4.92231414e-03 8.42363491e-05 9.99987882e-01 9.46719105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.420281693 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:178.59, Y:117.87, Z:0.95 [[ 1.14406344e-01 -9.93433922e-01 -4.80091761e-04 1.78585382e+02] [ 9.93421844e-01 1.14407320e-01 -4.89956962e-03 1.17869211e+02] [ 4.92232468e-03 8.36082032e-05 9.99987882e-01 9.46780384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45028169299997 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:178.59, Y:117.89, Z:0.95 [[ 1.11642145e-01 -9.93748360e-01 -4.78737951e-04 1.78590234e+02] [ 9.93736283e-01 1.11643148e-01 -4.89970190e-03 1.17892594e+02] [ 4.92251853e-03 7.12739561e-05 9.99987882e-01 9.48375113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.480281693 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:178.59, Y:117.92, Z:0.95 [[ 1.10072653e-01 -9.93923429e-01 -4.77333041e-04 1.78593562e+02] [ 9.93911354e-01 1.10073669e-01 -4.89983876e-03 1.17917526e+02] [ 4.92260634e-03 6.49115219e-05 9.99987882e-01 9.49577247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51028169299997 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:178.60, Y:117.94, Z:0.95 [[ 1.09226884e-01 -9.94016731e-01 -4.75989000e-04 1.78596142e+02] [ 9.94004656e-01 1.09227903e-01 -4.89996932e-03 1.17941330e+02] [ 4.92264277e-03 6.20730976e-05 9.99987882e-01 9.51395749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54028169299994 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:178.60, Y:117.97, Z:0.95 [[ 1.09568980e-01 -9.93979081e-01 -4.74599182e-04 1.78597716e+02] [ 9.93967005e-01 1.09569989e-01 -4.90010393e-03 1.17966025e+02] [ 4.92260263e-03 6.51634628e-05 9.99987882e-01 9.53589487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.57028169299997 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:178.60, Y:117.99, Z:0.95 [[ 1.10094075e-01 -9.93921059e-01 -4.73215063e-04 1.78599231e+02] [ 9.93908981e-01 1.10095071e-01 -4.90023760e-03 1.17989482e+02] [ 4.92254798e-03 6.91544255e-05 9.99987882e-01 9.54274870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60028169299994 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:178.60, Y:118.01, Z:0.96 [[ 1.10596098e-01 -9.93865323e-01 -4.71784243e-04 1.78600130e+02] [ 9.93853245e-01 1.10597080e-01 -4.90037535e-03 1.18013387e+02] [ 4.92249109e-03 7.30780922e-05 9.99987882e-01 9.56625596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.630281693 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:178.60, Y:118.04, Z:0.96 [[ 1.10486297e-01 -9.93877536e-01 -4.70390915e-04 1.78601237e+02] [ 9.93865457e-01 1.10487274e-01 -4.90050909e-03 1.18037602e+02] [ 4.92247811e-03 7.39338228e-05 9.99987882e-01 9.57086863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66028169299994 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:178.60, Y:118.06, Z:0.95 [[ 1.11039976e-01 -9.93815830e-01 -4.69019417e-04 1.78601509e+02] [ 9.93803750e-01 1.11040940e-01 -4.90064035e-03 1.18061253e+02] [ 4.92241431e-03 7.80537342e-05 9.99987882e-01 9.53776812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.690281693 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:178.60, Y:118.08, Z:0.95 [[ 1.10825382e-01 -9.93839784e-01 -4.67601134e-04 1.78603030e+02] [ 9.93827704e-01 1.10826340e-01 -4.90077568e-03 1.18084760e+02] [ 4.92240836e-03 7.84153738e-05 9.99987882e-01 9.52489508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72028169299995 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:178.60, Y:118.11, Z:0.95 [[ 1.09891512e-01 -9.93943478e-01 -4.66190651e-04 1.78604285e+02] [ 9.93931399e-01 1.09892475e-01 -4.90090984e-03 1.18108541e+02] [ 4.92245822e-03 7.52068664e-05 9.99987882e-01 9.53030116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.750281693 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:178.60, Y:118.13, Z:0.96 [[ 1.07305242e-01 -9.94226015e-01 -4.64781045e-04 1.78604956e+02] [ 9.94213937e-01 1.07306230e-01 -4.90104352e-03 1.18133544e+02] [ 4.92261887e-03 6.38158679e-05 9.99987882e-01 9.55270131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78028169299995 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:178.61, Y:118.16, Z:0.96 [[ 1.05730970e-01 -9.94394664e-01 -4.63405445e-04 1.78605690e+02] [ 9.94382587e-01 1.05731970e-01 -4.90117358e-03 1.18157231e+02] [ 4.92269763e-03 5.74035335e-05 9.99987882e-01 9.55285199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.810281693 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:178.61, Y:118.18, Z:0.95 [[ 1.02752863e-01 -9.94706809e-01 -4.61977883e-04 1.78606900e+02] [ 9.94694734e-01 1.02753892e-01 -4.90130814e-03 1.18181890e+02] [ 4.92283461e-03 4.40964779e-05 9.99987882e-01 9.54345420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84028169299995 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:178.61, Y:118.21, Z:0.95 [[ 1.00941810e-01 -9.94892225e-01 -4.60617613e-04 1.78609603e+02] [ 9.94880152e-01 1.00942855e-01 -4.90143597e-03 1.18206820e+02] [ 4.92289660e-03 3.65004993e-05 9.99987882e-01 9.54499650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.870281693 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:178.61, Y:118.23, Z:0.95 [[ 9.72773315e-02 -9.95257208e-01 -4.59218146e-04 1.78614945e+02] [ 9.95245138e-01 9.72784134e-02 -4.90156709e-03 1.18229839e+02] [ 4.92299199e-03 1.97767393e-05 9.99987882e-01 9.54403559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90028169299995 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:178.62, Y:118.25, Z:0.96 [[ 9.57036550e-02 -9.95409765e-01 -4.57769844e-04 1.78619207e+02] [ 9.95397697e-01 9.57047488e-02 -4.90170234e-03 1.18254221e+02] [ 4.92301313e-03 1.34477821e-05 9.99987882e-01 9.55649357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.930281693 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:178.62, Y:118.28, Z:0.96 [[ 9.42004471e-02 -9.95553147e-01 -4.56358337e-04 1.78622982e+02] [ 9.95541079e-01 9.42015522e-02 -4.90183375e-03 1.18278025e+02] [ 4.92302568e-03 7.43146044e-06 9.99987882e-01 9.55295593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96028169299996 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:178.63, Y:118.30, Z:0.95 [[ 9.33676305e-02 -9.95631598e-01 -4.54898392e-04 1.78629003e+02] [ 9.95619530e-01 9.33687385e-02 -4.90196924e-03 1.18301834e+02] [ 4.92302875e-03 4.77952889e-06 9.99987882e-01 9.52163839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.990281693 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:178.63, Y:118.32, Z:0.95 [[ 9.42472608e-02 -9.95548717e-01 -4.53536194e-04 1.78633249e+02] [ 9.95536648e-01 9.42483515e-02 -4.90209527e-03 1.18324825e+02] [ 4.92301969e-03 1.04971485e-05 9.99987882e-01 9.52039132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02028169299996 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:178.64, Y:118.35, Z:0.95 [[ 9.89738691e-02 -9.95089930e-01 -4.52119031e-04 1.78638211e+02] [ 9.95077855e-01 9.89748955e-02 -4.90222597e-03 1.18348486e+02] [ 4.92290413e-03 3.52986353e-05 9.99987882e-01 9.54165555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.050281693 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:178.64, Y:118.37, Z:0.95 [[ 1.01662552e-01 -9.94818839e-01 -4.50722246e-04 1.78640147e+02] [ 9.94806761e-01 1.01663539e-01 -4.90235439e-03 1.18373451e+02] [ 4.92277652e-03 5.00043216e-05 9.99987882e-01 9.54152757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08028169299996 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:178.64, Y:118.40, Z:0.95 [[ 1.04325009e-01 -9.94543157e-01 -4.49341622e-04 1.78641716e+02] [ 9.94531076e-01 1.04325957e-01 -4.90248093e-03 1.18398159e+02] [ 4.92260685e-03 6.45671596e-05 9.99987882e-01 9.53082381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.110281693 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:178.64, Y:118.42, Z:0.95 [[ 1.08083153e-01 -9.94141756e-01 -4.47956960e-04 1.78643689e+02] [ 9.94129671e-01 1.08084048e-01 -4.90260745e-03 1.18422679e+02] [ 4.92230378e-03 8.45619651e-05 9.99987882e-01 9.51653094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14028169299996 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:178.65, Y:118.45, Z:0.95 [[ 1.08432069e-01 -9.94103761e-01 -4.46573785e-04 1.78645116e+02] [ 9.94091675e-01 1.08432953e-01 -4.90273344e-03 1.18446342e+02] [ 4.92224906e-03 8.76782479e-05 9.99987882e-01 9.51822437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.170281693 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:178.64, Y:118.47, Z:0.95 [[ 1.07725927e-01 -9.94180530e-01 -4.45141251e-04 1.78643521e+02] [ 9.94168444e-01 1.07726812e-01 -4.90286350e-03 1.18471002e+02] [ 4.92228508e-03 8.56201286e-05 9.99987882e-01 9.54077089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20028169299997 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:178.64, Y:118.49, Z:0.95 [[ 1.06521554e-01 -9.94310294e-01 -4.43757600e-04 1.78644085e+02] [ 9.94298209e-01 1.06522447e-01 -4.90298873e-03 1.18494252e+02] [ 4.92236231e-03 8.10465920e-05 9.99987882e-01 9.53648938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.230281693 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:178.65, Y:118.52, Z:0.95 [[ 1.05153425e-01 -9.94455912e-01 -4.42320557e-04 1.78645652e+02] [ 9.94443828e-01 1.05154328e-01 -4.90311837e-03 1.18518245e+02] [ 4.92244697e-03 7.57167411e-05 9.99987882e-01 9.53051135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26028169299997 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:178.65, Y:118.54, Z:0.95 [[ 1.02901283e-01 -9.94691476e-01 -4.40918355e-04 1.78646841e+02] [ 9.94679393e-01 1.02902206e-01 -4.90324446e-03 1.18542294e+02] [ 4.92258694e-03 6.59777431e-05 9.99987882e-01 9.54602273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29028169299994 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:178.65, Y:118.57, Z:0.96 [[ 1.01432592e-01 -9.94842319e-01 -4.36502953e-04 1.78647475e+02] [ 9.94830235e-01 1.01433511e-01 -4.90364007e-03 1.18566890e+02] [ 4.92262469e-03 6.31425869e-05 9.99987882e-01 9.55213616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32028169299997 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:178.65, Y:118.59, Z:0.96 [[ 9.86153848e-02 -9.95125527e-01 -4.38225005e-04 1.78646645e+02] [ 9.95113447e-01 9.86163471e-02 -4.90348617e-03 1.18591790e+02] [ 4.92280041e-03 4.74755812e-05 9.99987882e-01 9.60088794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35028169299994 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:178.65, Y:118.62, Z:0.96 [[ 9.69597310e-02 -9.95288209e-01 -4.36891609e-04 1.78648425e+02] [ 9.95276131e-01 9.69607068e-02 -4.90360497e-03 1.18616400e+02] [ 4.92286153e-03 4.06244291e-05 9.99987882e-01 9.60798046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.380281693 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:178.65, Y:118.64, Z:0.96 [[ 9.50779136e-02 -9.95469739e-01 -4.35518023e-04 1.78651123e+02] [ 9.95457661e-01 9.50789055e-02 -4.90372697e-03 1.18640460e+02] [ 4.92292038e-03 3.26963767e-05 9.99987882e-01 9.60852237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41028169299994 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:178.65, Y:118.66, Z:0.96 [[ 9.25859078e-02 -9.95704605e-01 -4.34149011e-04 1.78654562e+02] [ 9.95692530e-01 9.25869231e-02 -4.90384817e-03 1.18663813e+02] [ 4.92298073e-03 2.17483072e-05 9.99987882e-01 9.60419377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.440281693 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:178.66, Y:118.69, Z:0.96 [[ 9.22739125e-02 -9.95733568e-01 -4.32856059e-04 1.78655858e+02] [ 9.95721492e-01 9.22749253e-02 -4.90396229e-03 1.18687412e+02] [ 4.92298163e-03 2.15037073e-05 9.99987882e-01 9.60050265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47028169299995 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:178.66, Y:118.71, Z:0.96 [[ 9.19486498e-02 -9.95763657e-01 -4.31440858e-04 1.78655554e+02] [ 9.95751581e-01 9.19496595e-02 -4.90408680e-03 1.18710891e+02] [ 4.92298224e-03 2.13162431e-05 9.99987882e-01 9.56675752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.500281693 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:178.66, Y:118.74, Z:0.96 [[ 9.16766793e-02 -9.95788733e-01 -4.30038660e-04 1.78657359e+02] [ 9.95776657e-01 9.16776854e-02 -4.90420975e-03 1.18735977e+02] [ 4.92298177e-03 2.13792052e-05 9.99987882e-01 9.56799534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53028169299995 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:178.66, Y:118.76, Z:0.95 [[ 9.05620928e-02 -9.95890719e-01 -4.28699154e-04 1.78658628e+02] [ 9.95878643e-01 9.05631058e-02 -4.90432684e-03 1.18759177e+02] [ 4.92299791e-03 1.72137708e-05 9.99987882e-01 9.54815117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.560281693 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:178.66, Y:118.78, Z:0.95 [[ 8.84718248e-02 -9.96078588e-01 -4.27404200e-04 1.78660583e+02] [ 9.96066514e-01 8.84728568e-02 -4.90443969e-03 1.18783547e+02] [ 4.92302103e-03 8.18171760e-06 9.99987882e-01 9.54174359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59028169299995 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:178.66, Y:118.81, Z:0.95 [[ 8.31366056e-02 -9.96538069e-01 -4.26013578e-04 1.78662805e+02] [ 9.96526000e-01 8.31376954e-02 -4.90456048e-03 1.18806614e+02] [ 4.92299902e-03 -1.67850963e-05 9.99987882e-01 9.52580977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.620281693 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:178.66, Y:118.83, Z:0.95 [[ 8.08224730e-02 -9.96728422e-01 -4.24571203e-04 1.78664590e+02] [ 9.96716355e-01 8.08235837e-02 -4.90468534e-03 1.18830674e+02] [ 4.92295465e-03 -2.67682634e-05 9.99987882e-01 9.54205400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65028169299995 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:178.67, Y:118.85, Z:0.96 [[ 7.88336132e-02 -9.96887698e-01 -4.23169114e-04 1.78666207e+02] [ 9.96875632e-01 7.88347411e-02 -4.90480631e-03 1.18854831e+02] [ 4.92290150e-03 -3.51833746e-05 9.99987882e-01 9.55861449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.680281693 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:178.67, Y:118.88, Z:0.95 [[ 7.53869340e-02 -9.97154267e-01 -4.21840735e-04 1.78669574e+02] [ 9.97142205e-01 7.53880971e-02 -4.90492055e-03 1.18879295e+02] [ 4.92276423e-03 -5.08682789e-05 9.99987882e-01 9.54327201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71028169299996 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:178.67, Y:118.90, Z:0.95 [[ 7.34495785e-02 -9.97298843e-01 -4.20512069e-04 1.78672079e+02] [ 9.97286783e-01 7.34507585e-02 -4.90503446e-03 1.18901847e+02] [ 4.92267212e-03 -5.90984143e-05 9.99987882e-01 9.52666567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.740281693 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:178.67, Y:118.93, Z:0.96 [[ 7.18763880e-02 -9.97413460e-01 -4.19024397e-04 1.78674849e+02] [ 9.97401400e-01 7.18775796e-02 -4.90516155e-03 1.18925035e+02] [ 4.92259261e-03 -6.53702262e-05 9.99987882e-01 9.55600327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77028169299996 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:178.68, Y:118.95, Z:0.96 [[ 7.17611495e-02 -9.97421758e-01 -4.17598182e-04 1.78677064e+02] [ 9.97409698e-01 7.17623356e-02 -4.90528296e-03 1.18949446e+02] [ 4.92260378e-03 -6.45077323e-05 9.99987882e-01 9.58040814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.800281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:178.68, Y:118.97, Z:0.96 [[ 7.13377411e-02 -9.97452131e-01 -4.16271191e-04 1.78678981e+02] [ 9.97440071e-01 7.13389257e-02 -4.90539557e-03 1.18971923e+02] [ 4.92259361e-03 -6.52657274e-05 9.99987882e-01 9.60331436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83028169299996 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:178.68, Y:118.99, Z:0.96 [[ 7.00758371e-02 -9.97541581e-01 -4.14797932e-04 1.78682410e+02] [ 9.97529521e-01 7.00770298e-02 -4.90552015e-03 1.18994868e+02] [ 4.92252813e-03 -7.00147521e-05 9.99987882e-01 9.60621354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.860281693 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:178.69, Y:119.02, Z:0.96 [[ 6.84880330e-02 -9.97651852e-01 -4.13344093e-04 1.78685506e+02] [ 9.97639794e-01 6.84892377e-02 -4.90564265e-03 1.19018820e+02] [ 4.92243309e-03 -7.63907006e-05 9.99987882e-01 9.60129518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89028169299996 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:178.69, Y:119.04, Z:0.96 [[ 6.54265901e-02 -9.97857300e-01 -4.11916801e-04 1.78690204e+02] [ 9.97845245e-01 6.54278247e-02 -4.90576249e-03 1.19043556e+02] [ 4.92220173e-03 -9.00619096e-05 9.99987882e-01 9.61293159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.920281693 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:178.69, Y:119.07, Z:0.96 [[ 6.46683305e-02 -9.97906728e-01 -4.10522311e-04 1.78692398e+02] [ 9.97894674e-01 6.46695675e-02 -4.90587918e-03 1.19067310e+02] [ 4.92215814e-03 -9.24030119e-05 9.99987882e-01 9.62921570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95028169299997 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:178.69, Y:119.09, Z:0.96 [[ 6.50279278e-02 -9.97883361e-01 -4.09081549e-04 1.78694292e+02] [ 9.97871305e-01 6.50291534e-02 -4.90599932e-03 1.19092163e+02] [ 4.92221731e-03 -8.91837697e-05 9.99987882e-01 9.63494718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.980281693 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:178.70, Y:119.12, Z:0.96 [[ 6.84512141e-02 -9.97654382e-01 -4.07685161e-04 1.78697554e+02] [ 9.97642321e-01 6.84523914e-02 -4.90611535e-03 1.19116352e+02] [ 4.92251450e-03 -7.08944182e-05 9.99987882e-01 9.60242770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01028169299997 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:178.70, Y:119.14, Z:0.96 [[ 7.01007029e-02 -9.97539837e-01 -4.06285921e-04 1.78699165e+02] [ 9.97527774e-01 7.01018534e-02 -4.90623122e-03 1.19139781e+02] [ 4.92264249e-03 -6.13512323e-05 9.99987882e-01 9.58716815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04028169299994 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:178.70, Y:119.16, Z:0.96 [[ 7.41580189e-02 -9.97246421e-01 -4.04832607e-04 1.78699164e+02] [ 9.97234352e-01 7.41591132e-02 -4.90635114e-03 1.19163609e+02] [ 4.92286314e-03 -3.98677020e-05 9.99987882e-01 9.56249036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.07028169299997 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:178.70, Y:119.19, Z:0.96 [[ 7.59833210e-02 -9.97109007e-01 -4.03415184e-04 1.78700290e+02] [ 9.97096936e-01 7.59843862e-02 -4.90646768e-03 1.19187978e+02] [ 4.92293637e-03 -2.94343354e-05 9.99987882e-01 9.56051521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10028169299994 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:178.70, Y:119.21, Z:0.96 [[ 7.73471883e-02 -9.97004138e-01 -4.02004895e-04 1.78702185e+02] [ 9.96992065e-01 7.73482301e-02 -4.90658323e-03 1.19211935e+02] [ 4.92297815e-03 -2.12852734e-05 9.99987882e-01 9.55095999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.130281693 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:178.70, Y:119.24, Z:0.95 [[ 7.92295148e-02 -9.96856320e-01 -4.00543541e-04 1.78702401e+02] [ 9.96844245e-01 7.92305265e-02 -4.90670252e-03 1.19235799e+02] [ 4.92301270e-03 -1.05238634e-05 9.99987882e-01 9.54999816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16028169299994 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:178.70, Y:119.26, Z:0.96 [[ 7.96556084e-02 -9.96822364e-01 -3.99139651e-04 1.78702104e+02] [ 9.96810287e-01 7.96566081e-02 -4.90681672e-03 1.19260649e+02] [ 4.92301875e-03 -7.01103846e-06 9.99987882e-01 9.56517079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.190281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:178.70, Y:119.28, Z:0.96 [[ 8.04157398e-02 -9.96761331e-01 -3.97743031e-04 1.78701631e+02] [ 9.96749253e-01 8.04167234e-02 -4.90692993e-03 1.19284437e+02] [ 4.92302319e-03 -1.85566894e-06 9.99987882e-01 9.57466794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22028169299995 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:178.70, Y:119.31, Z:0.96 [[ 8.32145490e-02 -9.96531576e-01 -3.96290227e-04 1.78699174e+02] [ 9.96519494e-01 8.32154915e-02 -4.90704725e-03 1.19309284e+02] [ 4.92300502e-03 1.34267877e-05 9.99987882e-01 9.59289382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.250281693 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:178.70, Y:119.33, Z:0.96 [[ 8.40979246e-02 -9.96457417e-01 -3.94907325e-04 1.78698197e+02] [ 9.96445334e-01 8.40988496e-02 -4.90715854e-03 1.19333357e+02] [ 4.92298578e-03 1.91782884e-05 9.99987882e-01 9.59805844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28028169299995 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:178.70, Y:119.36, Z:0.96 [[ 8.38762201e-02 -9.96476104e-01 -3.93475767e-04 1.78696697e+02] [ 9.96464020e-01 8.38771408e-02 -4.90727333e-03 1.19358563e+02] [ 4.92298423e-03 1.95190930e-05 9.99987882e-01 9.60988983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.310281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:178.70, Y:119.38, Z:0.96 [[ 8.23103396e-02 -9.96606670e-01 -3.92084753e-04 1.78698501e+02] [ 9.96594588e-01 8.23112724e-02 -4.90738447e-03 1.19382167e+02] [ 4.92300509e-03 1.31789389e-05 9.99987882e-01 9.60278084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34028169299995 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:178.70, Y:119.41, Z:0.96 [[ 8.07229636e-02 -9.96736500e-01 -3.90641847e-04 1.78700994e+02] [ 9.96724419e-01 8.07239085e-02 -4.90749932e-03 1.19407105e+02] [ 4.92301784e-03 6.78562176e-06 9.99987882e-01 9.59988798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.370281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:178.70, Y:119.43, Z:0.96 [[ 7.92618598e-02 -9.96853754e-01 -3.89272059e-04 1.78702606e+02] [ 9.96841673e-01 7.92628157e-02 -4.90760798e-03 1.19430967e+02] [ 4.92302223e-03 9.43525135e-07 9.99987882e-01 9.59085737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40028169299995 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:178.70, Y:119.45, Z:0.96 [[ 7.82488898e-02 -9.96933780e-01 -3.87851193e-04 1.78703216e+02] [ 9.96921700e-01 7.82498510e-02 -4.90772026e-03 1.19454821e+02] [ 4.92302141e-03 -2.63360876e-06 9.99987882e-01 9.59234895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.430281693 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:178.70, Y:119.48, Z:0.96 [[ 7.82283852e-02 -9.96935389e-01 -3.86453403e-04 1.78704005e+02] [ 9.96923309e-01 7.82293398e-02 -4.90783033e-03 1.19477431e+02] [ 4.92302173e-03 -1.33276323e-06 9.99987882e-01 9.59003485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46028169299996 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:178.70, Y:119.50, Z:0.96 [[ 7.81401361e-02 -9.96942311e-01 -3.84957484e-04 1.78704527e+02] [ 9.96930230e-01 7.81410843e-02 -4.90794766e-03 1.19502559e+02] [ 4.92302168e-03 -2.68054459e-07 9.99987882e-01 9.59008931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.490281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:178.70, Y:119.53, Z:0.96 [[ 7.81360092e-02 -9.96942635e-01 -3.83562787e-04 1.78704566e+02] [ 9.96930553e-01 7.81369507e-02 -4.90805666e-03 1.19526154e+02] [ 4.92302136e-03 1.11049899e-06 9.99987882e-01 9.57544132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52028169299996 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:178.71, Y:119.55, Z:0.96 [[ 7.79395023e-02 -9.96958017e-01 -3.82252274e-04 1.78706248e+02] [ 9.96945935e-01 7.79404397e-02 -4.90815872e-03 1.19550607e+02] [ 4.92302110e-03 1.45459784e-06 9.99987882e-01 9.58033674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.550281693 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:178.71, Y:119.58, Z:0.96 [[ 7.68810520e-02 -9.97040199e-01 -3.80871537e-04 1.78709079e+02] [ 9.97028118e-01 7.68819954e-02 -4.90826586e-03 1.19575057e+02] [ 4.92302054e-03 -2.38698790e-06 9.99987882e-01 9.57312129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58028169299996 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:178.71, Y:119.60, Z:0.96 [[ 7.53265499e-02 -9.97158847e-01 -3.79457855e-04 1.78711482e+02] [ 9.97146767e-01 7.53275051e-02 -4.90837515e-03 1.19598686e+02] [ 4.92301332e-03 -8.64420734e-06 9.99987882e-01 9.56612043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.610281693 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:178.71, Y:119.62, Z:0.96 [[ 7.31167903e-02 -9.97323314e-01 -3.77996692e-04 1.78713346e+02] [ 9.97311235e-01 7.31177651e-02 -4.90848768e-03 1.19622234e+02] [ 4.92298747e-03 -1.80874838e-05 9.99987882e-01 9.56250023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64028169299996 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:178.72, Y:119.65, Z:0.96 [[ 6.89971884e-02 -9.97616783e-01 -3.76550270e-04 1.78715248e+02] [ 9.97604708e-01 6.89982060e-02 -4.90859863e-03 1.19646144e+02] [ 4.92288167e-03 -3.69688173e-05 9.99987882e-01 9.56977121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.670281693 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:178.72, Y:119.67, Z:0.96 [[ 6.75470017e-02 -9.97716023e-01 -3.75252710e-04 1.78718154e+02] [ 9.97703948e-01 6.75480305e-02 -4.90869783e-03 1.19670207e+02] [ 4.92283406e-03 -4.28232899e-05 9.99987882e-01 9.58953843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70028169299997 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:178.72, Y:119.69, Z:0.96 [[ 6.62849018e-02 -9.97800668e-01 -3.73851177e-04 1.78721496e+02] [ 9.97788594e-01 6.62859390e-02 -4.90880457e-03 1.19694107e+02] [ 4.92278955e-03 -4.76448114e-05 9.99987882e-01 9.59756756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.730281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:178.73, Y:119.72, Z:0.96 [[ 6.45644580e-02 -9.97913469e-01 -3.72398120e-04 1.78726783e+02] [ 9.97901397e-01 6.45655088e-02 -4.90891480e-03 1.19717139e+02] [ 4.92271627e-03 -5.46751804e-05 9.99987882e-01 9.55626629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76028169299997 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:178.73, Y:119.74, Z:0.95 [[ 6.39536721e-02 -9.97952800e-01 -3.70993599e-04 1.78730120e+02] [ 9.97940727e-01 6.39547234e-02 -4.90902094e-03 1.19741924e+02] [ 4.92269799e-03 -5.62797058e-05 9.99987882e-01 9.52564296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79028169299994 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:178.74, Y:119.76, Z:0.95 [[ 6.30171199e-02 -9.98012378e-01 -3.69595372e-04 1.78735587e+02] [ 9.98000306e-01 6.30181756e-02 -4.90912621e-03 1.19764985e+02] [ 4.92265995e-03 -5.94972989e-05 9.99987882e-01 9.48963530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82028169299997 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:178.74, Y:119.79, Z:0.95 [[ 6.25213615e-02 -9.98043558e-01 -3.68280972e-04 1.78738001e+02] [ 9.98031486e-01 6.25224168e-02 -4.90922482e-03 1.19789487e+02] [ 4.92264602e-03 -6.06245859e-05 9.99987882e-01 9.49879534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85028169299994 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:178.74, Y:119.81, Z:0.95 [[ 6.24958645e-02 -9.98045155e-01 -3.66915285e-04 1.78740458e+02] [ 9.98033083e-01 6.24969134e-02 -4.90932689e-03 1.19814507e+02] [ 4.92266099e-03 -5.93809647e-05 9.99987882e-01 9.51327933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.880281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:178.74, Y:119.84, Z:0.95 [[ 6.24594267e-02 -9.98047437e-01 -3.65547142e-04 1.78742762e+02] [ 9.98035364e-01 6.24604693e-02 -4.90942876e-03 1.19837822e+02] [ 4.92267503e-03 -5.81888693e-05 9.99987882e-01 9.52464592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91028169299994 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:178.75, Y:119.86, Z:0.95 [[ 6.29170674e-02 -9.98018692e-01 -3.64222218e-04 1.78748599e+02] [ 9.98006618e-01 6.29180980e-02 -4.90952705e-03 1.19860680e+02] [ 4.92271593e-03 -5.46031392e-05 9.99987882e-01 9.53287937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.940281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:178.75, Y:119.88, Z:0.95 [[ 6.31150454e-02 -9.98006192e-01 -3.62747407e-04 1.78753188e+02] [ 9.97994117e-01 6.31160662e-02 -4.90963601e-03 1.19883483e+02] [ 4.92274233e-03 -5.21478784e-05 9.99987882e-01 9.52190102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97028169299995 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:178.76, Y:119.91, Z:0.95 [[ 6.33099235e-02 -9.97993849e-01 -3.61284418e-04 1.78762106e+02] [ 9.97981773e-01 6.33109348e-02 -4.90974367e-03 1.19906645e+02] [ 4.92276724e-03 -4.97197678e-05 9.99987882e-01 9.50948249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.000281693 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:178.77, Y:119.93, Z:0.95 [[ 6.26500091e-02 -9.98035494e-01 -3.59869889e-04 1.78767360e+02] [ 9.98023418e-01 6.26510215e-02 -4.90984735e-03 1.19930699e+02] [ 4.92274814e-03 -5.15565959e-05 9.99987882e-01 9.53311694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03028169299995 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:178.77, Y:119.95, Z:0.96 [[ 6.21195249e-02 -9.98068653e-01 -3.58480937e-04 1.78771586e+02] [ 9.98056577e-01 6.21205368e-02 -4.90994876e-03 1.19954007e+02] [ 4.92273497e-03 -5.27805727e-05 9.99987882e-01 9.55969350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.060281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:178.78, Y:119.98, Z:0.96 [[ 6.41397212e-02 -9.97940864e-01 -3.57046302e-04 1.78776404e+02] [ 9.97928786e-01 6.41407016e-02 -4.91005308e-03 1.19978548e+02] [ 4.92284381e-03 -4.13773476e-05 9.99987882e-01 9.64356108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09028169299995 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:178.78, Y:120.00, Z:0.97 [[ 6.65190045e-02 -9.97785095e-01 -3.55672416e-04 1.78779767e+02] [ 9.97773014e-01 6.65199494e-02 -4.91015260e-03 1.20002189e+02] [ 4.92293639e-03 -2.82618758e-05 9.99987882e-01 9.67987215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.120281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:178.78, Y:120.03, Z:0.97 [[ 7.30733030e-02 -9.97326510e-01 -3.54250817e-04 1.78783581e+02] [ 9.97314422e-01 7.30741615e-02 -4.91025516e-03 1.20026175e+02] [ 4.92301422e-03 5.50911419e-06 9.99987882e-01 9.69850354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15028169299995 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:178.78, Y:120.05, Z:0.97 [[ 7.63823827e-02 -9.97078536e-01 -3.52891136e-04 1.78784970e+02] [ 9.97066445e-01 7.63831944e-02 -4.91035288e-03 1.20050173e+02] [ 4.92296241e-03 2.32085424e-05 9.99987882e-01 9.69528290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.180281693 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:178.79, Y:120.08, Z:0.97 [[ 8.19362825e-02 -9.96637508e-01 -3.51483181e-04 1.78785641e+02] [ 9.96625412e-01 8.19370198e-02 -4.91045365e-03 1.20075179e+02] [ 4.92274178e-03 5.20472471e-05 9.99987882e-01 9.66758699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21028169299996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:178.79, Y:120.10, Z:0.96 [[ 8.37536679e-02 -9.96486428e-01 -3.50025505e-04 1.78786690e+02] [ 9.96474330e-01 8.37543761e-02 -4.91055756e-03 1.20098951e+02] [ 4.92262013e-03 6.24857765e-05 9.99987882e-01 9.64986565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.240281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:178.79, Y:120.12, Z:0.96 [[ 8.49124700e-02 -9.96388354e-01 -3.48521274e-04 1.78787671e+02] [ 9.96376255e-01 8.49131566e-02 -4.91066432e-03 1.20123082e+02] [ 4.92252277e-03 6.97183144e-05 9.99987882e-01 9.62887679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27028169299996 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:178.79, Y:120.15, Z:0.96 [[ 8.55939357e-02 -9.96330045e-01 -3.47080405e-04 1.78788257e+02] [ 9.96317945e-01 8.55946070e-02 -4.91076615e-03 1.20147046e+02] [ 4.92245207e-03 7.45293664e-05 9.99987882e-01 9.60097149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.300281693 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:178.79, Y:120.17, Z:0.96 [[ 8.58691609e-02 -9.96306362e-01 -3.45648614e-04 1.78787162e+02] [ 9.96294262e-01 8.58698218e-02 -4.91086693e-03 1.20171920e+02] [ 4.92240875e-03 7.73242919e-05 9.99987882e-01 9.58458464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33028169299996 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:178.79, Y:120.20, Z:0.96 [[ 8.48663799e-02 -9.96392282e-01 -3.44279652e-04 1.78788044e+02] [ 9.96380182e-01 8.48670462e-02 -4.91096290e-03 1.20195914e+02] [ 4.92246353e-03 7.37422203e-05 9.99987882e-01 9.59016714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.360281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:178.79, Y:120.22, Z:0.96 [[ 8.03116081e-02 -9.96769747e-01 -3.42857819e-04 1.78791408e+02] [ 9.96757650e-01 8.03123227e-02 -4.91106216e-03 1.20219949e+02] [ 4.92273390e-03 5.26691455e-05 9.99987882e-01 9.60700124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39028169299996 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:178.79, Y:120.25, Z:0.96 [[ 8.00314031e-02 -9.96792284e-01 -3.41482703e-04 1.78792775e+02] [ 9.96780187e-01 8.00321143e-02 -4.91115778e-03 1.20245075e+02] [ 4.92273376e-03 5.26636553e-05 9.99987882e-01 9.60823910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.420281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:178.80, Y:120.27, Z:0.96 [[ 7.62812022e-02 -9.97086286e-01 -3.40102084e-04 1.78795703e+02] [ 9.97074192e-01 7.62819521e-02 -4.91125338e-03 1.20268548e+02] [ 4.92288705e-03 3.55293018e-05 9.99987882e-01 9.59788734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45028169299997 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:178.80, Y:120.29, Z:0.96 [[ 7.19148156e-02 -9.97410720e-01 -3.38671596e-04 1.78798607e+02] [ 9.97398628e-01 7.19156114e-02 -4.91135203e-03 1.20293409e+02] [ 4.92299094e-03 1.54083894e-05 9.99987882e-01 9.57977971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.480281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:178.80, Y:120.32, Z:0.96 [[ 6.30736047e-02 -9.98008821e-01 -3.37289283e-04 1.78803844e+02] [ 9.97996736e-01 6.30745008e-02 -4.91144696e-03 1.20317997e+02] [ 4.92294174e-03 -2.68309402e-05 9.99987882e-01 9.56505552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51028169299997 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:178.81, Y:120.34, Z:0.96 [[ 5.90386960e-02 -9.98255638e-01 -3.35890653e-04 1.78808888e+02] [ 9.98243557e-01 5.90396341e-02 -4.91154261e-03 1.20340907e+02] [ 4.92280596e-03 -4.53296092e-05 9.99987882e-01 9.55498619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54028169299994 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:178.82, Y:120.36, Z:0.96 [[ 5.40703305e-02 -9.98537074e-01 -3.34503441e-04 1.78817153e+02] [ 9.98524996e-01 5.40713219e-02 -4.91163708e-03 1.20364200e+02] [ 4.92253876e-03 -6.84362065e-05 9.99987882e-01 9.58285273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.57028169299997 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:178.82, Y:120.39, Z:0.96 [[ 5.31376386e-02 -9.98587142e-01 -3.33031330e-04 1.78820710e+02] [ 9.98575065e-01 5.31386340e-02 -4.91173689e-03 1.20388275e+02] [ 4.92249414e-03 -7.15586818e-05 9.99987882e-01 9.60256169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60028169299994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:178.82, Y:120.41, Z:0.96 [[ 5.27571453e-02 -9.98607317e-01 -3.31637798e-04 1.78824497e+02] [ 9.98595240e-01 5.27581385e-02 -4.91183098e-03 1.20412545e+02] [ 4.92248695e-03 -7.20377457e-05 9.99987882e-01 9.60751989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.630281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:178.83, Y:120.44, Z:0.96 [[ 5.33743851e-02 -9.98574517e-01 -3.30232116e-04 1.78834317e+02] [ 9.98562438e-01 5.33753638e-02 -4.91192549e-03 1.20435199e+02] [ 4.92254988e-03 -6.75863842e-05 9.99987882e-01 9.60105547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66028169299994 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:178.84, Y:120.46, Z:0.96 [[ 5.33678410e-02 -9.98574867e-01 -3.28781361e-04 1.78839885e+02] [ 9.98562788e-01 5.33688127e-02 -4.91202259e-03 1.20459042e+02] [ 4.92256898e-03 -6.61647919e-05 9.99987882e-01 9.60475490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.690281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:178.85, Y:120.48, Z:0.96 [[ 5.38650937e-02 -9.98548168e-01 -3.27350941e-04 1.78847728e+02] [ 9.98536088e-01 5.38660524e-02 -4.91211792e-03 1.20481565e+02] [ 4.92261945e-03 -6.22800361e-05 9.99987882e-01 9.61935089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72028169299995 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:178.85, Y:120.51, Z:0.96 [[ 5.41993219e-02 -9.98530083e-01 -3.25853116e-04 1.78852293e+02] [ 9.98518002e-01 5.42002691e-02 -4.91221728e-03 1.20505315e+02] [ 4.92265805e-03 -5.91313577e-05 9.99987882e-01 9.62445467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.750281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:178.86, Y:120.53, Z:0.96 [[ 5.44233283e-02 -9.98517900e-01 -3.24376932e-04 1.78857587e+02] [ 9.98505818e-01 5.44242656e-02 -4.91231475e-03 1.20529360e+02] [ 4.92268819e-03 -5.65477358e-05 9.99987882e-01 9.62977735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78028169299995 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:178.86, Y:120.55, Z:0.96 [[ 5.47091629e-02 -9.98502280e-01 -3.23007296e-04 1.78862079e+02] [ 9.98490197e-01 5.47100900e-02 -4.91240481e-03 1.20552431e+02] [ 4.92271916e-03 -5.37660636e-05 9.99987882e-01 9.63361859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.810281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:178.87, Y:120.58, Z:0.97 [[ 5.84305921e-02 -9.98291422e-01 -3.21472936e-04 1.78867393e+02] [ 9.98279335e-01 5.84314666e-02 -4.91250522e-03 1.20576416e+02] [ 4.92289596e-03 -3.38792002e-05 9.99987882e-01 9.65165971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84028169299995 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:178.87, Y:120.60, Z:0.97 [[ 6.12131301e-02 -9.98124667e-01 -3.20017232e-04 1.78869611e+02] [ 9.98112577e-01 6.12139637e-02 -4.91260005e-03 1.20600513e+02] [ 4.92297681e-03 -1.86975987e-05 9.99987882e-01 9.65466950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.870281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:178.87, Y:120.62, Z:0.96 [[ 6.78786104e-02 -9.97693537e-01 -3.18557394e-04 1.78873244e+02] [ 9.97681441e-01 6.78793561e-02 -4.91269471e-03 1.20623809e+02] [ 4.92298723e-03 1.56480908e-05 9.99987882e-01 9.61800076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90028169299995 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:178.88, Y:120.65, Z:0.96 [[ 7.03032671e-02 -9.97525614e-01 -3.17079460e-04 1.78875554e+02] [ 9.97513516e-01 7.03039761e-02 -4.91279010e-03 1.20646464e+02] [ 4.92292590e-03 2.90941471e-05 9.99987882e-01 9.60750882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.930281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:178.88, Y:120.67, Z:0.96 [[ 7.21759424e-02 -9.97391866e-01 -3.15562410e-04 1.78877329e+02] [ 9.97379767e-01 7.21766212e-02 -4.91288754e-03 1.20670481e+02] [ 4.92285030e-03 3.98567248e-05 9.99987882e-01 9.61775307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96028169299996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.88, Y:120.69, Z:0.96 [[ 7.37160751e-02 -9.97279220e-01 -3.14087629e-04 1.78878108e+02] [ 9.97267119e-01 7.37167280e-02 -4.91298182e-03 1.20694143e+02] [ 4.92276819e-03 4.89364725e-05 9.99987882e-01 9.64178526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.990281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:178.88, Y:120.72, Z:0.97 [[ 7.62024037e-02 -9.97092321e-01 -3.12629539e-04 1.78877407e+02] [ 9.97080218e-01 7.62030192e-02 -4.91307460e-03 1.20716582e+02] [ 4.92261227e-03 6.26713658e-05 9.99987882e-01 9.68432335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:178.88, Y:120.74, Z:0.97 [[ 7.63605512e-02 -9.97080222e-01 -3.11120621e-04 1.78877269e+02] [ 9.97068119e-01 7.63611574e-02 -4.91317015e-03 1.20741353e+02] [ 4.92258232e-03 6.49639294e-05 9.99987882e-01 9.69858312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.050281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:178.88, Y:120.76, Z:0.97 [[ 7.45669423e-02 -9.97215962e-01 -3.09744640e-04 1.78875455e+02] [ 9.97203860e-01 7.45675635e-02 -4.91325690e-03 1.20764750e+02] [ 4.92267511e-03 5.74879930e-05 9.99987882e-01 9.68996237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.88, Y:120.79, Z:0.97 [[ 7.24118237e-02 -9.97374770e-01 -3.08317961e-04 1.78876166e+02] [ 9.97362669e-01 7.24124640e-02 -4.91334643e-03 1.20789012e+02] [ 4.92277383e-03 4.82795509e-05 9.99987882e-01 9.67267271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.110281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:178.88, Y:120.81, Z:0.97 [[ 6.85879651e-02 -9.97645026e-01 -3.06920059e-04 1.78877647e+02] [ 9.97632926e-01 6.85886449e-02 -4.91343375e-03 1.20813405e+02] [ 4.92291397e-03 3.08088655e-05 9.99987882e-01 9.65958454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14028169299996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:178.88, Y:120.84, Z:0.97 [[ 6.70725127e-02 -9.97748057e-01 -3.05505609e-04 1.78878577e+02] [ 9.97735958e-01 6.70732039e-02 -4.91352169e-03 1.20836691e+02] [ 4.92294796e-03 2.47483140e-05 9.99987882e-01 9.67454269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.170281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:178.88, Y:120.86, Z:0.97 [[ 6.55846405e-02 -9.97846963e-01 -3.04043528e-04 1.78878857e+02] [ 9.97834866e-01 6.55853425e-02 -4.91361216e-03 1.20859097e+02] [ 4.92297378e-03 1.88722547e-05 9.99987882e-01 9.69865593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20028169299997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:178.88, Y:120.88, Z:0.97 [[ 6.36480136e-02 -9.97972364e-01 -3.02560900e-04 1.78881099e+02] [ 9.97960267e-01 6.36487318e-02 -4.91370346e-03 1.20883551e+02] [ 4.92299787e-03 1.08037082e-05 9.99987882e-01 9.69854555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.230281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:178.88, Y:120.91, Z:0.97 [[ 6.26402271e-02 -9.98036127e-01 -3.01183267e-04 1.78883838e+02] [ 9.98024031e-01 6.26409507e-02 -4.91378790e-03 1.20907181e+02] [ 4.92300425e-03 7.21265203e-06 9.99987882e-01 9.67216422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26028169299997 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:178.89, Y:120.93, Z:0.96 [[ 6.18482214e-02 -9.98085521e-01 -2.99750478e-04 1.78886432e+02] [ 9.98073425e-01 6.18489476e-02 -4.91387530e-03 1.20931966e+02] [ 4.92300704e-03 4.74146130e-06 9.99987882e-01 9.64650561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.89, Y:120.96, Z:0.96 [[ 6.26742480e-02 -9.98033992e-01 -2.98376077e-04 1.78888891e+02] [ 9.98021895e-01 6.26749574e-02 -4.91395875e-03 1.20956788e+02] [ 4.92299858e-03 1.01928111e-05 9.99987882e-01 9.64759837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32028169299997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:178.89, Y:120.98, Z:0.97 [[ 6.39622300e-02 -9.97952276e-01 -2.97002876e-04 1.78890717e+02] [ 9.97940177e-01 6.39629170e-02 -4.91404175e-03 1.20980154e+02] [ 4.92297631e-03 1.79219655e-05 9.99987882e-01 9.66387923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35028169299994 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:178.89, Y:121.00, Z:0.97 [[ 6.75878238e-02 -9.97713285e-01 -2.95577922e-04 1.78894216e+02] [ 9.97701183e-01 6.75884599e-02 -4.91412746e-03 1.21003299e+02] [ 4.92286790e-03 3.72367384e-05 9.99987882e-01 9.65816555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.380281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:178.90, Y:121.03, Z:0.96 [[ 6.88561466e-02 -9.97626556e-01 -2.94171355e-04 1.78896203e+02] [ 9.97614453e-01 6.88567604e-02 -4.91421165e-03 1.21026724e+02] [ 4.92280373e-03 4.49040831e-05 9.99987882e-01 9.64502347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41028169299994 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:178.90, Y:121.05, Z:0.96 [[ 7.00453578e-02 -9.97543765e-01 -2.92714172e-04 1.78897529e+02] [ 9.97531661e-01 7.00459500e-02 -4.91429845e-03 1.21051471e+02] [ 4.92273122e-03 5.22321388e-05 9.99987882e-01 9.63835363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.440281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.90, Y:121.07, Z:0.97 [[ 7.19159354e-02 -9.97410654e-01 -2.91349104e-04 1.78900174e+02] [ 9.97398549e-01 7.19164981e-02 -4.91437938e-03 1.21074957e+02] [ 4.92260716e-03 6.28310163e-05 9.99987882e-01 9.67460198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.90, Y:121.10, Z:0.97 [[ 7.18837871e-02 -9.97412972e-01 -2.90554061e-04 1.78901670e+02] [ 9.97400867e-01 7.18843463e-02 -4.91442630e-03 1.21096665e+02] [ 4.92259883e-03 6.34687020e-05 9.99987882e-01 9.68562531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.500281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:178.90, Y:121.12, Z:0.97 [[ 7.01429891e-02 -9.97536908e-01 -2.79680021e-04 1.78902649e+02] [ 9.97524801e-01 7.01435159e-02 -4.91506419e-03 1.21122582e+02] [ 4.92257567e-03 6.57695364e-05 9.99987882e-01 9.68348179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:178.90, Y:121.15, Z:0.97 [[ 7.00042670e-02 -9.97546651e-01 -2.87412758e-04 1.78902865e+02] [ 9.97534546e-01 7.00048335e-02 -4.91461197e-03 1.21145244e+02] [ 4.92267499e-03 5.73396537e-05 9.99987882e-01 9.68674850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.560281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.90, Y:121.17, Z:0.97 [[ 7.03328652e-02 -9.97523537e-01 -2.85896782e-04 1.78902483e+02] [ 9.97511431e-01 7.03334203e-02 -4.91470016e-03 1.21169872e+02] [ 4.92263718e-03 6.04796351e-05 9.99987882e-01 9.69898972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:178.90, Y:121.19, Z:0.97 [[ 7.19580381e-02 -9.97407620e-01 -2.84549209e-04 1.78898984e+02] [ 9.97395513e-01 7.19585668e-02 -4.91477818e-03 1.21194821e+02] [ 4.92251295e-03 6.98496915e-05 9.99987882e-01 9.70648182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.620281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:178.90, Y:121.22, Z:0.97 [[ 7.18437960e-02 -9.97415856e-01 -2.83194252e-04 1.78897545e+02] [ 9.97403749e-01 7.18443194e-02 -4.91485625e-03 1.21218337e+02] [ 4.92250145e-03 7.06429214e-05 9.99987882e-01 9.67629396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65028169299995 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:178.90, Y:121.24, Z:0.96 [[ 6.92144117e-02 -9.97601767e-01 -2.81789267e-04 1.78895535e+02] [ 9.97589662e-01 6.92149601e-02 -4.91493680e-03 1.21242417e+02] [ 4.92265367e-03 5.90743998e-05 9.99987882e-01 9.62486979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.680281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:178.90, Y:121.26, Z:0.96 [[ 6.67661465e-02 -9.97768612e-01 -2.80332846e-04 1.78895094e+02] [ 9.97756507e-01 6.67667174e-02 -4.91501987e-03 1.21264852e+02] [ 4.92276946e-03 4.84530151e-05 9.99987882e-01 9.61303004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71028169299996 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:178.89, Y:121.29, Z:0.96 [[ 6.47609216e-02 -9.97900769e-01 -2.78825647e-04 1.78894377e+02] [ 9.97888665e-01 6.47615094e-02 -4.91510537e-03 1.21288996e+02] [ 4.92284460e-03 4.00698010e-05 9.99987882e-01 9.61899090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.740281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.89, Y:121.31, Z:0.96 [[ 6.12827691e-02 -9.98120406e-01 -2.77397490e-04 1.78891998e+02] [ 9.98108304e-01 6.12833921e-02 -4.91518597e-03 1.21312739e+02] [ 4.92294728e-03 2.43434684e-05 9.99987882e-01 9.64886655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77028169299996 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:178.89, Y:121.34, Z:0.97 [[ 5.93853069e-02 -9.98235097e-01 -2.75965360e-04 1.78892675e+02] [ 9.98222996e-01 5.93859459e-02 -4.91526638e-03 1.21336469e+02] [ 4.92297987e-03 1.64196343e-05 9.99987882e-01 9.68047036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.800281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.89, Y:121.36, Z:0.97 [[ 5.75725892e-02 -9.98341285e-01 -2.74527334e-04 1.78893717e+02] [ 9.98329185e-01 5.75732430e-02 -4.91534669e-03 1.21360745e+02] [ 4.92299896e-03 8.92058616e-06 9.99987882e-01 9.70897773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.89, Y:121.38, Z:0.97 [[ 5.51587220e-02 -9.98477562e-01 -2.73068936e-04 1.78893842e+02] [ 9.98465462e-01 5.51593979e-02 -4.91542771e-03 1.21383735e+02] [ 4.92300659e-03 -1.52119100e-06 9.99987882e-01 9.72716650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.860281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.89, Y:121.41, Z:0.97 [[ 5.46242708e-02 -9.98506943e-01 -2.71561000e-04 1.78894939e+02] [ 9.98494844e-01 5.46249458e-02 -4.91551102e-03 1.21407963e+02] [ 4.92300589e-03 -2.64605359e-06 9.99987882e-01 9.71891457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.90, Y:121.43, Z:0.97 [[ 5.47218055e-02 -9.98501603e-01 -2.70108497e-04 1.78897830e+02] [ 9.98489503e-01 5.47224722e-02 -4.91559083e-03 1.21430702e+02] [ 4.92300633e-03 -7.10493308e-07 9.99987882e-01 9.68753622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.920281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:178.90, Y:121.45, Z:0.97 [[ 5.46656196e-02 -9.98504681e-01 -2.68612201e-04 1.78899732e+02] [ 9.98492581e-01 5.46662795e-02 -4.91567260e-03 1.21454609e+02] [ 4.92300613e-03 5.10998550e-07 9.99987882e-01 9.67773525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.90, Y:121.48, Z:0.97 [[ 5.49425285e-02 -9.98489483e-01 -2.67231576e-04 1.78901488e+02] [ 9.98477382e-01 5.49431782e-02 -4.91574765e-03 1.21478672e+02] [ 4.92300488e-03 3.25892082e-06 9.99987882e-01 9.67263815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.980281693 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:178.90, Y:121.50, Z:0.97 [[ 5.86039858e-02 -9.98281274e-01 -2.65804079e-04 1.78903796e+02] [ 9.98269171e-01 5.86045842e-02 -4.91582484e-03 1.21500993e+02] [ 4.92295322e-03 2.27429117e-05 9.99987882e-01 9.65795694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.91, Y:121.53, Z:0.97 [[ 6.13846366e-02 -9.98114150e-01 -2.64329891e-04 1.78905019e+02] [ 9.98102045e-01 6.13851940e-02 -4.91590410e-03 1.21525073e+02] [ 4.92285939e-03 3.79327819e-05 9.99987882e-01 9.65450997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:178.91, Y:121.55, Z:0.97 [[ 6.77532984e-02 -9.97702071e-01 -2.62920389e-04 1.78905748e+02] [ 9.97689962e-01 6.77537716e-02 -4.91597949e-03 1.21548957e+02] [ 4.92249676e-03 7.07607920e-05 9.99987882e-01 9.66766596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.07028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.91, Y:121.57, Z:0.97 [[ 6.99653970e-02 -9.97549385e-01 -2.61452849e-04 1.78906610e+02] [ 9.97537275e-01 6.99658361e-02 -4.91605754e-03 1.21573796e+02] [ 4.92230294e-03 8.31449553e-05 9.99987882e-01 9.67480286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.91, Y:121.60, Z:0.97 [[ 7.17296603e-02 -9.97424076e-01 -2.60085814e-04 1.78907715e+02] [ 9.97411965e-01 7.17300712e-02 -4.91612986e-03 1.21597672e+02] [ 4.92212226e-03 9.32196223e-05 9.99987882e-01 9.66842514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.130281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.91, Y:121.62, Z:0.97 [[ 7.31768516e-02 -9.97318947e-01 -2.58672103e-04 1.78908599e+02] [ 9.97306835e-01 7.31772380e-02 -4.91620424e-03 1.21622648e+02] [ 4.92195255e-03 1.01776892e-04 9.99987882e-01 9.67295153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:178.91, Y:121.65, Z:0.96 [[ 7.65345365e-02 -9.97066898e-01 -2.57304361e-04 1.78907453e+02] [ 9.97054784e-01 7.65348754e-02 -4.91627583e-03 1.21646162e+02] [ 4.92154864e-03 1.19718348e-04 9.99987882e-01 9.64281573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.190281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:178.91, Y:121.67, Z:0.96 [[ 7.67998717e-02 -9.97046496e-01 -2.55884369e-04 1.78905835e+02] [ 9.97034382e-01 7.68002004e-02 -4.91634973e-03 1.21670666e+02] [ 4.92148124e-03 1.22449515e-04 9.99987882e-01 9.61475663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22028169299995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:178.91, Y:121.70, Z:0.96 [[ 7.55123927e-02 -9.97144831e-01 -2.54530170e-04 1.78906255e+02] [ 9.97132718e-01 7.55127303e-02 -4.91641984e-03 1.21695367e+02] [ 4.92160290e-03 1.17450266e-04 9.99987882e-01 9.63063825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.250281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:178.91, Y:121.72, Z:0.96 [[ 7.33531260e-02 -9.97305999e-01 -2.53174495e-04 1.78906337e+02] [ 9.97293886e-01 7.33534832e-02 -4.91648965e-03 1.21719013e+02] [ 4.92181585e-03 1.08150509e-04 9.99987882e-01 9.64711581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28028169299995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:178.90, Y:121.74, Z:0.97 [[ 6.94085065e-02 -9.97588290e-01 -2.51860137e-04 1.78904271e+02] [ 9.97576178e-01 6.94089051e-02 -4.91655698e-03 1.21741669e+02] [ 4.92218101e-03 9.00012041e-05 9.99987882e-01 9.67655394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.310281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:178.91, Y:121.77, Z:0.97 [[ 6.91180184e-02 -9.97608459e-01 -2.50360966e-04 1.78905082e+02] [ 9.97596347e-01 6.91184132e-02 -4.91663332e-03 1.21765999e+02] [ 4.92217954e-03 9.00687671e-05 9.99987882e-01 9.67775061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:178.90, Y:121.79, Z:0.97 [[ 6.72754382e-02 -9.97734410e-01 -2.48929266e-04 1.78904400e+02] [ 9.97722299e-01 6.72758483e-02 -4.91670581e-03 1.21789812e+02] [ 4.92231350e-03 8.24112581e-05 9.99987882e-01 9.68551989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.370281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.90, Y:121.81, Z:0.97 [[ 6.57360534e-02 -9.97837016e-01 -2.47501210e-04 1.78904592e+02] [ 9.97824905e-01 6.57364751e-02 -4.91677770e-03 1.21814027e+02] [ 4.92241264e-03 7.62466893e-05 9.99987882e-01 9.69720666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:178.91, Y:121.84, Z:0.97 [[ 6.29292031e-02 -9.98017963e-01 -2.46131278e-04 1.78905984e+02] [ 9.98005853e-01 6.29296521e-02 -4.91684627e-03 1.21837796e+02] [ 4.92258986e-03 6.37727609e-05 9.99987882e-01 9.69522097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.430281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.91, Y:121.86, Z:0.97 [[ 6.15503672e-02 -9.98103949e-01 -2.44805365e-04 1.78906827e+02] [ 9.98091839e-01 6.15508264e-02 -4.91691229e-03 1.21861645e+02] [ 4.92265754e-03 5.82995203e-05 9.99987882e-01 9.67596910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.91, Y:121.89, Z:0.97 [[ 6.00962471e-02 -9.98192558e-01 -2.43377249e-04 1.78907002e+02] [ 9.98180449e-01 6.00967169e-02 -4.91698298e-03 1.21886524e+02] [ 4.92272199e-03 5.25578118e-05 9.99987882e-01 9.65218347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.490281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:178.91, Y:121.91, Z:0.97 [[ 5.93411696e-02 -9.98237731e-01 -2.42009019e-04 1.78907726e+02] [ 9.98225622e-01 5.93416418e-02 -4.91705032e-03 1.21911648e+02] [ 4.92274636e-03 5.02039128e-05 9.99987882e-01 9.67010869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.91, Y:121.94, Z:0.97 [[ 5.83340416e-02 -9.98297091e-01 -2.40645602e-04 1.78908815e+02] [ 9.98284982e-01 5.83345193e-02 -4.91711704e-03 1.21936206e+02] [ 4.92278159e-03 4.66024200e-05 9.99987882e-01 9.70500019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.550281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.91, Y:121.96, Z:0.97 [[ 5.89037679e-02 -9.98263637e-01 -2.39278939e-04 1.78909115e+02] [ 9.98251528e-01 5.89042321e-02 -4.91718355e-03 1.21959413e+02] [ 4.92274007e-03 5.07800717e-05 9.99987882e-01 9.74082403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.91, Y:121.98, Z:0.97 [[ 5.97506823e-02 -9.98213304e-01 -2.37754191e-04 1.78909389e+02] [ 9.98201194e-01 5.97511286e-02 -4.91725727e-03 1.21981988e+02] [ 4.92267771e-03 5.64829599e-05 9.99987882e-01 9.72476402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.610281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.91, Y:122.01, Z:0.97 [[ 6.13814723e-02 -9.98114352e-01 -2.36249615e-04 1.78908507e+02] [ 9.98102241e-01 6.13818915e-02 -4.91732956e-03 1.22006086e+02] [ 4.92255865e-03 6.60316582e-05 9.99987882e-01 9.70556795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.91, Y:122.03, Z:0.97 [[ 6.13898384e-02 -9.98113838e-01 -2.34799772e-04 1.78908505e+02] [ 9.98101726e-01 6.13902503e-02 -4.91739879e-03 1.22028995e+02] [ 4.92253819e-03 6.75242589e-05 9.99987882e-01 9.70881466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.670281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.91, Y:122.05, Z:0.97 [[ 6.10412457e-02 -9.98135217e-01 -2.33304217e-04 1.78908550e+02] [ 9.98123106e-01 6.10416545e-02 -4.91746974e-03 1.22053112e+02] [ 4.92254100e-03 6.73021491e-05 9.99987882e-01 9.71257273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:178.91, Y:122.08, Z:0.97 [[ 6.11786745e-02 -9.98126804e-01 -2.31868967e-04 1.78905553e+02] [ 9.98114692e-01 6.11790745e-02 -4.91753741e-03 1.22076983e+02] [ 4.92251143e-03 6.94165980e-05 9.99987882e-01 9.72392782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.730281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.90, Y:122.10, Z:0.97 [[ 6.10897435e-02 -9.98132253e-01 -2.22021889e-04 1.78903499e+02] [ 9.98120140e-01 6.10900961e-02 -4.91799772e-03 1.22101720e+02] [ 4.92237548e-03 7.88347007e-05 9.99987882e-01 9.71749331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.90, Y:122.13, Z:0.97 [[ 6.21667756e-02 -9.98065749e-01 -2.28735184e-04 1.78899682e+02] [ 9.98053637e-01 6.21671482e-02 -4.91768547e-03 1.22125588e+02] [ 4.92239325e-03 7.74266669e-05 9.99987882e-01 9.73840321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79028169299994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:178.90, Y:122.15, Z:0.97 [[ 6.20067265e-02 -9.98075706e-01 -2.27302833e-04 1.78898292e+02] [ 9.98063593e-01 6.20070940e-02 -4.91775167e-03 1.22150388e+02] [ 4.92238286e-03 7.80710013e-05 9.99987882e-01 9.73661842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.90, Y:122.17, Z:0.97 [[ 6.14463388e-02 -9.98110363e-01 -2.25916368e-04 1.78896755e+02] [ 9.98098250e-01 6.14467063e-02 -4.91781536e-03 1.22173965e+02] [ 4.92240430e-03 7.66950173e-05 9.99987882e-01 9.72388125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.89, Y:122.20, Z:0.97 [[ 5.95453097e-02 -9.98225579e-01 -2.24476876e-04 1.78892623e+02] [ 9.98213467e-01 5.95456931e-02 -4.91788107e-03 1.22197413e+02] [ 4.92252131e-03 6.87609111e-05 9.99987882e-01 9.69785934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.880281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:178.89, Y:122.22, Z:0.97 [[ 5.78653883e-02 -9.98324370e-01 -2.22967801e-04 1.78891700e+02] [ 9.98312258e-01 5.78657846e-02 -4.91794949e-03 1.22221931e+02] [ 4.92261103e-03 6.19875676e-05 9.99987882e-01 9.69942143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.89, Y:122.25, Z:0.97 [[ 5.61546251e-02 -9.98422060e-01 -2.21553936e-04 1.78891129e+02] [ 9.98409948e-01 5.61550353e-02 -4.91801318e-03 1.22245451e+02] [ 4.92269422e-03 5.49675328e-05 9.99987882e-01 9.68308869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.940281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.89, Y:122.27, Z:0.97 [[ 5.12949147e-02 -9.98683525e-01 -2.20082804e-04 1.78889576e+02] [ 9.98671416e-01 5.12953765e-02 -4.91807902e-03 1.22269588e+02] [ 4.92289372e-03 3.24820380e-05 9.99987882e-01 9.66792449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97028169299995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:178.89, Y:122.29, Z:0.96 [[ 4.79013822e-02 -9.98852046e-01 -2.18627018e-04 1.78889503e+02] [ 9.98839938e-01 4.79018780e-02 -4.91814373e-03 1.22292806e+02] [ 4.92297057e-03 1.72124853e-05 9.99987882e-01 9.64716633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.000281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.89, Y:122.32, Z:0.96 [[ 4.28029360e-02 -9.99083511e-01 -2.17119868e-04 1.78889446e+02] [ 9.99071405e-01 4.28034862e-02 -4.91821026e-03 1.22316715e+02] [ 4.92299626e-03 -6.40441297e-06 9.99987882e-01 9.64390890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:178.89, Y:122.34, Z:0.97 [[ 4.15485526e-02 -9.99136463e-01 -2.15676022e-04 1.78890226e+02] [ 9.99124358e-01 4.15491109e-02 -4.91827358e-03 1.22340433e+02] [ 4.92298761e-03 -1.11400183e-05 9.99987882e-01 9.65528552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.060281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.89, Y:122.36, Z:0.97 [[ 4.11938279e-02 -9.99151151e-01 -2.14224354e-04 1.78892087e+02] [ 9.99139046e-01 4.11943833e-02 -4.91833681e-03 1.22363446e+02] [ 4.92298672e-03 -1.14347972e-05 9.99987882e-01 9.67241219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:178.89, Y:122.39, Z:0.97 [[ 4.10621544e-02 -9.99156571e-01 -2.12722962e-04 1.78893753e+02] [ 9.99144466e-01 4.10627041e-02 -4.91840174e-03 1.22386840e+02] [ 4.92298840e-03 -1.05807985e-05 9.99987882e-01 9.68000155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.120281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:178.90, Y:122.41, Z:0.97 [[ 4.12382226e-02 -9.99149320e-01 -2.11298065e-04 1.78895249e+02] [ 9.99137214e-01 4.12387631e-02 -4.91846296e-03 1.22409112e+02] [ 4.92299259e-03 -8.28709041e-06 9.99987882e-01 9.69827844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.90, Y:122.43, Z:0.97 [[ 4.30460085e-02 -9.99073069e-01 -2.09771068e-04 1.78897334e+02] [ 9.99060962e-01 4.30465195e-02 -4.91852808e-03 1.22433134e+02] [ 4.92299886e-03 2.14891709e-06 9.99987882e-01 9.73573977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.180281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:178.90, Y:122.46, Z:0.97 [[ 4.41350699e-02 -9.99025551e-01 -2.08341640e-04 1.78898721e+02] [ 9.99013443e-01 4.41355607e-02 -4.91858863e-03 1.22457602e+02] [ 4.92299099e-03 8.94615368e-06 9.99987882e-01 9.74922984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:178.90, Y:122.48, Z:0.97 [[ 4.51161435e-02 -9.98981727e-01 -2.06915125e-04 1.78900682e+02] [ 9.98969618e-01 4.51166154e-02 -4.91864864e-03 1.22481170e+02] [ 4.92297542e-03 1.52085350e-05 9.99987882e-01 9.74381819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.240281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.90, Y:122.50, Z:0.97 [[ 4.61643796e-02 -9.98933836e-01 -2.05439758e-04 1.78903884e+02] [ 9.98921726e-01 4.61648316e-02 -4.91871026e-03 1.22503674e+02] [ 4.92295020e-03 2.18509706e-05 9.99987882e-01 9.74901429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.91, Y:122.53, Z:0.97 [[ 4.58701007e-02 -9.98947392e-01 -2.03930821e-04 1.78905327e+02] [ 9.98935282e-01 4.58705487e-02 -4.91877282e-03 1.22526501e+02] [ 4.92294970e-03 2.19109122e-05 9.99987882e-01 9.74383962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.300281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.91, Y:122.55, Z:0.97 [[ 4.47776862e-02 -9.98996956e-01 -2.02435152e-04 1.78906714e+02] [ 9.98984846e-01 4.47781402e-02 -4.91883438e-03 1.22550295e+02] [ 4.92296524e-03 1.80243729e-05 9.99987882e-01 9.74779315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.91, Y:122.57, Z:0.97 [[ 4.44776406e-02 -9.99010360e-01 -2.01001965e-04 1.78907462e+02] [ 9.98998250e-01 4.44780911e-02 -4.91889294e-03 1.22574621e+02] [ 4.92296519e-03 1.79801412e-05 9.99987882e-01 9.74920116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.360281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:178.91, Y:122.60, Z:0.97 [[ 4.41387224e-02 -9.99025392e-01 -1.99624115e-04 1.78908332e+02] [ 9.99013282e-01 4.41391703e-02 -4.91894886e-03 1.22598140e+02] [ 4.92296605e-03 1.76889765e-05 9.99987882e-01 9.74398986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39028169299996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:178.91, Y:122.62, Z:0.98 [[ 4.38573156e-02 -9.99037785e-01 -1.98287012e-04 1.78910074e+02] [ 9.99025676e-01 4.38577603e-02 -4.91900276e-03 1.22621576e+02] [ 4.92296605e-03 1.76404406e-05 9.99987882e-01 9.77848480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.420281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.91, Y:122.65, Z:0.98 [[ 4.35541353e-02 -9.99051049e-01 -1.96828123e-04 1.78910620e+02] [ 9.99038939e-01 4.35545765e-02 -4.91906113e-03 1.22646564e+02] [ 4.92296595e-03 1.76064944e-05 9.99987882e-01 9.79508273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.91, Y:122.67, Z:0.98 [[ 4.29188383e-02 -9.99078543e-01 -1.95459714e-04 1.78911376e+02] [ 9.99066433e-01 4.29192804e-02 -4.91911551e-03 1.22671028e+02] [ 4.92297174e-03 1.58454837e-05 9.99987882e-01 9.80959583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.480281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.91, Y:122.69, Z:0.98 [[ 4.03820678e-02 -9.99184293e-01 -1.94088738e-04 1.78914314e+02] [ 9.99172184e-01 4.03825339e-02 -4.91916960e-03 1.22694136e+02] [ 4.92299479e-03 4.71817186e-06 9.99987882e-01 9.81844776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:178.92, Y:122.72, Z:0.98 [[ 3.86855587e-02 -9.99251415e-01 -1.92556341e-04 1.78916260e+02] [ 9.99239307e-01 3.86860379e-02 -4.91922958e-03 1.22718225e+02] [ 4.92299636e-03 -2.10671964e-06 9.99987882e-01 9.80772142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.92, Y:122.74, Z:0.98 [[ 3.80754901e-02 -9.99274847e-01 -1.91089123e-04 1.78917841e+02] [ 9.99262739e-01 3.80759695e-02 -4.91928658e-03 1.22742590e+02] [ 4.92299525e-03 -3.64399278e-06 9.99987882e-01 9.79817922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.57028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.92, Y:122.77, Z:0.98 [[ 3.89369092e-02 -9.99241653e-01 -1.89714839e-04 1.78917761e+02] [ 9.99229544e-01 3.89373713e-02 -4.91933958e-03 1.22766389e+02] [ 4.92299601e-03 1.97520595e-06 9.99987882e-01 9.80165591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.92, Y:122.79, Z:0.98 [[ 4.04176004e-02 -9.99182857e-01 -1.88229263e-04 1.78917435e+02] [ 9.99170747e-01 4.04180372e-02 -4.91939642e-03 1.22788791e+02] [ 4.92298443e-03 1.07570255e-05 9.99987882e-01 9.80331342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.630281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:178.92, Y:122.81, Z:0.98 [[ 4.20608300e-02 -9.99115034e-01 -1.86701151e-04 1.78916478e+02] [ 9.99102923e-01 4.20612394e-02 -4.91945441e-03 1.22812436e+02] [ 4.92295375e-03 2.03826699e-05 9.99987882e-01 9.80103006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66028169299994 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:178.91, Y:122.84, Z:0.98 [[ 4.60040036e-02 -9.98941238e-01 -1.85272021e-04 1.78912957e+02] [ 9.98929125e-01 4.60043581e-02 -4.91950823e-03 1.22836195e+02] [ 4.92282297e-03 4.12434568e-05 9.99987882e-01 9.78137414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.690281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:178.91, Y:122.86, Z:0.98 [[ 4.79457148e-02 -9.98849926e-01 -1.83801449e-04 1.78911350e+02] [ 9.98837812e-01 4.79460386e-02 -4.91956318e-03 1.22860918e+02] [ 4.92271787e-03 5.22841356e-05 9.99987882e-01 9.77540591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:178.91, Y:122.89, Z:0.98 [[ 5.11971288e-02 -9.98688550e-01 -1.82416963e-04 1.78908879e+02] [ 9.98676436e-01 5.11974063e-02 -4.91961451e-03 1.22885388e+02] [ 4.92250196e-03 6.96946154e-05 9.99987882e-01 9.76774869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.750281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:178.91, Y:122.91, Z:0.98 [[ 5.11750538e-02 -9.98689682e-01 -1.81036048e-04 1.78906868e+02] [ 9.98677567e-01 5.11753248e-02 -4.91966533e-03 1.22909272e+02] [ 4.92248358e-03 7.09674980e-05 9.99987882e-01 9.77389292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78028169299995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:178.90, Y:122.93, Z:0.98 [[ 5.04342886e-02 -9.98727365e-01 -1.79604398e-04 1.78904148e+02] [ 9.98715250e-01 5.04345616e-02 -4.91971759e-03 1.22934283e+02] [ 4.92251486e-03 6.87488055e-05 9.99987882e-01 9.79677461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.810281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:178.90, Y:122.96, Z:0.98 [[ 4.81619285e-02 -9.98839525e-01 -1.78244239e-04 1.78900096e+02] [ 9.98827411e-01 4.81622223e-02 -4.91976687e-03 1.22958630e+02] [ 4.92264225e-03 5.89102291e-05 9.99987882e-01 9.81077688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:178.90, Y:122.98, Z:0.98 [[ 4.65486269e-02 -9.98916010e-01 -1.76884065e-04 1.78899269e+02] [ 9.98903895e-01 4.65489336e-02 -4.91981578e-03 1.22983489e+02] [ 4.92271651e-03 5.23204869e-05 9.99987882e-01 9.80020899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.870281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:178.90, Y:123.01, Z:0.98 [[ 4.46886568e-02 -9.99000948e-01 -1.75517473e-04 1.78898810e+02] [ 9.98988834e-01 4.46889793e-02 -4.91986453e-03 1.23008534e+02] [ 4.92279302e-03 4.45221416e-05 9.99987882e-01 9.78404193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90028169299995 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:178.90, Y:123.03, Z:0.98 [[ 4.04581496e-02 -9.99181219e-01 -1.74142081e-04 1.78897491e+02] [ 9.99169106e-01 4.04585167e-02 -4.91991321e-03 1.23032119e+02] [ 4.92293041e-03 2.50531973e-05 9.99987882e-01 9.76794667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.930281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:178.90, Y:123.06, Z:0.98 [[ 3.85520123e-02 -9.99256580e-01 -1.72716410e-04 1.78898148e+02] [ 9.99244468e-01 3.85523954e-02 -4.91996326e-03 1.23057209e+02] [ 4.92296429e-03 1.70885668e-05 9.99987882e-01 9.78611761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96028169299996 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:178.90, Y:123.08, Z:0.98 [[ 3.57308158e-02 -9.99361436e-01 -1.71349234e-04 1.78899300e+02] [ 9.99349325e-01 3.57312263e-02 -4.92001088e-03 1.23079976e+02] [ 4.92299165e-03 4.55826093e-06 9.99987882e-01 9.80504504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.990281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:178.90, Y:123.10, Z:0.98 [[ 3.45508990e-02 -9.99402925e-01 -1.69819990e-04 1.78899487e+02] [ 9.99390814e-01 3.45513163e-02 -4.92006366e-03 1.23103161e+02] [ 4.92299352e-03 2.76084385e-07 9.99987882e-01 9.79936884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02028169299996 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:178.90, Y:123.13, Z:0.98 [[ 3.39360470e-02 -9.99423992e-01 -1.68306701e-04 1.78899820e+02] [ 9.99411882e-01 3.39364643e-02 -4.92011542e-03 1.23126835e+02] [ 4.92299313e-03 -1.23844813e-06 9.99987882e-01 9.78766295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.050281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:178.90, Y:123.15, Z:0.98 [[ 3.38479046e-02 -9.99426982e-01 -1.66834059e-04 1.78901935e+02] [ 9.99414871e-01 3.38483158e-02 -4.92016536e-03 1.23150448e+02] [ 4.92299307e-03 -1.99151276e-07 9.99987882e-01 9.78519399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08028169299996 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:178.90, Y:123.17, Z:0.98 [[ 3.39366973e-02 -9.99423971e-01 -1.65361700e-04 1.78903382e+02] [ 9.99411859e-01 3.39371001e-02 -4.92021484e-03 1.23173902e+02] [ 4.92299255e-03 1.71139729e-06 9.99987882e-01 9.79922372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.110281693 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:178.90, Y:123.20, Z:0.98 [[ 3.41623314e-02 -9.99416284e-01 -1.63885034e-04 1.78904155e+02] [ 9.99404172e-01 3.41627242e-02 -4.92026403e-03 1.23198203e+02] [ 4.92299075e-03 4.30030360e-06 9.99987882e-01 9.81487884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14028169299996 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:178.90, Y:123.22, Z:0.98 [[ 3.59645090e-02 -9.99353055e-01 -1.62469926e-04 1.78904517e+02] [ 9.99340942e-01 3.59648730e-02 -4.92031076e-03 1.23223206e+02] [ 4.92297079e-03 1.45937112e-05 9.99987882e-01 9.81881280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.170281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:178.91, Y:123.25, Z:0.98 [[ 3.70148110e-02 -9.99314704e-01 -1.61047577e-04 1.78905274e+02] [ 9.99302591e-01 3.70151553e-02 -4.92035731e-03 1.23246757e+02] [ 4.92294661e-03 2.11908346e-05 9.99987882e-01 9.80458756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20028169299997 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:178.91, Y:123.27, Z:0.98 [[ 3.67306437e-02 -9.99325190e-01 -1.59710606e-04 1.78905717e+02] [ 9.99313076e-01 3.67309848e-02 -4.92040071e-03 1.23271919e+02] [ 4.92294670e-03 2.11285884e-05 9.99987882e-01 9.80582545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.230281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:178.91, Y:123.30, Z:0.98 [[ 3.84142295e-02 -9.99261889e-01 -1.58311407e-04 1.78907984e+02] [ 9.99249775e-01 3.84145433e-02 -4.92044572e-03 1.23295895e+02] [ 4.92289535e-03 3.08224935e-05 9.99987882e-01 9.77194433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26028169299997 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:178.91, Y:123.32, Z:0.98 [[ 3.84782430e-02 -9.99259426e-01 -1.56861778e-04 1.78909134e+02] [ 9.99247312e-01 3.84785490e-02 -4.92049194e-03 1.23320140e+02] [ 4.92288376e-03 3.25881747e-05 9.99987882e-01 9.79124610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29028169299994 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:178.91, Y:123.34, Z:0.98 [[ 3.83402796e-02 -9.99264729e-01 -1.55475665e-04 1.78910437e+02] [ 9.99252615e-01 3.83405804e-02 -4.92053574e-03 1.23344707e+02] [ 4.92287884e-03 3.32952514e-05 9.99987882e-01 9.81144993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32028169299997 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:178.91, Y:123.37, Z:0.98 [[ 3.83318890e-02 -9.99265051e-01 -1.54074875e-04 1.78912179e+02] [ 9.99252937e-01 3.83321829e-02 -4.92057960e-03 1.23368400e+02] [ 4.92286925e-03 3.46553391e-05 9.99987882e-01 9.82740802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35028169299994 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:178.92, Y:123.39, Z:0.98 [[ 3.88753014e-02 -9.99244058e-01 -1.52625207e-04 1.78915648e+02] [ 9.99231943e-01 3.88755817e-02 -4.92062456e-03 1.23392168e+02] [ 4.92283825e-03 3.87827806e-05 9.99987882e-01 9.83128597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.380281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:178.92, Y:123.42, Z:0.98 [[ 4.05918888e-02 -9.99175798e-01 -1.51190438e-04 1.78916900e+02] [ 9.99163683e-01 4.05921412e-02 -4.92066865e-03 1.23415707e+02] [ 4.92275017e-03 4.86752399e-05 9.99987882e-01 9.82383023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41028169299994 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:178.92, Y:123.44, Z:0.98 [[ 4.18353388e-02 -9.99124508e-01 -1.49745205e-04 1.78917644e+02] [ 9.99112392e-01 4.18355690e-02 -4.92071263e-03 1.23440409e+02] [ 4.92266926e-03 5.62473901e-05 9.99987882e-01 9.83141316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.440281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:178.92, Y:123.46, Z:0.98 [[ 4.36403940e-02 -9.99047293e-01 -1.48328541e-04 1.78917942e+02] [ 9.99035177e-01 4.36405953e-02 -4.92075533e-03 1.23464013e+02] [ 4.92254044e-03 6.65582711e-05 9.99987882e-01 9.83516655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.47028169299995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:178.92, Y:123.49, Z:0.98 [[ 4.62913198e-02 -9.98927971e-01 -1.46854941e-04 1.78917854e+02] [ 9.98915855e-01 4.62914817e-02 -4.92079931e-03 1.23488497e+02] [ 4.92232220e-03 8.10945656e-05 9.99987882e-01 9.84655696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.500281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:178.91, Y:123.51, Z:0.99 [[ 5.30023966e-02 -9.98594375e-01 -1.45469705e-04 1.78914596e+02] [ 9.98582257e-01 5.30024703e-02 -4.92084026e-03 1.23511902e+02] [ 4.92163365e-03 1.15552861e-04 9.99987882e-01 9.87378614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53028169299995 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:178.91, Y:123.54, Z:0.99 [[ 5.57681183e-02 -9.98443737e-01 -1.44038699e-04 1.78911471e+02] [ 9.98431619e-01 5.57681513e-02 -4.92088215e-03 1.23536773e+02] [ 4.92125673e-03 1.30615546e-04 9.99987882e-01 9.88347949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.560281693 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:178.91, Y:123.56, Z:0.99 [[ 5.72874549e-02 -9.98357715e-01 -1.42678758e-04 1.78907306e+02] [ 9.98345597e-01 5.72874628e-02 -4.92092158e-03 1.23561252e+02] [ 4.92101372e-03 1.39464363e-04 9.99987882e-01 9.86165304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59028169299995 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:178.91, Y:123.59, Z:0.98 [[ 5.55741437e-02 -9.98454553e-01 -1.41256822e-04 1.78906670e+02] [ 9.98442435e-01 5.55741654e-02 -4.92096239e-03 1.23585287e+02] [ 4.92120754e-03 1.32441466e-04 9.99987882e-01 9.84622785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.620281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:178.90, Y:123.61, Z:0.99 [[ 5.09096966e-02 -9.98703251e-01 -1.39919687e-04 1.78902758e+02] [ 9.98691133e-01 5.09097683e-02 -4.92100041e-03 1.23609843e+02] [ 4.92174239e-03 1.10790087e-04 9.99987882e-01 9.85418022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65028169299995 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:178.90, Y:123.63, Z:0.99 [[ 4.88431785e-02 -9.98806450e-01 -1.38565459e-04 1.78899954e+02] [ 9.98794332e-01 4.88432687e-02 -4.92103854e-03 1.23633501e+02] [ 4.92193303e-03 1.01960769e-04 9.99987882e-01 9.85978378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.680281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:178.90, Y:123.66, Z:0.99 [[ 4.71508230e-02 -9.98887772e-01 -1.37252591e-04 1.78898230e+02] [ 9.98875654e-01 4.71509272e-02 -4.92107516e-03 1.23656552e+02] [ 4.92207339e-03 9.49344716e-05 9.99987882e-01 9.86748021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71028169299996 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:178.90, Y:123.68, Z:0.99 [[ 4.42951649e-02 -9.99018478e-01 -1.35746468e-04 1.78896743e+02] [ 9.99006361e-01 4.42952963e-02 -4.92111671e-03 1.23680938e+02] [ 4.92229945e-03 8.23700911e-05 9.99987882e-01 9.85902189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.740281693 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:178.90, Y:123.71, Z:0.98 [[ 4.24965370e-02 -9.99096605e-01 -1.34344244e-04 1.78895279e+02] [ 9.99084488e-01 4.24966833e-02 -4.92115499e-03 1.23705602e+02] [ 4.92241842e-03 7.49107946e-05 9.99987882e-01 9.84596492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77028169299996 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:178.89, Y:123.73, Z:0.98 [[ 4.06407464e-02 -9.99173815e-01 -1.32946098e-04 1.78893487e+02] [ 9.99161698e-01 4.06409084e-02 -4.92119276e-03 1.23729107e+02] [ 4.92252999e-03 6.71662977e-05 9.99987882e-01 9.82314349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.800281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:178.89, Y:123.75, Z:0.98 [[ 3.82403778e-02 -9.99268561e-01 -1.31497259e-04 1.78892397e+02] [ 9.99256444e-01 3.82405617e-02 -4.92123147e-03 1.23754225e+02] [ 4.92266042e-03 5.67902679e-05 9.99987882e-01 9.82298822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83028169299996 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:178.89, Y:123.78, Z:0.98 [[ 3.71562646e-02 -9.99309459e-01 -1.30113142e-04 1.78893235e+02] [ 9.99297343e-01 3.71564548e-02 -4.92126807e-03 1.23779330e+02] [ 4.92270427e-03 5.28342207e-05 9.99987882e-01 9.83309459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.860281693 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:178.89, Y:123.80, Z:0.98 [[ 3.60227961e-02 -9.99350960e-01 -1.28723480e-04 1.78893849e+02] [ 9.99338844e-01 3.60229933e-02 -4.92130441e-03 1.23803437e+02] [ 4.92274730e-03 4.86407716e-05 9.99987882e-01 9.84696798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89028169299996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:178.89, Y:123.83, Z:0.99 [[ 3.34810146e-02 -9.99439346e-01 -1.27288515e-04 1.78891393e+02] [ 9.99427230e-01 3.34812355e-02 -4.92134153e-03 1.23828463e+02] [ 4.92284413e-03 3.75559000e-05 9.99987882e-01 9.86781787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.920281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:178.89, Y:123.85, Z:0.99 [[ 3.21923189e-02 -9.99481685e-01 -1.25916651e-04 1.78890880e+02] [ 9.99469569e-01 3.21925487e-02 -4.92137663e-03 1.23853181e+02] [ 4.92287938e-03 3.25806654e-05 9.99987882e-01 9.86557072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95028169299997 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:178.89, Y:123.88, Z:0.99 [[ 3.09930595e-02 -9.99519592e-01 -1.24531658e-04 1.78891083e+02] [ 9.99507476e-01 3.09932970e-02 -4.92141167e-03 1.23877844e+02] [ 4.92290704e-03 2.80592813e-05 9.99987882e-01 9.85838333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.980281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:178.89, Y:123.90, Z:0.98 [[ 2.95746720e-02 -9.99562566e-01 -1.23107389e-04 1.78891033e+02] [ 9.99550451e-01 2.95749197e-02 -4.92144730e-03 1.23901772e+02] [ 4.92293539e-03 2.24981433e-05 9.99987882e-01 9.84574038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01028169299997 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:178.89, Y:123.93, Z:0.99 [[ 2.83981220e-02 -9.99596685e-01 -1.21624082e-04 1.78888877e+02] [ 9.99584569e-01 2.83983766e-02 -4.92148396e-03 1.23926773e+02] [ 4.92295298e-03 1.81873461e-05 9.99987882e-01 9.85486685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04028169299994 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:178.89, Y:123.95, Z:0.99 [[ 2.86973454e-02 -9.99588139e-01 -1.20220768e-04 1.78888130e+02] [ 9.99576024e-01 2.86975895e-02 -4.92151824e-03 1.23950435e+02] [ 4.92294130e-03 2.10647117e-05 9.99987882e-01 9.87515284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.07028169299997 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:178.89, Y:123.98, Z:0.99 [[ 2.86577897e-02 -9.99589274e-01 -1.18765586e-04 1.78887215e+02] [ 9.99577159e-01 2.86580271e-02 -4.92155335e-03 1.23975132e+02] [ 4.92293553e-03 2.23254745e-05 9.99987882e-01 9.89300849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.89, Y:124.00, Z:0.99 [[ 2.82894503e-02 -9.99599767e-01 -1.17357138e-04 1.78887174e+02] [ 9.99587651e-01 2.82896853e-02 -4.92158694e-03 1.23998839e+02] [ 4.92293715e-03 2.19202437e-05 9.99987882e-01 9.88102886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.130281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:178.89, Y:124.02, Z:0.99 [[ 2.80116810e-02 -9.99607589e-01 -1.15895331e-04 1.78886270e+02] [ 9.99595473e-01 2.80119121e-02 -4.92162136e-03 1.24023828e+02] [ 4.92293651e-03 2.20144391e-05 9.99987882e-01 9.88265955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16028169299994 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:178.88, Y:124.05, Z:0.99 [[ 3.05589507e-02 -9.99532960e-01 -1.14495504e-04 1.78883147e+02] [ 9.99520843e-01 3.05591440e-02 -4.92165393e-03 1.24047623e+02] [ 4.92285420e-03 3.59599363e-05 9.99987882e-01 9.88923830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.190281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:178.88, Y:124.07, Z:0.99 [[ 3.25977946e-02 -9.99468544e-01 -1.13050431e-04 1.78881108e+02] [ 9.99456427e-01 3.25979561e-02 -4.92168712e-03 1.24071882e+02] [ 4.92275667e-03 4.74471664e-05 9.99987882e-01 9.90036987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.87, Y:124.10, Z:0.99 [[ 3.78784826e-02 -9.99282347e-01 -1.11659120e-04 1.78874807e+02] [ 9.99270229e-01 3.78785733e-02 -4.92171869e-03 1.24096908e+02] [ 4.92241608e-03 7.48496012e-05 9.99987882e-01 9.88740490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.250281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:178.87, Y:124.12, Z:0.99 [[ 3.99479260e-02 -9.99201757e-01 -1.10267801e-04 1.78871071e+02] [ 9.99189639e-01 3.99479847e-02 -4.92174986e-03 1.24120338e+02] [ 4.92222608e-03 8.64352552e-05 9.99987882e-01 9.86676238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28028169299995 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:178.87, Y:124.15, Z:0.99 [[ 4.10121648e-02 -9.99158641e-01 -1.08829739e-04 1.78868180e+02] [ 9.99146523e-01 4.10122035e-02 -4.92178165e-03 1.24145120e+02] [ 4.92210402e-03 9.31160648e-05 9.99987882e-01 9.86375687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.310281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:178.86, Y:124.17, Z:0.99 [[ 4.05485052e-02 -9.99177565e-01 -1.07458424e-04 1.78863761e+02] [ 9.99165448e-01 4.05485428e-02 -4.92181159e-03 1.24169771e+02] [ 4.92212101e-03 9.22033590e-05 9.99987882e-01 9.86982719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34028169299995 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:178.86, Y:124.19, Z:0.99 [[ 3.97005745e-02 -9.99211616e-01 -1.06081267e-04 1.78861373e+02] [ 9.99199498e-01 3.97006156e-02 -4.92184128e-03 1.24192990e+02] [ 4.92217247e-03 8.94035775e-05 9.99987882e-01 9.87365293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.370281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:178.86, Y:124.22, Z:0.99 [[ 3.77312152e-02 -9.99287919e-01 -1.04653379e-04 1.78855485e+02] [ 9.99275801e-01 3.77312731e-02 -4.92187164e-03 1.24216390e+02] [ 4.92231557e-03 8.11306086e-05 9.99987882e-01 9.89662116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40028169299995 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:178.85, Y:124.24, Z:0.99 [[ 3.59279203e-02 -9.99354379e-01 -1.03163649e-04 1.78853773e+02] [ 9.99342261e-01 3.59279927e-02 -4.92190286e-03 1.24240680e+02] [ 4.92243164e-03 7.37379393e-05 9.99987882e-01 9.91199893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.430281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:178.85, Y:124.27, Z:0.99 [[ 3.33507216e-02 -9.99443705e-01 -1.01724269e-04 1.78853067e+02] [ 9.99431587e-01 3.33508182e-02 -4.92193261e-03 1.24265734e+02] [ 4.92258715e-03 6.24835567e-05 9.99987882e-01 9.92156177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46028169299996 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:178.85, Y:124.29, Z:0.99 [[ 3.02505041e-02 -9.99542344e-01 -1.00348978e-04 1.78853495e+02] [ 9.99530226e-01 3.02506315e-02 -4.92196065e-03 1.24290011e+02] [ 4.92274370e-03 4.85899537e-05 9.99987882e-01 9.92712593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.490281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:178.85, Y:124.31, Z:0.99 [[ 2.44637068e-02 -9.99700714e-01 -9.89653419e-05 1.78854436e+02] [ 9.99688597e-01 2.44638976e-02 -4.92198847e-03 1.24314492e+02] [ 4.92293647e-03 2.14755590e-05 9.99987882e-01 9.90591814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52028169299996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:178.86, Y:124.34, Z:0.99 [[ 2.18356372e-02 -9.99761569e-01 -9.75804584e-05 1.78855115e+02] [ 9.99749453e-01 2.18358530e-02 -4.92201593e-03 1.24339039e+02] [ 4.92297312e-03 9.91934415e-06 9.99987882e-01 9.87471320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.550281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:178.86, Y:124.36, Z:0.98 [[ 1.76703392e-02 -9.99843863e-01 -9.61923962e-05 1.78858968e+02] [ 9.99831748e-01 1.76705987e-02 -4.92204305e-03 1.24362371e+02] [ 4.92297432e-03 -9.20204110e-06 9.99987882e-01 9.84339673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58028169299996 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:178.86, Y:124.39, Z:0.99 [[ 1.61442384e-02 -9.99869669e-01 -9.47552409e-05 1.78861654e+02] [ 9.99857554e-01 1.61445092e-02 -4.92207072e-03 1.24386428e+02] [ 4.92295900e-03 -1.52786604e-05 9.99987882e-01 9.85791221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.610281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:178.86, Y:124.41, Z:0.99 [[ 1.53540564e-02 -9.99882115e-01 -9.32989659e-05 1.78864013e+02] [ 9.99870000e-01 1.53543297e-02 -4.92209832e-03 1.24410549e+02] [ 4.92295063e-03 -1.77126616e-05 9.99987882e-01 9.90380570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64028169299996 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:178.86, Y:124.43, Z:0.99 [[ 1.64917769e-02 -9.99863997e-01 -9.18347372e-05 1.78863975e+02] [ 9.99851882e-01 1.64920292e-02 -4.92212564e-03 1.24433631e+02] [ 4.92297076e-03 -1.06465367e-05 9.99987882e-01 9.91911176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.670281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.86, Y:124.46, Z:0.99 [[ 1.79427968e-02 -9.99839011e-01 -9.03330344e-05 1.78863262e+02] [ 9.99826895e-01 1.79430240e-02 -4.92215320e-03 1.24457186e+02] [ 4.92298164e-03 -2.00020265e-06 9.99987882e-01 9.90407891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70028169299997 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:178.86, Y:124.48, Z:0.99 [[ 1.93208053e-02 -9.99813332e-01 -8.88788756e-05 1.78862258e+02] [ 9.99801216e-01 1.93210087e-02 -4.92217946e-03 1.24479869e+02] [ 4.92297788e-03 6.23926302e-06 9.99987882e-01 9.87027615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.730281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:178.86, Y:124.50, Z:0.99 [[ 2.27743061e-02 -9.99740628e-01 -8.73734175e-05 1.78858796e+02] [ 9.99728511e-01 2.27744603e-02 -4.92220618e-03 1.24504204e+02] [ 4.92291938e-03 2.47501337e-05 9.99987882e-01 9.86179685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76028169299997 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:178.86, Y:124.53, Z:0.99 [[ 2.47926216e-02 -9.99692612e-01 -8.59255281e-05 1.78857321e+02] [ 9.99680495e-01 2.47927441e-02 -4.92223146e-03 1.24527919e+02] [ 4.92284875e-03 3.61369475e-05 9.99987882e-01 9.87558923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79028169299994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:178.85, Y:124.55, Z:0.99 [[ 2.66366064e-02 -9.99645179e-01 -8.44780152e-05 1.78854988e+02] [ 9.99633062e-01 2.66366995e-02 -4.92225630e-03 1.24552916e+02] [ 4.92276000e-03 4.66651869e-05 9.99987882e-01 9.89612813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82028169299997 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:178.85, Y:124.58, Z:0.99 [[ 2.53217674e-02 -9.99679349e-01 -8.30890459e-05 1.78853195e+02] [ 9.99667232e-01 2.53218695e-02 -4.92227975e-03 1.24578046e+02] [ 4.92280539e-03 4.15794262e-05 9.99987882e-01 9.90325744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.85028169299994 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:178.85, Y:124.60, Z:0.99 [[ 2.28926119e-02 -9.99737927e-01 -8.17013164e-05 1.78851190e+02] [ 9.99725809e-01 2.28927367e-02 -4.92230278e-03 1.24601412e+02] [ 4.92288314e-03 3.10054526e-05 9.99987882e-01 9.89780429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.880281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:178.85, Y:124.63, Z:0.99 [[ 1.76563544e-02 -9.99844111e-01 -8.02653679e-05 1.78848004e+02] [ 9.99831995e-01 1.76565356e-02 -4.92232620e-03 1.24625675e+02] [ 4.92297607e-03 6.65845289e-06 9.99987882e-01 9.92117826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91028169299994 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:178.85, Y:124.65, Z:0.99 [[ 1.52794255e-02 -9.99883260e-01 -7.88936295e-05 1.78846515e+02] [ 9.99871143e-01 1.52796288e-02 -4.92234818e-03 1.24649000e+02] [ 4.92297901e-03 -3.67281102e-06 9.99987882e-01 9.94505687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.940281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:178.85, Y:124.67, Z:1.00 [[ 1.30077717e-02 -9.99915392e-01 -7.73558696e-05 1.78845452e+02] [ 9.99903277e-01 1.30079949e-02 -4.92237235e-03 1.24672067e+02] [ 4.92296212e-03 -1.33192917e-05 9.99987882e-01 9.96429333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.97028169299995 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:178.85, Y:124.70, Z:1.00 [[ 9.69904812e-03 -9.99952960e-01 -7.58332229e-05 1.78846325e+02] [ 9.99940845e-01 9.69930391e-03 -4.92239581e-03 1.24696599e+02] [ 4.92289979e-03 -2.80861832e-05 9.99987882e-01 9.96353085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.000281693 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:178.85, Y:124.72, Z:1.00 [[ 8.65965601e-03 -9.99962502e-01 -7.44549537e-05 1.78847298e+02] [ 9.99950387e-01 8.65991760e-03 -4.92241665e-03 1.24721199e+02] [ 4.92287685e-03 -3.18248247e-05 9.99987882e-01 9.95508080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03028169299995 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:178.85, Y:124.75, Z:1.00 [[ 9.25368926e-03 -9.99957181e-01 -7.30699514e-05 1.78845893e+02] [ 9.99945066e-01 9.25393684e-03 -4.92243721e-03 1.24746213e+02] [ 4.92290262e-03 -2.75152330e-05 9.99987882e-01 9.95560106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.060281693 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:178.84, Y:124.77, Z:1.00 [[ 9.93698937e-03 -9.99950624e-01 -7.16746653e-05 1.78843969e+02] [ 9.99938509e-01 9.93722181e-03 -4.92245753e-03 1.24770027e+02] [ 4.92292673e-03 -2.27558497e-05 9.99987882e-01 9.95033851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09028169299995 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:178.84, Y:124.79, Z:1.00 [[ 1.05553539e-02 -9.99944288e-01 -7.03595236e-05 1.78842662e+02] [ 9.99932172e-01 1.05555724e-02 -4.92247633e-03 1.24793686e+02] [ 4.92294477e-03 -1.83962714e-05 9.99987882e-01 9.95151958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.120281693 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:178.84, Y:124.82, Z:1.00 [[ 1.02612204e-02 -9.99947350e-01 -6.89081776e-05 1.78842567e+02] [ 9.99935234e-01 1.02614353e-02 -4.92249664e-03 1.24817997e+02] [ 4.92294457e-03 -1.83928918e-05 9.99987882e-01 9.95271632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15028169299995 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:178.84, Y:124.84, Z:1.00 [[ 1.03650294e-02 -9.99946279e-01 -6.74602043e-05 1.78842629e+02] [ 9.99934163e-01 1.03652359e-02 -4.92251649e-03 1.24842775e+02] [ 4.92295129e-03 -1.64337346e-05 9.99987882e-01 9.96074233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.180281693 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:178.84, Y:124.87, Z:1.00 [[ 8.89301906e-03 -9.99960454e-01 -6.60835289e-05 1.78841835e+02] [ 9.99948338e-01 8.89323662e-03 -4.92253497e-03 1.24867481e+02] [ 4.92292800e-03 -2.23039175e-05 9.99987882e-01 9.99043240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21028169299996 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:178.84, Y:124.89, Z:1.00 [[ 8.50541222e-03 -9.99963826e-01 -6.46865442e-05 1.78839968e+02] [ 9.99951710e-01 8.50562760e-03 -4.92255333e-03 1.24891169e+02] [ 4.92292546e-03 -2.28150753e-05 9.99987882e-01 1.00024928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.240281693 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:178.84, Y:124.92, Z:1.00 [[ 8.36200043e-03 -9.99965036e-01 -6.32409150e-05 1.78839188e+02] [ 9.99952920e-01 8.36221043e-03 -4.92257190e-03 1.24915152e+02] [ 4.92292862e-03 -2.20753892e-05 9.99987882e-01 9.99830287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27028169299996 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:178.84, Y:124.94, Z:1.00 [[ 8.40657318e-03 -9.99964662e-01 -6.18200891e-05 1.78839934e+02] [ 9.99952546e-01 8.40677564e-03 -4.92258974e-03 1.24939715e+02] [ 4.92293550e-03 -2.04350446e-05 9.99987882e-01 9.98526626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.300281693 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:178.84, Y:124.96, Z:1.00 [[ 8.79913277e-03 -9.99961285e-01 -6.04519199e-05 1.78837748e+02] [ 9.99949169e-01 8.79932374e-03 -4.92260654e-03 1.24964588e+02] [ 4.92294790e-03 -1.71341785e-05 9.99987882e-01 9.95158544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33028169299996 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:178.83, Y:124.99, Z:0.99 [[ 8.87858293e-03 -9.99960583e-01 -5.90565866e-05 1.78834856e+02] [ 9.99948466e-01 8.87876607e-03 -4.92262328e-03 1.24989651e+02] [ 4.92295360e-03 -1.53476241e-05 9.99987882e-01 9.94522282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.360281693 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:178.83, Y:125.01, Z:0.99 [[ 9.18047293e-03 -9.99957857e-01 -5.76561944e-05 1.78833561e+02] [ 9.99945740e-01 9.18064552e-03 -4.92263969e-03 1.25013751e+02] [ 4.92296155e-03 -1.24609056e-05 9.99987882e-01 9.94308964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39028169299996 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:178.84, Y:125.04, Z:0.99 [[ 7.35848382e-03 -9.99972924e-01 -5.63421009e-05 1.78835420e+02] [ 9.99960808e-01 7.35867202e-03 -4.92265473e-03 1.25037106e+02] [ 4.92293605e-03 -2.01166176e-05 9.99987882e-01 9.93551341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.420281693 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:178.84, Y:125.06, Z:0.99 [[ 4.25414384e-03 -9.99990950e-01 -5.50048539e-05 1.78837174e+02] [ 9.99978834e-01 4.25436307e-03 -4.92266967e-03 1.25061381e+02] [ 4.92285913e-03 -3.40619448e-05 9.99987882e-01 9.93871444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45028169299997 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:178.84, Y:125.08, Z:0.99 [[-2.96788336e-05 -9.99999998e-01 -5.36341146e-05 1.78838571e+02] [ 9.99987883e-01 -2.94144506e-05 -4.92268460e-03 1.25084975e+02] [ 4.92268302e-03 -5.37795642e-05 9.99987882e-01 9.94176616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.480281693 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:178.84, Y:125.11, Z:0.99 [[-4.42457939e-03 -9.99990210e-01 -5.21590180e-05 1.78840297e+02] [ 9.99978096e-01 -4.42426902e-03 -4.92270023e-03 1.25109433e+02] [ 4.92242128e-03 -7.39387535e-05 9.99987882e-01 9.94500848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51028169299997 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:178.84, Y:125.13, Z:0.99 [[-1.16918282e-02 -9.99931647e-01 -5.07952519e-05 1.78844839e+02] [ 9.99919535e-01 -1.16914365e-02 -4.92271431e-03 1.25131985e+02] [ 4.92178395e-03 -1.08346695e-04 9.99987882e-01 9.93326051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54028169299994 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:178.85, Y:125.16, Z:0.99 [[-1.41715681e-02 -9.99899577e-01 -4.92695187e-05 1.78847534e+02] [ 9.99887466e-01 -1.41711539e-02 -4.92272958e-03 1.25156502e+02] [ 4.92153701e-03 -1.19026772e-04 9.99987882e-01 9.91207053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.57028169299997 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:178.85, Y:125.18, Z:0.99 [[-1.59749933e-02 -9.99872391e-01 -4.78847093e-05 1.78852500e+02] [ 9.99860280e-01 -1.59745640e-02 -4.92274305e-03 1.25180774e+02] [ 4.92134992e-03 -1.26518806e-04 9.99987882e-01 9.91029672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60028169299994 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:178.86, Y:125.20, Z:0.99 [[-1.54541110e-02 -9.99880577e-01 -4.65045620e-05 1.78855682e+02] [ 9.99868466e-01 -1.54536948e-02 -4.92275608e-03 1.25203594e+02] [ 4.92144953e-03 -1.22575264e-04 9.99987882e-01 9.92791078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.630281693 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:178.86, Y:125.23, Z:1.00 [[-1.52443138e-02 -9.99883798e-01 -3.48066777e-05 1.78858936e+02] [ 9.99871685e-01 -1.52439578e-02 -4.92286102e-03 1.25227508e+02] [ 4.92175838e-03 -1.09847850e-04 9.99987882e-01 9.97441709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66028169299994 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:178.87, Y:125.25, Z:1.00 [[-1.35266014e-02 -9.99908510e-01 -4.30611445e-05 1.78865327e+02] [ 9.99896398e-01 -1.35262255e-02 -4.92278881e-03 1.25251532e+02] [ 4.92175597e-03 -1.09645285e-04 9.99987882e-01 9.98471447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.690281693 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:178.87, Y:125.28, Z:1.00 [[-1.26502429e-02 -9.99919982e-01 -4.16341490e-05 1.78867922e+02] [ 9.99907869e-01 -1.26498847e-02 -4.92280088e-03 1.25275923e+02] [ 4.92188030e-03 -1.03904940e-04 9.99987882e-01 9.96422874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72028169299995 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:178.87, Y:125.30, Z:0.99 [[-8.87030662e-03 -9.99960657e-01 -4.02533074e-05 1.78872337e+02] [ 9.99948543e-01 -8.87000099e-03 -4.92281217e-03 1.25300333e+02] [ 4.92226145e-03 -8.39180894e-05 9.99987882e-01 9.93795718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.750281693 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:178.87, Y:125.33, Z:0.99 [[-6.47447526e-03 -9.99979040e-01 -3.88325668e-05 1.78874129e+02] [ 9.99966925e-01 -6.47420565e-03 -4.92282338e-03 1.25325160e+02] [ 4.92246878e-03 -7.07039805e-05 9.99987882e-01 9.93919107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78028169299995 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:178.88, Y:125.35, Z:0.99 [[-4.06841119e-03 -9.99991723e-01 -3.73946497e-05 1.78875245e+02] [ 9.99979608e-01 -4.06817781e-03 -4.92283430e-03 1.25348338e+02] [ 4.92264143e-03 -5.74220013e-05 9.99987882e-01 9.94650911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.810281693 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:178.88, Y:125.37, Z:1.00 [[ 2.35142218e-03 -9.99997235e-01 -3.60364990e-05 1.78877447e+02] [ 9.99985118e-01 2.35157109e-03 -4.92284424e-03 1.25373161e+02] [ 4.92291537e-03 -2.44602776e-05 9.99987882e-01 1.00078863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84028169299995 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:178.88, Y:125.40, Z:1.00 [[ 6.17044024e-03 -9.99980962e-01 -3.46295463e-05 1.78878184e+02] [ 9.99968845e-01 6.17053595e-03 -4.92285414e-03 1.25396450e+02] [ 4.92297410e-03 -4.25229013e-06 9.99987882e-01 1.00222518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.870281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:178.88, Y:125.42, Z:1.00 [[ 1.03218971e-02 -9.99946727e-01 -3.31703217e-05 1.78878085e+02] [ 9.99934609e-01 1.03219353e-02 -4.92286397e-03 1.25420338e+02] [ 4.92294410e-03 1.76451426e-05 9.99987882e-01 1.00212265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90028169299995 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:178.88, Y:125.45, Z:1.00 [[ 1.77465560e-02 -9.99842517e-01 -3.17057874e-05 1.78875133e+02] [ 9.99830399e-01 1.77464970e-02 -4.92287341e-03 1.25445321e+02] [ 4.92266080e-03 5.56636383e-05 9.99987882e-01 1.00093971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.930281693 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:178.87, Y:125.47, Z:1.00 [[ 2.01309422e-02 -9.99797352e-01 -3.02946870e-05 1.78873068e+02] [ 9.99785234e-01 2.01308474e-02 -4.92288209e-03 1.25468838e+02] [ 4.92249433e-03 6.88140741e-05 9.99987882e-01 1.00256871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96028169299996 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:178.87, Y:125.49, Z:1.01 [[ 2.31803283e-02 -9.99731300e-01 -2.88371919e-05 1.78870474e+02] [ 9.99719183e-01 2.31801893e-02 -4.92289063e-03 1.25493176e+02] [ 4.92223630e-03 8.52851268e-05 9.99987882e-01 1.00582893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.990281693 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:178.87, Y:125.52, Z:1.01 [[ 2.40082518e-02 -9.99711760e-01 -2.74470797e-05 1.78869138e+02] [ 9.99699643e-01 2.40080959e-02 -4.92289838e-03 1.25517263e+02] [ 4.92213835e-03 9.07513479e-05 9.99987882e-01 1.00578245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02028169299996 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:178.87, Y:125.54, Z:1.00 [[ 2.42853728e-02 -9.99705067e-01 -2.60090954e-05 1.78867238e+02] [ 9.99692950e-01 2.42852065e-02 -4.92290597e-03 1.25540878e+02] [ 4.92208568e-03 9.35534975e-05 9.99987882e-01 1.00485112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.050281693 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:178.87, Y:125.56, Z:1.00 [[ 2.28852527e-02 -9.99738098e-01 -2.45651326e-05 1.78865471e+02] [ 9.99725981e-01 2.28850963e-02 -4.92291318e-03 1.25564618e+02] [ 4.92218603e-03 8.81037107e-05 9.99987882e-01 1.00411474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08028169299996 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:178.87, Y:125.59, Z:1.00 [[ 2.07265029e-02 -9.99785183e-01 -2.31149182e-05 1.78865855e+02] [ 9.99773066e-01 2.07263655e-02 -4.92291999e-03 1.25589507e+02] [ 4.92234155e-03 7.89252427e-05 9.99987882e-01 1.00451333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.110281693 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:178.87, Y:125.61, Z:1.00 [[ 1.82680732e-02 -9.99833125e-01 -2.17144446e-05 1.78865796e+02] [ 9.99821007e-01 1.82679587e-02 -4.92292617e-03 1.25612874e+02] [ 4.92250133e-03 6.82218176e-05 9.99987882e-01 1.00492080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14028169299996 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:178.86, Y:125.64, Z:1.00 [[ 1.49417546e-02 -9.99888366e-01 -2.03938720e-05 1.78863333e+02] [ 9.99876248e-01 1.49416740e-02 -4.92293164e-03 1.25636873e+02] [ 4.92268679e-03 5.31658884e-05 9.99987882e-01 1.00383223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.170281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:178.86, Y:125.66, Z:1.00 [[ 1.35077643e-02 -9.99908766e-01 -1.90654937e-05 1.78862947e+02] [ 9.99896648e-01 1.35076945e-02 -4.92293678e-03 1.25661542e+02] [ 4.92274517e-03 4.74343465e-05 9.99987882e-01 1.00138631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20028169299997 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:178.86, Y:125.69, Z:1.00 [[ 1.17049471e-02 -9.99931495e-01 -1.76738372e-05 1.78863878e+02] [ 9.99919377e-01 1.17048923e-02 -4.92294178e-03 1.25685132e+02] [ 4.92281140e-03 3.99503608e-05 9.99987882e-01 9.98008419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.230281693 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:178.87, Y:125.71, Z:1.00 [[ 8.08225255e-03 -9.99967338e-01 -1.62351427e-05 1.78866579e+02] [ 9.99955220e-01 8.08223453e-03 -4.92294652e-03 1.25709013e+02] [ 4.92291695e-03 2.35540814e-05 9.99987882e-01 9.96893270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26028169299997 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:178.87, Y:125.73, Z:1.00 [[ 7.18743554e-03 -9.99974170e-01 -1.47760783e-05 1.78865719e+02] [ 9.99962052e-01 7.18742119e-03 -4.92295090e-03 1.25733648e+02] [ 4.92292994e-03 2.06078747e-05 9.99987882e-01 9.98495669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29028169299994 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:178.86, Y:125.76, Z:1.00 [[ 8.41416571e-03 -9.99964600e-01 -1.33837285e-05 1.78864040e+02] [ 9.99952482e-01 8.41412964e-03 -4.92295469e-03 1.25757693e+02] [ 4.92289303e-03 2.80394640e-05 9.99987882e-01 9.98556479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32028169299997 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:178.86, Y:125.78, Z:1.00 [[ 9.41914273e-03 -9.99955639e-01 -1.19453234e-05 1.78864365e+02] [ 9.99943521e-01 9.41908739e-03 -4.92295818e-03 1.25781263e+02] [ 4.92285230e-03 3.44253970e-05 9.99987882e-01 9.99831767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35028169299994 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:178.86, Y:125.81, Z:1.00 [[ 1.03917770e-02 -9.99946004e-01 -1.04921951e-05 1.78863862e+02] [ 9.99933886e-01 1.03917027e-02 -4.92296127e-03 1.25805397e+02] [ 4.92280449e-03 4.06668144e-05 9.99987882e-01 1.00180329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.380281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:178.86, Y:125.83, Z:1.00 [[ 1.13751916e-02 -9.99935300e-01 -9.04129235e-06 1.78862162e+02] [ 9.99923183e-01 1.13750983e-02 -4.92296394e-03 1.25829018e+02] [ 4.92274827e-03 4.69590603e-05 9.99987882e-01 1.00180846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41028169299994 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:178.86, Y:125.85, Z:1.00 [[ 1.31247352e-02 -9.99913867e-01 -7.58349316e-06 1.78856778e+02] [ 9.99901750e-01 1.31246135e-02 -4.92296618e-03 1.25853089e+02] [ 4.92264169e-03 5.70298797e-05 9.99987882e-01 9.96660968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.440281693 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:178.86, Y:125.88, Z:0.99 [[ 1.33966078e-02 -9.99910261e-01 -6.12442384e-06 1.78855645e+02] [ 9.99898144e-01 1.33964756e-02 -4.92296800e-03 1.25878044e+02] [ 4.92260827e-03 5.98272715e-05 9.99987882e-01 9.94394257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47028169299995 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:178.86, Y:125.90, Z:1.00 [[ 1.14404212e-02 -9.99934556e-01 -4.74298387e-06 1.78855378e+02] [ 9.99922439e-01 1.14403059e-02 -4.92296933e-03 1.25901740e+02] [ 4.92270141e-03 5.15782267e-05 9.99987882e-01 9.95385877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.500281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:178.85, Y:125.92, Z:1.00 [[ 9.15228069e-03 -9.99958117e-01 -3.30882137e-06 1.78854307e+02] [ 9.99945999e-01 9.15218608e-03 -4.92297029e-03 1.25924273e+02] [ 4.92279439e-03 4.17477633e-05 9.99987882e-01 9.96935540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53028169299995 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:178.85, Y:125.95, Z:1.00 [[ 7.22542449e-03 -9.99973896e-01 -1.80051866e-06 1.78853159e+02] [ 9.99961779e-01 7.22534580e-03 -4.92297085e-03 1.25947953e+02] [ 4.92285535e-03 3.37701043e-05 9.99987882e-01 9.97652490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.560281693 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:178.85, Y:125.97, Z:1.00 [[ 5.56323237e-03 -9.99984525e-01 -3.48356266e-07 1.78851755e+02] [ 9.99972407e-01 5.56316667e-03 -4.92297095e-03 1.25970826e+02] [ 4.92289670e-03 2.70392847e-05 9.99987882e-01 9.96917477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59028169299995 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:178.85, Y:125.98, Z:1.00 [[ 5.22881393e-03 -9.99986330e-01 1.14137687e-06 1.78851459e+02] [ 9.99974212e-01 5.22874495e-03 -4.92297060e-03 1.25975100e+02] [ 4.92289734e-03 2.68826447e-05 9.99987882e-01 9.95985197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.620281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:178.85, Y:125.97, Z:1.00 [[ 4.03131884e-03 -9.99991874e-01 3.04955457e-06 1.78850593e+02] [ 9.99979756e-01 4.03125498e-03 -4.92296942e-03 1.25973435e+02] [ 4.92291713e-03 2.28955522e-05 9.99987882e-01 9.97294290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65028169299995 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:178.85, Y:125.98, Z:1.00 [[ 1.04655113e-03 -9.99999452e-01 4.96256821e-06 1.78850390e+02] [ 9.99987335e-01 1.04651401e-03 -4.92296749e-03 1.25983485e+02] [ 4.92295960e-03 1.01146425e-05 9.99987882e-01 1.00109734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.680281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:178.85, Y:125.95, Z:1.00 [[ 1.98230487e-05 -1.00000000e+00 6.88563205e-06 1.78850943e+02] [ 9.99987882e-01 1.97889103e-05 -4.92296480e-03 1.25947094e+02] [ 4.92296467e-03 6.98313680e-06 9.99987882e-01 1.00250542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71028169299996 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:178.85, Y:125.98, Z:1.00 [[ 1.04742097e-03 -9.99999451e-01 7.59852792e-06 1.78850884e+02] [ 9.99987334e-01 1.04737087e-03 -4.92296370e-03 1.25977194e+02] [ 4.92295304e-03 1.27548471e-05 9.99987882e-01 1.00241909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.740281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:178.85, Y:125.96, Z:1.00 [[ 3.00886190e-03 -9.99995473e-01 9.50511128e-06 1.78849666e+02] [ 9.99983356e-01 3.00877865e-03 -4.92296002e-03 1.25961568e+02] [ 4.92290914e-03 2.43174599e-05 9.99987882e-01 1.00013247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77028169299996 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:178.85, Y:125.95, Z:1.00 [[ 5.64148598e-03 -9.99984087e-01 1.14259005e-05 1.78847728e+02] [ 9.99971969e-01 5.64136137e-03 -4.92295556e-03 1.25951577e+02] [ 4.92281277e-03 3.91983651e-05 9.99987882e-01 9.99858796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.800281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:178.84, Y:125.93, Z:1.00 [[ 1.26773058e-02 -9.99919640e-01 1.33318350e-05 1.78844030e+02] [ 9.99907524e-01 1.26770866e-02 -4.92295040e-03 1.25932472e+02] [ 4.92238578e-03 7.57403500e-05 9.99987882e-01 1.00428356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83028169299996 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:178.84, Y:125.92, Z:1.01 [[ 1.53469721e-02 -9.99882228e-01 1.52209452e-05 1.78841661e+02] [ 9.99870113e-01 1.53467112e-02 -4.92294456e-03 1.25918968e+02] [ 4.92213119e-03 9.07712609e-05 9.99987882e-01 1.00642769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.860281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:178.84, Y:125.92, Z:1.00 [[ 1.87425397e-02 -9.99824343e-01 1.70910384e-05 1.78835078e+02] [ 9.99812229e-01 1.87422285e-02 -4.92293807e-03 1.25919909e+02] [ 4.92175300e-03 1.09356192e-04 9.99987882e-01 1.00378660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89028169299996 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:178.83, Y:125.92, Z:1.00 [[ 1.96389317e-02 -9.99807137e-01 1.89562206e-05 1.78832228e+02] [ 9.99795024e-01 1.96386004e-02 -4.92293089e-03 1.25919604e+02] [ 4.92160916e-03 1.15633438e-04 9.99987882e-01 9.98939600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.920281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:178.83, Y:125.91, Z:1.00 [[ 2.05839319e-02 -9.99788128e-01 2.08256874e-05 1.78829688e+02] [ 9.99776015e-01 2.05835800e-02 -4.92292298e-03 1.25910873e+02] [ 4.92145128e-03 1.22154134e-04 9.99987882e-01 9.96571770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95028169299997 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:178.83, Y:125.92, Z:1.00 [[ 2.08863629e-02 -9.99781856e-01 2.26923856e-05 1.78826342e+02] [ 9.99769744e-01 2.08859981e-02 -4.92291437e-03 1.25916895e+02] [ 4.92136652e-03 1.25508937e-04 9.99987882e-01 9.97134423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.980281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:178.82, Y:125.91, Z:1.00 [[ 2.18313441e-02 -9.99761668e-01 2.45603186e-05 1.78817879e+02] [ 9.99749556e-01 2.18309587e-02 -4.92290506e-03 1.25905044e+02] [ 4.92119559e-03 1.32027802e-04 9.99987882e-01 9.99440286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01028169299997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:178.82, Y:125.91, Z:1.00 [[ 2.18782697e-02 -9.99760642e-01 2.38575750e-05 1.78817887e+02] [ 9.99748530e-01 2.18778872e-02 -4.92290846e-03 1.25905880e+02] [ 4.92120817e-03 1.31556295e-04 9.99987882e-01 9.99444389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04028169299994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:178.81, Y:125.92, Z:1.00 [[ 2.21462157e-02 -9.99754742e-01 2.36265064e-05 1.78813220e+02] [ 9.99742630e-01 2.21458310e-02 -4.92290957e-03 1.25920291e+02] [ 4.92117896e-03 1.32644243e-04 9.99987882e-01 9.99102628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.07028169299997 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:178.81, Y:125.91, Z:1.00 [[ 2.34275319e-02 -9.99725537e-01 2.38589342e-05 1.78805507e+02] [ 9.99713426e-01 2.34271306e-02 -4.92290844e-03 1.25913778e+02] [ 4.92099834e-03 1.39183691e-04 9.99987882e-01 9.96745925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10028169299994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:178.80, Y:125.93, Z:1.00 [[ 2.32104219e-02 -9.99730602e-01 2.31541303e-05 1.78800397e+02] [ 9.99718490e-01 2.32100267e-02 -4.92291176e-03 1.25925139e+02] [ 4.92104813e-03 1.37410471e-04 9.99987882e-01 9.97650169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.130281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:178.79, Y:125.93, Z:1.00 [[ 2.21423838e-02 -9.99754827e-01 2.24493260e-05 1.78789440e+02] [ 9.99742715e-01 2.21420050e-02 -4.92291497e-03 1.25927665e+02] [ 4.92121093e-03 1.31448623e-04 9.99987882e-01 1.00039425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16028169299994 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:178.79, Y:125.94, Z:1.00 [[ 2.14026428e-02 -9.99770937e-01 2.05763308e-05 1.78785406e+02] [ 9.99758825e-01 2.14022822e-02 -4.92292280e-03 1.25943124e+02] [ 4.92135476e-03 1.25934926e-04 9.99987882e-01 9.98753707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.190281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:178.78, Y:125.96, Z:1.00 [[ 2.01904573e-02 -9.99796152e-01 1.86943269e-05 1.78782167e+02] [ 9.99784039e-01 2.01901206e-02 -4.92292995e-03 1.25955155e+02] [ 4.92154898e-03 1.18086497e-04 9.99987882e-01 9.97140155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22028169299995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:178.77, Y:125.96, Z:1.00 [[ 1.65175582e-02 -9.99863576e-01 1.67965627e-05 1.78774978e+02] [ 9.99851461e-01 1.65172753e-02 -4.92293642e-03 1.25961576e+02] [ 4.92198738e-03 9.81089565e-05 9.99987882e-01 9.98435013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.250281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:178.77, Y:125.97, Z:1.00 [[ 1.45233186e-02 -9.99894531e-01 1.48895502e-05 1.78771349e+02] [ 9.99882416e-01 1.45230693e-02 -4.92294219e-03 1.25971968e+02] [ 4.92220673e-03 8.63852573e-05 9.99987882e-01 1.00153702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28028169299995 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:178.77, Y:125.95, Z:1.01 [[ 8.71863586e-03 -9.99961992e-01 1.29741538e-05 1.78766486e+02] [ 9.99949875e-01 8.71846634e-03 -4.92294724e-03 1.25952496e+02] [ 4.92264701e-03 5.58948878e-05 9.99987882e-01 1.00863356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.310281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:178.77, Y:125.95, Z:1.01 [[ 5.67869681e-03 -9.99983876e-01 1.10684272e-05 1.78765503e+02] [ 9.99971759e-01 5.67857351e-03 -4.92295152e-03 1.25946283e+02] [ 4.92280929e-03 3.90240637e-05 9.99987882e-01 1.00909317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:178.76, Y:125.94, Z:1.01 [[ 2.60816310e-03 -9.99996599e-01 9.18452642e-06 1.78764304e+02] [ 9.99984481e-01 2.60808628e-03 -4.92295504e-03 1.25935700e+02] [ 4.92291434e-03 2.20242536e-05 9.99987882e-01 1.00811601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.370281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:178.76, Y:125.92, Z:1.01 [[ 4.18326032e-05 -9.99999999e-01 7.31553443e-06 1.78762845e+02] [ 9.99987881e-01 4.17960817e-05 -4.92295782e-03 1.25919883e+02] [ 4.92295751e-03 7.52138592e-06 9.99987882e-01 1.00696595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40028169299995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:178.76, Y:125.92, Z:1.01 [[-3.80177131e-03 -9.99992773e-01 5.46725745e-06 1.78760183e+02] [ 9.99980655e-01 -3.80175215e-03 -4.92295987e-03 1.25916756e+02] [ 4.92294508e-03 -1.32488159e-05 9.99987882e-01 1.00535879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.430281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:178.76, Y:125.95, Z:1.00 [[-4.65100705e-03 -9.99989184e-01 3.63480403e-06 1.78760391e+02] [ 9.99977066e-01 -4.65096859e-03 -4.92296122e-03 1.25946783e+02] [ 4.92292488e-03 -1.92620067e-05 9.99987882e-01 1.00486873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:178.76, Y:125.91, Z:1.01 [[-6.45623302e-03 -9.99979158e-01 1.78862491e-06 1.78761069e+02] [ 9.99967041e-01 -6.45616359e-03 -4.92296189e-03 1.25905385e+02] [ 4.92287084e-03 -2.99952232e-05 9.99987882e-01 1.00798947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.490281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.76, Y:125.93, Z:1.01 [[-8.28540572e-03 -9.99965675e-01 -4.70914434e-08 1.78760669e+02] [ 9.99953558e-01 -8.28530509e-03 -4.92296187e-03 1.25929924e+02] [ 4.92279251e-03 -4.08358257e-05 9.99987882e-01 1.00984915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52028169299996 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:178.76, Y:125.92, Z:1.01 [[-9.76191444e-03 -9.99952351e-01 1.30890974e-06 1.78761357e+02] [ 9.99940234e-01 -9.76180259e-03 -4.92296151e-03 1.25924224e+02] [ 4.92273972e-03 -4.67486975e-05 9.99987882e-01 1.01109152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.550281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:178.77, Y:125.95, Z:1.01 [[-1.41013571e-02 -9.99900571e-01 -4.90393862e-07 1.78766536e+02] [ 9.99888454e-01 -1.41011838e-02 -4.92296133e-03 1.25949002e+02] [ 4.92246493e-03 -6.99107748e-05 9.99987882e-01 1.00784197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58028169299996 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:178.77, Y:125.96, Z:1.01 [[-1.54693446e-02 -9.99880343e-01 8.48004282e-07 1.78770053e+02] [ 9.99868226e-01 -1.54691614e-02 -4.92296110e-03 1.25962301e+02] [ 4.92238515e-03 -7.53070894e-05 9.99987882e-01 1.00516083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.610281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:178.77, Y:125.99, Z:1.00 [[-1.71522458e-02 -9.99852889e-01 -9.43065857e-07 1.78774611e+02] [ 9.99840773e-01 -1.71520333e-02 -4.92296076e-03 1.25986527e+02] [ 4.92222037e-03 -8.53827486e-05 9.99987882e-01 1.00359119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64028169299996 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:178.78, Y:125.98, Z:1.00 [[-1.61087211e-02 -9.99870246e-01 5.00335859e-07 1.78775724e+02] [ 9.99858130e-01 -1.61085284e-02 -4.92296061e-03 1.25976427e+02] [ 4.92232990e-03 -7.88023348e-05 9.99987882e-01 1.00453147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.670281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:178.78, Y:126.00, Z:1.00 [[-1.48537730e-02 -9.99889677e-01 -1.27949822e-06 1.78777300e+02] [ 9.99877560e-01 -1.48535867e-02 -4.92296015e-03 1.25999759e+02] [ 4.92239803e-03 -7.44038742e-05 9.99987882e-01 1.00426045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70028169299997 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:178.78, Y:126.02, Z:1.00 [[-1.28658029e-02 -9.99917232e-01 1.43627045e-07 1.78780035e+02] [ 9.99905115e-01 -1.28656477e-02 -4.92296011e-03 1.26017919e+02] [ 4.92255449e-03 -6.31942210e-05 9.99987882e-01 1.00265788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.730281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:178.79, Y:126.04, Z:1.00 [[-9.75117541e-03 -9.99952456e-01 -1.65682592e-06 1.78785830e+02] [ 9.99940339e-01 -9.75104909e-03 -4.92295950e-03 1.26042050e+02] [ 4.92270929e-03 -4.96613687e-05 9.99987882e-01 1.00073136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76028169299997 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:178.79, Y:126.07, Z:1.00 [[-8.49262684e-03 -9.99963937e-01 -2.35744849e-07 1.78790942e+02] [ 9.99951820e-01 -8.49252276e-03 -4.92295957e-03 1.26065279e+02] [ 4.92278003e-03 -4.20445921e-05 9.99987882e-01 1.00145182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79028169299994 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:178.79, Y:126.08, Z:1.00 [[-8.32326861e-03 -9.99965361e-01 1.23403059e-06 1.78794337e+02] [ 9.99953244e-01 -8.32317382e-03 -4.92295920e-03 1.26079469e+02] [ 4.92279895e-03 -3.97411389e-05 9.99987882e-01 1.00021140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82028169299997 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:178.80, Y:126.08, Z:1.00 [[-8.34378737e-03 -9.99965190e-01 5.42213539e-07 1.78798044e+02] [ 9.99953073e-01 -8.34368893e-03 -4.92295928e-03 1.26083018e+02] [ 4.92279244e-03 -4.05339373e-05 9.99987882e-01 9.99466187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85028169299994 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:178.80, Y:126.11, Z:1.00 [[-9.00017612e-03 -9.99959498e-01 -1.52576669e-07 1.78800912e+02] [ 9.99947380e-01 -9.00006631e-03 -4.92295926e-03 1.26107455e+02] [ 4.92275849e-03 -4.44600690e-05 9.99987882e-01 9.98981602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.880281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:178.81, Y:126.12, Z:1.00 [[-9.46377647e-03 -9.99955218e-01 1.28210939e-06 1.78806967e+02] [ 9.99943100e-01 -9.46366810e-03 -4.92295888e-03 1.26119680e+02] [ 4.92275056e-03 -4.53077460e-05 9.99987882e-01 1.00006577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91028169299994 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:178.81, Y:126.09, Z:1.00 [[-8.94919347e-03 -9.99959955e-01 1.04936909e-06 1.78809960e+02] [ 9.99947838e-01 -8.94909019e-03 -4.92295893e-03 1.26090832e+02] [ 4.92277119e-03 -4.30071976e-05 9.99987882e-01 1.00138953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.940281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:178.82, Y:126.11, Z:1.00 [[-6.13887099e-03 -9.99981157e-01 -8.03444166e-07 1.78815610e+02] [ 9.99969039e-01 -6.13879265e-03 -4.92295863e-03 1.26113349e+02] [ 4.92286094e-03 -3.10248272e-05 9.99987882e-01 1.00465507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.82, Y:126.12, Z:1.01 [[-3.55986810e-03 -9.99993664e-01 6.68447118e-07 1.78817401e+02] [ 9.99981546e-01 -3.55982826e-03 -4.92295843e-03 1.26115756e+02] [ 4.92292962e-03 -1.68566479e-05 9.99987882e-01 1.00641022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.000281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.82, Y:126.13, Z:1.01 [[-9.26745436e-04 -9.99999571e-01 2.50850921e-06 1.78818370e+02] [ 9.99987453e-01 -9.26746556e-04 -4.92295749e-03 1.26131022e+02] [ 4.92295771e-03 -2.05385065e-06 9.99987882e-01 1.00757231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03028169299995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:178.82, Y:126.14, Z:1.01 [[ 1.30070953e-03 -9.99999154e-01 4.36363290e-06 1.78819550e+02] [ 9.99987036e-01 1.30067228e-03 -4.92295585e-03 1.26139799e+02] [ 4.92294601e-03 1.07669119e-05 9.99987882e-01 1.00735576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.060281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.82, Y:126.14, Z:1.00 [[ 4.52505287e-03 -9.99989762e-01 6.23837752e-06 1.78823170e+02] [ 9.99977644e-01 4.52496733e-03 -4.92295347e-03 1.26140289e+02] [ 4.92287484e-03 2.85148628e-05 9.99987882e-01 1.00367362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.82, Y:126.15, Z:1.00 [[ 5.26447528e-03 -9.99986143e-01 8.12277312e-06 1.78824636e+02] [ 9.99974025e-01 5.26437150e-03 -4.92295037e-03 1.26147912e+02] [ 4.92283938e-03 3.40393126e-05 9.99987882e-01 1.00220507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.120281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:178.82, Y:126.16, Z:1.00 [[ 6.26646479e-03 -9.99980366e-01 1.00162826e-05 1.78824753e+02] [ 9.99968248e-01 6.26633955e-03 -4.92294651e-03 1.26155720e+02] [ 4.92278709e-03 4.08654355e-05 9.99987882e-01 1.00129584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15028169299995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:178.83, Y:126.14, Z:1.00 [[ 6.84993687e-03 -9.99976539e-01 1.19244494e-05 1.78825223e+02] [ 9.99964422e-01 6.84979516e-03 -4.92294189e-03 1.26143340e+02] [ 4.92274471e-03 4.56458663e-05 9.99987882e-01 1.00108513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.180281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:178.83, Y:126.15, Z:1.00 [[ 7.96349350e-03 -9.99968291e-01 1.38326142e-05 1.78825642e+02] [ 9.99956174e-01 7.96332891e-03 -4.92293653e-03 1.26153918e+02] [ 4.92267027e-03 5.30357811e-05 9.99987882e-01 1.00383951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21028169299996 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:178.82, Y:126.14, Z:1.00 [[ 8.37972218e-03 -9.99964889e-01 1.57427183e-05 1.78824295e+02] [ 9.99952773e-01 8.37954314e-03 -4.92293042e-03 1.26144894e+02] [ 4.92262566e-03 5.69947640e-05 9.99987882e-01 1.00431062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.240281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:178.82, Y:126.14, Z:1.00 [[ 8.94480801e-03 -9.99959994e-01 1.76579674e-05 1.78822303e+02] [ 9.99947878e-01 8.94461269e-03 -4.92292355e-03 1.26139566e+02] [ 4.92256866e-03 6.16916531e-05 9.99987882e-01 1.00406890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27028169299996 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:178.82, Y:126.13, Z:1.00 [[ 1.18781796e-02 -9.99929452e-01 1.95667712e-05 1.78821074e+02] [ 9.99917336e-01 1.18779393e-02 -4.92291596e-03 1.26134634e+02] [ 4.92233625e-03 7.80404335e-05 9.99987882e-01 1.00165005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.300281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:178.82, Y:126.13, Z:1.00 [[ 1.30905394e-02 -9.99914315e-01 2.14713998e-05 1.78820285e+02] [ 9.99902200e-01 1.30902751e-02 -4.92290766e-03 1.26133725e+02] [ 4.92220477e-03 8.59128166e-05 9.99987882e-01 1.00116996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33028169299996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:178.82, Y:126.12, Z:1.00 [[ 1.52877423e-02 -9.99883135e-01 2.33760249e-05 1.78816341e+02] [ 9.99871021e-01 1.52874420e-02 -4.92289861e-03 1.26122071e+02] [ 4.92196594e-03 9.86330152e-05 9.99987882e-01 1.00446599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.360281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:178.81, Y:126.12, Z:1.01 [[ 1.59542520e-02 -9.99872723e-01 2.29013294e-05 1.78814688e+02] [ 9.99860609e-01 1.59539460e-02 -4.92290082e-03 1.26118262e+02] [ 4.92190888e-03 1.01439337e-04 9.99987882e-01 1.00690032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39028169299996 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:178.81, Y:126.11, Z:1.01 [[ 1.63028038e-02 -9.99867100e-01 2.24302989e-05 1.78813897e+02] [ 9.99854986e-01 1.63024958e-02 -4.92290297e-03 1.26113806e+02] [ 4.92188305e-03 1.02684167e-04 9.99987882e-01 1.00836555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.420281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.81, Y:126.14, Z:1.01 [[ 1.44892284e-02 -9.99895025e-01 2.19607911e-05 1.78811996e+02] [ 9.99882911e-01 1.44889448e-02 -4.92290506e-03 1.26135066e+02] [ 4.92207009e-03 9.32873157e-05 9.99987882e-01 1.00860349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45028169299997 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:178.81, Y:126.14, Z:1.01 [[ 1.37140922e-02 -9.99905957e-01 2.38479835e-05 1.78809679e+02] [ 9.99893843e-01 1.37138086e-02 -4.92289592e-03 1.26138113e+02] [ 4.92210591e-03 9.13585001e-05 9.99987882e-01 1.00652384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.480281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:178.81, Y:126.14, Z:1.00 [[ 1.31734843e-02 -9.99913226e-01 2.33711917e-05 1.78805143e+02] [ 9.99901111e-01 1.31732096e-02 -4.92289818e-03 1.26140145e+02] [ 4.92216313e-03 8.82206024e-05 9.99987882e-01 1.00406951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51028169299997 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:178.80, Y:126.15, Z:1.00 [[ 1.34078695e-02 -9.99910110e-01 2.26527809e-05 1.78804057e+02] [ 9.99897996e-01 1.34075955e-02 -4.92290149e-03 1.26150301e+02] [ 4.92215525e-03 8.86560910e-05 9.99987882e-01 1.00388615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.80, Y:126.13, Z:1.00 [[ 1.38385915e-02 -9.99904242e-01 2.21747620e-05 1.78803018e+02] [ 9.99892127e-01 1.38383147e-02 -4.92290364e-03 1.26128970e+02] [ 4.92212537e-03 9.02984226e-05 9.99987882e-01 1.00332956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.57028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.80, Y:126.14, Z:1.00 [[ 1.44377388e-02 -9.99895770e-01 2.02760698e-05 1.78799853e+02] [ 9.99883656e-01 1.44374640e-02 -4.92291146e-03 1.26137765e+02] [ 4.92210561e-03 9.13494204e-05 9.99987882e-01 1.00305466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.80, Y:126.16, Z:1.00 [[ 1.48975414e-02 -9.99889025e-01 1.95638712e-05 1.78797863e+02] [ 9.99876911e-01 1.48972646e-02 -4.92291429e-03 1.26164497e+02] [ 4.92207653e-03 9.29007827e-05 9.99987882e-01 1.00489564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.630281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.80, Y:126.14, Z:1.01 [[ 1.55009108e-02 -9.99879854e-01 1.90856516e-05 1.78795870e+02] [ 9.99867739e-01 1.55006290e-02 -4.92291615e-03 1.26142278e+02] [ 4.92202884e-03 9.53928114e-05 9.99987882e-01 1.00674734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:178.79, Y:126.14, Z:1.01 [[ 1.69720083e-02 -9.99855965e-01 1.71773549e-05 1.78791206e+02] [ 9.99843851e-01 1.69717181e-02 -4.92292281e-03 1.26141771e+02] [ 4.92192220e-03 1.00726559e-04 9.99987882e-01 1.00754938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.690281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:178.79, Y:126.16, Z:1.00 [[ 1.73072924e-02 -9.99850218e-01 1.52884557e-05 1.78789482e+02] [ 9.99838103e-01 1.73070074e-02 -4.92292867e-03 1.26159040e+02] [ 4.92192671e-03 1.00488546e-04 9.99987882e-01 1.00489761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72028169299995 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:178.79, Y:126.15, Z:1.00 [[ 1.70511479e-02 -9.99854619e-01 1.45722975e-05 1.78787146e+02] [ 9.99842504e-01 1.70508695e-02 -4.92293079e-03 1.26154572e+02] [ 4.92196662e-03 9.85116233e-05 9.99987882e-01 1.00018217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.750281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:178.79, Y:126.17, Z:1.00 [[ 1.65030729e-02 -9.99863815e-01 1.26694507e-05 1.78785945e+02] [ 9.99851700e-01 1.65028106e-02 -4.92293569e-03 1.26174626e+02] [ 4.92205618e-03 9.39111384e-05 9.99987882e-01 1.00055859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.78, Y:126.16, Z:1.00 [[ 1.55609135e-02 -9.99878922e-01 1.19487636e-05 1.78784940e+02] [ 9.99866806e-01 1.55606661e-02 -4.92293744e-03 1.26163993e+02] [ 4.92215545e-03 8.85525757e-05 9.99987882e-01 1.00134884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.810281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:178.78, Y:126.18, Z:1.01 [[ 1.23031570e-02 -9.99924313e-01 1.00353204e-05 1.78784971e+02] [ 9.99912197e-01 1.23029585e-02 -4.92294134e-03 1.26175410e+02] [ 4.92244527e-03 7.06021594e-05 9.99987882e-01 1.00552605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:178.79, Y:126.16, Z:1.01 [[ 1.05168523e-02 -9.99944696e-01 8.12477303e-06 1.78785202e+02] [ 9.99932580e-01 1.05166848e-02 -4.92294449e-03 1.26163348e+02] [ 4.92258679e-03 5.98981053e-05 9.99987882e-01 1.00587050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.870281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.79, Y:126.17, Z:1.00 [[ 8.61765877e-03 -9.99962867e-01 6.21840367e-06 1.78785263e+02] [ 9.99950750e-01 8.61752373e-03 -4.92294690e-03 1.26172930e+02] [ 4.92271051e-03 4.86423739e-05 9.99987882e-01 1.00485646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90028169299995 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:178.79, Y:126.16, Z:1.00 [[ 3.92721922e-03 -9.99992288e-01 4.31777639e-06 1.78785228e+02] [ 9.99980171e-01 3.92715037e-03 -4.92294857e-03 1.26158861e+02] [ 4.92289365e-03 2.36511890e-05 9.99987882e-01 1.00485109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.930281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:178.79, Y:126.16, Z:1.00 [[ 4.30963246e-03 -9.99990714e-01 2.42349393e-06 1.78785153e+02] [ 9.99978596e-01 4.30956831e-03 -4.92294950e-03 1.26161398e+02] [ 4.92289334e-03 2.36395450e-05 9.99987882e-01 1.00486349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96028169299996 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:178.79, Y:126.14, Z:1.01 [[ 2.58846053e-03 -9.99996650e-01 5.40853811e-07 1.78785966e+02] [ 9.99984532e-01 2.58842650e-03 -4.92294971e-03 1.26141122e+02] [ 4.92293181e-03 1.32837064e-05 9.99987882e-01 1.00547468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.990281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:178.79, Y:126.16, Z:1.01 [[-2.14277403e-03 -9.99997704e-01 -1.32598908e-06 1.78788758e+02] [ 9.99985587e-01 -2.14274154e-03 -4.92294920e-03 1.26164713e+02] [ 4.92293506e-03 -1.18747377e-05 9.99987882e-01 1.00631851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02028169299996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:178.79, Y:126.15, Z:1.01 [[-3.78604662e-03 -9.99992833e-01 1.04347257e-07 1.78790368e+02] [ 9.99980715e-01 -3.78600126e-03 -4.92294917e-03 1.26151647e+02] [ 4.92291428e-03 -1.85341698e-05 9.99987882e-01 1.00601285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.050281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:178.79, Y:126.18, Z:1.01 [[-5.59600920e-03 -9.99984342e-01 -1.74331941e-06 1.78791697e+02] [ 9.99972225e-01 -5.59593281e-03 -4.92294852e-03 1.26176520e+02] [ 4.92286168e-03 -2.92921362e-05 9.99987882e-01 1.00513413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08028169299996 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:178.80, Y:126.20, Z:1.01 [[-7.24396465e-03 -9.99973762e-01 -3.80150289e-07 1.78795102e+02] [ 9.99961645e-01 -7.24387500e-03 -4.92294862e-03 1.26199781e+02] [ 4.92281670e-03 -3.60418015e-05 9.99987882e-01 1.00774243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.110281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.80, Y:126.20, Z:1.01 [[-6.25200224e-03 -9.99980456e-01 1.03138657e-06 1.78796818e+02] [ 9.99968338e-01 -6.25193156e-03 -4.92294833e-03 1.26195074e+02] [ 4.92285856e-03 -2.97469301e-05 9.99987882e-01 1.00998446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.80, Y:126.22, Z:1.01 [[-5.39257011e-03 -9.99985460e-01 -8.10282766e-07 1.78797235e+02] [ 9.99973342e-01 -5.39250078e-03 -4.92294802e-03 1.26218419e+02] [ 4.92287208e-03 -2.73576035e-05 9.99987882e-01 1.01183169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.170281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.80, Y:126.24, Z:1.01 [[-2.40863278e-03 -9.99997099e-01 5.99736658e-07 1.78798789e+02] [ 9.99984982e-01 -2.40860655e-03 -4.92294785e-03 1.26241039e+02] [ 4.92293502e-03 -1.12578459e-05 9.99987882e-01 1.01191058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.80, Y:126.23, Z:1.01 [[-2.95123266e-04 -9.99999956e-01 1.34651268e-07 1.78799374e+02] [ 9.99987839e-01 -2.95120353e-04 -4.92294787e-03 1.26226335e+02] [ 4.92294769e-03 -1.31822681e-06 9.99987882e-01 1.01102543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.80, Y:126.25, Z:1.01 [[ 1.59832422e-03 -9.99998723e-01 -1.72545491e-06 1.78799021e+02] [ 9.99986605e-01 1.59831334e-03 -4.92294721e-03 1.26249554e+02] [ 4.92294368e-03 6.14303397e-06 9.99987882e-01 1.01054038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26028169299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:178.80, Y:126.27, Z:1.01 [[ 6.06974118e-03 -9.99981579e-01 -2.24358668e-07 1.78795223e+02] [ 9.99969461e-01 6.06966873e-03 -4.92294728e-03 1.26273198e+02] [ 4.92285796e-03 2.96566640e-05 9.99987882e-01 1.01252696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.29028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.79, Y:126.29, Z:1.01 [[ 9.32171329e-03 -9.99956552e-01 1.22557366e-06 1.78792671e+02] [ 9.99944435e-01 9.32159430e-03 -4.92294692e-03 1.26288614e+02] [ 4.92272160e-03 4.71158053e-05 9.99987882e-01 1.01238853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32028169299997 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:178.79, Y:126.30, Z:1.01 [[ 1.61788056e-02 -9.99869115e-01 5.12971405e-07 1.78787365e+02] [ 9.99856998e-01 1.61786071e-02 -4.92294700e-03 1.26300876e+02] [ 4.92229435e-03 8.01603007e-05 9.99987882e-01 1.00652344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35028169299994 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:178.78, Y:126.32, Z:1.00 [[ 1.84346248e-02 -9.99830068e-01 -2.05040493e-07 1.78783357e+02] [ 9.99817952e-01 1.84344024e-02 -4.92294697e-03 1.26324568e+02] [ 4.92211418e-03 9.05476769e-05 9.99987882e-01 1.00421029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.380281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.78, Y:126.34, Z:1.00 [[ 2.05073583e-02 -9.99789702e-01 1.22275973e-06 1.78778898e+02] [ 9.99777587e-01 2.05071037e-02 -4.92294661e-03 1.26339780e+02] [ 4.92188625e-03 1.02179118e-04 9.99987882e-01 1.00490621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:178.77, Y:126.36, Z:1.01 [[ 2.05067245e-02 -9.99789715e-01 -6.95548244e-07 1.78769778e+02] [ 9.99777600e-01 2.05064794e-02 -4.92294634e-03 1.26363066e+02] [ 4.92192538e-03 1.00258111e-04 9.99987882e-01 1.00827130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.440281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.77, Y:126.37, Z:1.01 [[ 1.97720979e-02 -9.99804513e-01 7.26921120e-07 1.78766410e+02] [ 9.99792398e-01 1.97718547e-02 -4.92294613e-03 1.26369085e+02] [ 4.92196939e-03 9.80637429e-05 9.99987882e-01 1.00946293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.76, Y:126.39, Z:1.01 [[ 1.55465098e-02 -9.99879146e-01 -1.17434613e-06 1.78760777e+02] [ 9.99867029e-01 1.55463272e-02 -4.92294568e-03 1.26391945e+02] [ 4.92236897e-03 7.53604332e-05 9.99987882e-01 1.00787359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.500281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:178.76, Y:126.36, Z:1.01 [[ 1.37750336e-02 -9.99905120e-01 3.40823695e-07 1.78757933e+02] [ 9.99893003e-01 1.37748650e-02 -4.92294557e-03 1.26359278e+02] [ 4.92247379e-03 6.81545279e-05 9.99987882e-01 1.00660836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:178.75, Y:126.38, Z:1.01 [[ 1.08948952e-02 -9.99940649e-01 -1.56044344e-06 1.78751472e+02] [ 9.99928532e-01 1.08947709e-02 -4.92294497e-03 1.26383449e+02] [ 4.92266979e-03 5.20746376e-05 9.99987882e-01 1.00847582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.560281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:178.75, Y:126.41, Z:1.01 [[ 9.38776935e-03 -9.99955934e-01 -1.28151841e-07 1.78749180e+02] [ 9.99943817e-01 9.38765623e-03 -4.92294501e-03 1.26406803e+02] [ 4.92272927e-03 4.60873276e-05 9.99987882e-01 1.00871539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.75, Y:126.38, Z:1.01 [[ 8.26490202e-03 -9.99965845e-01 1.29645852e-06 1.78748075e+02] [ 9.99953728e-01 8.26479548e-03 -4.92294463e-03 1.26383480e+02] [ 4.92276577e-03 4.19840536e-05 9.99987882e-01 1.00803997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.620281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.75, Y:126.41, Z:1.01 [[ 4.06965493e-03 -9.99991719e-01 -5.73768810e-07 1.78745672e+02] [ 9.99979601e-01 4.06960844e-03 -4.92294441e-03 1.26406231e+02] [ 4.92290598e-03 1.94609279e-05 9.99987882e-01 1.00844161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.74, Y:126.41, Z:1.01 [[ 2.31544121e-03 -9.99997319e-01 8.92864768e-07 1.78744292e+02] [ 9.99985202e-01 2.31540875e-03 -4.92294415e-03 1.26412182e+02] [ 4.92292888e-03 1.22916393e-05 9.99987882e-01 1.00843430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.680281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.74, Y:126.43, Z:1.01 [[-2.39723531e-03 -9.99997127e-01 -9.63890070e-07 1.78741419e+02] [ 9.99985009e-01 -2.39720151e-03 -4.92294378e-03 1.26434851e+02] [ 4.92292733e-03 -1.27653303e-05 9.99987882e-01 1.01055221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.74, Y:126.42, Z:1.01 [[-3.46949255e-03 -9.99993981e-01 4.86845176e-07 1.78740008e+02] [ 9.99981864e-01 -3.46945291e-03 -4.92294364e-03 1.26424240e+02] [ 4.92291570e-03 -1.65932799e-05 9.99987882e-01 1.01105607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.740281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.74, Y:126.45, Z:1.01 [[-4.01959667e-03 -9.99991921e-01 -1.33384204e-06 1.78738020e+02] [ 9.99979804e-01 -4.01954140e-03 -4.92294315e-03 1.26448030e+02] [ 4.92289801e-03 -2.11220610e-05 9.99987882e-01 1.01070359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.73, Y:126.44, Z:1.01 [[-2.59614848e-03 -9.99996630e-01 4.47786434e-08 1.78732568e+02] [ 9.99984512e-01 -2.59611724e-03 -4.92294313e-03 1.26436376e+02] [ 4.92292666e-03 -1.27359134e-05 9.99987882e-01 1.01055722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.800281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.73, Y:126.46, Z:1.01 [[-2.35419392e-03 -9.99997229e-01 -1.76573163e-06 1.78728484e+02] [ 9.99985111e-01 -2.35415670e-03 -4.92294248e-03 1.26459347e+02] [ 4.92292469e-03 -1.33552666e-05 9.99987882e-01 1.01223685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:178.72, Y:126.48, Z:1.01 [[-4.53993413e-03 -9.99989694e-01 -3.51820642e-07 1.78722720e+02] [ 9.99977577e-01 -4.53987738e-03 -4.92294259e-03 1.26482974e+02] [ 4.92289026e-03 -2.27016478e-05 9.99987882e-01 1.01300740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.860281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:178.72, Y:126.48, Z:1.01 [[-6.74425482e-03 -9.99977257e-01 1.00481535e-06 1.78721733e+02] [ 9.99965140e-01 -6.74417804e-03 -4.92294231e-03 1.26479832e+02] [ 4.92283712e-03 -3.21967971e-05 9.99987882e-01 1.01311682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89028169299996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:178.72, Y:126.50, Z:1.01 [[-1.01802935e-02 -9.99948180e-01 -7.86817592e-07 1.78721488e+02] [ 9.99936062e-01 -1.01801662e-02 -4.92294202e-03 1.26503275e+02] [ 4.92267890e-03 -5.09037618e-05 9.99987882e-01 1.01311649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.920281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.72, Y:126.50, Z:1.01 [[-1.78658269e-02 -9.99840393e-01 5.57510347e-07 1.78722359e+02] [ 9.99828278e-01 -1.78656132e-02 -4.92294187e-03 1.26499906e+02] [ 4.92216610e-03 -8.73950129e-05 9.99987882e-01 1.01174770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95028169299997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.72, Y:126.52, Z:1.01 [[-2.24376438e-02 -9.99748244e-01 -1.20187052e-06 1.78723579e+02] [ 9.99736130e-01 -2.24373660e-02 -4.92294144e-03 1.26523573e+02] [ 4.92167510e-03 -1.11660760e-04 9.99987882e-01 1.00989490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.73, Y:126.51, Z:1.01 [[-2.92762162e-02 -9.99571360e-01 1.89609208e-07 1.78728300e+02] [ 9.99559247e-01 -2.92758623e-02 -4.92294139e-03 1.26511181e+02] [ 4.92083677e-03 -1.43935571e-04 9.99987882e-01 1.00551885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.73, Y:126.54, Z:1.00 [[-3.17352231e-02 -9.99496311e-01 -1.54607634e-06 1.78731238e+02] [ 9.99484200e-01 -3.17348309e-02 -4.92294084e-03 1.26535734e+02] [ 4.92041215e-03 -1.57775905e-04 9.99987882e-01 1.00457293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:178.73, Y:126.56, Z:1.00 [[-3.29226508e-02 -9.99457903e-01 -2.05885088e-07 1.78734113e+02] [ 9.99445791e-01 -3.29222509e-02 -4.92294090e-03 1.26559636e+02] [ 4.92026541e-03 -1.62282035e-04 9.99987882e-01 1.00380467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.07028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:178.74, Y:126.56, Z:1.00 [[-3.17566049e-02 -9.99495632e-01 1.18345939e-06 1.78741754e+02] [ 9.99483520e-01 -3.17562259e-02 -4.92294056e-03 1.26556712e+02] [ 4.92049517e-03 -1.55153030e-04 9.99987882e-01 1.00142963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.75, Y:126.58, Z:1.00 [[-3.14373636e-02 -9.99505724e-01 -5.40616234e-07 1.78745542e+02] [ 9.99493612e-01 -3.14369800e-02 -4.92294038e-03 1.26579229e+02] [ 4.92049009e-03 -1.55304609e-04 9.99987882e-01 9.99663695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.130281693 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:178.75, Y:126.56, Z:1.00 [[-3.03260762e-02 -9.99540059e-01 9.39154098e-07 1.78749786e+02] [ 9.99527946e-01 -3.03257134e-02 -4.92294009e-03 1.26564616e+02] [ 4.92070431e-03 -1.48354746e-04 9.99987882e-01 1.00112957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.76, Y:126.59, Z:1.01 [[-2.82440577e-02 -9.99601057e-01 -8.00531750e-07 1.78757142e+02] [ 9.99588944e-01 -2.82437115e-02 -4.92293981e-03 1.26588492e+02] [ 4.92095323e-03 -1.39843999e-04 9.99987882e-01 1.00571696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.190281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:178.76, Y:126.60, Z:1.01 [[-2.68448824e-02 -9.99639611e-01 5.51975876e-07 1.78760651e+02] [ 9.99627498e-01 -2.68445598e-02 -4.92293966e-03 1.26597411e+02] [ 4.92118030e-03 -1.31603966e-04 9.99987882e-01 1.00651974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.77, Y:126.62, Z:1.01 [[-2.63705033e-02 -9.99652238e-01 -1.20251194e-06 1.78768719e+02] [ 9.99640124e-01 -2.63701778e-02 -4.92293923e-03 1.26619988e+02] [ 4.92119551e-03 -1.31022464e-04 9.99987882e-01 1.00624324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.250281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.77, Y:126.64, Z:1.01 [[-2.61671169e-02 -9.99657582e-01 2.60420642e-07 1.78772975e+02] [ 9.99645469e-01 -2.61668011e-02 -4.92293915e-03 1.26638968e+02] [ 4.92126027e-03 -1.28558796e-04 9.99987882e-01 1.00599116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.78, Y:126.66, Z:1.01 [[-2.67275912e-02 -9.99642754e-01 -3.97268577e-07 1.78775327e+02] [ 9.99630641e-01 -2.67272653e-02 -4.92293910e-03 1.26663410e+02] [ 4.92116978e-03 -1.31975425e-04 9.99987882e-01 1.00651449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.310281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:178.78, Y:126.68, Z:1.01 [[-2.57237027e-02 -9.99669091e-01 9.63768031e-07 1.78778624e+02] [ 9.99656977e-01 -2.57233957e-02 -4.92293883e-03 1.26678594e+02] [ 4.92133458e-03 -1.25672777e-04 9.99987882e-01 1.00645363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:178.78, Y:126.70, Z:1.01 [[-2.51788967e-02 -9.99682961e-01 2.97705189e-07 1.78781147e+02] [ 9.99670847e-01 -2.51785931e-02 -4.92293887e-03 1.26701188e+02] [ 4.92138561e-03 -1.23656562e-04 9.99987882e-01 1.00585882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.370281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.79, Y:126.72, Z:1.01 [[-2.55203283e-02 -9.99674303e-01 -3.76384849e-07 1.78785789e+02] [ 9.99662190e-01 -2.55200172e-02 -4.92293882e-03 1.26724547e+02] [ 4.92132583e-03 -1.26011273e-04 9.99987882e-01 1.00639332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.79, Y:126.75, Z:1.01 [[-2.64463645e-02 -9.99650234e-01 1.00031613e-06 1.78787583e+02] [ 9.99638120e-01 -2.64460489e-02 -4.92293854e-03 1.26747329e+02] [ 4.92124312e-03 -1.29193873e-04 9.99987882e-01 1.00632908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.430281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:178.79, Y:126.75, Z:1.01 [[-2.78944691e-02 -9.99610874e-01 5.54536280e-07 1.78789740e+02] [ 9.99598761e-01 -2.78941338e-02 -4.92293859e-03 1.26745528e+02] [ 4.92103841e-03 -1.36768444e-04 9.99987882e-01 1.00553790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.79, Y:126.77, Z:1.01 [[-3.16807642e-02 -9.99498039e-01 -1.21193170e-07 1.78794216e+02] [ 9.99485927e-01 -3.16803797e-02 -4.92293858e-03 1.26768378e+02] [ 4.92046361e-03 -1.56083587e-04 9.99987882e-01 1.00635036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.490281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.80, Y:126.76, Z:1.01 [[-3.31184293e-02 -9.99451434e-01 1.29244773e-06 1.78797024e+02] [ 9.99439323e-01 -3.31180344e-02 -4.92293820e-03 1.26756936e+02] [ 4.92028045e-03 -1.61748258e-04 9.99987882e-01 1.00727169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.80, Y:126.75, Z:1.01 [[-3.44219693e-02 -9.99407388e-01 6.23378221e-07 1.78800013e+02] [ 9.99395278e-01 -3.44215553e-02 -4.92293829e-03 1.26748652e+02] [ 4.92004236e-03 -1.68834229e-04 9.99987882e-01 1.00729015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.550281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:178.80, Y:126.77, Z:1.00 [[-3.82815806e-02 -9.99266992e-01 -3.99522366e-08 1.78804920e+02] [ 9.99254883e-01 -3.82811165e-02 -4.92293828e-03 1.26771882e+02] [ 4.91932820e-03 -1.88497781e-04 9.99987882e-01 1.00329232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:178.81, Y:126.76, Z:1.00 [[-4.01621618e-02 -9.99193175e-01 1.34219136e-06 1.78807983e+02] [ 9.99181067e-01 -4.01616817e-02 -4.92293791e-03 1.26756511e+02] [ 4.91901986e-03 -1.96374736e-04 9.99987882e-01 1.00190879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.610281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.81, Y:126.74, Z:1.00 [[-4.28965651e-02 -9.99079519e-01 9.01281704e-07 1.78814780e+02] [ 9.99067412e-01 -4.28960497e-02 -4.92293799e-03 1.26736212e+02] [ 4.91844518e-03 -2.10276688e-04 9.99987882e-01 1.00478798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.82, Y:126.73, Z:1.01 [[-4.37874078e-02 -9.99040872e-01 2.42289940e-06 1.78818092e+02] [ 9.99028765e-01 -4.37868892e-02 -4.92293724e-03 1.26731413e+02] [ 4.91832160e-03 -2.13142114e-04 9.99987882e-01 1.00839835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.670281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:178.82, Y:126.75, Z:1.01 [[-4.39624243e-02 -9.99033185e-01 4.15133682e-06 1.78821769e+02] [ 9.99021078e-01 -4.39619120e-02 -4.92293578e-03 1.26751075e+02] [ 4.91835871e-03 -2.12276919e-04 9.99987882e-01 1.01020939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:178.83, Y:126.76, Z:1.01 [[-4.23964049e-02 -9.99100868e-01 5.89144253e-06 1.78829592e+02] [ 9.99088760e-01 -4.23959201e-02 -4.92293370e-03 1.26759802e+02] [ 4.91875711e-03 -2.02828616e-04 9.99987882e-01 1.00826261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.83, Y:126.76, Z:1.01 [[-4.10214482e-02 -9.99158266e-01 7.65154724e-06 1.78832244e+02] [ 9.99146157e-01 -4.10209887e-02 -4.92293096e-03 1.26761028e+02] [ 4.91910104e-03 -1.94300743e-04 9.99987882e-01 1.00701468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.83, Y:126.76, Z:1.01 [[-3.53747681e-02 -9.99374117e-01 9.42071159e-06 1.78833871e+02] [ 9.99362005e-01 -3.53743858e-02 -4.92292758e-03 1.26755439e+02] [ 4.92017965e-03 -1.64732720e-04 9.99987882e-01 1.00856767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.83, Y:126.77, Z:1.01 [[-3.15973526e-02 -9.99500679e-01 1.11898744e-05 1.78834166e+02] [ 9.99488566e-01 -3.15970248e-02 -4.92292356e-03 1.26774772e+02] [ 4.92081900e-03 -1.44367200e-04 9.99987882e-01 1.00985320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.83, Y:126.77, Z:1.01 [[-3.19617081e-02 -9.99489094e-01 1.29706991e-05 1.78834246e+02] [ 9.99476981e-01 -3.19613847e-02 -4.92291886e-03 1.26772261e+02] [ 4.92081828e-03 -1.44380981e-04 9.99987882e-01 1.00984081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.83, Y:126.79, Z:1.01 [[-2.83954784e-02 -9.99596767e-01 1.47653180e-05 1.78834621e+02] [ 9.99584652e-01 -2.83952070e-02 -4.92291348e-03 1.26785700e+02] [ 4.92134766e-03 -1.25029298e-04 9.99987882e-01 1.01132187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.880281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:178.83, Y:126.80, Z:1.01 [[-2.34970843e-02 -9.99723905e-01 1.65699337e-05 1.78834769e+02] [ 9.99711789e-01 -2.34968811e-02 -4.92290741e-03 1.26800873e+02] [ 4.92193756e-03 -9.91088123e-05 9.99987882e-01 1.01107667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.84, Y:126.79, Z:1.01 [[-2.23754335e-02 -9.99749639e-01 1.83963394e-05 1.78835006e+02] [ 9.99737522e-01 -2.23752529e-02 -4.92290058e-03 1.26794757e+02] [ 4.92207970e-03 -9.17605236e-05 9.99987882e-01 1.01020996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.940281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:178.84, Y:126.79, Z:1.01 [[-2.12363503e-02 -9.99774483e-01 2.02316257e-05 1.78837028e+02] [ 9.99762366e-01 -2.12361926e-02 -4.92289304e-03 1.26793996e+02] [ 4.92221249e-03 -8.43174632e-05 9.99987882e-01 1.00883075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.84, Y:126.79, Z:1.01 [[-2.20234904e-02 -9.99757453e-01 2.20657135e-05 1.78838133e+02] [ 9.99745337e-01 -2.20233321e-02 -4.92288482e-03 1.26794554e+02] [ 4.92217675e-03 -8.63590123e-05 9.99987882e-01 1.00784320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.000281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.84, Y:126.80, Z:1.01 [[-2.38095226e-02 -9.99716513e-01 2.39024671e-05 1.78838854e+02] [ 9.99704396e-01 -2.38093517e-02 -4.92287590e-03 1.26801327e+02] [ 4.92204943e-03 -9.33159234e-05 9.99987882e-01 1.00547430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:178.84, Y:126.77, Z:1.00 [[-2.75813679e-02 -9.99619561e-01 2.57475971e-05 1.78840527e+02] [ 9.99607445e-01 -2.75811604e-02 -4.92286625e-03 1.26766961e+02] [ 4.92170355e-03 -1.10041895e-04 9.99987882e-01 1.00195791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.060281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.84, Y:126.76, Z:1.00 [[-2.98736522e-02 -9.99553683e-01 2.62034907e-05 1.78841866e+02] [ 9.99541567e-01 -2.98734192e-02 -4.92286382e-03 1.26759905e+02] [ 4.92144945e-03 -1.20872444e-04 9.99987882e-01 1.00260405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:178.85, Y:126.76, Z:1.01 [[-3.35670000e-02 -9.99436469e-01 2.80092439e-05 1.78845238e+02] [ 9.99424354e-01 -3.35667311e-02 -4.92285355e-03 1.26763748e+02] [ 4.92101955e-03 -1.37252305e-04 9.99987882e-01 1.00719642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.120281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.85, Y:126.75, Z:1.01 [[-3.55183516e-02 -9.99369024e-01 2.98164198e-05 1.78847509e+02] [ 9.99356909e-01 -3.55180679e-02 -4.92284260e-03 1.26750627e+02] [ 4.92079543e-03 -1.45054009e-04 9.99987882e-01 1.00851749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.85, Y:126.76, Z:1.01 [[-3.71855561e-02 -9.99308378e-01 3.16210073e-05 1.78849654e+02] [ 9.99296263e-01 -3.71852611e-02 -4.92283101e-03 1.26759651e+02] [ 4.92060211e-03 -1.51459454e-04 9.99987882e-01 1.00847426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.180281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.86, Y:126.75, Z:1.00 [[-3.98945653e-02 -9.99203894e-01 3.34261690e-05 1.78855759e+02] [ 9.99191781e-01 -3.98942464e-02 -4.92281876e-03 1.26746251e+02] [ 4.92023318e-03 -1.62994561e-04 9.99987882e-01 1.00482233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:178.86, Y:126.74, Z:1.00 [[-4.03896444e-02 -9.99184005e-01 3.52313258e-05 1.78859134e+02] [ 9.99171891e-01 -4.03893283e-02 -4.92280584e-03 1.26742330e+02] [ 4.92021182e-03 -1.63628227e-04 9.99987882e-01 1.00277399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.240281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:178.86, Y:126.75, Z:1.00 [[-4.01398366e-02 -9.99194071e-01 3.70290298e-05 1.78862028e+02] [ 9.99181957e-01 -4.01395324e-02 -4.92279231e-03 1.26750885e+02] [ 4.92031122e-03 -1.60601341e-04 9.99987882e-01 1.00212140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.87, Y:126.76, Z:1.00 [[-3.66254412e-02 -9.99329063e-01 3.88321757e-05 1.78866826e+02] [ 9.99316948e-01 -3.66251884e-02 -4.92277809e-03 1.26762559e+02] [ 4.92089745e-03 -1.41493268e-04 9.99987882e-01 1.00160599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.300281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:178.87, Y:126.77, Z:1.00 [[-3.43256565e-02 -9.99410700e-01 4.06512231e-05 1.78868781e+02] [ 9.99398584e-01 -3.43254406e-02 -4.92276307e-03 1.26771576e+02] [ 4.92125746e-03 -1.28350299e-04 9.99987882e-01 1.00318063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:178.87, Y:126.79, Z:1.00 [[-2.97715729e-02 -9.99556728e-01 4.24873299e-05 1.78872929e+02] [ 9.99544611e-01 -2.97714213e-02 -4.92274722e-03 1.26791889e+02] [ 4.92183001e-03 -1.04089946e-04 9.99987882e-01 1.00344193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.360281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:178.88, Y:126.79, Z:1.00 [[-2.79520986e-02 -9.99609263e-01 4.43457124e-05 1.78876080e+02] [ 9.99597146e-01 -2.79519781e-02 -4.92273048e-03 1.26785498e+02] [ 4.92204654e-03 -9.32728001e-05 9.99987882e-01 1.00129557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.88, Y:126.78, Z:1.00 [[-2.65288509e-02 -9.99648047e-01 4.62169627e-05 1.78878392e+02] [ 9.99635930e-01 -2.65287569e-02 -4.92271291e-03 1.26782090e+02] [ 4.92220643e-03 -8.43937804e-05 9.99987882e-01 9.99830872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.420281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:178.88, Y:126.80, Z:1.00 [[-2.29978957e-02 -9.99735512e-01 4.80848161e-05 1.78881107e+02] [ 9.99723395e-01 -2.29978537e-02 -4.92269467e-03 1.26795638e+02] [ 4.92249852e-03 -6.51401030e-05 9.99987882e-01 1.00009471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.88, Y:126.79, Z:1.01 [[-2.16292588e-02 -9.99766059e-01 4.99628698e-05 1.78882787e+02] [ 9.99753941e-01 -2.16292427e-02 -4.92267561e-03 1.26787135e+02] [ 4.92260465e-03 -5.65232488e-05 9.99987882e-01 1.00568252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:178.88, Y:126.79, Z:1.01 [[-2.01892363e-02 -9.99796175e-01 5.18477834e-05 1.78884705e+02] [ 9.99784058e-01 -2.01892469e-02 -4.92265575e-03 1.26788084e+02] [ 4.92269916e-03 -4.75480730e-05 9.99987882e-01 1.00936440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.89, Y:126.79, Z:1.01 [[-1.77178491e-02 -9.99843025e-01 5.37314280e-05 1.78886127e+02] [ 9.99830908e-01 -1.77178989e-02 -4.92263519e-03 1.26789520e+02] [ 4.92281447e-03 -3.34961648e-05 9.99987882e-01 1.00950183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:178.89, Y:126.81, Z:1.01 [[-1.66758308e-02 -9.99860947e-01 5.56197779e-05 1.78885312e+02] [ 9.99848830e-01 -1.66759025e-02 -4.92261386e-03 1.26809986e+02] [ 4.92285686e-03 -2.64773059e-05 9.99987882e-01 1.00726044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.57028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.89, Y:126.80, Z:1.01 [[-1.38989846e-02 -9.99903403e-01 5.75271629e-05 1.78886111e+02] [ 9.99891286e-01 -1.38990994e-02 -4.92259157e-03 1.26797467e+02] [ 4.92291563e-03 -1.08981157e-05 9.99987882e-01 1.00556087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:178.89, Y:126.81, Z:1.01 [[-1.25421193e-02 -9.99921343e-01 5.94435774e-05 1.78887024e+02] [ 9.99909226e-01 -1.25422600e-02 -4.92256842e-03 1.26806173e+02] [ 4.92292679e-03 -2.30125900e-06 9.99987882e-01 1.00621039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.630281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.89, Y:126.79, Z:1.01 [[-1.08013543e-02 -9.99941662e-01 6.13606348e-05 1.78887309e+02] [ 9.99929545e-01 -1.08015255e-02 -4.92254453e-03 1.26787596e+02] [ 4.92292014e-03 8.18616401e-06 9.99987882e-01 1.00903584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.88, Y:126.78, Z:1.01 [[-6.54985439e-03 -9.99978548e-01 6.32741246e-05 1.78883246e+02] [ 9.99966432e-01 -6.55008651e-03 -4.92251993e-03 1.26783829e+02] [ 4.92282878e-03 3.10302119e-05 9.99987882e-01 1.01306671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.690281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:178.88, Y:126.79, Z:1.01 [[-4.38597257e-03 -9.99990379e-01 6.51757237e-05 1.78881055e+02] [ 9.99978265e-01 -4.38624026e-03 -4.92249475e-03 1.26786032e+02] [ 4.92273327e-03 4.35843802e-05 9.99987882e-01 1.01298810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.88, Y:126.75, Z:1.01 [[-8.90723147e-04 -9.99999601e-01 6.70795387e-05 1.78877180e+02] [ 9.99987488e-01 -8.91042555e-04 -4.92246881e-03 1.26751803e+02] [ 4.92252662e-03 6.26941425e-05 9.99987882e-01 1.01145191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.750281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.87, Y:126.76, Z:1.01 [[-1.96794988e-04 -9.99999978e-01 6.89650016e-05 1.78874443e+02] [ 9.99987865e-01 -1.97132081e-04 -4.92244239e-03 1.26758880e+02] [ 4.92245588e-03 6.79954527e-05 9.99987882e-01 1.00934713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:178.87, Y:126.76, Z:1.01 [[-2.43810820e-04 -9.99999968e-01 7.08348963e-05 1.78871287e+02] [ 9.99987855e-01 -2.44156546e-04 -4.92241549e-03 1.26761349e+02] [ 4.92243262e-03 6.96338979e-05 9.99987882e-01 1.00755609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.810281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.87, Y:126.75, Z:1.01 [[-4.80454916e-05 -9.99999996e-01 7.27150112e-05 1.78867554e+02] [ 9.99987884e-01 -4.84028416e-05 -4.92238771e-03 1.26753105e+02] [ 4.92239121e-03 7.24776316e-05 9.99987882e-01 1.00876931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84028169299995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:178.87, Y:126.74, Z:1.01 [[ 4.70610868e-04 -9.99999887e-01 7.45944876e-05 1.78866478e+02] [ 9.99987775e-01 4.70237987e-04 -4.92235923e-03 1.26739731e+02] [ 4.92232359e-03 7.69100914e-05 9.99987882e-01 1.01054136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.870281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:178.86, Y:126.74, Z:1.01 [[ 6.50656725e-04 -9.99999785e-01 7.64628222e-05 1.78864514e+02] [ 9.99987674e-01 6.50272469e-04 -4.92233021e-03 1.26735573e+02] [ 4.92227943e-03 7.96646270e-05 9.99987882e-01 1.01145244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.86, Y:126.74, Z:1.01 [[ 2.98737787e-04 -9.99999952e-01 7.83225534e-05 1.78857932e+02] [ 9.99987841e-01 2.98348641e-04 -4.92230062e-03 1.26739142e+02] [ 4.92227701e-03 7.97920783e-05 9.99987882e-01 1.01180693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.930281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.86, Y:126.74, Z:1.01 [[-1.04123978e-03 -9.99999455e-01 8.01856342e-05 1.78855737e+02] [ 9.99987343e-01 -1.04162187e-03 -4.92227027e-03 1.26742679e+02] [ 4.92235111e-03 7.50593557e-05 9.99987882e-01 1.00893665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.85, Y:126.77, Z:1.00 [[-4.10884298e-03 -9.99991555e-01 8.20567045e-05 1.78853965e+02] [ 9.99979443e-01 -4.10919711e-03 -4.92223907e-03 1.26767928e+02] [ 4.92253469e-03 6.18303102e-05 9.99987882e-01 1.00486183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.990281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:178.85, Y:126.77, Z:1.01 [[-5.47963466e-03 -9.99984983e-01 8.39512034e-05 1.78853514e+02] [ 9.99972870e-01 -5.47998152e-03 -4.92220676e-03 1.26767349e+02] [ 4.92259290e-03 5.69770310e-05 9.99987882e-01 1.00529597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.85, Y:126.75, Z:1.01 [[-6.44739656e-03 -9.99979212e-01 8.58668121e-05 1.78852369e+02] [ 9.99967099e-01 -6.44774112e-03 -4.92217335e-03 1.26753997e+02] [ 4.92262467e-03 5.41287835e-05 9.99987882e-01 1.00580838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.050281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:178.85, Y:126.74, Z:1.01 [[-8.06073157e-03 -9.99967508e-01 8.77759615e-05 1.78849238e+02] [ 9.99955395e-01 -8.06106599e-03 -4.92213930e-03 1.26738096e+02] [ 4.92268694e-03 4.80960026e-05 9.99987882e-01 1.00565342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08028169299996 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:178.85, Y:126.76, Z:1.01 [[-9.48884189e-03 -9.99954976e-01 8.96682169e-05 1.78847835e+02] [ 9.99942863e-01 -9.48916832e-03 -4.92210483e-03 1.26755868e+02] [ 4.92273409e-03 4.29580191e-05 9.99987882e-01 1.00608882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.110281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.85, Y:126.76, Z:1.01 [[-1.24034648e-02 -9.99923070e-01 9.15655112e-05 1.78847684e+02] [ 9.99910956e-01 -1.24037652e-02 -4.92206953e-03 1.26757146e+02] [ 4.92282663e-03 3.05066418e-05 9.99987882e-01 1.00736053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.85, Y:126.74, Z:1.01 [[-1.40879999e-02 -9.99900755e-01 9.34797630e-05 1.78848160e+02] [ 9.99888641e-01 -1.40882893e-02 -4.92203318e-03 1.26741553e+02] [ 4.92286166e-03 2.41277504e-05 9.99987882e-01 1.00794064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.170281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:178.85, Y:126.75, Z:1.01 [[-1.53850915e-02 -9.99881638e-01 9.53869174e-05 1.78848072e+02] [ 9.99869524e-01 -1.53853747e-02 -4.92199622e-03 1.26751653e+02] [ 4.92288120e-03 1.96491093e-05 9.99987882e-01 1.00732768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.85, Y:126.73, Z:1.01 [[-1.65149297e-02 -9.99863615e-01 9.72940570e-05 1.78848052e+02] [ 9.99851500e-01 -1.65152086e-02 -4.92195852e-03 1.26732907e+02] [ 4.92289407e-03 1.59938099e-05 9.99987882e-01 1.00762935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23028169299994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:178.85, Y:126.75, Z:1.00 [[-1.82872537e-02 -9.99832769e-01 9.91983036e-05 1.78846428e+02] [ 9.99820655e-01 -1.82875205e-02 -4.92192014e-03 1.26751790e+02] [ 4.92291113e-03 9.17211059e-06 9.99987882e-01 1.00495720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26028169299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:178.85, Y:126.72, Z:1.00 [[-2.01894586e-02 -9.99796167e-01 1.01106059e-04 1.78846766e+02] [ 9.99784052e-01 -2.01897117e-02 -4.92188095e-03 1.26724118e+02] [ 4.92291901e-03 1.71411407e-06 9.99987882e-01 9.96959983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.85, Y:126.73, Z:1.00 [[-2.14072766e-02 -9.99770833e-01 1.02771028e-04 1.78846433e+02] [ 9.99758718e-01 -2.14075231e-02 -4.92184618e-03 1.26726704e+02] [ 4.92291833e-03 -2.61709137e-06 9.99987882e-01 9.97582814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32028169299997 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:178.85, Y:126.74, Z:1.00 [[-2.18637746e-02 -9.99760954e-01 1.04661262e-04 1.78846041e+02] [ 9.99748839e-01 -2.18640249e-02 -4.92180599e-03 1.26741805e+02] [ 4.92291776e-03 -2.97428126e-06 9.99987882e-01 9.99952287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:178.85, Y:126.72, Z:1.01 [[-2.13507999e-02 -9.99772040e-01 1.06567383e-04 1.78846198e+02] [ 9.99759925e-01 -2.13510658e-02 -4.92176472e-03 1.26722505e+02] [ 4.92291808e-03 1.45818519e-06 9.99987882e-01 1.00638271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.380281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.85, Y:126.73, Z:1.01 [[-2.15215907e-02 -9.99768378e-01 1.08233329e-04 1.78846133e+02] [ 9.99756263e-01 -2.15218627e-02 -4.92172808e-03 1.26734489e+02] [ 4.92291748e-03 2.28353172e-06 9.99987882e-01 1.00786771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41028169299994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:178.85, Y:126.71, Z:1.01 [[-2.20720247e-02 -9.99756377e-01 1.10137485e-04 1.78846483e+02] [ 9.99744263e-01 -2.20722995e-02 -4.92168547e-03 1.26711478e+02] [ 4.92291742e-03 1.47775559e-06 9.99987882e-01 1.00890631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.440281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:178.84, Y:126.71, Z:1.01 [[-2.28829004e-02 -9.99738146e-01 1.12037472e-04 1.78844574e+02] [ 9.99726031e-01 -2.28831747e-02 -4.92164222e-03 1.26710589e+02] [ 4.92291724e-03 -6.14671560e-07 9.99987882e-01 1.00666361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:178.84, Y:126.71, Z:1.01 [[-2.28049361e-02 -9.99739927e-01 1.13924167e-04 1.78843576e+02] [ 9.99727813e-01 -2.28052206e-02 -4.92159854e-03 1.26707603e+02] [ 4.92291664e-03 1.65641833e-06 9.99987882e-01 1.00640340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.500281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.84, Y:126.72, Z:1.01 [[-2.33604905e-02 -9.99727100e-01 1.15811478e-04 1.78843868e+02] [ 9.99714986e-01 -2.33607776e-02 -4.92155413e-03 1.26720271e+02] [ 4.92291649e-03 8.08551017e-07 9.99987882e-01 1.00570665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.85, Y:126.70, Z:1.01 [[-2.52169908e-02 -9.99681994e-01 1.17709195e-04 1.78845886e+02] [ 9.99669880e-01 -2.52172647e-02 -4.92150874e-03 1.26697102e+02] [ 4.92291198e-03 -6.43530370e-06 9.99987882e-01 1.00616874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.560281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:178.85, Y:126.69, Z:1.01 [[-2.78501634e-02 -9.99612102e-01 1.19602771e-04 1.78847695e+02] [ 9.99599987e-01 -2.78504147e-02 -4.92146273e-03 1.26694537e+02] [ 4.92288469e-03 -1.75086130e-05 9.99987882e-01 1.00628494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.85, Y:126.70, Z:1.01 [[-3.08781823e-02 -9.99523148e-01 1.21481887e-04 1.78849487e+02] [ 9.99511032e-01 -3.08784062e-02 -4.92141634e-03 1.26699437e+02] [ 4.92282072e-03 -3.05419048e-05 9.99987882e-01 1.00510983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.620281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.86, Y:126.66, Z:1.01 [[-3.66217554e-02 -9.99329191e-01 1.23366308e-04 1.78855125e+02] [ 9.99317074e-01 -3.66219189e-02 -4.92136910e-03 1.26664453e+02] [ 4.92258572e-03 -5.69471176e-05 9.99987882e-01 1.00529831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:178.86, Y:126.67, Z:1.00 [[-3.93232632e-02 -9.99226534e-01 1.25233021e-04 1.78858129e+02] [ 9.99214417e-01 -3.93234032e-02 -4.92132160e-03 1.26666863e+02] [ 4.92243971e-03 -6.83877847e-05 9.99987882e-01 1.00447045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.680281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:178.87, Y:126.66, Z:1.00 [[-4.15401139e-02 -9.99136829e-01 1.27081748e-04 1.78865175e+02] [ 9.99124712e-01 -4.15402361e-02 -4.92127386e-03 1.26656504e+02] [ 4.92230497e-03 -7.74597618e-05 9.99987882e-01 1.00240993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.87, Y:126.68, Z:1.00 [[-4.09756488e-02 -9.99160137e-01 1.28927752e-04 1.78867619e+02] [ 9.99148020e-01 -4.09757870e-02 -4.92122550e-03 1.26682411e+02] [ 4.92237526e-03 -7.28324996e-05 9.99987882e-01 1.00249031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.740281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.87, Y:126.68, Z:1.00 [[-4.13571448e-02 -9.99144419e-01 1.30787673e-04 1.78867759e+02] [ 9.99132302e-01 -4.13572875e-02 -4.92117607e-03 1.26679913e+02] [ 4.92237463e-03 -7.28516028e-05 9.99987882e-01 1.00247793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.87, Y:126.69, Z:1.00 [[-3.98406565e-02 -9.99206037e-01 1.32666678e-04 1.78870478e+02] [ 9.99193921e-01 -3.98408268e-02 -4.92112541e-03 1.26689593e+02] [ 4.92250377e-03 -6.35011290e-05 9.99987882e-01 1.00105152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.800281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:178.88, Y:126.69, Z:1.00 [[-3.46835641e-02 -9.99398335e-01 1.34553805e-04 1.78875843e+02] [ 9.99386220e-01 -3.46838062e-02 -4.92107382e-03 1.26691959e+02] [ 4.92277982e-03 -3.62091610e-05 9.99987882e-01 1.00311411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.88, Y:126.70, Z:1.00 [[-3.19315631e-02 -9.99490048e-01 1.36452614e-04 1.78877827e+02] [ 9.99477934e-01 -3.19318479e-02 -4.92102117e-03 1.26695457e+02] [ 4.92286887e-03 -2.07545206e-05 9.99987882e-01 1.00439377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.860281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.88, Y:126.69, Z:1.01 [[-2.90261949e-02 -9.99578642e-01 1.38359370e-04 1.78879867e+02] [ 9.99566529e-01 -2.90265243e-02 -4.92096755e-03 1.26691720e+02] [ 4.92291016e-03 -4.53756807e-06 9.99987882e-01 1.00565101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.88, Y:126.68, Z:1.01 [[-2.33267551e-02 -9.99727884e-01 1.40268691e-04 1.78884328e+02] [ 9.99715774e-01 -2.33271629e-02 -4.92091313e-03 1.26679335e+02] [ 4.92284614e-03 2.54398879e-05 9.99987882e-01 1.00554204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.920281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.89, Y:126.67, Z:1.01 [[-2.15389531e-02 -9.99768000e-01 1.42170300e-04 1.78886246e+02] [ 9.99755890e-01 -2.15393919e-02 -4.92085819e-03 1.26671323e+02] [ 4.92277881e-03 3.61454614e-05 9.99987882e-01 1.00639692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.89, Y:126.68, Z:1.01 [[-1.97180016e-02 -9.99805571e-01 1.44060784e-04 1.78888377e+02] [ 9.99793462e-01 -1.97184718e-02 -4.92080284e-03 1.26678454e+02] [ 4.92268676e-03 4.70026322e-05 9.99987882e-01 1.00507451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.89, Y:126.66, Z:1.01 [[-1.97156580e-02 -9.99805617e-01 1.45954084e-04 1.78890977e+02] [ 9.99793509e-01 -1.97161376e-02 -4.92074669e-03 1.26657346e+02] [ 4.92266783e-03 4.89081870e-05 9.99987882e-01 1.00558073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.89, Y:126.67, Z:1.01 [[-2.02837462e-02 -9.99794253e-01 1.47841063e-04 1.78892162e+02] [ 9.99782145e-01 -2.02842282e-02 -4.92068999e-03 1.26674231e+02] [ 4.92267642e-03 4.79988282e-05 9.99987882e-01 1.00697387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:178.89, Y:126.67, Z:1.01 [[-2.04518751e-02 -9.99790827e-01 1.49728653e-04 1.78894932e+02] [ 9.99778720e-01 -2.04523643e-02 -4.92063256e-03 1.26667297e+02] [ 4.92266560e-03 4.90593588e-05 9.99987882e-01 1.00664986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.07028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.90, Y:126.66, Z:1.01 [[-1.96589015e-02 -9.99806734e-01 1.51626650e-04 1.78895762e+02] [ 9.99794627e-01 -1.96594097e-02 -4.92057407e-03 1.26655766e+02] [ 4.92260398e-03 5.48624294e-05 9.99987882e-01 1.00548599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.90, Y:126.65, Z:1.00 [[-1.82365335e-02 -9.99833689e-01 1.53514828e-04 1.78897083e+02] [ 9.99821583e-01 -1.82370682e-02 -4.92051516e-03 1.26645817e+02] [ 4.92249648e-03 6.37542990e-05 9.99987882e-01 1.00454584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.130281693 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:178.90, Y:126.63, Z:1.01 [[-1.66331291e-02 -9.99861648e-01 1.55391409e-04 1.78899506e+02] [ 9.99849543e-01 -1.66336925e-02 -4.92045590e-03 1.26634449e+02] [ 4.92235987e-03 7.35254514e-05 9.99987882e-01 1.00812300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.90, Y:126.63, Z:1.01 [[-1.61057845e-02 -9.99870281e-01 1.57257153e-04 1.78900819e+02] [ 9.99858177e-01 -1.61063634e-02 -4.92039627e-03 1.26627553e+02] [ 4.92229084e-03 7.79880083e-05 9.99987882e-01 1.00853505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.190281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.90, Y:126.63, Z:1.01 [[-1.50336639e-02 -9.99886975e-01 1.59114019e-04 1.78900771e+02] [ 9.99874873e-01 -1.50342649e-02 -4.92033622e-03 1.26629809e+02] [ 4.92217226e-03 8.51234282e-05 9.99987882e-01 1.00732475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.90, Y:126.61, Z:1.01 [[-1.45962218e-02 -9.99893457e-01 1.60970861e-04 1.78900611e+02] [ 9.99881355e-01 -1.45968372e-02 -4.92027547e-03 1.26612860e+02] [ 4.92210091e-03 8.91343309e-05 9.99987882e-01 1.00651334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.250281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.90, Y:126.60, Z:1.01 [[-1.44592675e-02 -9.99895446e-01 1.62821014e-04 1.78900711e+02] [ 9.99883345e-01 -1.44598937e-02 -4.92021425e-03 1.26600955e+02] [ 4.92205419e-03 9.16593257e-05 9.99987882e-01 1.00823768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.90, Y:126.61, Z:1.01 [[-1.45021244e-02 -9.99894825e-01 1.64655278e-04 1.78900907e+02] [ 9.99882724e-01 -1.45027591e-02 -4.92015286e-03 1.26606294e+02] [ 4.92202334e-03 9.32832993e-05 9.99987882e-01 1.01176286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.310281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.90, Y:126.60, Z:1.01 [[-1.48295259e-02 -9.99890023e-01 1.66488922e-04 1.78901014e+02] [ 9.99877922e-01 -1.48301657e-02 -4.92009081e-03 1.26598571e+02] [ 4.92201877e-03 9.35059835e-05 9.99987882e-01 1.01030982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.90, Y:126.60, Z:1.01 [[-1.52991370e-02 -9.99882947e-01 1.68324015e-04 1.78899726e+02] [ 9.99870847e-01 -1.52997801e-02 -4.92002803e-03 1.26602767e+02] [ 4.92202745e-03 9.30300925e-05 9.99987882e-01 1.00805999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.370281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.90, Y:126.61, Z:1.00 [[-1.60969331e-02 -9.99870422e-01 1.70160281e-04 1.78896052e+02] [ 9.99858321e-01 -1.60975756e-02 -4.91996452e-03 1.26606965e+02] [ 4.92206617e-03 9.09398334e-05 9.99987882e-01 1.00355382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.90, Y:126.61, Z:1.00 [[-1.68577993e-02 -9.99857882e-01 1.72005183e-04 1.78895177e+02] [ 9.99845782e-01 -1.68584417e-02 -4.91990002e-03 1.26612791e+02] [ 4.92210056e-03 8.90399695e-05 9.99987882e-01 1.00335898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.430281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.89, Y:126.64, Z:1.00 [[-1.91310050e-02 -9.99816970e-01 1.73860635e-04 1.78893939e+02] [ 9.99804869e-01 -1.91316290e-02 -4.91983445e-03 1.26636706e+02] [ 4.92226022e-03 7.97053320e-05 9.99987882e-01 1.00473771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46028169299996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.89, Y:126.61, Z:1.00 [[-2.09367807e-02 -9.99780786e-01 1.75739122e-04 1.78894547e+02] [ 9.99768684e-01 -2.09373920e-02 -4.91976735e-03 1.26605805e+02] [ 4.92236839e-03 7.26943808e-05 9.99987882e-01 1.00389692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.490281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.89, Y:126.60, Z:1.00 [[-2.31338925e-02 -9.99732360e-01 1.77616040e-04 1.78894039e+02] [ 9.99720257e-01 -2.31344864e-02 -4.91969959e-03 1.26600372e+02] [ 4.92249194e-03 6.37545523e-05 9.99987882e-01 1.00076563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.89, Y:126.63, Z:1.00 [[-2.84114978e-02 -9.99596296e-01 1.79472028e-04 1.78894392e+02] [ 9.99584190e-01 -2.84120370e-02 -4.91963188e-03 1.26626743e+02] [ 4.92274497e-03 3.96232914e-05 9.99987882e-01 1.00130902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.550281693 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.90, Y:126.63, Z:1.00 [[-3.15616714e-02 -9.99501790e-01 1.81345481e-04 1.78896265e+02] [ 9.99489683e-01 -3.15621817e-02 -4.91956282e-03 1.26626811e+02] [ 4.92283551e-03 2.59833123e-05 9.99987882e-01 1.00279583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.90, Y:126.63, Z:1.00 [[-3.67052295e-02 -9.99326119e-01 1.83240210e-04 1.78898779e+02] [ 9.99314010e-01 -3.67056868e-02 -4.91949225e-03 1.26630325e+02] [ 4.92290305e-03 2.54341742e-06 9.99987882e-01 1.00358345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.610281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:178.90, Y:126.63, Z:1.01 [[-3.88104070e-02 -9.99246575e-01 1.85141264e-04 1.78899524e+02] [ 9.99234466e-01 -3.88108481e-02 -4.91942070e-03 1.26633375e+02] [ 4.92289978e-03 -5.92518778e-06 9.99987882e-01 1.00595143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.90, Y:126.63, Z:1.00 [[-4.08355055e-02 -9.99165865e-01 1.87049978e-04 1.78901640e+02] [ 9.99153755e-01 -4.08359315e-02 -4.91934813e-03 1.26629694e+02] [ 4.92288309e-03 -1.39923799e-05 9.99987882e-01 1.00493829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.670281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.90, Y:126.63, Z:1.00 [[-4.33339559e-02 -9.99060625e-01 1.88961557e-04 1.78904838e+02] [ 9.99048514e-01 -4.33343610e-02 -4.91927470e-03 1.26632560e+02] [ 4.92284218e-03 -2.43898706e-05 9.99987882e-01 1.00310359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.91, Y:126.63, Z:1.00 [[-4.70539507e-02 -9.98892331e-01 1.90876008e-04 1.78912395e+02] [ 9.98880219e-01 -4.70543202e-02 -4.91920041e-03 1.26627195e+02] [ 4.92273311e-03 -4.08055446e-05 9.99987882e-01 1.00066907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.92, Y:126.62, Z:1.00 [[-4.87321390e-02 -9.98811865e-01 1.92791734e-04 1.78915983e+02] [ 9.98799753e-01 -4.87324975e-02 -4.91912533e-03 1.26621780e+02] [ 4.92267597e-03 -4.71591630e-05 9.99987882e-01 1.00046406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76028169299997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:178.92, Y:126.62, Z:1.00 [[-5.28788063e-02 -9.98600918e-01 1.94703226e-04 1.78923944e+02] [ 9.98588805e-01 -5.28791239e-02 -4.91904967e-03 1.26615012e+02] [ 4.92246326e-03 -6.56850133e-05 9.99987882e-01 1.00027127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.93, Y:126.60, Z:1.00 [[-5.47734434e-02 -9.98498789e-01 1.96609209e-04 1.78929036e+02] [ 9.98486675e-01 -5.47737475e-02 -4.91897349e-03 1.26600993e+02] [ 4.92235810e-03 -7.31174413e-05 9.99987882e-01 1.00078398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82028169299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.93, Y:126.61, Z:1.00 [[-5.56233964e-02 -9.98451801e-01 1.98503708e-04 1.78932950e+02] [ 9.98439687e-01 -5.56236995e-02 -4.91889704e-03 1.26605623e+02] [ 4.92232312e-03 -7.54117796e-05 9.99987882e-01 1.00246476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.94, Y:126.60, Z:1.01 [[-5.50897034e-02 -9.98481389e-01 2.00394701e-04 1.78939313e+02] [ 9.98469276e-01 -5.50900223e-02 -4.91882000e-03 1.26598294e+02] [ 4.92238997e-03 -7.08883833e-05 9.99987882e-01 1.00552268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.880281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.94, Y:126.61, Z:1.01 [[-5.44605094e-02 -9.98515905e-01 2.02287229e-04 1.78942793e+02] [ 9.98503792e-01 -5.44608452e-02 -4.91874217e-03 1.26605277e+02] [ 4.92245902e-03 -6.58926387e-05 9.99987882e-01 1.00662169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.95, Y:126.60, Z:1.01 [[-5.34640046e-02 -9.98569757e-01 2.04182572e-04 1.78946483e+02] [ 9.98557644e-01 -5.34643618e-02 -4.91866349e-03 1.26602217e+02] [ 4.92254509e-03 -5.90833790e-05 9.99987882e-01 1.00829783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.940281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:178.95, Y:126.61, Z:1.01 [[-4.88592140e-02 -9.98805654e-01 2.06083944e-04 1.78949946e+02] [ 9.98793544e-01 -4.88596365e-02 -4.91858382e-03 1.26608770e+02] [ 4.92277852e-03 -3.44828264e-05 9.99987882e-01 1.00972065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.95, Y:126.66, Z:1.01 [[-4.55974475e-02 -9.98959874e-01 2.07991037e-04 1.78948624e+02] [ 9.98947765e-01 -4.55979188e-02 -4.91850318e-03 1.26660250e+02] [ 4.92287127e-03 -1.64990085e-05 9.99987882e-01 1.01173754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.000281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.96, Y:126.57, Z:1.01 [[-3.94200253e-02 -9.99222707e-01 2.06908270e-04 1.78955498e+02] [ 9.99210602e-01 -3.94205662e-02 -4.91854910e-03 1.26566114e+02] [ 4.92288238e-03 1.28556074e-05 9.99987882e-01 1.00966800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.96, Y:126.56, Z:1.01 [[-3.58166536e-02 -9.99358356e-01 2.10369579e-04 1.78956863e+02] [ 9.99346253e-01 -3.58172552e-02 -4.91840105e-03 1.26557040e+02] [ 4.92278005e-03 3.40713840e-05 9.99987882e-01 1.00954346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.060281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.96, Y:126.55, Z:1.01 [[-3.23315095e-02 -9.99477178e-01 2.12225072e-04 1.78956493e+02] [ 9.99465078e-01 -3.23321625e-02 -4.91832098e-03 1.26548641e+02] [ 4.92261127e-03 5.30948065e-05 9.99987882e-01 1.00843685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.96, Y:126.53, Z:1.01 [[-2.60054436e-02 -9.99661778e-01 2.14071773e-04 1.78955251e+02] [ 9.99649683e-01 -2.60061821e-02 -4.91824061e-03 1.26528735e+02] [ 4.92214434e-03 8.60957520e-05 9.99987882e-01 1.00716454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.120281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.95, Y:126.51, Z:1.01 [[-2.29341704e-02 -9.99736954e-01 2.15903504e-04 1.78954730e+02] [ 9.99724862e-01 -2.29349551e-02 -4.91816019e-03 1.26509398e+02] [ 4.92181823e-03 1.03050177e-04 9.99987882e-01 1.00757880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.95, Y:126.52, Z:1.01 [[-1.96944854e-02 -9.99806021e-01 2.17713266e-04 1.78951478e+02] [ 9.99793932e-01 -1.96953182e-02 -4.91808008e-03 1.26521816e+02] [ 4.92141401e-03 1.20809346e-04 9.99987882e-01 1.00986101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.180281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.94, Y:126.51, Z:1.01 [[-1.33879160e-02 -9.99910354e-01 2.19521834e-04 1.78943428e+02] [ 9.99898271e-01 -1.33888339e-02 -4.91799935e-03 1.26510324e+02] [ 4.92049761e-03 1.53657740e-04 9.99987882e-01 1.01083458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.94, Y:126.50, Z:1.01 [[-1.14238275e-02 -9.99934721e-01 2.21334137e-04 1.78939847e+02] [ 9.99922641e-01 -1.14247780e-02 -4.91791779e-03 1.26500195e+02] [ 4.92012545e-03 1.65135570e-04 9.99987882e-01 1.00914276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.240281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.94, Y:126.49, Z:1.01 [[-9.91799682e-03 -9.99950791e-01 2.23136316e-04 1.78936508e+02] [ 9.99938713e-01 -9.91897443e-03 -4.91783602e-03 1.26487155e+02] [ 4.91980730e-03 1.74347558e-04 9.99987882e-01 1.00738421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.93, Y:126.46, Z:1.01 [[-8.69332484e-03 -9.99962187e-01 2.24927078e-04 1.78928222e+02] [ 9.99950111e-01 -8.69432603e-03 -4.91775411e-03 1.26461266e+02] [ 4.91952375e-03 1.82164223e-04 9.99987882e-01 1.00811926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.300281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.92, Y:126.48, Z:1.01 [[-8.85502057e-03 -9.99960768e-01 2.26697392e-04 1.78921215e+02] [ 9.99948692e-01 -8.85602851e-03 -4.91767250e-03 1.26478831e+02] [ 4.91948721e-03 1.83139669e-04 9.99987882e-01 1.01125248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.91, Y:126.47, Z:1.01 [[-8.40308654e-03 -9.99964667e-01 2.28466006e-04 1.78909026e+02] [ 9.99952593e-01 -8.40410862e-03 -4.91759033e-03 1.26468734e+02] [ 4.91933664e-03 1.87132237e-04 9.99987882e-01 1.01267294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.360281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.90, Y:126.47, Z:1.01 [[-8.93776191e-03 -9.99960031e-01 2.30243187e-04 1.78903102e+02] [ 9.99947957e-01 -8.93878626e-03 -4.91750713e-03 1.26473314e+02] [ 4.91936867e-03 1.86279696e-04 9.99987883e-01 1.01164616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.90, Y:126.47, Z:1.01 [[-9.87679902e-03 -9.99951196e-01 2.32020337e-04 1.78897180e+02] [ 9.99939122e-01 -9.87782076e-03 -4.91742327e-03 1.26470732e+02] [ 4.91947514e-03 1.83437811e-04 9.99987883e-01 1.01188794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.420281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.89, Y:126.47, Z:1.01 [[-1.11330436e-02 -9.99937998e-01 2.33802221e-04 1.78891561e+02] [ 9.99925924e-01 -1.11340590e-02 -4.91733855e-03 1.26467607e+02] [ 4.91963684e-03 1.79039957e-04 9.99987883e-01 1.01099018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.88, Y:126.49, Z:1.01 [[-1.49622211e-02 -9.99888032e-01 2.35583510e-04 1.78878896e+02] [ 9.99875954e-01 -1.49631989e-02 -4.91725321e-03 1.26492477e+02] [ 4.92022772e-03 1.61981257e-04 9.99987883e-01 1.01418310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.87, Y:126.49, Z:1.01 [[-2.01796374e-02 -9.99796342e-01 2.37382296e-04 1.78868636e+02] [ 9.99784260e-01 -2.01805610e-02 -4.91716637e-03 1.26489677e+02] [ 4.92095546e-03 1.38104448e-04 9.99987883e-01 1.01446066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.86, Y:126.50, Z:1.01 [[-2.28520760e-02 -9.99738829e-01 2.39198656e-04 1.78863894e+02] [ 9.99726745e-01 -2.28529762e-02 -4.91707801e-03 1.26495287e+02] [ 4.92126021e-03 1.26767853e-04 9.99987883e-01 1.01254248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.86, Y:126.51, Z:1.01 [[-2.55286218e-02 -9.99674063e-01 2.41020822e-04 1.78858242e+02] [ 9.99661977e-01 -2.55294987e-02 -4.91698869e-03 1.26513407e+02] [ 4.92153920e-03 1.15415407e-04 9.99987883e-01 1.00865800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.57028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.85, Y:126.52, Z:1.01 [[-2.83213454e-02 -9.99598841e-01 2.42861905e-04 1.78852816e+02] [ 9.99586753e-01 -2.83221975e-02 -4.91689776e-03 1.26518775e+02] [ 4.92180368e-03 1.03508383e-04 9.99987883e-01 1.00697631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.84, Y:126.53, Z:1.00 [[-3.21830460e-02 -9.99481962e-01 2.44722302e-04 1.78844530e+02] [ 9.99469872e-01 -3.21838606e-02 -4.91680516e-03 1.26527688e+02] [ 4.92213417e-03 8.63548007e-05 9.99987883e-01 1.00414139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.630281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.84, Y:126.53, Z:1.00 [[-3.25656184e-02 -9.99469569e-01 2.46596205e-04 1.78844729e+02] [ 9.99457479e-01 -3.25664376e-02 -4.91671117e-03 1.26525181e+02] [ 4.92213396e-03 8.63466817e-05 9.99987883e-01 1.00412901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.84, Y:126.54, Z:1.00 [[-3.47866863e-02 -9.99394729e-01 2.48478176e-04 1.78842191e+02] [ 9.99382638e-01 -3.47874878e-02 -4.91661606e-03 1.26543273e+02] [ 4.92228411e-03 7.72919948e-05 9.99987883e-01 1.00442295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.690281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.84, Y:126.55, Z:1.01 [[-3.98901099e-02 -9.99204041e-01 2.50373970e-04 1.78840769e+02] [ 9.99191947e-01 -3.98908591e-02 -4.91651952e-03 1.26552134e+02] [ 4.92259381e-03 5.40511506e-05 9.99987883e-01 1.00815077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.84, Y:126.54, Z:1.01 [[-4.25683358e-02 -9.99093526e-01 2.52293167e-04 1.78840102e+02] [ 9.99081430e-01 -4.25690620e-02 -4.91642103e-03 1.26539397e+02] [ 4.92270431e-03 4.27775567e-05 9.99987883e-01 1.00919105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.750281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.84, Y:126.54, Z:1.01 [[-4.43670628e-02 -9.99015265e-01 2.54212981e-04 1.78838607e+02] [ 9.99003168e-01 -4.43677766e-02 -4.91632176e-03 1.26536962e+02] [ 4.92275935e-03 3.58368167e-05 9.99987883e-01 1.00741277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.84, Y:126.54, Z:1.01 [[-4.59472168e-02 -9.98943836e-01 2.56125623e-04 1.78836637e+02] [ 9.98931739e-01 -4.59479209e-02 -4.91622212e-03 1.26538199e+02] [ 4.92279822e-03 2.99652905e-05 9.99987883e-01 1.00574623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.810281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.84, Y:126.52, Z:1.01 [[-4.62400597e-02 -9.98930323e-01 2.58041133e-04 1.78837275e+02] [ 9.98918226e-01 -4.62407697e-02 -4.91612158e-03 1.26522953e+02] [ 4.92279493e-03 3.04402353e-05 9.99987883e-01 1.00700202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.84, Y:126.54, Z:1.01 [[-4.63202793e-02 -9.98926606e-01 2.59950150e-04 1.78835789e+02] [ 9.98914510e-01 -4.63209977e-02 -4.91602063e-03 1.26536329e+02] [ 4.92278495e-03 3.19565280e-05 9.99987883e-01 1.00920348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.870281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.83, Y:126.54, Z:1.01 [[-4.58726812e-02 -9.98947260e-01 2.61861074e-04 1.78830839e+02] [ 9.98935165e-01 -4.58734145e-02 -4.91591884e-03 1.26543241e+02] [ 4.92275612e-03 3.60758572e-05 9.99987883e-01 1.01133391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.83, Y:126.52, Z:1.01 [[-4.50838308e-02 -9.98983172e-01 2.63790825e-04 1.78829564e+02] [ 9.98971078e-01 -4.50845830e-02 -4.91581529e-03 1.26518517e+02] [ 4.92270965e-03 4.18956208e-05 9.99987883e-01 1.01022784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.930281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.83, Y:126.53, Z:1.01 [[-4.46185936e-02 -9.99004060e-01 2.63310894e-04 1.78826071e+02] [ 9.98991966e-01 -4.46193492e-02 -4.91584099e-03 1.26525518e+02] [ 4.92269387e-03 4.37075562e-05 9.99987883e-01 1.00839694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.82, Y:126.53, Z:1.01 [[-4.48743413e-02 -9.98992604e-01 2.65216915e-04 1.78824250e+02] [ 9.98980511e-01 -4.48751031e-02 -4.91573816e-03 1.26527472e+02] [ 4.92268770e-03 4.43560171e-05 9.99987883e-01 1.00852786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.990281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.82, Y:126.52, Z:1.01 [[-4.52566270e-02 -9.98975358e-01 2.67132887e-04 1.78822082e+02] [ 9.98963265e-01 -4.52573936e-02 -4.91563404e-03 1.26517065e+02] [ 4.92268701e-03 4.43909253e-05 9.99987883e-01 1.01000067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02028169299996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:178.82, Y:126.52, Z:1.01 [[-4.77860379e-02 -9.98857559e-01 2.66654485e-04 1.78815942e+02] [ 9.98845464e-01 -4.77867715e-02 -4.91565999e-03 1.26519817e+02] [ 4.92278669e-03 3.14467080e-05 9.99987883e-01 1.01326159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.050281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:178.82, Y:126.51, Z:1.01 [[-4.94143674e-02 -9.98778329e-01 2.66178122e-04 1.78815175e+02] [ 9.98766232e-01 -4.94150789e-02 -4.91568578e-03 1.26509317e+02] [ 4.92283364e-03 2.29442165e-05 9.99987883e-01 1.01249628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.81, Y:126.51, Z:1.01 [[-5.29838490e-02 -9.98595334e-01 2.65463414e-04 1.78812652e+02] [ 9.98583235e-01 -5.29845138e-02 -4.91572438e-03 1.26506546e+02] [ 4.92288488e-03 4.63331664e-06 9.99987883e-01 1.00881387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.110281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:178.81, Y:126.50, Z:1.01 [[-5.39170316e-02 -9.98545384e-01 2.64992013e-04 1.78810469e+02] [ 9.98533284e-01 -5.39176828e-02 -4.91574979e-03 1.26497768e+02] [ 4.92288702e-03 -4.39292476e-07 9.99987883e-01 1.00723117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.81, Y:126.49, Z:1.01 [[-5.41274754e-02 -9.98533999e-01 2.64285654e-04 1.78806595e+02] [ 9.98521898e-01 -5.41281206e-02 -4.91578777e-03 1.26488056e+02] [ 4.92288650e-03 -2.18416867e-06 9.99987883e-01 1.00718294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.170281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:178.80, Y:126.51, Z:1.01 [[-5.43527238e-02 -9.98521764e-01 2.62430053e-04 1.78804541e+02] [ 9.98509663e-01 -5.43533571e-02 -4.91588683e-03 1.26505628e+02] [ 4.92288394e-03 -5.15289528e-06 9.99987883e-01 1.00809533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.80, Y:126.50, Z:1.01 [[-5.51261538e-02 -9.98479363e-01 2.61964793e-04 1.78803629e+02] [ 9.98467262e-01 -5.51267755e-02 -4.91591162e-03 1.26500197e+02] [ 4.92287758e-03 -9.43203089e-06 9.99987883e-01 1.00979594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:178.80, Y:126.49, Z:1.01 [[-5.63083072e-02 -9.98413395e-01 2.61261375e-04 1.78802771e+02] [ 9.98401292e-01 -5.63089110e-02 -4.91594900e-03 1.26493890e+02] [ 4.92286067e-03 -1.59650719e-05 9.99987883e-01 1.01071633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26028169299997 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:178.80, Y:126.47, Z:1.01 [[-5.98361808e-02 -9.98208177e-01 2.59409053e-04 1.78802980e+02] [ 9.98196072e-01 -5.98367327e-02 -4.91604675e-03 1.26469109e+02] [ 4.92276025e-03 -3.52163643e-05 9.99987883e-01 1.01387641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29028169299994 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:178.80, Y:126.49, Z:1.01 [[-6.18670052e-02 -9.98084369e-01 2.57580327e-04 1.78803317e+02] [ 9.98072262e-01 -6.18675235e-02 -4.91614256e-03 1.26488379e+02] [ 4.92266090e-03 -4.70632378e-05 9.99987883e-01 1.01406387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32028169299997 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:178.81, Y:126.46, Z:1.01 [[-6.61785448e-02 -9.97807764e-01 2.57124114e-04 1.78808293e+02] [ 9.97795656e-01 -6.61790085e-02 -4.91616642e-03 1.26464100e+02] [ 4.92240524e-03 -6.87874159e-05 9.99987883e-01 1.01253561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35028169299994 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:178.81, Y:126.47, Z:1.01 [[-6.76381131e-02 -9.97709888e-01 2.55307659e-04 1.78810389e+02] [ 9.97697778e-01 -6.76385502e-02 -4.91626075e-03 1.26465317e+02] [ 4.92227061e-03 -7.78067168e-05 9.99987883e-01 1.01067041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.380281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:178.81, Y:126.52, Z:1.01 [[-6.91368017e-02 -9.97607156e-01 2.54629285e-04 1.78809409e+02] [ 9.97595046e-01 -6.91372172e-02 -4.91629589e-03 1.26523688e+02] [ 4.92213632e-03 -8.58800607e-05 9.99987883e-01 1.00885924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41028169299994 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:178.82, Y:126.49, Z:1.00 [[-6.80183793e-02 -9.97684035e-01 2.59607706e-04 1.78815382e+02] [ 9.97671926e-01 -6.80188330e-02 -4.91603654e-03 1.26491397e+02] [ 4.92230938e-03 -7.53775183e-05 9.99987883e-01 1.00434606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.440281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:178.82, Y:126.48, Z:1.00 [[-6.74985286e-02 -9.97719341e-01 2.54456804e-04 1.78819297e+02] [ 9.97707232e-01 -6.74989632e-02 -4.91630314e-03 1.26479448e+02] [ 4.92226630e-03 -7.79698343e-05 9.99987883e-01 1.00464172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47028169299995 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:178.82, Y:126.48, Z:1.01 [[-6.76181714e-02 -9.97711240e-01 2.53770349e-04 1.78822684e+02] [ 9.97699130e-01 -6.76186011e-02 -4.91633857e-03 1.26483592e+02] [ 4.92224585e-03 -7.92473671e-05 9.99987883e-01 1.00530535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.500281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:178.83, Y:126.48, Z:1.01 [[-6.68054257e-02 -9.97765990e-01 2.55586401e-04 1.78829782e+02] [ 9.97753880e-01 -6.68058743e-02 -4.91624416e-03 1.26480666e+02] [ 4.92233589e-03 -7.34194603e-05 9.99987883e-01 1.00929173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53028169299995 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:178.83, Y:126.48, Z:1.01 [[-6.59329908e-02 -9.97824020e-01 2.57176082e-04 1.78832478e+02] [ 9.97811911e-01 -6.59334578e-02 -4.91616100e-03 1.26479966e+02] [ 4.92242004e-03 -6.75238395e-05 9.99987883e-01 1.01112831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.560281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:178.84, Y:126.49, Z:1.01 [[-6.25358846e-02 -9.98042683e-01 2.58995277e-04 1.78837019e+02] [ 9.98030576e-01 -6.25364017e-02 -4.91606516e-03 1.26493751e+02] [ 4.92263949e-03 -4.89452777e-05 9.99987883e-01 1.00909645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59028169299995 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:178.84, Y:126.51, Z:1.01 [[-6.04174697e-02 -9.98173162e-01 2.60825596e-04 1.78838627e+02] [ 9.98161057e-01 -6.04180216e-02 -4.91596805e-03 1.26505321e+02] [ 4.92274594e-03 -3.66643982e-05 9.99987883e-01 1.00840648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.620281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:178.84, Y:126.51, Z:1.01 [[-5.85041299e-02 -9.98287132e-01 2.62675611e-04 1.78839407e+02] [ 9.98275029e-01 -5.85047141e-02 -4.91586919e-03 1.26514734e+02] [ 4.92281672e-03 -2.53761466e-05 9.99987883e-01 1.00859052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65028169299995 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:178.84, Y:126.51, Z:1.01 [[-5.66561321e-02 -9.98393716e-01 2.64542981e-04 1.78841076e+02] [ 9.98381615e-01 -5.66567479e-02 -4.91576870e-03 1.26507913e+02] [ 4.92286073e-03 -1.43935930e-05 9.99987883e-01 1.00966881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.680281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:178.84, Y:126.52, Z:1.01 [[-5.69550731e-02 -9.98376707e-01 2.66415574e-04 1.78842013e+02] [ 9.98364605e-01 -5.69556945e-02 -4.91566721e-03 1.26518204e+02] [ 4.92286153e-03 -1.39923059e-05 9.99987883e-01 1.00970926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71028169299996 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:178.84, Y:126.51, Z:1.01 [[-5.74975742e-02 -9.98345610e-01 2.68293710e-04 1.78844440e+02] [ 9.98333509e-01 -5.74981982e-02 -4.91556470e-03 1.26514685e+02] [ 4.92285884e-03 -1.47864455e-05 9.99987883e-01 1.00811737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.740281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:178.85, Y:126.51, Z:1.01 [[-5.90619252e-02 -9.98254284e-01 2.70179948e-04 1.78849633e+02] [ 9.98242182e-01 -5.90625396e-02 -4.91546102e-03 1.26507217e+02] [ 4.92283754e-03 -2.06115699e-05 9.99987883e-01 1.00753881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77028169299996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:178.85, Y:126.50, Z:1.01 [[-5.96721360e-02 -9.98217993e-01 2.72061437e-04 1.78851613e+02] [ 9.98205892e-01 -5.96727522e-02 -4.91535688e-03 1.26498310e+02] [ 4.92283234e-03 -2.17365148e-05 9.99987883e-01 1.00711549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.800281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:178.85, Y:126.50, Z:1.01 [[-5.96061282e-02 -9.98221937e-01 2.73935409e-04 1.78853097e+02] [ 9.98209835e-01 -5.96067544e-02 -4.91525244e-03 1.26498606e+02] [ 4.92284121e-03 -1.95341476e-05 9.99987883e-01 1.00987177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83028169299996 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:178.85, Y:126.49, Z:1.01 [[-5.96229724e-02 -9.98220930e-01 2.75806558e-04 1.78854624e+02] [ 9.98208829e-01 -5.96236076e-02 -4.91514745e-03 1.26490333e+02] [ 4.92284764e-03 -1.77431589e-05 9.99987883e-01 1.00861056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.860281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:178.85, Y:126.50, Z:1.01 [[-5.94366072e-02 -9.98232044e-01 2.77675514e-04 1.78854900e+02] [ 9.98219943e-01 -5.94372539e-02 -4.91504186e-03 1.26496682e+02] [ 4.92285655e-03 -1.49521767e-05 9.99987883e-01 1.00653868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89028169299996 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:178.85, Y:126.51, Z:1.01 [[-5.95002778e-02 -9.98228250e-01 2.79546582e-04 1.78854567e+02] [ 9.98216150e-01 -5.95009330e-02 -4.91493544e-03 1.26507587e+02] [ 4.92286069e-03 -1.33921112e-05 9.99987883e-01 1.00501750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.920281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.86, Y:126.51, Z:1.01 [[-5.91512113e-02 -9.98248995e-01 2.81432578e-04 1.78855908e+02] [ 9.98236896e-01 -5.91518799e-02 -4.91482744e-03 1.26505792e+02] [ 4.92286882e-03 -9.78161377e-06 9.99987883e-01 1.00791010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95028169299997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.86, Y:126.50, Z:1.01 [[-5.84893414e-02 -9.98287993e-01 2.83328316e-04 1.78856900e+02] [ 9.98275895e-01 -5.84900274e-02 -4.91471816e-03 1.26500921e+02] [ 4.92287601e-03 -4.61880005e-06 9.99987883e-01 1.00875091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:178.86, Y:126.51, Z:1.01 [[-5.58918778e-02 -9.98436787e-01 2.85222734e-04 1.78857351e+02] [ 9.98424691e-01 -5.58926046e-02 -4.91460821e-03 1.26509147e+02] [ 4.92286747e-03 1.00867385e-05 9.99987883e-01 1.01387164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01028169299997 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:178.86, Y:126.50, Z:1.01 [[-5.45077852e-02 -9.98513304e-01 2.87123466e-04 1.78857835e+02] [ 9.98501210e-01 -5.45085382e-02 -4.91449717e-03 1.26498093e+02] [ 4.92284148e-03 1.88147723e-05 9.99987883e-01 1.01363072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04028169299994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:178.86, Y:126.50, Z:1.01 [[-5.26944851e-02 -9.98610639e-01 2.89025441e-04 1.78857553e+02] [ 9.98598547e-01 -5.26952694e-02 -4.91438531e-03 1.26504438e+02] [ 4.92278772e-03 2.96593819e-05 9.99987883e-01 1.01201858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.07028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.86, Y:126.49, Z:1.01 [[-4.70086266e-02 -9.98894441e-01 2.90927372e-04 1.78857148e+02] [ 9.98882354e-01 -4.70094891e-02 -4.91427271e-03 1.26492495e+02] [ 4.92251604e-03 5.95890071e-05 9.99987883e-01 1.01207775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.86, Y:126.48, Z:1.01 [[-4.43597936e-02 -9.99015577e-01 2.92828616e-04 1.78857020e+02] [ 9.99003493e-01 -4.43606975e-02 -4.91415942e-03 1.26477833e+02] [ 4.92231189e-03 7.45457125e-05 9.99987883e-01 1.01309923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.130281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:178.86, Y:126.46, Z:1.01 [[-4.08266842e-02 -9.99166200e-01 2.94715237e-04 1.78855258e+02] [ 9.99154120e-01 -4.08276400e-02 -4.91404627e-03 1.26456704e+02] [ 4.92198147e-03 9.38417283e-05 9.99987883e-01 1.01270877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.85, Y:126.48, Z:1.01 [[-4.04580548e-02 -9.99181194e-01 2.96580385e-04 1.78852434e+02] [ 9.99169115e-01 -4.04590243e-02 -4.91393370e-03 1.26476182e+02] [ 4.92190949e-03 9.75257618e-05 9.99987883e-01 1.01222485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.190281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.85, Y:126.47, Z:1.01 [[-4.10201765e-02 -9.99158274e-01 2.98448255e-04 1.78851262e+02] [ 9.99146195e-01 -4.10211484e-02 -4.91382025e-03 1.26468716e+02] [ 4.92192685e-03 9.66276642e-05 9.99987883e-01 1.01182641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22028169299995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:178.85, Y:126.46, Z:1.02 [[-4.21338377e-02 -9.99111930e-01 3.00327854e-04 1.78847530e+02] [ 9.99099852e-01 -4.21348053e-02 -4.91370537e-03 1.26461042e+02] [ 4.92199591e-03 9.30242499e-05 9.99987883e-01 1.01597701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.250281693 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:178.85, Y:126.45, Z:1.02 [[-4.23432228e-02 -9.99103078e-01 3.02200568e-04 1.78845842e+02] [ 9.99091000e-01 -4.23441972e-02 -4.91359019e-03 1.26445937e+02] [ 4.92197952e-03 9.38686230e-05 9.99987883e-01 1.01843442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:178.84, Y:126.46, Z:1.02 [[-4.22085034e-02 -9.99108778e-01 3.04061551e-04 1.78839050e+02] [ 9.99096700e-01 -4.22094886e-02 -4.91347503e-03 1.26461840e+02] [ 4.92193031e-03 9.63964647e-05 9.99987883e-01 1.01785916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.310281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:178.84, Y:126.45, Z:1.02 [[-4.23264336e-02 -9.99103788e-01 3.05927386e-04 1.78836560e+02] [ 9.99091711e-01 -4.23274264e-02 -4.91335885e-03 1.26454783e+02] [ 4.92190456e-03 9.76845582e-05 9.99987883e-01 1.01599717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.83, Y:126.46, Z:1.01 [[-4.16774061e-02 -9.99131072e-01 3.07802466e-04 1.78829471e+02] [ 9.99118997e-01 -4.16784160e-02 -4.91324138e-03 1.26456422e+02] [ 4.92180085e-03 1.02760134e-04 9.99987883e-01 1.01087407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.370281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:178.83, Y:126.45, Z:1.01 [[-4.09791239e-02 -9.99159955e-01 3.09677500e-04 1.78825348e+02] [ 9.99147881e-01 -4.09801515e-02 -4.91312320e-03 1.26452116e+02] [ 4.92168659e-03 1.08078134e-04 9.99987883e-01 1.00743853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.82, Y:126.46, Z:1.00 [[-4.05340249e-02 -9.99178111e-01 3.09208330e-04 1.78820671e+02] [ 9.99166037e-01 -4.05350555e-02 -4.91315273e-03 1.26461253e+02] [ 4.92164844e-03 1.09800607e-04 9.99987883e-01 1.00487481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.430281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:178.82, Y:126.50, Z:1.01 [[-4.06822792e-02 -9.99172086e-01 3.08974624e-04 1.78815016e+02] [ 9.99160012e-01 -4.06833069e-02 -4.91316742e-03 1.26496014e+02] [ 4.92166985e-03 1.08836241e-04 9.99987883e-01 1.00625794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.81, Y:126.46, Z:1.01 [[-4.50107790e-02 -9.98986454e-01 3.06055393e-04 1.78814073e+02] [ 9.98974375e-01 -4.50117401e-02 -4.91335149e-03 1.26461669e+02] [ 4.92214767e-03 8.45877170e-05 9.99987883e-01 1.00872312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.490281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.81, Y:126.48, Z:1.01 [[-4.80174854e-02 -9.98846448e-01 3.08977596e-04 1.78811520e+02] [ 9.98834367e-01 -4.80184245e-02 -4.91316772e-03 1.26483604e+02] [ 4.92233674e-03 7.26994818e-05 9.99987883e-01 1.00960158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.81, Y:126.47, Z:1.01 [[-5.08739226e-02 -9.98705036e-01 3.08977596e-04 1.78810850e+02] [ 9.98692952e-01 -5.08748271e-02 -4.91316772e-03 1.26473199e+02] [ 4.92252452e-03 5.86216330e-05 9.99987883e-01 1.01200202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.550281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.81, Y:126.48, Z:1.01 [[-5.07285564e-02 -9.98712431e-01 3.07074323e-04 1.78810728e+02] [ 9.98700347e-01 -5.07294533e-02 -4.91328667e-03 1.26475708e+02] [ 4.92253819e-03 5.74312932e-05 9.99987883e-01 1.01201432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:178.81, Y:126.47, Z:1.01 [[-5.58888661e-02 -9.98436949e-01 3.06359159e-04 1.78808428e+02] [ 9.98424860e-01 -5.58896970e-02 -4.91333126e-03 1.26473171e+02] [ 4.92277380e-03 3.12760873e-05 9.99987883e-01 1.01128514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.610281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.81, Y:126.47, Z:1.01 [[-5.76592155e-02 -9.98336277e-01 3.04467600e-04 1.78808706e+02] [ 9.98324186e-01 -5.76600157e-02 -4.91344848e-03 1.26473093e+02] [ 4.92282947e-03 2.06517846e-05 9.99987883e-01 1.00942003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.81, Y:126.49, Z:1.00 [[-5.97285599e-02 -9.98214610e-01 3.03755852e-04 1.78808440e+02] [ 9.98202517e-01 -5.97293315e-02 -4.91349248e-03 1.26485908e+02] [ 4.92286311e-03 9.73402640e-06 9.99987883e-01 1.00291467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.670281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.81, Y:126.49, Z:1.00 [[-5.88826224e-02 -9.98264867e-01 3.03057534e-04 1.78807935e+02] [ 9.98252775e-01 -5.88834008e-02 -4.91353555e-03 1.26485823e+02] [ 4.92285497e-03 1.32061656e-05 9.99987883e-01 9.99585257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:178.81, Y:126.49, Z:1.00 [[-5.70028275e-02 -9.98373971e-01 3.02582256e-04 1.78807530e+02] [ 9.98361880e-01 -5.70036264e-02 -4.91356482e-03 1.26489458e+02] [ 4.92282350e-03 2.19995020e-05 9.99987883e-01 1.00169921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.81, Y:126.50, Z:1.01 [[-5.25318149e-02 -9.98619205e-01 3.01866531e-04 1.78808224e+02] [ 9.98607118e-01 -5.25326643e-02 -4.91360879e-03 1.26497758e+02] [ 4.92268195e-03 4.33252791e-05 9.99987883e-01 1.00800061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.81, Y:126.49, Z:1.01 [[-5.05669231e-02 -9.98720629e-01 3.01390295e-04 1.78808914e+02] [ 9.98708543e-01 -5.05677940e-02 -4.91363800e-03 1.26494182e+02] [ 4.92259228e-03 5.25335076e-05 9.99987883e-01 1.01140369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.81, Y:126.49, Z:1.01 [[-4.96408682e-02 -9.98767087e-01 3.00672707e-04 1.78808482e+02] [ 9.98755001e-01 -4.96417467e-02 -4.91368191e-03 1.26492745e+02] [ 4.92254968e-03 5.63789341e-05 9.99987883e-01 1.01347694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.81, Y:126.52, Z:1.01 [[-4.91049953e-02 -9.98793577e-01 2.99957771e-04 1.78805966e+02] [ 9.98781492e-01 -4.91058768e-02 -4.91372555e-03 1.26519511e+02] [ 4.92252721e-03 5.83038002e-05 9.99987883e-01 1.01200834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85028169299994 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:178.81, Y:126.52, Z:1.01 [[-4.87553670e-02 -9.98810705e-01 2.99957771e-04 1.78807087e+02] [ 9.98798620e-01 -4.87562528e-02 -4.91372555e-03 1.26516547e+02] [ 4.92250650e-03 6.00269153e-05 9.99987883e-01 1.00926856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.880281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.81, Y:126.51, Z:1.00 [[-4.92426027e-02 -9.98786802e-01 2.99230707e-04 1.78809525e+02] [ 9.98774717e-01 -4.92434790e-02 -4.91376983e-03 1.26510598e+02] [ 4.92254361e-03 5.68972499e-05 9.99987883e-01 1.00358301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.81, Y:126.51, Z:1.01 [[-4.94533043e-02 -9.98776392e-01 2.98750629e-04 1.78809407e+02] [ 9.98764306e-01 -4.94541757e-02 -4.91379901e-03 1.26510296e+02] [ 4.92256092e-03 5.53778666e-05 9.99987883e-01 1.00515441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.940281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.81, Y:126.51, Z:1.01 [[-4.91494958e-02 -9.98791389e-01 2.98029930e-04 1.78808203e+02] [ 9.98779303e-01 -4.91503673e-02 -4.91384272e-03 1.26509962e+02] [ 4.92255208e-03 5.61532333e-05 9.99987883e-01 1.00814381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:178.81, Y:126.52, Z:1.01 [[-4.79697835e-02 -9.98848743e-01 2.97310975e-04 1.78805436e+02] [ 9.98836658e-01 -4.79706657e-02 -4.91388622e-03 1.26522118e+02] [ 4.92249128e-03 6.12470427e-05 9.99987883e-01 1.01382929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.000281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.80, Y:126.52, Z:1.01 [[-4.71972182e-02 -9.98885546e-01 2.96832125e-04 1.78804623e+02] [ 9.98873462e-01 -4.71981074e-02 -4.91391515e-03 1.26515051e+02] [ 4.92244873e-03 6.45746068e-05 9.99987883e-01 1.01388901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.80, Y:126.53, Z:1.01 [[-4.71593639e-02 -9.98887335e-01 2.94920198e-04 1.78802023e+02] [ 9.98875249e-01 -4.71602442e-02 -4.91402990e-03 1.26529872e+02] [ 4.92247073e-03 6.28459623e-05 9.99987883e-01 1.01131604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.060281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:178.80, Y:126.53, Z:1.01 [[-4.87964302e-02 -9.98808701e-01 2.94197706e-04 1.78799418e+02] [ 9.98796614e-01 -4.87972871e-02 -4.91407315e-03 1.26530124e+02] [ 4.92257507e-03 5.40544455e-05 9.99987883e-01 1.00648582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.80, Y:126.53, Z:1.01 [[-5.00498497e-02 -9.98746678e-01 2.92276316e-04 1.78797962e+02] [ 9.98734589e-01 -5.00506820e-02 -4.91418743e-03 1.26532340e+02] [ 4.92265700e-03 4.59521237e-05 9.99987883e-01 1.00606547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.120281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.80, Y:126.54, Z:1.01 [[-5.11909598e-02 -9.98688841e-01 2.90356192e-04 1.78796819e+02] [ 9.98676751e-01 -5.11917689e-02 -4.91430088e-03 1.26535206e+02] [ 4.92272129e-03 3.84041996e-05 9.99987883e-01 1.00649146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.80, Y:126.52, Z:1.01 [[-5.47070864e-02 -9.98502404e-01 2.88436024e-04 1.78796554e+02] [ 9.98490311e-01 -5.47078434e-02 -4.91441357e-03 1.26522036e+02] [ 4.92283348e-03 1.91473276e-05 9.99987883e-01 1.01012641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.180281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.80, Y:126.52, Z:1.01 [[-5.60376308e-02 -9.98428616e-01 2.86526501e-04 1.78797073e+02] [ 9.98416521e-01 -5.60383623e-02 -4.91452490e-03 1.26516539e+02] [ 4.92285877e-03 1.06744597e-05 9.99987883e-01 1.01027969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21028169299996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:178.80, Y:126.53, Z:1.01 [[-5.70994150e-02 -9.98368457e-01 2.84633849e-04 1.78795593e+02] [ 9.98356360e-01 -5.71001243e-02 -4.91463452e-03 1.26532757e+02] [ 4.92286871e-03 3.54325724e-06 9.99987883e-01 1.00624182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.240281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:178.80, Y:126.51, Z:1.00 [[-5.61084135e-02 -9.98424642e-01 2.84158465e-04 1.78795837e+02] [ 9.98412546e-01 -5.61091325e-02 -4.91466200e-03 1.26506870e+02] [ 4.92286353e-03 7.95348808e-06 9.99987883e-01 1.00377197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.79, Y:126.51, Z:1.01 [[-5.40007923e-02 -9.98540853e-01 2.82270798e-04 1.78794144e+02] [ 9.98528758e-01 -5.40015275e-02 -4.91477042e-03 1.26514473e+02] [ 4.92284210e-03 1.64540123e-05 9.99987883e-01 1.00526479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.300281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.79, Y:126.53, Z:1.01 [[-4.86948400e-02 -9.98813663e-01 2.80398707e-04 1.78790333e+02] [ 9.98801572e-01 -4.86956303e-02 -4.91487722e-03 1.26528445e+02] [ 4.92270072e-03 4.07335089e-05 9.99987883e-01 1.01004518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.79, Y:126.53, Z:1.01 [[-4.61381936e-02 -9.98935028e-01 2.78631257e-04 1.78788058e+02] [ 9.98922938e-01 -4.61390062e-02 -4.91497742e-03 1.26526313e+02] [ 4.92259887e-03 5.15629735e-05 9.99987883e-01 1.01175705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.360281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.78, Y:126.54, Z:1.01 [[-4.26524312e-02 -9.99089933e-01 2.76741271e-04 1.78780956e+02] [ 9.99077845e-01 -4.26532766e-02 -4.91508383e-03 1.26539708e+02] [ 4.92241470e-03 6.68457978e-05 9.99987883e-01 1.01490250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.78, Y:126.54, Z:1.02 [[-4.12568786e-02 -9.99148535e-01 2.74847131e-04 1.78777311e+02] [ 9.99136447e-01 -4.12577316e-02 -4.91518975e-03 1.26539210e+02] [ 4.92234421e-03 7.18243995e-05 9.99987883e-01 1.01510954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.420281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.77, Y:126.54, Z:1.01 [[-4.02079871e-02 -9.99191295e-01 2.72946596e-04 1.78773996e+02] [ 9.99179208e-01 -4.02088434e-02 -4.91529529e-03 1.26535956e+02] [ 4.92229513e-03 7.50884342e-05 9.99987883e-01 1.01455798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.77, Y:126.54, Z:1.01 [[-4.16448662e-02 -9.99132440e-01 2.71052375e-04 1.78767794e+02] [ 9.99120351e-01 -4.16456958e-02 -4.91539974e-03 1.26542578e+02] [ 4.92242350e-03 6.61127798e-05 9.99987883e-01 1.01278022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.77, Y:126.53, Z:1.01 [[-4.31349851e-02 -9.99069217e-01 2.69158752e-04 1.78766121e+02] [ 9.99057126e-01 -4.31357873e-02 -4.91550343e-03 1.26534242e+02] [ 4.92253854e-03 5.68748022e-05 9.99987883e-01 1.01221788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:178.76, Y:126.52, Z:1.01 [[-4.62094853e-02 -9.98931735e-01 2.67269200e-04 1.78764284e+02] [ 9.98919642e-01 -4.62102410e-02 -4.91560617e-03 1.26517560e+02] [ 4.92270558e-03 3.98328229e-05 9.99987883e-01 1.00900276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.76, Y:126.53, Z:1.01 [[-4.65840683e-02 -9.98914338e-01 2.65400193e-04 1.78762432e+02] [ 9.98902243e-01 -4.65848103e-02 -4.91570708e-03 1.26525633e+02] [ 4.92273390e-03 3.61152137e-05 9.99987883e-01 1.00755018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.57028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.76, Y:126.54, Z:1.01 [[-4.52805912e-02 -9.98974273e-01 2.63540657e-04 1.78758260e+02] [ 9.98962179e-01 -4.52813399e-02 -4.91580677e-03 1.26541842e+02] [ 4.92269797e-03 4.06765125e-05 9.99987883e-01 1.00845098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:178.76, Y:126.54, Z:1.01 [[-4.40717416e-02 -9.99028335e-01 2.61667552e-04 1.78757213e+02] [ 9.99016241e-01 -4.40724957e-02 -4.91590647e-03 1.26539147e+02] [ 4.92266220e-03 4.47575737e-05 9.99987883e-01 1.01004056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.630281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:178.76, Y:126.54, Z:1.01 [[-4.34896847e-02 -9.99053842e-01 2.59788822e-04 1.78756882e+02] [ 9.99041748e-01 -4.34904365e-02 -4.91600575e-03 1.26538433e+02] [ 4.92265277e-03 4.57443391e-05 9.99987883e-01 1.01107199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66028169299994 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:178.76, Y:126.55, Z:1.01 [[-4.40739376e-02 -9.99028239e-01 2.57915641e-04 1.78756520e+02] [ 9.99016144e-01 -4.40746732e-02 -4.91610403e-03 1.26553407e+02] [ 4.92269429e-03 4.09898270e-05 9.99987883e-01 1.00863247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.690281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:178.76, Y:126.53, Z:1.01 [[-4.44958007e-02 -9.99009539e-01 2.56036209e-04 1.78758210e+02] [ 9.98997443e-01 -4.44965219e-02 -4.91620191e-03 1.26529253e+02] [ 4.92272532e-03 3.70291781e-05 9.99987883e-01 1.00615564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72028169299995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:178.76, Y:126.55, Z:1.00 [[-4.44179711e-02 -9.99013003e-01 2.54166356e-04 1.78758270e+02] [ 9.99000906e-01 -4.44186840e-02 -4.91629858e-03 1.26553966e+02] [ 4.92273594e-03 3.55404118e-05 9.99987883e-01 1.00407802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.750281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:178.76, Y:126.55, Z:1.00 [[-4.52433414e-02 -9.98975964e-01 2.52299855e-04 1.78763076e+02] [ 9.98963866e-01 -4.52440351e-02 -4.91639436e-03 1.26551932e+02] [ 4.92277486e-03 2.96043307e-05 9.99987883e-01 1.00339283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78028169299995 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:178.77, Y:126.54, Z:1.01 [[-4.55162081e-02 -9.98963569e-01 2.50421860e-04 1.78765852e+02] [ 9.98951471e-01 -4.55168893e-02 -4.91649002e-03 1.26538568e+02] [ 4.92279284e-03 2.63793031e-05 9.99987883e-01 1.00636271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.810281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:178.77, Y:126.54, Z:1.01 [[-4.72368873e-02 -9.98883684e-01 2.48557431e-04 1.78767729e+02] [ 9.98871584e-01 -4.72375385e-02 -4.91658427e-03 1.26543054e+02] [ 4.92283706e-03 1.60328177e-05 9.99987883e-01 1.01254436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.77, Y:126.55, Z:1.01 [[-4.77841596e-02 -9.98857654e-01 2.46703040e-04 1.78769425e+02] [ 9.98845553e-01 -4.77847951e-02 -4.91667732e-03 1.26552236e+02] [ 4.92284943e-03 1.14789402e-05 9.99987883e-01 1.01207827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.870281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:178.77, Y:126.54, Z:1.01 [[-4.76469340e-02 -9.98864210e-01 2.44842525e-04 1.78772865e+02] [ 9.98852109e-01 -4.76475620e-02 -4.91676997e-03 1.26543967e+02] [ 4.92285170e-03 1.02924582e-05 9.99987883e-01 1.01010232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:178.78, Y:126.56, Z:1.01 [[-4.61472927e-02 -9.98934617e-01 2.42985331e-04 1.78775478e+02] [ 9.98922516e-01 -4.61479297e-02 -4.91686175e-03 1.26564799e+02] [ 4.92283668e-03 1.58236600e-05 9.99987883e-01 1.00679457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.930281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:178.78, Y:126.56, Z:1.01 [[-4.40496501e-02 -9.99029314e-01 2.41122613e-04 1.78775765e+02] [ 9.99017214e-01 -4.40503033e-02 -4.91695310e-03 1.26562893e+02] [ 4.92280180e-03 2.42955781e-05 9.99987883e-01 1.00699053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96028169299996 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:178.78, Y:126.58, Z:1.01 [[-4.14436112e-02 -9.99140816e-01 2.39251233e-04 1.78775405e+02] [ 9.99128717e-01 -4.14442867e-02 -4.91704415e-03 1.26580311e+02] [ 4.92273510e-03 3.52627114e-05 9.99987883e-01 1.00892851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.990281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:178.78, Y:126.59, Z:1.01 [[-3.66186650e-02 -9.99329284e-01 2.37372072e-04 1.78776379e+02] [ 9.99317188e-01 -3.66193898e-02 -4.91713487e-03 1.26586481e+02] [ 4.92252929e-03 5.71510768e-05 9.99987883e-01 1.00856841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02028169299996 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:178.77, Y:126.60, Z:1.01 [[-3.41815889e-02 -9.99415611e-01 2.35480628e-04 1.78774973e+02] [ 9.99403517e-01 -3.41823338e-02 -4.91722545e-03 1.26601996e+02] [ 4.92240115e-03 6.72615889e-05 9.99987883e-01 1.00737878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.050281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:178.77, Y:126.61, Z:1.01 [[-2.86659291e-02 -9.99589021e-01 2.33577083e-04 1.78770609e+02] [ 9.99576930e-01 -2.86667314e-02 -4.91731587e-03 1.26612256e+02] [ 4.92199084e-03 9.25188354e-05 9.99987883e-01 1.01203387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08028169299996 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:178.77, Y:126.62, Z:1.02 [[-2.50056788e-02 -9.99687282e-01 2.31658670e-04 1.78768013e+02] [ 9.99675194e-01 -2.50065160e-02 -4.91740624e-03 1.26615462e+02] [ 4.92166146e-03 1.08620345e-04 9.99987883e-01 1.01588901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.110281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:178.77, Y:126.63, Z:1.02 [[-2.05258529e-02 -9.99789296e-01 2.29734672e-04 1.78765104e+02] [ 9.99777211e-01 -2.05267347e-02 -4.91749613e-03 1.26628567e+02] [ 4.92117570e-03 1.28747687e-04 9.99987883e-01 1.01979871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:178.76, Y:126.60, Z:1.02 [[-1.61041056e-02 -9.99870295e-01 2.27801787e-04 1.78763379e+02] [ 9.99858213e-01 -1.61050314e-02 -4.91758567e-03 1.26600246e+02] [ 4.92061659e-03 1.48576169e-04 9.99987883e-01 1.02026051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.170281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:178.76, Y:126.58, Z:1.01 [[-8.76483649e-03 -9.99961563e-01 2.25883270e-04 1.78755981e+02] [ 9.99949487e-01 -8.76584151e-03 -4.91767379e-03 1.26580991e+02] [ 4.91946483e-03 1.82769253e-04 9.99987883e-01 1.01378119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20028169299997 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:178.75, Y:126.58, Z:1.01 [[-5.74797645e-03 -9.99983455e-01 2.24001357e-04 1.78748008e+02] [ 9.99971382e-01 -5.74900865e-03 -4.91775951e-03 1.26582248e+02] [ 4.91896593e-03 1.95727781e-04 9.99987883e-01 1.01033415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23028169299994 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:178.75, Y:126.57, Z:1.01 [[-5.66516141e-03 -9.99983928e-01 2.22134926e-04 1.78745245e+02] [ 9.99971854e-01 -5.66618545e-03 -4.91784382e-03 1.26567032e+02] [ 4.91902344e-03 1.94268295e-04 9.99987883e-01 1.01223269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26028169299997 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:178.74, Y:126.58, Z:1.01 [[-6.51775751e-03 -9.99978735e-01 2.20280674e-04 1.78741304e+02] [ 9.99966659e-01 -6.51876215e-03 -4.91792687e-03 1.26578986e+02] [ 4.91925825e-03 1.88219475e-04 9.99987883e-01 1.01373438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29028169299994 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:178.74, Y:126.61, Z:1.01 [[-7.73650488e-03 -9.99970049e-01 2.18431548e-04 1.78737048e+02] [ 9.99957971e-01 -7.73748572e-03 -4.91800900e-03 1.26605104e+02] [ 4.91955181e-03 1.80374167e-04 9.99987883e-01 1.01347596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32028169299997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:178.73, Y:126.62, Z:1.01 [[-1.19340279e-02 -9.99928764e-01 2.16560390e-04 1.78732390e+02] [ 9.99916681e-01 -1.19349489e-02 -4.91809139e-03 1.26618648e+02] [ 4.92032568e-03 1.57849707e-04 9.99987883e-01 1.00857895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.73, Y:126.62, Z:1.01 [[-1.39480437e-02 -9.99902698e-01 2.14665100e-04 1.78730323e+02] [ 9.99890613e-01 -1.39489309e-02 -4.91817412e-03 1.26617640e+02] [ 4.92068992e-03 1.46042712e-04 9.99987883e-01 1.00608127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.380281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:178.72, Y:126.64, Z:1.01 [[-1.61184734e-02 -9.99870066e-01 2.12764704e-04 1.78723432e+02] [ 9.99857979e-01 -1.61193251e-02 -4.91825633e-03 1.26638889e+02] [ 4.92104691e-03 1.33459703e-04 9.99987883e-01 1.00674582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.72, Y:126.64, Z:1.01 [[-1.59844180e-02 -9.99872219e-01 2.10853050e-04 1.78720149e+02] [ 9.99860131e-01 -1.59852619e-02 -4.91833828e-03 1.26641467e+02] [ 4.92108035e-03 1.32206783e-04 9.99987883e-01 1.00688225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.440281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.72, Y:126.64, Z:1.01 [[-1.55930196e-02 -9.99878400e-01 2.08927725e-04 1.78719967e+02] [ 9.99866311e-01 -1.55938588e-02 -4.91842007e-03 1.26644025e+02] [ 4.92107998e-03 1.32206773e-04 9.99987883e-01 1.00689465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47028169299995 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:178.72, Y:126.64, Z:1.01 [[-1.50424288e-02 -9.99886835e-01 2.07002368e-04 1.78717790e+02] [ 9.99874746e-01 -1.50432652e-02 -4.91850110e-03 1.26639632e+02] [ 4.92105849e-03 1.32990238e-04 9.99987883e-01 1.00724938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.500281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:178.71, Y:126.63, Z:1.00 [[-1.44617760e-02 -9.99895402e-01 2.05082188e-04 1.78712864e+02] [ 9.99883313e-01 -1.44626100e-02 -4.91858116e-03 1.26633728e+02] [ 4.92103271e-03 1.33926839e-04 9.99987883e-01 1.00459483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53028169299995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:178.71, Y:126.63, Z:1.01 [[-1.38534133e-02 -9.99904016e-01 2.03172657e-04 1.78709919e+02] [ 9.99891928e-01 -1.38542453e-02 -4.91866004e-03 1.26633028e+02] [ 4.92100273e-03 1.35010469e-04 9.99987883e-01 1.00549398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.560281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:178.70, Y:126.66, Z:1.01 [[-1.28328180e-02 -9.99917636e-01 2.01270790e-04 1.78703726e+02] [ 9.99905547e-01 -1.28336529e-02 -4.91873786e-03 1.26658623e+02] [ 4.92091577e-03 1.38130512e-04 9.99987883e-01 1.00685390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59028169299995 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:178.70, Y:126.66, Z:1.01 [[-1.30760399e-02 -9.99914485e-01 1.99354744e-04 1.78701671e+02] [ 9.99902396e-01 -1.30768625e-02 -4.91881552e-03 1.26655710e+02] [ 4.92100182e-03 1.35016658e-04 9.99987883e-01 1.00736639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.620281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:178.70, Y:126.65, Z:1.01 [[-1.50581788e-02 -9.99886600e-01 1.97425628e-04 1.78699460e+02] [ 9.99874508e-01 -1.50589679e-02 -4.91889294e-03 1.26647303e+02] [ 4.92130817e-03 1.23331284e-04 9.99987883e-01 1.00951570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:178.70, Y:126.63, Z:1.01 [[-2.20942769e-02 -9.99755872e-01 1.96223760e-04 1.78696866e+02] [ 9.99743775e-01 -2.20949750e-02 -4.91894089e-03 1.26625136e+02] [ 4.92207560e-03 8.74930408e-05 9.99987883e-01 1.00883796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.680281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:178.70, Y:126.60, Z:1.01 [[-3.07097167e-02 -9.99528327e-01 1.94330058e-04 1.78697105e+02] [ 9.99516223e-01 -3.07103012e-02 -4.91901570e-03 1.26601098e+02] [ 4.92266347e-03 4.31744671e-05 9.99987883e-01 1.00842224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71028169299996 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:178.70, Y:126.60, Z:1.01 [[-3.44704806e-02 -9.99405698e-01 1.92471410e-04 1.78696612e+02] [ 9.99393592e-01 -3.44710104e-02 -4.91908843e-03 1.26595859e+02] [ 4.92279968e-03 2.27913519e-05 9.99987883e-01 1.00956687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.740281693 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:178.70, Y:126.58, Z:1.01 [[-3.72975695e-02 -9.99304185e-01 1.90635915e-04 1.78696305e+02] [ 9.99292078e-01 -3.72980561e-02 -4.91915956e-03 1.26579725e+02] [ 4.92284708e-03 7.02826445e-06 9.99987883e-01 1.01044544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77028169299996 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:178.69, Y:126.59, Z:1.01 [[-4.08904019e-02 -9.99163620e-01 1.88817189e-04 1.78694898e+02] [ 9.99151510e-01 -4.08908359e-02 -4.91922937e-03 1.26587259e+02] [ 4.92283591e-03 -1.24922857e-05 9.99987883e-01 1.01192728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.800281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:178.69, Y:126.59, Z:1.01 [[-4.12023653e-02 -9.99150805e-01 1.87007438e-04 1.78694436e+02] [ 9.99138695e-01 -4.12027866e-02 -4.91929816e-03 1.26588903e+02] [ 4.92282595e-03 -1.58403526e-05 9.99987883e-01 1.01145925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83028169299996 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:178.69, Y:126.59, Z:1.01 [[-4.00941943e-02 -9.99195887e-01 1.85195060e-04 1.78692903e+02] [ 9.99183778e-01 -4.00946202e-02 -4.91936639e-03 1.26585245e+02] [ 4.92283599e-03 -1.21941324e-05 9.99987883e-01 1.01032094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.860281693 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:178.69, Y:126.58, Z:1.01 [[-3.89710643e-02 -9.99240323e-01 1.83387002e-04 1.78692105e+02] [ 9.99228213e-01 -3.89714949e-02 -4.91943379e-03 1.26578938e+02] [ 4.92284348e-03 -8.47010433e-06 9.99987883e-01 1.01092193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89028169299996 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:178.69, Y:126.58, Z:1.01 [[-3.78013662e-02 -9.99285256e-01 1.81588389e-04 1.78691041e+02] [ 9.99273147e-01 -3.78018021e-02 -4.91950018e-03 1.26580520e+02] [ 4.92284837e-03 -4.50742690e-06 9.99987883e-01 1.01128842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.920281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:178.69, Y:126.58, Z:1.01 [[-3.60133871e-02 -9.99351291e-01 1.79795439e-04 1.78689250e+02] [ 9.99339182e-01 -3.60138358e-02 -4.91956571e-03 1.26581955e+02] [ 4.92284947e-03 2.50640306e-06 9.99987883e-01 1.01035047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95028169299997 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:178.69, Y:126.59, Z:1.01 [[-3.52515218e-02 -9.99378456e-01 1.78003607e-04 1.78688373e+02] [ 9.99366347e-01 -3.52519709e-02 -4.91963054e-03 1.26590961e+02] [ 4.92284776e-03 4.46635125e-06 9.99987883e-01 1.00954906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98028169299994 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:178.69, Y:126.58, Z:1.01 [[-3.70391409e-02 -9.99313800e-01 1.76208630e-04 1.78687654e+02] [ 9.99301690e-01 -3.70395595e-02 -4.91969484e-03 1.26579279e+02] [ 4.92284563e-03 -6.13568856e-06 9.99987883e-01 1.00829617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01028169299997 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:178.69, Y:126.57, Z:1.01 [[-3.81899503e-02 -9.99270483e-01 1.74418725e-04 1.78687575e+02] [ 9.99258372e-01 -3.81903462e-02 -4.91975829e-03 1.26574956e+02] [ 4.92283035e-03 -1.35959538e-05 9.99987883e-01 1.00756977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04028169299994 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:178.69, Y:126.59, Z:1.01 [[-3.94920319e-02 -9.99219871e-01 1.72641710e-04 1.78687242e+02] [ 9.99207759e-01 -3.94924033e-02 -4.91982065e-03 1.26588342e+02] [ 4.92280059e-03 -2.17887782e-05 9.99987883e-01 1.00764561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.07028169299997 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:178.69, Y:126.59, Z:1.01 [[-4.11879183e-02 -9.99151403e-01 1.70862165e-04 1.78688378e+02] [ 9.99139291e-01 -4.11882603e-02 -4.91988245e-03 1.26585288e+02] [ 4.92274497e-03 -3.19246139e-05 9.99987883e-01 1.00743175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10028169299994 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:178.69, Y:126.58, Z:1.01 [[-4.34518044e-02 -9.99055510e-01 1.69079519e-04 1.78690673e+02] [ 9.99043397e-01 -4.34521102e-02 -4.91994371e-03 1.26581937e+02] [ 4.92264374e-03 -4.48626543e-05 9.99987883e-01 1.00861204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.130281693 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:178.69, Y:126.58, Z:1.01 [[-4.27169631e-02 -9.99087200e-01 1.67304379e-04 1.78690625e+02] [ 9.99075087e-01 -4.27172690e-02 -4.92000408e-03 1.26575694e+02] [ 4.92265988e-03 -4.30179953e-05 9.99987883e-01 1.00990221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16028169299994 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:178.69, Y:126.60, Z:1.01 [[-3.97422870e-02 -9.99209950e-01 1.65537791e-04 1.78688923e+02] [ 9.99197837e-01 -3.97426204e-02 -4.92006351e-03 1.26597965e+02] [ 4.92275532e-03 -3.01295738e-05 9.99987883e-01 1.00813883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.190281693 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:178.69, Y:126.60, Z:1.01 [[-3.80088055e-02 -9.99277391e-01 1.63764285e-04 1.78688752e+02] [ 9.99265279e-01 -3.80091511e-02 -4.92012255e-03 1.26604344e+02] [ 4.92279176e-03 -2.33640163e-05 9.99987883e-01 1.00619406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22028169299995 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:178.69, Y:126.60, Z:1.01 [[-3.83944045e-02 -9.99262650e-01 1.61976763e-04 1.78690373e+02] [ 9.99250537e-01 -3.83947366e-02 -4.92018139e-03 1.26596164e+02] [ 4.92277255e-03 -2.70520666e-05 9.99987883e-01 1.00689541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.250281693 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:178.69, Y:126.60, Z:1.01 [[-4.01381735e-02 -9.99194126e-01 1.60193446e-04 1.78691576e+02] [ 9.99182012e-01 -4.01384757e-02 -4.92023945e-03 1.26602730e+02] [ 4.92270428e-03 -3.74270150e-05 9.99987883e-01 1.00824211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28028169299995 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:178.69, Y:126.62, Z:1.01 [[-4.23232399e-02 -9.99103958e-01 1.58414575e-04 1.78692977e+02] [ 9.99091843e-01 -4.23235069e-02 -4.92029673e-03 1.26622672e+02] [ 4.92259259e-03 -4.99721890e-05 9.99987883e-01 1.00903992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.310281693 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:178.70, Y:126.60, Z:1.01 [[-4.76652671e-02 -9.98863353e-01 1.56621909e-04 1.78700085e+02] [ 9.98851237e-01 -4.76654605e-02 -4.92035379e-03 1.26597576e+02] [ 4.92222654e-03 -7.80879902e-05 9.99987883e-01 1.00644668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34028169299995 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:178.70, Y:126.60, Z:1.01 [[-5.06481214e-02 -9.98716548e-01 1.54836004e-04 1.78703245e+02] [ 9.98704432e-01 -5.06482697e-02 -4.92040999e-03 1.26600236e+02] [ 4.92193706e-03 -9.45741184e-05 9.99987883e-01 1.00606609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.370281693 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:178.71, Y:126.57, Z:1.01 [[-5.32937836e-02 -9.98578865e-01 1.53067349e-04 1.78707811e+02] [ 9.98566748e-01 -5.32938911e-02 -4.92046501e-03 1.26567770e+02] [ 4.92162992e-03 -1.09382232e-04 9.99987883e-01 1.01027031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40028169299995 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:178.71, Y:126.57, Z:1.01 [[-5.18826652e-02 -9.98653176e-01 1.51319672e-04 1.78708906e+02] [ 9.98641059e-01 -5.18827812e-02 -4.92051875e-03 1.26566012e+02] [ 4.92174257e-03 -1.04175589e-04 9.99987883e-01 1.01142674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.430281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:178.71, Y:126.58, Z:1.01 [[-4.90115841e-02 -9.98798199e-01 1.49595371e-04 1.78710358e+02] [ 9.98786083e-01 -4.90117265e-02 -4.92057118e-03 1.26575149e+02] [ 4.92198956e-03 -9.17512133e-05 9.99987883e-01 1.01228187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46028169299996 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:178.71, Y:126.61, Z:1.02 [[-4.11632338e-02 -9.99152424e-01 1.47869220e-04 1.78713980e+02] [ 9.99140309e-01 -4.11634629e-02 -4.92062305e-03 1.26609797e+02] [ 4.92253926e-03 -5.48066581e-05 9.99987883e-01 1.01509678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.490281693 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:178.71, Y:126.63, Z:1.01 [[-3.70005708e-02 -9.99315234e-01 1.46120945e-04 1.78714720e+02] [ 9.99303120e-01 -3.70008418e-02 -4.92067496e-03 1.26626802e+02] [ 4.92271205e-03 -3.60486663e-05 9.99987883e-01 1.01482884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52028169299996 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:178.72, Y:126.65, Z:1.01 [[-2.85285733e-02 -9.99592967e-01 1.44344164e-04 1.78715177e+02] [ 9.99580855e-01 -2.85289382e-02 -4.92072708e-03 1.26646320e+02] [ 4.92284217e-03 3.90233907e-06 9.99987883e-01 1.01095671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.550281693 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:178.71, Y:126.67, Z:1.01 [[-2.43058624e-02 -9.99704559e-01 1.42548218e-04 1.78714262e+02] [ 9.99692448e-01 -2.43062697e-02 -4.92077911e-03 1.26673019e+02] [ 4.92279012e-03 2.29005970e-05 9.99987883e-01 1.00794315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58028169299996 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:178.71, Y:126.71, Z:1.01 [[-2.13089794e-02 -9.99772928e-01 1.40726272e-04 1.78712474e+02] [ 9.99760819e-01 -2.13094140e-02 -4.92083121e-03 1.26709123e+02] [ 4.92271263e-03 3.58347218e-05 9.99987883e-01 1.00573464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.610281693 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:178.71, Y:126.69, Z:1.01 [[-1.92939424e-02 -9.99813845e-01 1.38866046e-04 1.78710673e+02] [ 9.99801736e-01 -1.92943922e-02 -4.92088371e-03 1.26689238e+02] [ 4.92264700e-03 4.38952664e-05 9.99987883e-01 1.00787883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64028169299996 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:178.71, Y:126.68, Z:1.01 [[-1.92683545e-02 -9.99814339e-01 1.36998441e-04 1.78710647e+02] [ 9.99802229e-01 -1.92687954e-02 -4.92093570e-03 1.26683831e+02] [ 4.92266187e-03 4.21530129e-05 9.99987883e-01 1.00853309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.670281693 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:178.71, Y:126.69, Z:1.01 [[-2.15232537e-02 -9.99768339e-01 1.35264866e-04 1.78711323e+02] [ 9.99756228e-01 -2.15236587e-02 -4.92098336e-03 1.26693051e+02] [ 4.92275475e-03 2.93163187e-05 9.99987883e-01 1.00625183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70028169299997 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:178.71, Y:126.69, Z:1.00 [[-2.24410645e-02 -9.99748159e-01 1.33417312e-04 1.78711535e+02] [ 9.99736048e-01 -2.24414493e-02 -4.92103345e-03 1.26691822e+02] [ 4.92278820e-03 2.29488673e-05 9.99987883e-01 1.00408316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73028169299994 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:178.71, Y:126.69, Z:1.00 [[-2.35123173e-02 -9.99723539e-01 1.31567920e-04 1.78711155e+02] [ 9.99711427e-01 -2.35126801e-02 -4.92108289e-03 1.26685603e+02] [ 4.92281592e-03 1.58238904e-05 9.99987883e-01 1.00222551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76028169299997 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:178.71, Y:126.66, Z:1.00 [[-2.57985301e-02 -9.99667154e-01 1.29726930e-04 1.78710870e+02] [ 9.99655041e-01 -2.57988561e-02 -4.92113142e-03 1.26664073e+02] [ 4.92284025e-03 2.72422255e-06 9.99987883e-01 1.00336182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79028169299994 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:178.71, Y:126.69, Z:1.01 [[-2.64384711e-02 -9.99650434e-01 1.27906896e-04 1.78710249e+02] [ 9.99638321e-01 -2.64387804e-02 -4.92117873e-03 1.26688591e+02] [ 4.92284015e-03 -2.24780727e-06 9.99987883e-01 1.00575953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82028169299997 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:178.71, Y:126.69, Z:1.01 [[-2.85024430e-02 -9.99593715e-01 1.26088606e-04 1.78709762e+02] [ 9.99581601e-01 -2.85027183e-02 -4.92122531e-03 1.26687743e+02] [ 4.92281976e-03 -1.42310930e-05 9.99987883e-01 1.01127248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85028169299994 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:178.71, Y:126.68, Z:1.01 [[-2.94653817e-02 -9.99565794e-01 1.24257972e-04 1.78709770e+02] [ 9.99553679e-01 -2.94656364e-02 -4.92127153e-03 1.26678992e+02] [ 4.92279603e-03 -2.08046310e-05 9.99987883e-01 1.01200482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.880281693 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:178.71, Y:126.69, Z:1.01 [[-3.06337469e-02 -9.99530669e-01 1.22437025e-04 1.78710309e+02] [ 9.99518554e-01 -3.06339784e-02 -4.92131684e-03 1.26687342e+02] [ 4.92275785e-03 -2.83802964e-05 9.99987883e-01 1.01151699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91028169299994 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:178.71, Y:126.67, Z:1.01 [[-3.36401736e-02 -9.99434002e-01 1.20619272e-04 1.78713836e+02] [ 9.99421886e-01 -3.36403597e-02 -4.92136139e-03 1.26665615e+02] [ 4.92263358e-03 -4.50059113e-05 9.99987883e-01 1.01043249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.940281693 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:178.72, Y:126.64, Z:1.01 [[-3.62928810e-02 -9.99341189e-01 1.18813658e-04 1.78716834e+02] [ 9.99329073e-01 -3.62930261e-02 -4.92140498e-03 1.26643069e+02] [ 4.92247481e-03 -5.98780226e-05 9.99987883e-01 1.00972247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97028169299995 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:178.72, Y:126.67, Z:1.01 [[-3.72047769e-02 -9.99307656e-01 1.17038557e-04 1.78717407e+02] [ 9.99295539e-01 -3.72049022e-02 -4.92144720e-03 1.26671409e+02] [ 4.92239427e-03 -6.61452374e-05 9.99987883e-01 1.00898536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.000281693 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:178.72, Y:126.65, Z:1.01 [[-3.77003875e-02 -9.99289081e-01 1.15263441e-04 1.78719023e+02] [ 9.99276964e-01 -3.77004981e-02 -4.92148877e-03 1.26649456e+02] [ 4.92233548e-03 -7.03619327e-05 9.99987883e-01 1.00929712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03028169299995 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:178.72, Y:126.66, Z:1.01 [[-3.70576570e-02 -9.99313123e-01 1.13487750e-04 1.78719980e+02] [ 9.99301006e-01 -3.70577666e-02 -4.92152972e-03 1.26664833e+02] [ 4.92235483e-03 -6.89719374e-05 9.99987883e-01 1.01142917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.060281693 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:178.72, Y:126.67, Z:1.01 [[-3.59005052e-02 -9.99355363e-01 1.11718698e-04 1.78720587e+02] [ 9.99343246e-01 -3.59006201e-02 -4.92156987e-03 1.26665502e+02] [ 4.92240802e-03 -6.50415183e-05 9.99987883e-01 1.01277874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09028169299995 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:178.72, Y:126.68, Z:1.01 [[-3.36336642e-02 -9.99434222e-01 1.09942979e-04 1.78723013e+02] [ 9.99422106e-01 -3.36337979e-02 -4.92160954e-03 1.26676470e+02] [ 4.92252280e-03 -5.56523196e-05 9.99987883e-01 1.01190837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.120281693 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:178.72, Y:126.70, Z:1.01 [[-3.22868934e-02 -9.99478637e-01 1.08163619e-04 1.78723738e+02] [ 9.99466520e-01 -3.22870346e-02 -4.92164865e-03 1.26699380e+02] [ 4.92257496e-03 -5.07988297e-05 9.99987883e-01 1.01058294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15028169299995 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:178.72, Y:126.70, Z:1.01 [[-3.07388320e-02 -9.99527445e-01 1.06366195e-04 1.78724225e+02] [ 9.99515329e-01 -3.07389831e-02 -4.92168749e-03 1.26699926e+02] [ 4.92263131e-03 -4.49722823e-05 9.99987883e-01 1.01009855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.180281693 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:178.72, Y:126.70, Z:1.01 [[-2.69800568e-02 -9.99635967e-01 1.04557295e-04 1.78723302e+02] [ 9.99623851e-01 -2.69802446e-02 -4.92172592e-03 1.26697735e+02] [ 4.92275523e-03 -2.82704791e-05 9.99987883e-01 1.01043041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21028169299996 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:178.72, Y:126.73, Z:1.01 [[-2.43018421e-02 -9.99704661e-01 1.02752975e-04 1.78722520e+02] [ 9.99692546e-01 -2.43020535e-02 -4.92176359e-03 1.26725973e+02] [ 4.92280711e-03 -1.68865380e-05 9.99987883e-01 1.01225518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.240281693 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:178.72, Y:126.72, Z:1.01 [[-2.08222780e-02 -9.99783188e-01 1.00935060e-04 1.78723263e+02] [ 9.99771073e-01 -2.08225226e-02 -4.92180087e-03 1.26719019e+02] [ 4.92283549e-03 -1.57115223e-06 9.99987883e-01 1.01247546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27028169299996 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:178.72, Y:126.73, Z:1.01 [[-1.97314593e-02 -9.99805311e-01 9.91068689e-05 1.78723517e+02] [ 9.99793196e-01 -1.97317081e-02 -4.92183768e-03 1.26729777e+02] [ 4.92283500e-03 1.97133327e-06 9.99987883e-01 1.01025910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.300281693 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:178.72, Y:126.73, Z:1.01 [[-1.89768467e-02 -9.99819919e-01 9.72792572e-05 1.78724354e+02] [ 9.99807804e-01 -1.89770957e-02 -4.92187381e-03 1.26729882e+02] [ 4.92283355e-03 3.85891562e-06 9.99987883e-01 1.00734946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33028169299996 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:178.73, Y:126.73, Z:1.00 [[-2.00186015e-02 -9.99799603e-01 9.54477908e-05 1.78729616e+02] [ 9.99787488e-01 -2.00188288e-02 -4.92190932e-03 1.26731787e+02] [ 4.92283374e-03 -3.10223412e-06 9.99987883e-01 1.00430712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.360281693 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:178.73, Y:126.73, Z:1.00 [[-1.96471136e-02 -9.99806972e-01 9.36183723e-05 1.78729494e+02] [ 9.99794857e-01 -1.96473364e-02 -4.92194412e-03 1.26734339e+02] [ 4.92283340e-03 -3.10282795e-06 9.99987883e-01 1.00431952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39028169299996 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:178.73, Y:126.75, Z:1.01 [[-2.09680041e-02 -9.99780143e-01 9.17895352e-05 1.78731479e+02] [ 9.99768027e-01 -2.09682019e-02 -4.92197822e-03 1.26749642e+02] [ 4.92282075e-03 -1.14358169e-05 9.99987883e-01 1.00681815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.420281693 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:178.74, Y:126.72, Z:1.01 [[-2.29354297e-02 -9.99736944e-01 8.99520987e-05 1.78736019e+02] [ 9.99724828e-01 -2.29355946e-02 -4.92201180e-03 1.26720647e+02] [ 4.92278015e-03 -2.29611093e-05 9.99987883e-01 1.01451675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45028169299997 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:178.74, Y:126.73, Z:1.02 [[-2.32162504e-02 -9.99730463e-01 8.81270673e-05 1.78738225e+02] [ 9.99718346e-01 -2.32164029e-02 -4.92204448e-03 1.26734570e+02] [ 4.92276380e-03 -2.61691709e-05 9.99987883e-01 1.01626698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48028169299994 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:178.74, Y:126.73, Z:1.02 [[-2.31626781e-02 -9.99731705e-01 8.63154406e-05 1.78741303e+02] [ 9.99719589e-01 -2.31628223e-02 -4.92207625e-03 1.26732457e+02] [ 4.92275499e-03 -2.77172309e-05 9.99987883e-01 1.01557273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51028169299997 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:178.75, Y:126.74, Z:1.01 [[-2.32131278e-02 -9.99730536e-01 8.44994430e-05 1.78746341e+02] [ 9.99718419e-01 -2.32132625e-02 -4.92210743e-03 1.26744700e+02] [ 4.92274260e-03 -2.97818594e-05 9.99987883e-01 1.01133337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54028169299994 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:178.75, Y:126.74, Z:1.01 [[-2.20349065e-02 -9.99757199e-01 8.26802293e-05 1.78748549e+02] [ 9.99745082e-01 -2.20350465e-02 -4.92213798e-03 1.26735657e+02] [ 4.92276474e-03 -2.57996974e-05 9.99987883e-01 1.00960357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.57028169299997 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:178.75, Y:126.76, Z:1.01 [[-2.01996587e-02 -9.99795963e-01 8.08621786e-05 1.78750151e+02] [ 9.99783847e-01 -2.01998120e-02 -4.92216785e-03 1.26757505e+02] [ 4.92279695e-03 -1.85814106e-05 9.99987883e-01 1.01071446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60028169299994 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:178.75, Y:126.76, Z:1.01 [[-1.69790848e-02 -9.99855842e-01 7.90391371e-05 1.78753958e+02] [ 9.99843726e-01 -1.69792681e-02 -4.92219713e-03 1.26763881e+02] [ 4.92282958e-03 -4.54761693e-06 9.99987883e-01 1.01267785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.630281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:178.76, Y:126.78, Z:1.01 [[-1.42028069e-02 -9.99899132e-01 7.72010212e-05 1.78756312e+02] [ 9.99887017e-01 -1.42030149e-02 -4.92222595e-03 1.26781982e+02] [ 4.92282595e-03 7.28287381e-06 9.99987883e-01 1.01108673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66028169299994 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:178.76, Y:126.82, Z:1.01 [[-1.24361092e-02 -9.99922666e-01 7.53502985e-05 1.78756250e+02] [ 9.99910551e-01 -1.24363295e-02 -4.92225429e-03 1.26819329e+02] [ 4.92281071e-03 1.41298664e-05 9.99987883e-01 1.00859149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.690281693 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:178.76, Y:126.79, Z:1.01 [[-1.08638566e-02 -9.99940984e-01 7.34657315e-05 1.78756478e+02] [ 9.99928869e-01 -1.08640866e-02 -4.92228241e-03 1.26792804e+02] [ 4.92279006e-03 1.99855356e-05 9.99987883e-01 1.00680988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72028169299995 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:178.76, Y:126.81, Z:1.01 [[-8.36350066e-03 -9.99965023e-01 7.15770696e-05 1.78756563e+02] [ 9.99952908e-01 -8.36375167e-03 -4.92230988e-03 1.26809983e+02] [ 4.92273636e-03 3.04059570e-05 9.99987883e-01 1.00877909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.750281693 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:178.76, Y:126.81, Z:1.01 [[-6.72877807e-03 -9.99977359e-01 6.96987215e-05 1.78757820e+02] [ 9.99965245e-01 -6.72903964e-03 -4.92233647e-03 1.26811616e+02] [ 4.92269403e-03 3.65749894e-05 9.99987883e-01 1.01056467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78028169299995 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:178.76, Y:126.82, Z:1.01 [[-4.62362145e-03 -9.99989309e-01 6.78106722e-05 1.78758734e+02] [ 9.99977195e-01 -4.62389923e-03 -4.92236248e-03 1.26815189e+02] [ 4.92262341e-03 4.50499850e-05 9.99987883e-01 1.01255970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.810281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:178.76, Y:126.82, Z:1.01 [[-3.54168820e-03 -9.99993726e-01 6.59226132e-05 1.78757208e+02] [ 9.99981612e-01 -3.54196979e-03 -4.92238777e-03 1.26817363e+02] [ 4.92259038e-03 4.84878384e-05 9.99987883e-01 1.01387652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84028169299995 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:178.76, Y:126.83, Z:1.01 [[-2.03983313e-03 -9.99997918e-01 6.40339120e-05 1.78755155e+02] [ 9.99985804e-01 -2.04012362e-03 -4.92241234e-03 1.26825328e+02] [ 4.92253272e-03 5.39921032e-05 9.99987883e-01 1.01376824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.870281693 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:178.75, Y:126.84, Z:1.01 [[ 6.64107509e-05 -9.99999996e-01 6.21417351e-05 1.78752684e+02] [ 9.99987883e-01 6.61040571e-05 -4.92243623e-03 1.26835616e+02] [ 4.92243210e-03 6.24678848e-05 9.99987883e-01 1.01262167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90028169299995 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:178.75, Y:126.84, Z:1.01 [[ 1.33315234e-03 -9.99999110e-01 6.02406556e-05 1.78752240e+02] [ 9.99986996e-01 1.33283965e-03 -4.92245949e-03 1.26836716e+02] [ 4.92237482e-03 6.68022606e-05 9.99987883e-01 1.01090025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.930281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:178.75, Y:126.84, Z:1.01 [[ 2.77377954e-03 -9.99996151e-01 5.83344661e-05 1.78750678e+02] [ 9.99984038e-01 2.77345879e-03 -4.92248208e-03 1.26837536e+02] [ 4.92230135e-03 7.19874151e-05 9.99987883e-01 1.01050873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96028169299996 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:178.75, Y:126.86, Z:1.01 [[ 3.05246626e-03 -9.99995340e-01 5.64311437e-05 1.78750410e+02] [ 9.99983227e-01 3.05215150e-03 -4.92250390e-03 1.26863000e+02] [ 4.92230872e-03 7.14559742e-05 9.99987883e-01 1.00880233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.990281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:178.75, Y:126.85, Z:1.01 [[ 2.94557778e-03 -9.99995660e-01 5.45123468e-05 1.78751470e+02] [ 9.99983547e-01 2.94527376e-03 -4.92252515e-03 1.26853909e+02] [ 4.92234323e-03 6.90111306e-05 9.99987883e-01 1.00719160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02028169299996 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:178.75, Y:126.85, Z:1.01 [[ 1.18930987e-03 -9.99999291e-01 5.25854069e-05 1.78754875e+02] [ 9.99987177e-01 1.18903661e-03 -4.92254573e-03 1.26845945e+02] [ 4.92247972e-03 5.84391649e-05 9.99987883e-01 1.00933892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.050281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:178.76, Y:126.83, Z:1.01 [[ 2.56944005e-04 -9.99999966e-01 5.06743587e-05 1.78756911e+02] [ 9.99987851e-01 2.56691444e-04 -4.92256541e-03 1.26826679e+02] [ 4.92255223e-03 5.19385668e-05 9.99987883e-01 1.01019042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08028169299996 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:178.76, Y:126.86, Z:1.01 [[-6.51545954e-04 -9.99999787e-01 4.87862245e-05 1.78758556e+02] [ 9.99987672e-01 -6.51778216e-04 -4.92258412e-03 1.26858500e+02] [ 4.92261487e-03 4.55783333e-05 9.99987883e-01 1.01198187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.110281693 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:178.76, Y:126.83, Z:1.02 [[-2.25081454e-03 -9.99997466e-01 4.68927121e-05 1.78763280e+02] [ 9.99985350e-01 -2.25101810e-03 -4.92260216e-03 1.26829625e+02] [ 4.92269524e-03 3.58121607e-05 9.99987883e-01 1.01517339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14028169299996 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:178.77, Y:126.84, Z:1.02 [[-3.68682293e-03 -9.99993203e-01 4.50004647e-05 1.78768187e+02] [ 9.99981087e-01 -3.68699978e-03 -4.92261946e-03 1.26835026e+02] [ 4.92275191e-03 2.68507874e-05 9.99987883e-01 1.01597931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.170281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:178.77, Y:126.83, Z:1.01 [[-4.06489548e-03 -9.99991737e-01 4.31282011e-05 1.78770218e+02] [ 9.99979621e-01 -4.06505853e-03 -4.92263586e-03 1.26829785e+02] [ 4.92277050e-03 2.31173219e-05 9.99987883e-01 1.01488626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20028169299997 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:178.77, Y:126.86, Z:1.01 [[-4.57843744e-03 -9.99989518e-01 4.12593254e-05 1.78771913e+02] [ 9.99977402e-01 -4.57858507e-03 -4.92265152e-03 1.26861996e+02] [ 4.92278883e-03 1.87203410e-05 9.99987883e-01 1.01391219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23028169299994 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:178.78, Y:126.84, Z:1.01 [[-5.51896454e-03 -9.99984770e-01 4.05480757e-05 1.78776973e+02] [ 9.99972653e-01 -5.51909728e-03 -4.92265738e-03 1.26842690e+02] [ 4.92280620e-03 1.33789953e-05 9.99987883e-01 1.01235009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26028169299997 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:178.78, Y:126.84, Z:1.01 [[-5.50309770e-03 -9.99984857e-01 3.86586415e-05 1.78779618e+02] [ 9.99972741e-01 -5.50322133e-03 -4.92267222e-03 1.26842929e+02] [ 4.92281042e-03 1.15676415e-05 9.99987883e-01 1.01311362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29028169299994 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:178.78, Y:126.84, Z:1.01 [[-5.62870259e-03 -9.99984158e-01 3.67863586e-05 1.78782744e+02] [ 9.99972041e-01 -5.62881548e-03 -4.92268621e-03 1.26838498e+02] [ 4.92281529e-03 9.07699348e-06 9.99987883e-01 1.01334246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32028169299997 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:178.78, Y:126.85, Z:1.01 [[-5.68408841e-03 -9.99983845e-01 3.49202287e-05 1.78782823e+02] [ 9.99971728e-01 -5.68419144e-03 -4.92269945e-03 1.26847029e+02] [ 4.92281841e-03 6.93818255e-06 9.99987883e-01 1.01443150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35028169299994 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:178.78, Y:126.84, Z:1.02 [[-5.41254188e-03 -9.99985352e-01 3.42162347e-05 1.78783550e+02] [ 9.99973235e-01 -5.41264474e-03 -4.92270434e-03 1.26840310e+02] [ 4.92281743e-03 7.57097548e-06 9.99987883e-01 1.01562744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.380281693 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:178.79, Y:126.85, Z:1.02 [[-5.76028964e-03 -9.99983409e-01 3.23528538e-05 1.78786580e+02] [ 9.99971292e-01 -5.76037911e-03 -4.92271659e-03 1.26850895e+02] [ 4.92282128e-03 3.99565172e-06 9.99987883e-01 1.01674020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41028169299994 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:178.79, Y:126.86, Z:1.02 [[-5.35181000e-03 -9.99985678e-01 3.16497485e-05 1.78788165e+02] [ 9.99973562e-01 -5.35190096e-03 -4.92272111e-03 1.26860279e+02] [ 4.92281999e-03 5.30344372e-06 9.99987883e-01 1.01516208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.440281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:178.79, Y:126.88, Z:1.01 [[-2.64665917e-03 -9.99996497e-01 3.09427858e-05 1.78790235e+02] [ 9.99984381e-01 -2.64677943e-03 -4.92272555e-03 1.26875843e+02] [ 4.92279021e-03 1.79135258e-05 9.99987883e-01 1.01326733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47028169299995 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:178.79, Y:126.89, Z:1.01 [[-5.59367208e-04 -9.99999843e-01 3.04701144e-05 1.78791361e+02] [ 9.99987727e-01 -5.59510427e-04 -4.92272848e-03 1.26891768e+02] [ 4.92274475e-03 2.77161276e-05 9.99987883e-01 1.01486604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.500281693 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:178.79, Y:126.89, Z:1.02 [[ 1.55964496e-03 -9.99998783e-01 2.99927262e-05 1.78792317e+02] [ 9.99986667e-01 1.55947842e-03 -4.92273139e-03 1.26891699e+02] [ 4.92267862e-03 3.76700395e-05 9.99987883e-01 1.01651400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53028169299995 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:178.79, Y:126.89, Z:1.02 [[ 5.26350576e-03 -9.99986147e-01 2.92699026e-05 1.78791997e+02] [ 9.99974032e-01 5.26329790e-03 -4.92273568e-03 1.26887054e+02] [ 4.92251343e-03 5.51799901e-05 9.99987883e-01 1.01618382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.560281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:178.79, Y:126.90, Z:1.01 [[ 7.59185544e-03 -9.99971181e-01 2.85497707e-05 1.78790669e+02] [ 9.99959066e-01 7.59162292e-03 -4.92273986e-03 1.26896653e+02] [ 4.92238125e-03 6.59213315e-05 9.99987883e-01 1.01366180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59028169299995 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:178.79, Y:126.89, Z:1.01 [[ 1.26950326e-02 -9.99919414e-01 2.78296384e-05 1.78788436e+02] [ 9.99907301e-01 1.26947418e-02 -4.92274393e-03 1.26893654e+02] [ 4.92199394e-03 9.03214533e-05 9.99987883e-01 1.01027958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.620281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:178.79, Y:126.89, Z:1.01 [[ 1.51048337e-02 -9.99885915e-01 2.73513628e-05 1.78787766e+02] [ 9.99873802e-01 1.51045160e-02 -4.92274659e-03 1.26888345e+02] [ 4.92177185e-03 1.01705180e-04 9.99987883e-01 1.01027070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65028169299995 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:178.79, Y:126.90, Z:1.01 [[ 1.66333528e-02 -9.99861656e-01 2.66339018e-05 1.78786562e+02] [ 9.99849543e-01 1.66330202e-02 -4.92275047e-03 1.26901248e+02] [ 4.92162644e-03 1.08511740e-04 9.99987883e-01 1.01064837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.680281693 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:178.78, Y:126.91, Z:1.01 [[ 1.63588656e-02 -9.99866185e-01 2.59159181e-05 1.78784200e+02] [ 9.99854072e-01 1.63585398e-02 -4.92275425e-03 1.26907198e+02] [ 4.92167156e-03 1.06442811e-04 9.99987883e-01 1.01073600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71028169299996 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:178.78, Y:126.90, Z:1.01 [[ 1.52524209e-02 -9.99883675e-01 2.51943213e-05 1.78783047e+02] [ 9.99871562e-01 1.52521121e-02 -4.92275794e-03 1.26901702e+02] [ 4.92180104e-03 1.00275062e-04 9.99987883e-01 1.01228115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.740281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:178.78, Y:126.90, Z:1.01 [[ 1.13172499e-02 -9.99935958e-01 2.32851374e-05 1.78782898e+02] [ 9.99923843e-01 1.13169982e-02 -4.92276697e-03 1.26904352e+02] [ 4.92218819e-03 7.89955483e-05 9.99987883e-01 1.01465901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77028169299996 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:178.78, Y:126.90, Z:1.01 [[ 9.10242317e-03 -9.99958572e-01 2.25667455e-05 1.78783779e+02] [ 9.99946457e-01 9.10220179e-03 -4.92277027e-03 1.26904407e+02] [ 4.92236092e-03 6.73746754e-05 9.99987883e-01 1.01487753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.800281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:178.79, Y:126.91, Z:1.02 [[ 5.18076235e-03 -9.99986580e-01 2.18491642e-05 1.78786175e+02] [ 9.99974464e-01 5.18059202e-03 -4.92277345e-03 1.26907280e+02] [ 4.92259420e-03 4.73523256e-05 9.99987883e-01 1.01618077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83028169299996 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:178.79, Y:126.90, Z:1.02 [[ 3.44349835e-03 -9.99994071e-01 2.11316995e-05 1.78787094e+02] [ 9.99981955e-01 3.44335260e-03 -4.92277653e-03 1.26904770e+02] [ 4.92267458e-03 3.80828910e-05 9.99987883e-01 1.01690963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.860281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:178.79, Y:126.93, Z:1.02 [[ 1.30960645e-03 -9.99999142e-01 1.92346329e-05 1.78787693e+02] [ 9.99987026e-01 1.30949589e-03 -4.92278394e-03 1.26927911e+02] [ 4.92275453e-03 2.56812929e-05 9.99987883e-01 1.01595274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89028169299996 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:178.79, Y:126.91, Z:1.01 [[-1.50820808e-03 -9.99998863e-01 1.87566255e-05 1.78792083e+02] [ 9.99986746e-01 -1.50828214e-03 -4.92278577e-03 1.26906786e+02] [ 4.92280846e-03 1.13317916e-05 9.99987883e-01 1.01298815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.920281693 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:178.80, Y:126.90, Z:1.01 [[-2.36081084e-03 -9.99997213e-01 1.68496709e-05 1.78795627e+02] [ 9.99985096e-01 -2.36086518e-03 -4.92279229e-03 1.26901685e+02] [ 4.92281835e-03 5.22763837e-06 9.99987883e-01 1.01267964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95028169299997 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:178.80, Y:126.92, Z:1.01 [[-2.81202648e-03 -9.99996046e-01 1.61382862e-05 1.78801680e+02] [ 9.99983929e-01 -2.81207185e-03 -4.92279463e-03 1.26918565e+02] [ 4.92282054e-03 2.29499798e-06 9.99987883e-01 1.01223452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98028169299994 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:178.80, Y:126.91, Z:1.01 [[-2.30021325e-03 -9.99997354e-01 1.80336462e-05 1.78804234e+02] [ 9.99985237e-01 -2.30027416e-03 -4.92278768e-03 1.26907265e+02] [ 4.92281614e-03 6.70991851e-06 9.99987883e-01 1.01267840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01028169299997 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:178.81, Y:126.90, Z:1.01 [[-1.60344188e-03 -9.99998714e-01 1.75580856e-05 1.78806866e+02] [ 9.99986597e-01 -1.60350888e-03 -4.92278938e-03 1.26903507e+02] [ 4.92281120e-03 9.66444363e-06 9.99987883e-01 1.01203105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04028169299994 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:178.81, Y:126.91, Z:1.01 [[-6.34247045e-04 -9.99999799e-01 1.77934795e-05 1.78809778e+02] [ 9.99987682e-01 -6.34326954e-04 -4.92278853e-03 1.26909640e+02] [ 4.92279882e-03 1.46709963e-05 9.99987883e-01 1.01167861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.07028169299997 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:178.81, Y:126.92, Z:1.01 [[ 3.12202327e-03 -9.99995126e-01 1.96859949e-05 1.78813918e+02] [ 9.99983010e-01 3.12188853e-03 -4.92278096e-03 1.26917685e+02] [ 4.92269551e-03 3.50546971e-05 9.99987883e-01 1.01248479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10028169299994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:178.82, Y:126.91, Z:1.01 [[ 8.71715535e-03 -9.99962005e-01 2.15918602e-05 1.78816082e+02] [ 9.99949889e-01 8.71694343e-03 -4.92277260e-03 1.26911274e+02] [ 4.92239734e-03 6.45033517e-05 9.99987883e-01 1.01414023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.130281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:178.82, Y:126.90, Z:1.02 [[ 1.15240405e-02 -9.99933596e-01 2.35028474e-05 1.78816708e+02] [ 9.99921481e-01 1.15237851e-02 -4.92276348e-03 1.26901305e+02] [ 4.92216574e-03 8.02311275e-05 9.99987883e-01 1.01613649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16028169299994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:178.82, Y:126.90, Z:1.02 [[ 1.46576205e-02 -9.99892571e-01 2.54058317e-05 1.78817288e+02] [ 9.99880458e-01 1.46573179e-02 -4.92275366e-03 1.26904259e+02] [ 4.92185243e-03 9.75586496e-05 9.99987883e-01 1.01651582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.190281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:178.82, Y:126.88, Z:1.02 [[ 1.72671313e-02 -9.99850912e-01 2.73075267e-05 1.78817404e+02] [ 9.99838799e-01 1.72667877e-02 -4.92274311e-03 1.26883376e+02] [ 4.92153767e-03 1.12304776e-04 9.99987883e-01 1.01740625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22028169299995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:178.82, Y:126.87, Z:1.02 [[ 2.01662147e-02 -9.99796641e-01 2.89610905e-05 1.78816970e+02] [ 9.99784530e-01 2.01658278e-02 -4.92273338e-03 1.26865067e+02] [ 4.92114827e-03 1.28227748e-04 9.99987883e-01 1.01847617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.250281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:178.82, Y:126.86, Z:1.02 [[ 1.97890331e-02 -9.99804177e-01 3.08289540e-05 1.78817059e+02] [ 9.99792067e-01 1.97886416e-02 -4.92272168e-03 1.26862550e+02] [ 4.92114764e-03 1.28238446e-04 9.99987883e-01 1.01846378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28028169299995 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:178.82, Y:126.88, Z:1.02 [[ 1.94414418e-02 -9.99810997e-01 3.26861027e-05 1.78816747e+02] [ 9.99798886e-01 1.94410454e-02 -4.92270935e-03 1.26882713e+02] [ 4.92114349e-03 1.28384097e-04 9.99987883e-01 1.01811279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.310281693 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:178.82, Y:126.87, Z:1.02 [[ 1.68362125e-02 -9.99858260e-01 3.45588790e-05 1.78817259e+02] [ 9.99846149e-01 1.68358385e-02 -4.92269620e-03 1.26871794e+02] [ 4.92141663e-03 1.17433122e-04 9.99987883e-01 1.01644574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34028169299995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:178.82, Y:126.87, Z:1.01 [[ 1.52220352e-02 -9.99884137e-01 3.64409916e-05 1.78818457e+02] [ 9.99872026e-01 1.52216714e-02 -4.92268227e-03 1.26866523e+02] [ 4.92155722e-03 1.11369571e-04 9.99987883e-01 1.01454850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.370281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:178.82, Y:126.88, Z:1.01 [[ 1.26580079e-02 -9.99919884e-01 3.83156274e-05 1.78822166e+02] [ 9.99907771e-01 1.26576660e-02 -4.92266768e-03 1.26876159e+02] [ 4.92178830e-03 1.00623260e-04 9.99987883e-01 1.01197438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40028169299995 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:178.82, Y:126.87, Z:1.01 [[ 1.18159346e-02 -9.99930189e-01 4.01964713e-05 1.78823697e+02] [ 9.99918076e-01 1.18155936e-02 -4.92265232e-03 1.26872562e+02] [ 4.92183372e-03 9.83589160e-05 9.99987883e-01 1.01263764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.430281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:178.83, Y:126.86, Z:1.01 [[ 1.17749995e-02 -9.99930671e-01 4.20848298e-05 1.78825620e+02] [ 9.99918559e-01 1.17746497e-02 -4.92263618e-03 1.26857019e+02] [ 4.92179936e-03 1.00045441e-04 9.99987883e-01 1.01274388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46028169299996 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:178.83, Y:126.87, Z:1.01 [[ 1.13920295e-02 -9.99935108e-01 4.39634887e-05 1.78826273e+02] [ 9.99922996e-01 1.13916751e-02 -4.92261940e-03 1.26868661e+02] [ 4.92179914e-03 1.00038729e-04 9.99987883e-01 1.01225148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.490281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:178.83, Y:126.87, Z:1.01 [[ 1.06796856e-02 -9.99942970e-01 4.58430578e-05 1.78827703e+02] [ 9.99930858e-01 1.06793305e-02 -4.92260189e-03 1.26874707e+02] [ 4.92183158e-03 9.84117285e-05 9.99987883e-01 1.01189245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.83, Y:126.85, Z:1.02 [[ 9.78971934e-03 -9.99952078e-01 4.77383392e-05 1.78832293e+02] [ 9.99939966e-01 9.78936575e-03 -4.92258351e-03 1.26849096e+02] [ 4.92188029e-03 9.59261843e-05 9.99987883e-01 1.01577690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.550281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:178.83, Y:126.83, Z:1.02 [[ 9.77543754e-03 -9.99952218e-01 4.96232177e-05 1.78834149e+02] [ 9.99940106e-01 9.77507485e-03 -4.92256451e-03 1.26833162e+02] [ 4.92184423e-03 9.77404675e-05 9.99987883e-01 1.01829575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.84, Y:126.84, Z:1.02 [[ 1.02248210e-02 -9.99947724e-01 5.14836558e-05 1.78837123e+02] [ 9.99935613e-01 1.02244438e-02 -4.92254505e-03 1.26836339e+02] [ 4.92176133e-03 1.01812483e-04 9.99987883e-01 1.01992141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.610281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:178.84, Y:126.84, Z:1.02 [[ 9.84515913e-03 -9.99951534e-01 5.33386170e-05 1.78838667e+02] [ 9.99939423e-01 9.84477732e-03 -4.92252495e-03 1.26841619e+02] [ 4.92176127e-03 1.01798427e-04 9.99987883e-01 1.01903808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:178.84, Y:126.84, Z:1.02 [[ 8.65044044e-03 -9.99962583e-01 5.52024030e-05 1.78839325e+02] [ 9.99950471e-01 8.65006392e-03 -4.92250405e-03 1.26843819e+02] [ 4.92184236e-03 9.77814970e-05 9.99987883e-01 1.01796086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.670281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:178.84, Y:126.86, Z:1.02 [[ 5.36938426e-03 -9.99985583e-01 5.70750979e-05 1.78839535e+02] [ 9.99973471e-01 5.36903826e-03 -4.92248234e-03 1.26860180e+02] [ 4.92210494e-03 8.35042829e-05 9.99987883e-01 1.01536165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70028169299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:178.84, Y:126.85, Z:1.01 [[ 3.46413793e-03 -9.99993998e-01 5.89633887e-05 1.78840991e+02] [ 9.99981886e-01 3.46380572e-03 -4.92245972e-03 1.26848036e+02] [ 4.92222594e-03 7.60144001e-05 9.99987883e-01 1.01426287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:178.85, Y:126.85, Z:1.01 [[-3.60336716e-04 -9.99999933e-01 6.08586135e-05 1.78846017e+02] [ 9.99987820e-01 -3.60631924e-04 -4.92243629e-03 1.26846602e+02] [ 4.92245791e-03 5.90841377e-05 9.99987883e-01 1.01315498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.85, Y:126.86, Z:1.01 [[-2.67062685e-03 -9.99996432e-01 6.27475195e-05 1.78847144e+02] [ 9.99984318e-01 -2.67090337e-03 -4.92241221e-03 1.26858516e+02] [ 4.92256224e-03 4.96006093e-05 9.99987883e-01 1.01350022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.79028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.85, Y:126.85, Z:1.02 [[-4.92848728e-03 -9.99987853e-01 6.46468564e-05 1.78846919e+02] [ 9.99975739e-01 -4.92874579e-03 -4.92238727e-03 1.26853790e+02] [ 4.92264610e-03 4.03853650e-05 9.99987883e-01 1.01523374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82028169299997 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:178.85, Y:126.85, Z:1.02 [[-5.61503986e-03 -9.99984233e-01 6.65554450e-05 1.78847498e+02] [ 9.99972119e-01 -5.61529945e-03 -4.92236146e-03 1.26852191e+02] [ 4.92265758e-03 3.89143335e-05 9.99987883e-01 1.01548778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85028169299994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:178.85, Y:126.85, Z:1.01 [[-6.02175143e-03 -9.99981867e-01 6.84627304e-05 1.78848943e+02] [ 9.99969753e-01 -6.02201549e-03 -4.92233493e-03 1.26850828e+02] [ 4.92265796e-03 3.88195822e-05 9.99987883e-01 1.01323963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.880281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:178.85, Y:126.86, Z:1.01 [[-6.52025160e-03 -9.99978740e-01 7.03712981e-05 1.78849633e+02] [ 9.99966626e-01 -6.52051901e-03 -4.92230765e-03 1.26858094e+02] [ 4.92266186e-03 3.82742653e-05 9.99987883e-01 1.01044323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91028169299994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:178.85, Y:126.85, Z:1.01 [[-6.50786740e-03 -9.99978821e-01 7.22876001e-05 1.78848734e+02] [ 9.99966707e-01 -6.50814439e-03 -4.92227951e-03 1.26846391e+02] [ 4.92264571e-03 4.02516511e-05 9.99987883e-01 1.01123700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.940281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:178.85, Y:126.83, Z:1.01 [[-5.01498692e-03 -9.99987422e-01 7.42045432e-05 1.78847345e+02] [ 9.99975309e-01 -5.01529143e-03 -4.92225061e-03 1.26834789e+02] [ 4.92256085e-03 4.95176886e-05 9.99987883e-01 1.01235420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97028169299995 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:178.85, Y:126.82, Z:1.01 [[-4.51514397e-03 -9.99989804e-01 7.61082625e-05 1.78847673e+02] [ 9.99977691e-01 -4.51546390e-03 -4.92222117e-03 1.26824189e+02] [ 4.92251465e-03 5.38820274e-05 9.99987883e-01 1.01239384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.000281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:178.85, Y:126.84, Z:1.01 [[-4.67341859e-03 -9.99989077e-01 7.79999152e-05 1.78847574e+02] [ 9.99976964e-01 -4.67374591e-03 -4.92219119e-03 1.26835090e+02] [ 4.92250198e-03 5.49946586e-05 9.99987883e-01 1.01162459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03028169299995 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:178.85, Y:126.83, Z:1.01 [[-5.81697064e-03 -9.99983078e-01 7.98956719e-05 1.78848097e+02] [ 9.99970965e-01 -5.81729345e-03 -4.92216042e-03 1.26833119e+02] [ 4.92254191e-03 5.12612895e-05 9.99987883e-01 1.00858837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.060281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:178.85, Y:126.83, Z:1.01 [[-7.19199727e-03 -9.99974134e-01 8.18012880e-05 1.78848576e+02] [ 9.99962021e-01 -7.19231279e-03 -4.92212875e-03 1.26826112e+02] [ 4.92258978e-03 4.63982447e-05 9.99987883e-01 1.00730406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09028169299995 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:178.85, Y:126.83, Z:1.01 [[-9.40981279e-03 -9.99955723e-01 8.37040180e-05 1.78849687e+02] [ 9.99943610e-01 -9.41011082e-03 -4.92209640e-03 1.26825789e+02] [ 4.92266613e-03 3.73832923e-05 9.99987883e-01 1.01236473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.120281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:178.85, Y:126.83, Z:1.02 [[-9.88929592e-03 -9.99951096e-01 8.53649805e-05 1.78849706e+02] [ 9.99938983e-01 -9.88959631e-03 -4.92206759e-03 1.26829198e+02] [ 4.92267111e-03 3.66839889e-05 9.99987883e-01 1.01522101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.85, Y:126.82, Z:1.02 [[-9.25519396e-03 -9.99957166e-01 8.72705599e-05 1.78850035e+02] [ 9.99945053e-01 -9.25551141e-03 -4.92203380e-03 1.26822134e+02] [ 4.92263071e-03 4.17113872e-05 9.99987883e-01 1.01592484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.180281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:178.85, Y:126.83, Z:1.01 [[-7.65065205e-03 -9.99970729e-01 8.91767712e-05 1.78850536e+02] [ 9.99958617e-01 -7.65099832e-03 -4.92199927e-03 1.26829673e+02] [ 4.92253749e-03 5.15165771e-05 9.99987883e-01 1.01244798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21028169299996 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:178.85, Y:126.82, Z:1.01 [[-7.42913113e-03 -9.99972400e-01 9.10865000e-05 1.78850999e+02] [ 9.99960288e-01 -7.42948948e-03 -4.92196392e-03 1.26823130e+02] [ 4.92250480e-03 5.45169674e-05 9.99987883e-01 1.01033647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.240281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:178.85, Y:126.81, Z:1.01 [[-8.31136834e-03 -9.99965456e-01 9.30007109e-05 1.78851221e+02] [ 9.99953344e-01 -8.31172543e-03 -4.92192775e-03 1.26809022e+02] [ 4.92253073e-03 5.20884173e-05 9.99987883e-01 1.01214995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27028169299996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:178.85, Y:126.83, Z:1.01 [[-1.02591924e-02 -9.99947369e-01 9.49043025e-05 1.78851332e+02] [ 9.99935256e-01 -1.02595353e-02 -4.92189105e-03 1.26825712e+02] [ 4.92260568e-03 4.44035308e-05 9.99987883e-01 1.01270873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.300281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:178.85, Y:126.81, Z:1.01 [[-1.63216769e-02 -9.99866788e-01 9.68126942e-05 1.78852066e+02] [ 9.99854674e-01 -1.63219557e-02 -4.92185351e-03 1.26812934e+02] [ 4.92277803e-03 1.64657220e-05 9.99987883e-01 1.01204219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33028169299996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:178.85, Y:126.81, Z:1.01 [[-2.01465538e-02 -9.99797033e-01 9.87275122e-05 1.78852768e+02] [ 9.99784918e-01 -2.01467957e-02 -4.92181510e-03 1.26808482e+02] [ 4.92280518e-03 -4.51334952e-07 9.99987883e-01 1.01253736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.360281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:178.85, Y:126.81, Z:1.01 [[-2.40940656e-02 -9.99709691e-01 1.00633637e-04 1.78853705e+02] [ 9.99697575e-01 -2.40942690e-02 -4.92177613e-03 1.26810499e+02] [ 4.92277199e-03 -1.79823941e-05 9.99987883e-01 1.01270000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39028169299996 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:178.86, Y:126.78, Z:1.02 [[-3.10861838e-02 -9.99516703e-01 1.02541983e-04 1.78855984e+02] [ 9.99504586e-01 -3.10863119e-02 -4.92173637e-03 1.26779593e+02] [ 4.92254536e-03 -5.05068188e-05 9.99987883e-01 1.01527007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.420281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:178.86, Y:126.76, Z:1.02 [[-3.43241057e-02 -9.99410749e-01 1.04433446e-04 1.78857384e+02] [ 9.99398632e-01 -3.43242038e-02 -4.92169623e-03 1.26763559e+02] [ 4.92238071e-03 -6.45621788e-05 9.99987883e-01 1.01519648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45028169299997 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:178.86, Y:126.76, Z:1.01 [[-3.99265415e-02 -9.99202612e-01 1.06296294e-04 1.78859608e+02] [ 9.99190495e-01 -3.99265809e-02 -4.92165600e-03 1.26762846e+02] [ 4.92197558e-03 -9.02944562e-05 9.99987883e-01 1.01399741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48028169299994 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:178.86, Y:126.74, Z:1.01 [[-4.24044033e-02 -9.99100523e-01 1.08150912e-04 1.78862145e+02] [ 9.99088406e-01 -4.24044218e-02 -4.92161525e-03 1.26738865e+02] [ 4.92177444e-03 -1.00645835e-04 9.99987883e-01 1.01468441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51028169299997 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:178.86, Y:126.75, Z:1.02 [[-4.40247886e-02 -9.99030433e-01 1.09992263e-04 1.78863760e+02] [ 9.99018316e-01 -4.40247964e-02 -4.92157409e-03 1.26754143e+02] [ 4.92164468e-03 -1.06786974e-04 9.99987883e-01 1.01575325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54028169299994 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:178.87, Y:126.74, Z:1.02 [[-4.47539027e-02 -9.98998036e-01 1.11831191e-04 1.78865590e+02] [ 9.98985919e-01 -4.47539108e-02 -4.92153231e-03 1.26742371e+02] [ 4.92160599e-03 -1.08539993e-04 9.99987883e-01 1.01599658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.57028169299997 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:178.87, Y:126.73, Z:1.01 [[-4.39148047e-02 -9.99035273e-01 1.13675805e-04 1.78866381e+02] [ 9.99023156e-01 -4.39148320e-02 -4.92148970e-03 1.26734264e+02] [ 4.92173386e-03 -1.02561497e-04 9.99987883e-01 1.01457448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60028169299994 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:178.87, Y:126.74, Z:1.01 [[-4.00070297e-02 -9.99199392e-01 1.15510552e-04 1.78869404e+02] [ 9.99187275e-01 -4.00071135e-02 -4.92144664e-03 1.26744197e+02] [ 4.92212773e-03 -8.14757877e-05 9.99987883e-01 1.01462198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.630281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:178.87, Y:126.75, Z:1.02 [[-3.78802244e-02 -9.99282280e-01 1.17350034e-04 1.78870974e+02] [ 9.99270163e-01 -3.78803431e-02 -4.92140278e-03 1.26748681e+02] [ 4.92231585e-03 -6.91594545e-05 9.99987883e-01 1.01540845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.87, Y:126.77, Z:1.02 [[-3.59443175e-02 -9.99353787e-01 1.19202114e-04 1.78871923e+02] [ 9.99341671e-01 -3.59444687e-02 -4.92135792e-03 1.26769865e+02] [ 4.92246233e-03 -5.77712113e-05 9.99987883e-01 1.01529354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.690281693 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:178.87, Y:126.77, Z:1.01 [[-3.34444468e-02 -9.99440571e-01 1.21074364e-04 1.78873887e+02] [ 9.99428455e-01 -3.34446375e-02 -4.92131186e-03 1.26769379e+02] [ 4.92260802e-03 -4.35853878e-05 9.99987883e-01 1.01398556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72028169299995 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:178.88, Y:126.76, Z:1.01 [[-3.26128417e-02 -9.99468052e-01 1.22964391e-04 1.78875497e+02] [ 9.99455937e-01 -3.26130518e-02 -4.92126463e-03 1.26755046e+02] [ 4.92265702e-03 -3.75989339e-05 9.99987883e-01 1.01174607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.750281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:178.88, Y:126.78, Z:1.01 [[-3.07007692e-02 -9.99528613e-01 1.24847493e-04 1.78878671e+02] [ 9.99516498e-01 -3.07010118e-02 -4.92121686e-03 1.26780626e+02] [ 4.92273000e-03 -2.62980142e-05 9.99987883e-01 1.00847623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78028169299995 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:178.88, Y:126.80, Z:1.01 [[-2.92923790e-02 -9.99570878e-01 1.26741592e-04 1.78880125e+02] [ 9.99558764e-01 -2.92926480e-02 -4.92116808e-03 1.26799286e+02] [ 4.92276889e-03 -1.74670516e-05 9.99987883e-01 1.00841007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.810281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:178.88, Y:126.79, Z:1.01 [[-2.73828030e-02 -9.99625013e-01 1.28670471e-04 1.78881872e+02] [ 9.99612899e-01 -2.73831046e-02 -4.92111764e-03 1.26787904e+02] [ 4.92279568e-03 -6.13333216e-06 9.99987883e-01 1.00630176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84028169299995 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:178.89, Y:126.78, Z:1.01 [[-2.33080259e-02 -9.99728323e-01 1.30607910e-04 1.78885069e+02] [ 9.99716211e-01 -2.33083864e-02 -4.92106622e-03 1.26783143e+02] [ 4.92277354e-03 1.58705058e-05 9.99987883e-01 1.00797312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.870281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:178.89, Y:126.76, Z:1.01 [[-2.07649903e-02 -9.99784376e-01 1.32537410e-04 1.78890804e+02] [ 9.99772265e-01 -2.07653912e-02 -4.92101425e-03 1.26762369e+02] [ 4.92270535e-03 3.03224129e-05 9.99987883e-01 1.00969117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.89, Y:126.75, Z:1.01 [[-2.00804623e-02 -9.99798358e-01 1.34451896e-04 1.78892816e+02] [ 9.99786248e-01 -2.00808809e-02 -4.92096195e-03 1.26753732e+02] [ 4.92266959e-03 3.56079655e-05 9.99987883e-01 1.00789753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.930281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:178.89, Y:126.75, Z:1.01 [[-1.91599238e-02 -9.99816423e-01 1.36349382e-04 1.78893455e+02] [ 9.99804313e-01 -1.91603629e-02 -4.92090937e-03 1.26752446e+02] [ 4.92261851e-03 4.20384519e-05 9.99987883e-01 1.01049682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96028169299996 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:178.90, Y:126.72, Z:1.01 [[-1.57516045e-02 -9.99875926e-01 1.38243361e-04 1.78895101e+02] [ 9.99863819e-01 -1.57520942e-02 -4.92085616e-03 1.26716540e+02] [ 4.92242324e-03 6.07131549e-05 9.99987883e-01 1.01084546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.990281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:178.90, Y:126.72, Z:1.01 [[-1.40791749e-02 -9.99900874e-01 1.40115417e-04 1.78896278e+02] [ 9.99888768e-01 -1.40796940e-02 -4.92080286e-03 1.26722661e+02] [ 4.92228786e-03 7.08189877e-05 9.99987883e-01 1.01110116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02028169299996 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:178.90, Y:126.72, Z:1.01 [[-1.14059517e-02 -9.99934940e-01 1.41970603e-04 1.78897250e+02] [ 9.99922836e-01 -1.14065123e-02 -4.92074933e-03 1.26721263e+02] [ 4.92204858e-03 8.58338186e-05 9.99987883e-01 1.00881256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.050281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:178.90, Y:126.70, Z:1.01 [[-1.08998566e-02 -9.99940584e-01 1.43831571e-04 1.78896665e+02] [ 9.99928481e-01 -1.09004325e-02 -4.92069494e-03 1.26704534e+02] [ 4.92197040e-03 9.01864154e-05 9.99987883e-01 1.00992785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08028169299996 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:178.90, Y:126.69, Z:1.01 [[-1.02692577e-02 -9.99947259e-01 1.45683992e-04 1.78896352e+02] [ 9.99935157e-01 -1.02698503e-02 -4.92064009e-03 1.26686177e+02] [ 4.92187673e-03 9.51432238e-05 9.99987883e-01 1.01111972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.110281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.90, Y:126.69, Z:1.01 [[-1.04570108e-02 -9.99945313e-01 1.47516626e-04 1.78897995e+02] [ 9.99933211e-01 -1.04576101e-02 -4.92058515e-03 1.26691687e+02] [ 4.92185873e-03 9.60521610e-05 9.99987883e-01 1.01408983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.90, Y:126.70, Z:1.01 [[-1.19380601e-02 -9.99928728e-01 1.49343930e-04 1.78899079e+02] [ 9.99916625e-01 -1.19386505e-02 -4.92052969e-03 1.26695502e+02] [ 4.92196196e-03 9.05898989e-05 9.99987883e-01 1.01438302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.170281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.90, Y:126.69, Z:1.01 [[-1.23121666e-02 -9.99924191e-01 1.51180386e-04 1.78899229e+02] [ 9.99912089e-01 -1.23127615e-02 -4.92047327e-03 1.26693015e+02] [ 4.92196170e-03 9.05854091e-05 9.99987883e-01 1.01437063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20028169299997 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:178.90, Y:126.70, Z:1.01 [[-1.69602875e-02 -9.99856152e-01 1.53021303e-04 1.78899495e+02] [ 9.99844048e-01 -1.69608352e-02 -4.92041601e-03 1.26697405e+02] [ 4.92230359e-03 6.95457687e-05 9.99987883e-01 1.01207465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23028169299994 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:178.90, Y:126.71, Z:1.01 [[-1.92537443e-02 -9.99814618e-01 1.54866982e-04 1.78899713e+02] [ 9.99802512e-01 -1.92542733e-02 -4.92035792e-03 1.26714288e+02] [ 4.92242763e-03 6.01010840e-05 9.99987883e-01 1.00947072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26028169299997 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:178.90, Y:126.71, Z:1.01 [[-2.10200748e-02 -9.99779042e-01 1.56729933e-04 1.78902226e+02] [ 9.99766936e-01 -2.10205916e-02 -4.92029858e-03 1.26705853e+02] [ 4.92250595e-03 5.32683601e-05 9.99987883e-01 1.00830271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:178.91, Y:126.71, Z:1.01 [[-2.25160324e-02 -9.99746469e-01 1.58601774e-04 1.78906753e+02] [ 9.99734363e-01 -2.25165403e-02 -4.92023824e-03 1.26705592e+02] [ 4.92256197e-03 4.77753992e-05 9.99987883e-01 1.00810622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32028169299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:178.91, Y:126.69, Z:1.01 [[-2.27904010e-02 -9.99740252e-01 1.60470818e-04 1.78907716e+02] [ 9.99728146e-01 -2.27909148e-02 -4.92017728e-03 1.26693612e+02] [ 4.92255656e-03 4.82943801e-05 9.99987883e-01 1.00787992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:178.91, Y:126.69, Z:1.01 [[-2.12384967e-02 -9.99774425e-01 1.62334934e-04 1.78907220e+02] [ 9.99762320e-01 -2.12390384e-02 -4.92011578e-03 1.26685617e+02] [ 4.92245376e-03 5.78004872e-05 9.99987883e-01 1.00866815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.380281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:178.91, Y:126.68, Z:1.01 [[-2.01864516e-02 -9.99796219e-01 1.64188964e-04 1.78907717e+02] [ 9.99784115e-01 -2.01870152e-02 -4.92005391e-03 1.26683644e+02] [ 4.92236578e-03 6.48350878e-05 9.99987883e-01 1.00862533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41028169299994 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:178.91, Y:126.68, Z:1.01 [[-1.89034928e-02 -9.99821299e-01 1.66039640e-04 1.78909478e+02] [ 9.99809197e-01 -1.89040810e-02 -4.91999145e-03 1.26682638e+02] [ 4.92225107e-03 7.30029365e-05 9.99987883e-01 1.01065359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.440281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:178.91, Y:126.68, Z:1.01 [[-1.92321947e-02 -9.99815030e-01 1.67891793e-04 1.78909926e+02] [ 9.99802928e-01 -1.92327881e-02 -4.91992825e-03 1.26676985e+02] [ 4.92224724e-03 7.32376877e-05 9.99987883e-01 1.01227897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47028169299995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:178.91, Y:126.67, Z:1.01 [[-1.99981564e-02 -9.99800003e-01 1.69742421e-04 1.78910559e+02] [ 9.99787900e-01 -1.99987496e-02 -4.91986440e-03 1.26669077e+02] [ 4.92227507e-03 7.13182012e-05 9.99987883e-01 1.01352069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.500281693 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.91, Y:126.70, Z:1.02 [[-2.10106920e-02 -9.99779236e-01 1.71587286e-04 1.78911587e+02] [ 9.99767134e-01 -2.10112820e-02 -4.91980005e-03 1.26697464e+02] [ 4.92231921e-03 6.81789253e-05 9.99987883e-01 1.01575567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.91, Y:126.69, Z:1.01 [[-2.10657796e-02 -9.99778077e-01 1.73449407e-04 1.78912945e+02] [ 9.99765975e-01 -2.10663781e-02 -4.91973440e-03 1.26691591e+02] [ 4.92229655e-03 6.97707744e-05 9.99987883e-01 1.01478497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.560281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:178.91, Y:126.67, Z:1.01 [[-1.94296990e-02 -9.99811210e-01 1.75329738e-04 1.78913968e+02] [ 9.99799109e-01 -1.94303265e-02 -4.91966739e-03 1.26669645e+02] [ 4.92214532e-03 7.97068596e-05 9.99987883e-01 1.00988852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59028169299995 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:178.91, Y:126.67, Z:1.01 [[-1.84078523e-02 -9.99830545e-01 1.77194562e-04 1.78914348e+02] [ 9.99818446e-01 -1.84085014e-02 -4.91960022e-03 1.26668700e+02] [ 4.92202846e-03 8.66031170e-05 9.99987883e-01 1.00698350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.620281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:178.92, Y:126.65, Z:1.00 [[-1.73743926e-02 -9.99849038e-01 1.79047175e-04 1.78916129e+02] [ 9.99836939e-01 -1.73750633e-02 -4.91953280e-03 1.26647253e+02] [ 4.92190109e-03 9.35440850e-05 9.99987883e-01 1.00483399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65028169299995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:178.92, Y:126.66, Z:1.01 [[-1.68333920e-02 -9.99858292e-01 1.80888616e-04 1.78917805e+02] [ 9.99846195e-01 -1.68340784e-02 -4.91946509e-03 1.26655746e+02] [ 4.92181305e-03 9.80495100e-05 9.99987883e-01 1.00666404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.680281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:178.92, Y:126.64, Z:1.01 [[-1.72732296e-02 -9.99850790e-01 1.82724671e-04 1.78918547e+02] [ 9.99838693e-01 -1.72739197e-02 -4.91939689e-03 1.26643617e+02] [ 4.92181924e-03 9.77213238e-05 9.99987883e-01 1.00926848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:178.92, Y:126.64, Z:1.01 [[-1.71311786e-02 -9.99853234e-01 1.84561299e-04 1.78919336e+02] [ 9.99841137e-01 -1.71318794e-02 -4.91932798e-03 1.26636601e+02] [ 4.92176787e-03 1.00258092e-04 9.99987883e-01 1.01208158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.740281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:178.92, Y:126.64, Z:1.01 [[-1.72713887e-02 -9.99850821e-01 1.86388724e-04 1.78919548e+02] [ 9.99838725e-01 -1.72720968e-02 -4.91925874e-03 1.26637481e+02] [ 4.92174422e-03 1.01396235e-04 9.99987883e-01 1.01110657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.92, Y:126.63, Z:1.01 [[-1.75167397e-02 -9.99846552e-01 1.88214938e-04 1.78918857e+02] [ 9.99834457e-01 -1.75174538e-02 -4.91918887e-03 1.26633947e+02] [ 4.92173108e-03 1.02015629e-04 9.99987883e-01 1.00961814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.800281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:178.92, Y:126.62, Z:1.01 [[-1.61567107e-02 -9.99869454e-01 1.90043179e-04 1.78915087e+02] [ 9.99857359e-01 -1.61574502e-02 -4.91911824e-03 1.26622427e+02] [ 4.92154668e-03 1.10539301e-04 9.99987883e-01 1.00984509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83028169299996 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:178.91, Y:126.61, Z:1.01 [[-1.50329643e-02 -9.99886980e-01 1.91864927e-04 1.78913671e+02] [ 9.99874887e-01 -1.50337264e-02 -4.91904718e-03 1.26613563e+02] [ 4.92137568e-03 1.17893062e-04 9.99987883e-01 1.01085557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.860281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:178.91, Y:126.60, Z:1.01 [[-1.30584126e-02 -9.99914717e-01 1.93677037e-04 1.78911204e+02] [ 9.99902626e-01 -1.30592074e-02 -4.91897583e-03 1.26600328e+02] [ 4.92108559e-03 1.29424162e-04 9.99987883e-01 1.01096459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:178.91, Y:126.62, Z:1.01 [[-1.31963238e-02 -9.99912906e-01 1.95478187e-04 1.78908246e+02] [ 9.99900815e-01 -1.31971258e-02 -4.91890426e-03 1.26624205e+02] [ 4.92105560e-03 1.30547345e-04 9.99987883e-01 1.01048010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.920281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:178.90, Y:126.61, Z:1.01 [[-1.52809252e-02 -9.99883220e-01 1.97289390e-04 1.78904673e+02] [ 9.99871129e-01 -1.52817110e-02 -4.91883161e-03 1.26608467e+02] [ 4.92127211e-03 1.22099667e-04 9.99987883e-01 1.00963665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95028169299997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:178.90, Y:126.62, Z:1.01 [[-1.70445703e-02 -9.99854711e-01 1.99108993e-04 1.78902192e+02] [ 9.99842619e-01 -1.70453436e-02 -4.91875795e-03 1.26617954e+02] [ 4.92143719e-03 1.15239541e-04 9.99987883e-01 1.00932989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.90, Y:126.61, Z:1.01 [[-1.85931056e-02 -9.99827113e-01 2.00927979e-04 1.78900317e+02] [ 9.99815020e-01 -1.85938692e-02 -4.91868365e-03 1.26613562e+02] [ 4.92156930e-03 1.09437207e-04 9.99987883e-01 1.00902122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01028169299997 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:178.90, Y:126.63, Z:1.01 [[-2.02162187e-02 -9.99795611e-01 2.02753384e-04 1.78897192e+02] [ 9.99783517e-01 -2.02169717e-02 -4.91860840e-03 1.26633665e+02] [ 4.92170215e-03 1.03273829e-04 9.99987883e-01 1.00850101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:178.89, Y:126.61, Z:1.01 [[-2.11234020e-02 -9.99776855e-01 2.04592393e-04 1.78894387e+02] [ 9.99764761e-01 -2.11241530e-02 -4.91853191e-03 1.26613381e+02] [ 4.92175620e-03 1.00648139e-04 9.99987883e-01 1.00806315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.07028169299997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:178.89, Y:126.63, Z:1.01 [[-2.07766982e-02 -9.99784120e-01 2.06434662e-04 1.78889205e+02] [ 9.99772027e-01 -2.07774625e-02 -4.91845458e-03 1.26628941e+02] [ 4.92168197e-03 1.04198354e-04 9.99987883e-01 1.00814212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.89, Y:126.63, Z:1.01 [[-2.06585257e-02 -9.99786568e-01 2.08277506e-04 1.78886779e+02] [ 9.99774476e-01 -2.06593004e-02 -4.91837654e-03 1.26628125e+02] [ 4.92162967e-03 1.06624126e-04 9.99987883e-01 1.00768758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.130281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:178.88, Y:126.63, Z:1.01 [[-2.04419672e-02 -9.99791019e-01 2.10133602e-04 1.78884473e+02] [ 9.99778928e-01 -2.04427537e-02 -4.91829724e-03 1.26627170e+02] [ 4.92156512e-03 1.09547476e-04 9.99987883e-01 1.00720144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16028169299994 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:178.88, Y:126.62, Z:1.01 [[-1.94880558e-02 -9.99810067e-01 2.11991790e-04 1.78881372e+02] [ 9.99797977e-01 -1.94888630e-02 -4.91821715e-03 1.26620648e+02] [ 4.92141450e-03 1.16102473e-04 9.99987883e-01 1.00896365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.190281693 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:178.88, Y:126.61, Z:1.01 [[-1.91365072e-02 -9.99816857e-01 2.13848438e-04 1.78880753e+02] [ 9.99804768e-01 -1.91373277e-02 -4.91813642e-03 1.26606636e+02] [ 4.92132819e-03 1.19690736e-04 9.99987883e-01 1.00995724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.88, Y:126.61, Z:1.01 [[-1.88723228e-02 -9.99821879e-01 2.15695070e-04 1.78875943e+02] [ 9.99809790e-01 -1.88731556e-02 -4.91805543e-03 1.26614682e+02] [ 4.92125027e-03 1.22838913e-04 9.99987883e-01 1.01329461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.250281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:178.87, Y:126.61, Z:1.02 [[-1.89087529e-02 -9.99821190e-01 2.17541065e-04 1.78873559e+02] [ 9.99809102e-01 -1.89095944e-02 -4.91797377e-03 1.26609247e+02] [ 4.92120800e-03 1.24506786e-04 9.99987883e-01 1.01551937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.87, Y:126.59, Z:1.02 [[-1.89973438e-02 -9.99819510e-01 2.19392451e-04 1.78872402e+02] [ 9.99807423e-01 -1.89981933e-02 -4.91789118e-03 1.26586733e+02] [ 4.92117161e-03 1.25923331e-04 9.99987883e-01 1.01672227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.310281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:178.87, Y:126.59, Z:1.02 [[-1.99706425e-02 -9.99800542e-01 2.21228511e-04 1.78869216e+02] [ 9.99788455e-01 -1.99714892e-02 -4.91780859e-03 1.26586041e+02] [ 4.92124595e-03 1.22969914e-04 9.99987883e-01 1.01787467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:178.87, Y:126.59, Z:1.02 [[-2.06598301e-02 -9.99786538e-01 2.23052997e-04 1.78866069e+02] [ 9.99774451e-01 -2.06606775e-02 -4.91772583e-03 1.26593356e+02] [ 4.92128451e-03 1.21403308e-04 9.99987883e-01 1.01840294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.370281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:178.86, Y:126.60, Z:1.02 [[-2.15075007e-02 -9.99768662e-01 2.24885132e-04 1.78858344e+02] [ 9.99756574e-01 -2.15083468e-02 -4.91764205e-03 1.26595785e+02] [ 4.92134132e-03 1.19064199e-04 9.99987883e-01 1.01822210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40028169299995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:178.85, Y:126.60, Z:1.02 [[-2.19562082e-02 -9.99758908e-01 2.26727065e-04 1.78854097e+02] [ 9.99746821e-01 -2.19570580e-02 -4.91755713e-03 1.26597194e+02] [ 4.92134980e-03 1.18698754e-04 9.99987883e-01 1.01791664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.430281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:178.85, Y:126.59, Z:1.02 [[-2.22253135e-02 -9.99752961e-01 2.28575577e-04 1.78849502e+02] [ 9.99740874e-01 -2.22261691e-02 -4.91747120e-03 1.26594652e+02] [ 4.92133676e-03 1.19224009e-04 9.99987883e-01 1.01619489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46028169299996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:178.84, Y:126.59, Z:1.01 [[-2.18473457e-02 -9.99761292e-01 2.30426772e-04 1.78838955e+02] [ 9.99749206e-01 -2.18482149e-02 -4.91738446e-03 1.26589207e+02] [ 4.92124505e-03 1.22937184e-04 9.99987883e-01 1.01314153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.490281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:178.83, Y:126.58, Z:1.01 [[-2.23748299e-02 -9.99749625e-01 2.32276435e-04 1.78833486e+02] [ 9.99737540e-01 -2.23757019e-02 -4.91729708e-03 1.26577651e+02] [ 4.92126327e-03 1.22191785e-04 9.99987883e-01 1.01392163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52028169299996 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:178.82, Y:126.61, Z:1.02 [[-2.55277925e-02 -9.99674085e-01 2.34118841e-04 1.78820473e+02] [ 9.99661998e-01 -2.55286354e-02 -4.91720936e-03 1.26613300e+02] [ 4.92158351e-03 1.08514208e-04 9.99987883e-01 1.01683788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.550281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:178.81, Y:126.62, Z:1.02 [[-2.91028222e-02 -9.99576395e-01 2.35981205e-04 1.78814344e+02] [ 9.99564305e-01 -2.91036310e-02 -4.91711999e-03 1.26623639e+02] [ 4.92190498e-03 9.27763204e-05 9.99987883e-01 1.01680750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.81, Y:126.64, Z:1.01 [[-3.84698633e-02 -9.99259733e-01 2.37639439e-04 1.78805228e+02] [ 9.99247636e-01 -3.84705670e-02 -4.91703984e-03 1.26641305e+02] [ 4.92254204e-03 4.83027965e-05 9.99987883e-01 1.01293056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.610281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.80, Y:126.60, Z:1.01 [[-4.42736202e-02 -9.99019414e-01 2.37159662e-04 1.78803765e+02] [ 9.99007314e-01 -4.42742512e-02 -4.91706298e-03 1.26600643e+02] [ 4.92274145e-03 1.92280580e-05 9.99987883e-01 1.00948399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64028169299996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:178.80, Y:126.61, Z:1.01 [[-5.08436783e-02 -9.98706596e-01 2.35262552e-04 1.78800224e+02] [ 9.98694491e-01 -5.08442204e-02 -4.91715375e-03 1.26608841e+02] [ 4.92275563e-03 -1.50507692e-05 9.99987883e-01 1.00866512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.670281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:178.80, Y:126.56, Z:1.01 [[-6.49876445e-02 -9.97886041e-01 2.34556384e-04 1.78800920e+02] [ 9.97873930e-01 -6.49880115e-02 -4.91718744e-03 1.26564067e+02] [ 4.92203606e-03 -8.54987283e-05 9.99987883e-01 1.01284498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.81, Y:126.54, Z:1.01 [[-7.24636824e-02 -9.97371025e-01 2.32712942e-04 1.78805464e+02] [ 9.97358911e-01 -7.24639496e-02 -4.91727468e-03 1.26535514e+02] [ 4.92121058e-03 -1.24225504e-04 9.99987883e-01 1.01457046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:178.82, Y:126.50, Z:1.01 [[-8.74438929e-02 -9.96169419e-01 2.30920225e-04 1.78817223e+02] [ 9.96157303e-01 -8.74439692e-02 -4.91735887e-03 1.26500449e+02] [ 4.91871511e-03 -1.99960133e-04 9.99987883e-01 1.01355192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76028169299997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:178.82, Y:126.52, Z:1.01 [[-9.35067805e-02 -9.95618617e-01 2.29169586e-04 1.78821626e+02] [ 9.95606500e-01 -9.35067744e-02 -4.91744045e-03 1.26520653e+02] [ 4.91732417e-03 -2.31651296e-04 9.99987883e-01 1.01117445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79028169299994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:178.83, Y:126.49, Z:1.01 [[-9.72644926e-02 -9.95258542e-01 2.30912278e-04 1.78829018e+02] [ 9.95246425e-01 -9.72644494e-02 -4.91735862e-03 1.26487420e+02] [ 4.91650272e-03 -2.48469772e-04 9.99987883e-01 1.00850001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:178.85, Y:126.47, Z:1.01 [[-1.00996852e-01 -9.94886719e-01 2.29178532e-04 1.78845108e+02] [ 9.94874602e-01 -1.00996755e-01 -4.91743942e-03 1.26467459e+02] [ 4.91544146e-03 -2.68642000e-04 9.99987883e-01 1.00949948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:178.85, Y:126.48, Z:1.01 [[-1.00500162e-01 -9.94937015e-01 2.29815785e-04 1.78852643e+02] [ 9.94924899e-01 -1.00500074e-01 -4.91740964e-03 1.26478406e+02] [ 4.91560937e-03 -2.65551018e-04 9.99987883e-01 1.01139707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.880281693 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:178.87, Y:126.51, Z:1.01 [[-9.43426266e-02 -9.95539761e-01 2.31516592e-04 1.78866921e+02] [ 9.95527644e-01 -9.43426219e-02 -4.91732956e-03 1.26506778e+02] [ 4.91723898e-03 -2.33432619e-04 9.99987883e-01 1.01322266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.87, Y:126.51, Z:1.01 [[-9.02958099e-02 -9.95914962e-01 2.33242259e-04 1.78874324e+02] [ 9.95902846e-01 -9.02958629e-02 -4.91724770e-03 1.26513705e+02] [ 4.91822137e-03 -2.11720235e-04 9.99987883e-01 1.01189032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.940281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:178.88, Y:126.53, Z:1.01 [[-8.65430959e-02 -9.96248080e-01 2.34990800e-04 1.78880608e+02] [ 9.96235964e-01 -8.65432032e-02 -4.91716414e-03 1.26532089e+02] [ 4.91905219e-03 -1.91440322e-04 9.99987883e-01 1.01000525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:178.89, Y:126.56, Z:1.01 [[-8.05169567e-02 -9.96753211e-01 2.36757307e-04 1.78892657e+02] [ 9.96741096e-01 -8.05171460e-02 -4.91707908e-03 1.26561747e+02] [ 4.92017739e-03 -1.59922506e-04 9.99987883e-01 1.01072800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.000281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:178.91, Y:126.58, Z:1.01 [[-7.50379245e-02 -9.97180652e-01 2.38556029e-04 1.78905981e+02] [ 9.97168538e-01 -7.50381892e-02 -4.91699182e-03 1.26582848e+02] [ 4.92102992e-03 -1.31080294e-04 9.99987883e-01 1.01227366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03028169299995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:178.91, Y:126.58, Z:1.01 [[-7.24334694e-02 -9.97373217e-01 2.40389082e-04 1.78912729e+02] [ 9.97361104e-01 -7.24337748e-02 -4.91690220e-03 1.26584266e+02] [ 4.92139885e-03 -1.16393565e-04 9.99987883e-01 1.01311929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.060281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:178.91, Y:126.58, Z:1.01 [[-7.28093011e-02 -9.97345851e-01 2.42240061e-04 1.78912924e+02] [ 9.97333738e-01 -7.28096110e-02 -4.91681100e-03 1.26581785e+02] [ 4.92139846e-03 -1.16395387e-04 9.99987883e-01 1.01310691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09028169299995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.92, Y:126.57, Z:1.01 [[-7.04727908e-02 -9.97513672e-01 2.44092834e-04 1.78918695e+02] [ 9.97501560e-01 -7.04731383e-02 -4.91671902e-03 1.26574548e+02] [ 4.92169644e-03 -1.03011928e-04 9.99987883e-01 1.01302689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.120281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:178.93, Y:126.61, Z:1.01 [[-6.48917169e-02 -9.97892281e-01 2.45942245e-04 1.78925758e+02] [ 9.97880172e-01 -6.48921412e-02 -4.91662651e-03 1.26610238e+02] [ 4.92222336e-03 -7.36274462e-05 9.99987883e-01 1.01476428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15028169299995 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:178.93, Y:126.63, Z:1.02 [[-6.19668762e-02 -9.98078176e-01 2.47813921e-04 1.78928657e+02] [ 9.98066068e-01 -6.19673452e-02 -4.91653217e-03 1.26626389e+02] [ 4.92243983e-03 -5.73274746e-05 9.99987883e-01 1.01594683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.180281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:178.93, Y:126.62, Z:1.02 [[-5.86763703e-02 -9.98277026e-01 2.49724397e-04 1.78931650e+02] [ 9.98264920e-01 -5.86768887e-02 -4.91643513e-03 1.26617660e+02] [ 4.92261729e-03 -3.91874635e-05 9.99987883e-01 1.01595150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.93, Y:126.61, Z:1.02 [[-5.13080880e-02 -9.98682841e-01 2.51643561e-04 1.78931938e+02] [ 9.98670740e-01 -5.13087051e-02 -4.91633690e-03 1.26614915e+02] [ 4.92277280e-03 -9.38785214e-07 9.99987883e-01 1.01665182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.240281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.93, Y:126.60, Z:1.02 [[-4.81990402e-02 -9.98837719e-01 2.53558162e-04 1.78932157e+02] [ 9.98825620e-01 -4.81997043e-02 -4.91623815e-03 1.26599993e+02] [ 4.92274553e-03 1.63024287e-05 9.99987883e-01 1.01750046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.93, Y:126.57, Z:1.02 [[-4.38032826e-02 -9.99040143e-01 2.55463692e-04 1.78933417e+02] [ 9.99028048e-01 -4.38040094e-02 -4.91613913e-03 1.26566388e+02] [ 4.92261067e-03 3.98723623e-05 9.99987883e-01 1.01874752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.300281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.93, Y:126.58, Z:1.02 [[-4.30605017e-02 -9.99072433e-01 2.57338590e-04 1.78932325e+02] [ 9.99060339e-01 -4.30612467e-02 -4.91604099e-03 1.26581690e+02] [ 4.92256235e-03 4.54095875e-05 9.99987883e-01 1.01989945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.93, Y:126.58, Z:1.02 [[-4.34450791e-02 -9.99055783e-01 2.59204500e-04 1.78931018e+02] [ 9.99043690e-01 -4.34458286e-02 -4.91594260e-03 1.26581107e+02] [ 4.92256224e-03 4.53831048e-05 9.99987883e-01 1.02011985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.360281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.93, Y:126.57, Z:1.02 [[-4.45272342e-02 -9.99008137e-01 2.61083998e-04 1.78927059e+02] [ 9.98996043e-01 -4.45279799e-02 -4.91584278e-03 1.26565897e+02] [ 4.92259248e-03 4.19329975e-05 9.99987883e-01 1.01830387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.92, Y:126.58, Z:1.02 [[-4.43102278e-02 -9.99017785e-01 2.62955996e-04 1.78923524e+02] [ 9.99005692e-01 -4.43109854e-02 -4.91574264e-03 1.26576833e+02] [ 4.92256617e-03 4.48768605e-05 9.99987883e-01 1.01507249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.420281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:178.92, Y:126.57, Z:1.01 [[-4.36815155e-02 -9.99045472e-01 2.64828580e-04 1.78922040e+02] [ 9.99033380e-01 -4.36822898e-02 -4.91564176e-03 1.26569282e+02] [ 4.92251796e-03 4.98499095e-05 9.99987883e-01 1.01266343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45028169299997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:178.92, Y:126.56, Z:1.01 [[-4.26632319e-02 -9.99089474e-01 2.66707334e-04 1.78919741e+02] [ 9.99077384e-01 -4.26640278e-02 -4.91553982e-03 1.26562052e+02] [ 4.92244290e-03 5.67484500e-05 9.99987883e-01 1.01125877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48028169299994 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:178.92, Y:126.56, Z:1.01 [[-4.06932702e-02 -9.99171650e-01 2.68579216e-04 1.78915238e+02] [ 9.99159561e-01 -4.06940991e-02 -4.91543754e-03 1.26555818e+02] [ 4.92229543e-03 6.83282639e-05 9.99987883e-01 1.00921278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51028169299997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:178.91, Y:126.56, Z:1.01 [[-4.10087043e-02 -9.99158753e-01 2.70445801e-04 1.78913927e+02] [ 9.99146665e-01 -4.10095387e-02 -4.91533484e-03 1.26561681e+02] [ 4.92229068e-03 6.86435070e-05 9.99987883e-01 1.00825816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.91, Y:126.56, Z:1.00 [[-4.31746997e-02 -9.99067501e-01 2.72315738e-04 1.78912151e+02] [ 9.99055412e-01 -4.31755170e-02 -4.91523124e-03 1.26560356e+02] [ 4.92240516e-03 5.98448787e-05 9.99987883e-01 1.00244705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.57028169299997 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:178.91, Y:126.56, Z:1.00 [[-4.46642307e-02 -9.99002018e-01 2.74192452e-04 1.78910674e+02] [ 9.98989928e-01 -4.46650392e-02 -4.91512655e-03 1.26564352e+02] [ 4.92246815e-03 5.43851520e-05 9.99987883e-01 1.00203395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60028169299994 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:178.91, Y:126.56, Z:1.00 [[-4.63724151e-02 -9.98924183e-01 2.76074442e-04 1.78909405e+02] [ 9.98912092e-01 -4.63732122e-02 -4.91502084e-03 1.26556626e+02] [ 4.92253563e-03 4.78527125e-05 9.99987883e-01 1.00178046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.630281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.91, Y:126.57, Z:1.01 [[-5.00263245e-02 -9.98747861e-01 2.77957022e-04 1.78907151e+02] [ 9.98735768e-01 -5.00270866e-02 -4.91491437e-03 1.26568885e+02] [ 4.92266559e-03 3.17305187e-05 9.99987883e-01 1.00928844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66028169299994 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:178.91, Y:126.58, Z:1.02 [[-5.26199925e-02 -9.98614569e-01 2.79607928e-04 1.78906921e+02] [ 9.98602475e-01 -5.26207313e-02 -4.91482045e-03 1.26575827e+02] [ 4.92272448e-03 2.05993538e-05 9.99987883e-01 1.01512682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.690281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.91, Y:126.58, Z:1.02 [[-5.61455743e-02 -9.98422554e-01 2.81273053e-04 1.78907406e+02] [ 9.98410457e-01 -5.61462786e-02 -4.91472515e-03 1.26576936e+02] [ 4.92276487e-03 4.88589107e-06 9.99987883e-01 1.02216222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.91, Y:126.58, Z:1.02 [[-5.72112905e-02 -9.98362053e-01 2.83186371e-04 1.78907167e+02] [ 9.98349956e-01 -5.72119913e-02 -4.91461490e-03 1.26578748e+02] [ 4.92276668e-03 1.54763981e-06 9.99987883e-01 1.02117962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.750281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:178.91, Y:126.57, Z:1.02 [[-5.73744500e-02 -9.98352689e-01 2.85105474e-04 1.78907466e+02] [ 9.98340593e-01 -5.73751583e-02 -4.91450357e-03 1.26566128e+02] [ 4.92276583e-03 2.66542856e-06 9.99987883e-01 1.01897760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.91, Y:126.56, Z:1.02 [[-5.52703223e-02 -9.98471386e-01 2.87020310e-04 1.78906032e+02] [ 9.98459292e-01 -5.52710655e-02 -4.91439174e-03 1.26560523e+02] [ 4.92274345e-03 1.49580804e-05 9.99987883e-01 1.01657485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.810281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.90, Y:126.56, Z:1.01 [[-5.39968658e-02 -9.98541063e-01 2.88925765e-04 1.78901907e+02] [ 9.98528971e-01 -5.39976338e-02 -4.91427971e-03 1.26555926e+02] [ 4.92271139e-03 2.31450447e-05 9.99987883e-01 1.01338370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84028169299995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:178.90, Y:126.56, Z:1.01 [[-5.37827646e-02 -9.98552617e-01 2.90827655e-04 1.78899597e+02] [ 9.98540526e-01 -5.37835446e-02 -4.91416715e-03 1.26560985e+02] [ 4.92269621e-03 2.61057045e-05 9.99987883e-01 1.01306434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.870281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.90, Y:126.54, Z:1.01 [[-5.42576962e-02 -9.98526923e-01 2.92733669e-04 1.78899309e+02] [ 9.98514832e-01 -5.42584798e-02 -4.91405361e-03 1.26541927e+02] [ 4.92269812e-03 2.56736818e-05 9.99987883e-01 1.01305540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.90, Y:126.56, Z:1.02 [[-5.70969448e-02 -9.98368595e-01 2.94633246e-04 1.78895545e+02] [ 9.98356502e-01 -5.70977034e-02 -4.91393971e-03 1.26558919e+02] [ 4.92274597e-03 1.35780720e-05 9.99987883e-01 1.01521254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.930281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:178.89, Y:126.56, Z:1.02 [[-5.91958740e-02 -9.98246343e-01 2.96535003e-04 1.78893617e+02] [ 9.98234249e-01 -5.91966165e-02 -4.91382495e-03 1.26561357e+02] [ 4.92276165e-03 5.13323372e-06 9.99987883e-01 1.01532208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.89, Y:126.55, Z:1.01 [[-6.39830164e-02 -9.97950943e-01 2.98454451e-04 1.78891232e+02] [ 9.97938846e-01 -6.39837104e-02 -4.91370836e-03 1.26548000e+02] [ 4.92273612e-03 -1.65545920e-05 9.99987883e-01 1.01295150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.990281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.89, Y:126.56, Z:1.01 [[-6.67383349e-02 -9.97770467e-01 3.00369628e-04 1.78890621e+02] [ 9.97758368e-01 -6.67390049e-02 -4.91359129e-03 1.26562161e+02] [ 4.92268264e-03 -2.82285914e-05 9.99987883e-01 1.01209087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.89, Y:126.54, Z:1.01 [[-6.96692042e-02 -9.97570103e-01 3.02288984e-04 1.78892145e+02] [ 9.97558003e-01 -6.96698481e-02 -4.91347320e-03 1.26543508e+02] [ 4.92259440e-03 -4.07669730e-05 9.99987883e-01 1.01024341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.050281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.89, Y:126.52, Z:1.01 [[-7.48008856e-02 -9.97198443e-01 3.04208949e-04 1.78893654e+02] [ 9.97186341e-01 -7.48014767e-02 -4.91335433e-03 1.26520597e+02] [ 4.92234457e-03 -6.41702463e-05 9.99987883e-01 1.00758004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.90, Y:126.52, Z:1.01 [[-7.83806843e-02 -9.96923455e-01 3.06102839e-04 1.78896862e+02] [ 9.96911351e-01 -7.83812413e-02 -4.91323634e-03 1.26518137e+02] [ 4.92211326e-03 -7.99454319e-05 9.99987883e-01 1.00926165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.110281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.90, Y:126.51, Z:1.01 [[-7.99861036e-02 -9.96795931e-01 3.07982213e-04 1.78900009e+02] [ 9.96783827e-01 -7.99866503e-02 -4.91311853e-03 1.26513096e+02] [ 4.92201102e-03 -8.59895184e-05 9.99987883e-01 1.01015250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.90, Y:126.51, Z:1.01 [[-8.12232165e-02 -9.96695888e-01 3.09859369e-04 1.78902807e+02] [ 9.96683783e-01 -8.12237575e-02 -4.91300014e-03 1.26508987e+02] [ 4.92193498e-03 -9.02178654e-05 9.99987883e-01 1.00984772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.170281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.91, Y:126.53, Z:1.01 [[-8.18890254e-02 -9.96641405e-01 3.11733686e-04 1.78905262e+02] [ 9.96629300e-01 -8.18895675e-02 -4.91288121e-03 1.26526315e+02] [ 4.92190857e-03 -9.16281280e-05 9.99987883e-01 1.00909154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:178.91, Y:126.50, Z:1.01 [[-8.20909644e-02 -9.96624792e-01 3.13620447e-04 1.78909145e+02] [ 9.96612687e-01 -8.20915133e-02 -4.91276076e-03 1.26502435e+02] [ 4.92192475e-03 -9.07351518e-05 9.99987883e-01 1.00922770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23028169299994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:178.91, Y:126.51, Z:1.01 [[-8.16067178e-02 -9.96664559e-01 3.15505603e-04 1.78913482e+02] [ 9.96652456e-01 -8.16072819e-02 -4.91263969e-03 1.26507071e+02] [ 4.92200143e-03 -8.64549666e-05 9.99987883e-01 1.00878637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26028169299997 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:178.91, Y:126.51, Z:1.01 [[-8.16371910e-02 -9.96662063e-01 3.17380407e-04 1.78914969e+02] [ 9.96649960e-01 -8.16377640e-02 -4.91251856e-03 1.26510965e+02] [ 4.92203112e-03 -8.47270462e-05 9.99987883e-01 1.00800844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29028169299994 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:178.92, Y:126.51, Z:1.01 [[-8.17157051e-02 -9.96655628e-01 3.19264206e-04 1.78916702e+02] [ 9.96643526e-01 -8.17162864e-02 -4.91239613e-03 1.26506528e+02] [ 4.92205634e-03 -8.32273100e-05 9.99987883e-01 1.00989317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32028169299997 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:178.92, Y:126.50, Z:1.01 [[-8.11264621e-02 -9.96703764e-01 3.21150779e-04 1.78921994e+02] [ 9.96691662e-01 -8.11270599e-02 -4.91227279e-03 1.26498013e+02] [ 4.92213481e-03 -7.84270088e-05 9.99987883e-01 1.00979085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35028169299994 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:178.92, Y:126.50, Z:1.01 [[-8.12935889e-02 -9.96690147e-01 3.23031670e-04 1.78923782e+02] [ 9.96678045e-01 -8.12941939e-02 -4.91214910e-03 1.26503793e+02] [ 4.92215121e-03 -7.73676568e-05 9.99987883e-01 1.01112417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.380281693 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:178.92, Y:126.60, Z:1.01 [[-8.13577263e-02 -9.96684913e-01 3.24914064e-04 1.78919266e+02] [ 9.96672811e-01 -8.13583398e-02 -4.91202459e-03 1.26600239e+02] [ 4.92217527e-03 -7.57981387e-05 9.99987883e-01 1.01121310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41028169299994 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:178.93, Y:126.50, Z:1.01 [[-8.18543575e-02 -9.96644248e-01 3.26468038e-04 1.78927067e+02] [ 9.96632147e-01 -8.18549726e-02 -4.91192116e-03 1.26504020e+02] [ 4.92216101e-03 -7.66936095e-05 9.99987883e-01 1.01071867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.440281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:178.93, Y:126.51, Z:1.01 [[-8.27490682e-02 -9.96570361e-01 3.28835772e-04 1.78931293e+02] [ 9.96558259e-01 -8.27496841e-02 -4.91176265e-03 1.26509562e+02] [ 4.92212813e-03 -7.87397778e-05 9.99987883e-01 1.00845385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47028169299995 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:178.93, Y:126.52, Z:1.01 [[-8.32113783e-02 -9.96531865e-01 3.30736039e-04 1.78932750e+02] [ 9.96519764e-01 -8.32119979e-02 -4.91163469e-03 1.26520141e+02] [ 4.92212168e-03 -7.91188925e-05 9.99987883e-01 1.01372905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.500281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:178.93, Y:126.51, Z:1.00 [[-8.36897633e-02 -9.96491803e-01 3.32650402e-04 1.78934636e+02] [ 9.96479702e-01 -8.36903865e-02 -4.91150503e-03 1.26507713e+02] [ 4.92211414e-03 -7.95633197e-05 9.99987883e-01 1.00495823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53028169299995 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:178.94, Y:126.50, Z:1.01 [[-8.35465301e-02 -9.96503821e-01 3.34566673e-04 1.78937449e+02] [ 9.96491721e-01 -8.35471646e-02 -4.91137449e-03 1.26500480e+02] [ 4.92215555e-03 -7.69353775e-05 9.99987883e-01 1.00576784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.560281693 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:178.94, Y:126.50, Z:1.01 [[-8.34077657e-02 -9.96515445e-01 3.36472243e-04 1.78940142e+02] [ 9.96503345e-01 -8.34084113e-02 -4.91124394e-03 1.26501946e+02] [ 4.92219506e-03 -7.43401688e-05 9.99987883e-01 1.00892804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59028169299995 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:178.94, Y:126.50, Z:1.01 [[-8.30815700e-02 -9.96542693e-01 3.38377115e-04 1.78943027e+02] [ 9.96530594e-01 -8.30822289e-02 -4.91111270e-03 1.26498212e+02] [ 4.92224659e-03 -7.08198058e-05 9.99987883e-01 1.01165492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.620281693 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:178.94, Y:126.49, Z:1.01 [[-8.32960695e-02 -9.96524786e-01 3.40283528e-04 1.78943590e+02] [ 9.96512687e-01 -8.32967351e-02 -4.91098060e-03 1.26492015e+02] [ 4.92225840e-03 -6.99685279e-05 9.99987883e-01 1.00950839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65028169299995 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:178.94, Y:126.50, Z:1.00 [[-8.20161255e-02 -9.96630944e-01 3.42186363e-04 1.78944253e+02] [ 9.96618847e-01 -8.20168161e-02 -4.91084801e-03 1.26504607e+02] [ 4.92236812e-03 -6.17393483e-05 9.99987883e-01 1.00361355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.680281693 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:178.95, Y:126.49, Z:1.00 [[-8.13393748e-02 -9.96686404e-01 3.43104121e-04 1.78945609e+02] [ 9.96674308e-01 -8.13400782e-02 -4.91078389e-03 1.26494940e+02] [ 4.92241965e-03 -5.74770296e-05 9.99987883e-01 1.00363954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71028169299996 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:178.95, Y:126.50, Z:1.01 [[-8.07730303e-02 -9.96732461e-01 3.45017498e-04 1.78945143e+02] [ 9.96720365e-01 -8.07737499e-02 -4.91064946e-03 1.26502074e+02] [ 4.92247208e-03 -5.27620706e-05 9.99987883e-01 1.01067733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.740281693 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:178.95, Y:126.49, Z:1.01 [[-8.06489553e-02 -9.96742507e-01 3.46690996e-04 1.78945861e+02] [ 9.96730412e-01 -8.06496847e-02 -4.91053131e-03 1.26492093e+02] [ 4.92249581e-03 -5.04717603e-05 9.99987883e-01 1.01336339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77028169299996 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:178.95, Y:126.50, Z:1.01 [[-7.80705020e-02 -9.96947780e-01 3.48606232e-04 1.78946096e+02] [ 9.96935687e-01 -7.80712721e-02 -4.91039534e-03 1.26501665e+02] [ 4.92262386e-03 -3.58190357e-05 9.99987883e-01 1.01453361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.800281693 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:178.95, Y:126.48, Z:1.01 [[-7.69883699e-02 -9.97031929e-01 3.50524987e-04 1.78948430e+02] [ 9.97019838e-01 -7.69891625e-02 -4.91025836e-03 1.26480200e+02] [ 4.92267100e-03 -2.85524207e-05 9.99987883e-01 1.01300091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83028169299996 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:178.95, Y:126.48, Z:1.01 [[-7.60649030e-02 -9.97102806e-01 3.52438811e-04 1.78949153e+02] [ 9.97090717e-01 -7.60657163e-02 -4.91012099e-03 1.26481497e+02] [ 4.92270393e-03 -2.20744103e-05 9.99987883e-01 1.01316692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.860281693 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:178.95, Y:126.46, Z:1.02 [[-7.42115856e-02 -9.97242456e-01 3.54341311e-04 1.78949310e+02] [ 9.97230368e-01 -7.42124307e-02 -4.90998369e-03 1.26464789e+02] [ 4.92274073e-03 -1.10177595e-05 9.99987883e-01 1.01915009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89028169299996 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:178.95, Y:126.47, Z:1.02 [[-7.42249990e-02 -9.97241457e-01 3.56236744e-04 1.78948502e+02] [ 9.97229370e-01 -7.42258533e-02 -4.90984617e-03 1.26466751e+02] [ 4.92274412e-03 -9.18358397e-06 9.99987883e-01 1.02123364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.920281693 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:178.95, Y:126.47, Z:1.02 [[-7.43111950e-02 -9.97235037e-01 3.58125161e-04 1.78948954e+02] [ 9.97222950e-01 -7.43120576e-02 -4.90970843e-03 1.26470264e+02] [ 4.92274628e-03 -7.71567034e-06 9.99987883e-01 1.01923354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95028169299997 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:178.95, Y:126.45, Z:1.02 [[-7.41944225e-02 -9.97243731e-01 3.60021127e-04 1.78951456e+02] [ 9.97231645e-01 -7.41952958e-02 -4.90956939e-03 1.26453451e+02] [ 4.92274917e-03 -5.23820501e-06 9.99987883e-01 1.01668842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98028169299994 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:178.95, Y:126.45, Z:1.02 [[-7.45762628e-02 -9.97215248e-01 3.61910708e-04 1.78951712e+02] [ 9.97203163e-01 -7.45771408e-02 -4.90943010e-03 1.26450986e+02] [ 4.92274882e-03 -5.22844650e-06 9.99987883e-01 1.01667603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01028169299997 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:178.95, Y:126.44, Z:1.01 [[-7.40868142e-02 -9.97251729e-01 3.63790504e-04 1.78953844e+02] [ 9.97239645e-01 -7.40877074e-02 -4.90929080e-03 1.26437753e+02] [ 4.92275115e-03 -9.27402305e-07 9.99987883e-01 1.01400199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04028169299994 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:178.95, Y:126.44, Z:1.01 [[-7.12837191e-02 -9.97456013e-01 3.65662774e-04 1.78953335e+02] [ 9.97443932e-01 -7.12846554e-02 -4.90915134e-03 1.26440450e+02] [ 4.92272867e-03 1.47855497e-05 9.99987883e-01 1.01116029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.07028169299997 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:178.95, Y:126.44, Z:1.01 [[-6.88992479e-02 -9.97623556e-01 3.67530965e-04 1.78951818e+02] [ 9.97611478e-01 -6.89002223e-02 -4.90901147e-03 1.26438042e+02] [ 4.92266845e-03 2.84259108e-05 9.99987883e-01 1.01140763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10028169299994 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:178.95, Y:126.41, Z:1.01 [[-6.26154549e-02 -9.98037659e-01 3.69402504e-04 1.78949930e+02] [ 9.98025588e-01 -6.26165145e-02 -4.90887064e-03 1.26412855e+02] [ 4.92236845e-03 6.13019835e-05 9.99987883e-01 1.01184169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.130281693 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:178.95, Y:126.41, Z:1.01 [[-5.94267162e-02 -9.98232602e-01 3.71258947e-04 1.78948967e+02] [ 9.98220536e-01 -5.94278236e-02 -4.90873023e-03 1.26406094e+02] [ 4.92211766e-03 7.88885871e-05 9.99987883e-01 1.01145166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16028169299994 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:178.94, Y:126.39, Z:1.01 [[-5.49476495e-02 -9.98489167e-01 3.73097522e-04 1.78944431e+02] [ 9.98477107e-01 -5.49488200e-02 -4.90859048e-03 1.26389317e+02] [ 4.92167569e-03 1.02813825e-04 9.99987883e-01 1.00951207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.190281693 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:178.94, Y:126.39, Z:1.01 [[-5.43912635e-02 -9.98519629e-01 3.74924172e-04 1.78941815e+02] [ 9.98507571e-01 -5.43924497e-02 -4.90845096e-03 1.26389611e+02] [ 4.92157767e-03 1.07387775e-04 9.99987883e-01 1.00786098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22028169299995 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:178.94, Y:126.40, Z:1.01 [[-5.57555370e-02 -9.98444379e-01 3.76743713e-04 1.78937597e+02] [ 9.98432320e-01 -5.57567156e-02 -4.90831129e-03 1.26397414e+02] [ 4.92168181e-03 1.02487567e-04 9.99987883e-01 1.00594711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.250281693 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:178.94, Y:126.39, Z:1.01 [[-5.74711664e-02 -9.98347095e-01 3.78572318e-04 1.78936460e+02] [ 9.98335034e-01 -5.74723332e-02 -4.90817025e-03 1.26386800e+02] [ 4.92181495e-03 9.58637394e-05 9.99987883e-01 1.00704794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28028169299995 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:178.93, Y:126.40, Z:1.01 [[-5.93611177e-02 -9.98236502e-01 3.80402935e-04 1.78933410e+02] [ 9.98224440e-01 -5.93622708e-02 -4.90802837e-03 1.26395698e+02] [ 4.92195465e-03 8.83814570e-05 9.99987883e-01 1.00776220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.310281693 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:178.93, Y:126.41, Z:1.01 [[-6.34702927e-02 -9.97983655e-01 3.82235291e-04 1.78926008e+02] [ 9.97971589e-01 -6.34714051e-02 -4.90788566e-03 1.26413906e+02] [ 4.92225068e-03 6.99550218e-05 9.99987883e-01 1.00922775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34028169299995 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:178.92, Y:126.41, Z:1.01 [[-6.50648636e-02 -9.97880963e-01 3.84089521e-04 1.78924462e+02] [ 9.97868896e-01 -6.50659659e-02 -4.90774054e-03 1.26405123e+02] [ 4.92233202e-03 6.39495176e-05 9.99987883e-01 1.00897631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.370281693 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:178.92, Y:126.41, Z:1.01 [[-6.65211765e-02 -9.97784939e-01 3.85953786e-04 1.78920707e+02] [ 9.97772872e-01 -6.65222703e-02 -4.90759393e-03 1.26409321e+02] [ 4.92239783e-03 5.86352949e-05 9.99987883e-01 1.00629718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40028169299995 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:178.92, Y:126.41, Z:1.01 [[-6.71767604e-02 -9.97741015e-01 3.87818613e-04 1.78918104e+02] [ 9.97728948e-01 -6.71778554e-02 -4.90744656e-03 1.26414829e+02] [ 4.92241353e-03 5.72714953e-05 9.99987883e-01 1.00631279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.430281693 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:178.91, Y:126.43, Z:1.01 [[-6.88176301e-02 -9.97629181e-01 3.89693590e-04 1.78912087e+02] [ 9.97617112e-01 -6.88187145e-02 -4.90729767e-03 1.26427637e+02] [ 4.92248156e-03 5.10563990e-05 9.99987883e-01 1.00975955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46028169299996 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:178.91, Y:126.40, Z:1.01 [[-7.00488840e-02 -9.97543483e-01 3.91585133e-04 1.78912564e+02] [ 9.97531414e-01 -7.00499628e-02 -4.90714672e-03 1.26402498e+02] [ 4.92252276e-03 4.68783197e-05 9.99987883e-01 1.01166638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.490281693 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:178.91, Y:126.41, Z:1.01 [[-7.13372464e-02 -9.97452176e-01 3.93471579e-04 1.78911187e+02] [ 9.97440106e-01 -7.13383189e-02 -4.90699546e-03 1.26410061e+02] [ 4.92256290e-03 4.24127899e-05 9.99987883e-01 1.01316033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52028169299996 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:178.91, Y:126.43, Z:1.01 [[-7.30917159e-02 -9.97325145e-01 3.95349810e-04 1.78908630e+02] [ 9.97313075e-01 -7.30927764e-02 -4.90684413e-03 1.26425771e+02] [ 4.92261624e-03 3.56378776e-05 9.99987883e-01 1.01232661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.550281693 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:178.91, Y:126.42, Z:1.01 [[-7.34951318e-02 -9.97295497e-01 3.97247522e-04 1.78908209e+02] [ 9.97283427e-01 -7.34961968e-02 -4.90669049e-03 1.26420042e+02] [ 4.92261651e-03 3.55505065e-05 9.99987883e-01 1.01031207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58028169299996 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:178.91, Y:126.42, Z:1.01 [[-7.37975999e-02 -9.97273160e-01 3.99155747e-04 1.78908630e+02] [ 9.97261090e-01 -7.37986706e-02 -4.90653525e-03 1.26415134e+02] [ 4.92261307e-03 3.59719700e-05 9.99987883e-01 1.01028862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.610281693 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:178.91, Y:126.41, Z:1.01 [[-7.38984264e-02 -9.97265693e-01 4.01060374e-04 1.78909021e+02] [ 9.97253624e-01 -7.38995052e-02 -4.90637956e-03 1.26405615e+02] [ 4.92260217e-03 3.73851828e-05 9.99987883e-01 1.01110733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64028169299996 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:178.91, Y:126.40, Z:1.01 [[-7.37739549e-02 -9.97274908e-01 4.02957906e-04 1.78907468e+02] [ 9.97262840e-01 -7.37750446e-02 -4.90622371e-03 1.26400248e+02] [ 4.92258204e-03 3.99034186e-05 9.99987883e-01 1.01393487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.670281693 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:178.91, Y:126.41, Z:1.01 [[-7.38862556e-02 -9.97266593e-01 4.04848395e-04 1.78906348e+02] [ 9.97254526e-01 -7.38873532e-02 -4.90606771e-03 1.26407714e+02] [ 4.92257060e-03 4.12459220e-05 9.99987883e-01 1.01492239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70028169299997 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:178.91, Y:126.38, Z:1.01 [[-7.29805740e-02 -9.97333280e-01 4.06744228e-04 1.78908988e+02] [ 9.97321214e-01 -7.29816919e-02 -4.90591053e-03 1.26381590e+02] [ 4.92251272e-03 4.76184813e-05 9.99987883e-01 1.01451549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73028169299994 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:178.91, Y:126.37, Z:1.01 [[-7.24393821e-02 -9.97372733e-01 4.08630197e-04 1.78910725e+02] [ 9.97360670e-01 -7.24405159e-02 -4.90575343e-03 1.26368376e+02] [ 4.92246609e-03 5.21819393e-05 9.99987883e-01 1.01422333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76028169299997 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:178.91, Y:126.39, Z:1.01 [[-7.12871819e-02 -9.97455748e-01 4.10493084e-04 1.78909370e+02] [ 9.97443687e-01 -7.12883387e-02 -4.90559755e-03 1.26388167e+02] [ 4.92237984e-03 5.97375104e-05 9.99987883e-01 1.01148492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79028169299994 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:178.91, Y:126.38, Z:1.01 [[-7.14086092e-02 -9.97447062e-01 4.12363315e-04 1.78909782e+02] [ 9.97435001e-01 -7.14097737e-02 -4.90544033e-03 1.26380868e+02] [ 4.92236382e-03 6.10149321e-05 9.99987883e-01 1.01086612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82028169299997 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:178.91, Y:126.38, Z:1.01 [[-6.98889939e-02 -9.97554689e-01 4.14245648e-04 1.78909339e+02] [ 9.97542631e-01 -6.98901861e-02 -4.90528137e-03 1.26378890e+02] [ 4.92223814e-03 7.04025130e-05 9.99987883e-01 1.01241042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85028169299994 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:178.91, Y:126.37, Z:1.01 [[-6.79443978e-02 -9.97689023e-01 4.16124476e-04 1.78909031e+02] [ 9.97676968e-01 -6.79456227e-02 -4.90512198e-03 1.26371358e+02] [ 4.92206019e-03 8.18822464e-05 9.99987883e-01 1.01280307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.880281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:178.91, Y:126.33, Z:1.01 [[-6.22819998e-02 -9.98058504e-01 4.18000731e-04 1.78908187e+02] [ 9.98046458e-01 -6.22833023e-02 -4.90496209e-03 1.26334513e+02] [ 4.92147359e-03 1.11693301e-04 9.99987883e-01 1.00825072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91028169299994 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:178.91, Y:126.33, Z:1.01 [[-6.06311007e-02 -9.98160154e-01 4.19850514e-04 1.78905627e+02] [ 9.98148111e-01 -6.06324322e-02 -4.90480375e-03 1.26334653e+02] [ 4.92123622e-03 1.21689348e-04 9.99987883e-01 1.00660467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.940281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:178.90, Y:126.34, Z:1.01 [[-6.02179103e-02 -9.98185166e-01 4.21678998e-04 1.78902830e+02] [ 9.98173124e-01 -6.02192558e-02 -4.90464654e-03 1.26338410e+02] [ 4.92113862e-03 1.25561077e-04 9.99987883e-01 1.00619938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97028169299995 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:178.90, Y:126.34, Z:1.01 [[-6.22131877e-02 -9.98062794e-01 4.23513956e-04 1.78899329e+02] [ 9.98050750e-01 -6.22145181e-02 -4.90448809e-03 1.26337264e+02] [ 4.92133580e-03 1.17564583e-04 9.99987883e-01 1.01026835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.000281693 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:178.90, Y:126.33, Z:1.01 [[-6.48878877e-02 -9.97892470e-01 4.25354225e-04 1.78899356e+02] [ 9.97880424e-01 -6.48891949e-02 -4.90432848e-03 1.26330765e+02] [ 4.92159335e-03 1.06221139e-04 9.99987883e-01 1.01279308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03028169299995 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:178.90, Y:126.36, Z:1.01 [[-7.32929136e-02 -9.97310366e-01 4.27193228e-04 1.78898058e+02] [ 9.97298310e-01 -7.32941283e-02 -4.90416829e-03 1.26356818e+02] [ 4.92228863e-03 6.65983015e-05 9.99987883e-01 1.01291840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.060281693 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:178.90, Y:126.37, Z:1.01 [[-7.81391087e-02 -9.96942373e-01 4.29047885e-04 1.78897307e+02] [ 9.96930313e-01 -7.81402740e-02 -4.90400603e-03 1.26371997e+02] [ 4.92253733e-03 4.45361814e-05 9.99987883e-01 1.01149710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09028169299995 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:178.90, Y:126.39, Z:1.01 [[-8.41385731e-02 -9.96453970e-01 4.30934680e-04 1.78896317e+02] [ 9.96441904e-01 -8.41396750e-02 -4.90384022e-03 1.26393034e+02] [ 4.92270976e-03 1.67992535e-05 9.99987883e-01 1.01172885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.120281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:178.90, Y:126.38, Z:1.01 [[-8.51568610e-02 -9.96367463e-01 4.32850207e-04 1.78898175e+02] [ 9.96355396e-01 -8.51579600e-02 -4.90367114e-03 1.26379782e+02] [ 4.92271901e-03 1.36913977e-05 9.99987883e-01 1.01286153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15028169299995 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:178.90, Y:126.37, Z:1.01 [[-8.52754256e-02 -9.96357322e-01 4.34774158e-04 1.78899778e+02] [ 9.96345256e-01 -8.52765326e-02 -4.90350055e-03 1.26367319e+02] [ 4.92271471e-03 1.50370738e-05 9.99987883e-01 1.01479776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.180281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:178.90, Y:126.37, Z:1.02 [[-8.38630439e-02 -9.96477195e-01 4.36683733e-04 1.78900446e+02] [ 9.96465131e-01 -8.38641774e-02 -4.90333048e-03 1.26371404e+02] [ 4.92267913e-03 2.39318937e-05 9.99987883e-01 1.01648849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21028169299996 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:178.90, Y:126.37, Z:1.02 [[-8.30123202e-02 -9.96548425e-01 4.38590645e-04 1.78901197e+02] [ 9.96536363e-01 -8.30134734e-02 -4.90315991e-03 1.26370653e+02] [ 4.92264522e-03 3.00488459e-05 9.99987883e-01 1.01545783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.240281693 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:178.90, Y:126.39, Z:1.01 [[-8.20711407e-02 -9.96626376e-01 4.40502991e-04 1.78900523e+02] [ 9.96614317e-01 -8.20723147e-02 -4.90298810e-03 1.26387062e+02] [ 4.92260036e-03 3.66177615e-05 9.99987883e-01 1.01268324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27028169299996 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:178.90, Y:126.35, Z:1.01 [[-7.89449923e-02 -9.96878875e-01 4.43774655e-04 1.78902850e+02] [ 9.96866821e-01 -7.89462202e-02 -4.90269294e-03 1.26346771e+02] [ 4.92242535e-03 5.53411736e-05 9.99987883e-01 1.01074468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.300281693 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:178.90, Y:126.34, Z:1.01 [[-7.85062621e-02 -9.96913522e-01 4.44358804e-04 1.78901956e+02] [ 9.96901468e-01 -7.85074982e-02 -4.90263999e-03 1.26344069e+02] [ 4.92239360e-03 5.80940035e-05 9.99987883e-01 1.01436170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33028169299996 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:178.90, Y:126.34, Z:1.02 [[-8.15553905e-02 -9.96668711e-01 4.46245705e-04 1.78904786e+02] [ 9.96656655e-01 -8.15565990e-02 -4.90246824e-03 1.26337816e+02] [ 4.92253098e-03 4.49310402e-05 9.99987883e-01 1.01625707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.360281693 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:178.91, Y:126.35, Z:1.02 [[-8.61267914e-02 -9.96284084e-01 4.48129712e-04 1.78907487e+02] [ 9.96272023e-01 -8.61279539e-02 -4.90229602e-03 1.26345327e+02] [ 4.92267599e-03 2.42400680e-05 9.99987883e-01 1.01625051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39028169299996 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:178.91, Y:126.35, Z:1.01 [[-9.60988227e-02 -9.95371696e-01 4.50017751e-04 1.78912400e+02] [ 9.95359625e-01 -9.60998736e-02 -4.90212270e-03 1.26353414e+02] [ 4.92268083e-03 -2.31587193e-05 9.99987883e-01 1.00975462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.420281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:178.92, Y:126.35, Z:1.01 [[-1.01047137e-01 -9.94881537e-01 4.51919069e-04 1.78915407e+02] [ 9.94869461e-01 -1.01048137e-01 -4.90194741e-03 1.26353190e+02] [ 4.92252255e-03 -4.57272704e-05 9.99987883e-01 1.00519472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45028169299997 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:178.93, Y:126.34, Z:1.00 [[-1.08966700e-01 -9.94045297e-01 4.53828987e-04 1.78926591e+02] [ 9.94033215e-01 -1.08967613e-01 -4.90177058e-03 1.26337762e+02] [ 4.92203465e-03 -8.30086749e-05 9.99987883e-01 1.00439570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48028169299994 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:178.93, Y:126.32, Z:1.01 [[-1.10964577e-01 -9.93824258e-01 4.55730168e-04 1.78933779e+02] [ 9.93812174e-01 -1.10965476e-01 -4.90159382e-03 1.26322114e+02] [ 4.92189315e-03 -9.09930961e-05 9.99987883e-01 1.00751517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51028169299997 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:178.94, Y:126.34, Z:1.01 [[-1.09123390e-01 -9.94028106e-01 4.57612572e-04 1.78941891e+02] [ 9.94016025e-01 -1.09124321e-01 -4.90141807e-03 1.26336327e+02] [ 4.92208398e-03 -7.99851268e-05 9.99987883e-01 1.01314960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54028169299994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:178.95, Y:126.32, Z:1.01 [[-1.06345534e-01 -9.94329129e-01 4.59496174e-04 1.78947333e+02] [ 9.94317051e-01 -1.06346507e-01 -4.90124148e-03 1.26322320e+02] [ 4.92231298e-03 -6.43402600e-05 9.99987883e-01 1.01256833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.57028169299997 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:178.95, Y:126.36, Z:1.01 [[-1.02692935e-01 -9.94712998e-01 4.61382535e-04 1.78947929e+02] [ 9.94700925e-01 -1.02693961e-01 -4.90106390e-03 1.26358938e+02] [ 4.92253316e-03 -4.43669999e-05 9.99987883e-01 1.01112965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60028169299994 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:178.96, Y:126.32, Z:1.01 [[-9.25423849e-02 -9.95708638e-01 4.63287614e-04 1.78957624e+02] [ 9.95696577e-01 -9.25435442e-02 -4.90088381e-03 1.26323154e+02] [ 4.92272662e-03 7.75441596e-06 9.99987883e-01 1.00966329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.630281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:178.96, Y:126.30, Z:1.01 [[-8.35170395e-02 -9.96506241e-01 4.65196166e-04 1.78962288e+02] [ 9.96494192e-01 -8.35183174e-02 -4.90070264e-03 1.26296934e+02] [ 4.92243317e-03 5.42731010e-05 9.99987883e-01 1.01490909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66028169299994 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:178.97, Y:126.27, Z:1.02 [[-8.01461610e-02 -9.96783013e-01 4.67064522e-04 1.78965131e+02] [ 9.96770969e-01 -8.01474889e-02 -4.90052457e-03 1.26273819e+02] [ 4.92219369e-03 7.27981253e-05 9.99987883e-01 1.01621185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.690281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:178.97, Y:126.27, Z:1.02 [[-7.78192646e-02 -9.96967373e-01 4.68902695e-04 1.78967139e+02] [ 9.96955333e-01 -7.78206296e-02 -4.90034868e-03 1.26265057e+02] [ 4.92197805e-03 8.61335122e-05 9.99987883e-01 1.01590153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72028169299995 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:178.97, Y:126.26, Z:1.01 [[-7.60454350e-02 -9.97104242e-01 4.70723031e-04 1.78969511e+02] [ 9.97092206e-01 -7.60468304e-02 -4.90017381e-03 1.26257529e+02] [ 4.92178109e-03 9.67184163e-05 9.99987883e-01 1.01418503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.750281693 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:178.97, Y:126.26, Z:1.01 [[-7.61961598e-02 -9.97092735e-01 4.72535694e-04 1.78969243e+02] [ 9.97080700e-01 -7.61975623e-02 -4.89999901e-03 1.26257461e+02] [ 4.92175948e-03 9.77951127e-05 9.99987883e-01 1.01399942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78028169299995 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:178.97, Y:126.25, Z:1.02 [[-7.63119811e-02 -9.97083876e-01 4.74346265e-04 1.78969704e+02] [ 9.97071842e-01 -7.63133911e-02 -4.89982373e-03 1.26251679e+02] [ 4.92173421e-03 9.90420483e-05 9.99987883e-01 1.01644354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.810281693 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:178.97, Y:126.24, Z:1.02 [[-7.63698412e-02 -9.97079446e-01 4.76156186e-04 1.78970884e+02] [ 9.97067412e-01 -7.63712593e-02 -4.89964784e-03 1.26241489e+02] [ 4.92170280e-03 1.00574489e-04 9.99987883e-01 1.01719887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84028169299995 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:178.97, Y:126.25, Z:1.02 [[-7.57304116e-02 -9.97128215e-01 4.77959100e-04 1.78966421e+02] [ 9.97116183e-01 -7.57318463e-02 -4.89947196e-03 1.26252308e+02] [ 4.92159845e-03 1.05541726e-04 9.99987883e-01 1.01591678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.870281693 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:178.97, Y:126.25, Z:1.02 [[-7.60999235e-02 -9.97100081e-01 4.79765704e-04 1.78966736e+02] [ 9.97088050e-01 -7.61013627e-02 -4.89929504e-03 1.26249845e+02] [ 4.92159831e-03 1.05532672e-04 9.99987883e-01 1.01590439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90028169299995 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:178.96, Y:126.24, Z:1.01 [[-7.57162797e-02 -9.97129286e-01 4.81581248e-04 1.78964572e+02] [ 9.97117257e-01 -7.57177324e-02 -4.89911658e-03 1.26242901e+02] [ 4.92151685e-03 1.09250091e-04 9.99987883e-01 1.01331448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.930281693 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:178.96, Y:126.25, Z:1.01 [[-7.52917348e-02 -9.97161432e-01 4.83393518e-04 1.78959830e+02] [ 9.97149404e-01 -7.52932015e-02 -4.89893775e-03 1.26254464e+02] [ 4.92142803e-03 1.13166036e-04 9.99987883e-01 1.01039443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96028169299996 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:178.96, Y:126.25, Z:1.01 [[-7.57499555e-02 -9.97126727e-01 4.85212737e-04 1.78959886e+02] [ 9.97114699e-01 -7.57514256e-02 -4.89875756e-03 1.26247103e+02] [ 4.92143765e-03 1.12732085e-04 9.99987883e-01 1.01078576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.990281693 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:178.96, Y:126.25, Z:1.01 [[-7.70028899e-02 -9.97030751e-01 4.87037768e-04 1.78957930e+02] [ 9.97018723e-01 -7.70043538e-02 -4.89857611e-03 1.26246432e+02] [ 4.92153505e-03 1.08381257e-04 9.99987883e-01 1.01048785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02028169299996 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:178.96, Y:126.24, Z:1.01 [[-7.77972990e-02 -9.96969077e-01 4.88860676e-04 1.78957211e+02] [ 9.96957049e-01 -7.77987623e-02 -4.89839419e-03 1.26236961e+02] [ 4.92158029e-03 1.06291260e-04 9.99987883e-01 1.01194963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.050281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:178.96, Y:126.23, Z:1.01 [[-7.82271442e-02 -9.96935441e-01 4.90681147e-04 1.78956311e+02] [ 9.96923413e-01 -7.82286113e-02 -4.89821182e-03 1.26226720e+02] [ 4.92158626e-03 1.05998402e-04 9.99987883e-01 1.01347024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08028169299996 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:178.95, Y:126.22, Z:1.01 [[-7.71247722e-02 -9.97021327e-01 4.92491910e-04 1.78949222e+02] [ 9.97009302e-01 -7.71262614e-02 -4.89802975e-03 1.26224620e+02] [ 4.92142418e-03 1.13259588e-04 9.99987883e-01 1.01110306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.110281693 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:178.94, Y:126.23, Z:1.01 [[-7.61494786e-02 -9.97096291e-01 4.94298563e-04 1.78944235e+02] [ 9.97084268e-01 -7.61509885e-02 -4.89784742e-03 1.26231059e+02] [ 4.92126682e-03 1.19888794e-04 9.99987883e-01 1.01098215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14028169299996 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:178.94, Y:126.22, Z:1.01 [[-7.37877326e-02 -9.97273846e-01 4.96111535e-04 1.78937814e+02] [ 9.97261829e-01 -7.37892798e-02 -4.89766377e-03 1.26216383e+02] [ 4.92091970e-03 1.33365592e-04 9.99987883e-01 1.01228770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.170281693 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:178.93, Y:126.22, Z:1.01 [[-7.36311092e-02 -9.97285421e-01 4.97923266e-04 1.78932856e+02] [ 9.97273405e-01 -7.36326673e-02 -4.89747957e-03 1.26223870e+02] [ 4.92084840e-03 1.35958778e-04 9.99987883e-01 1.01290560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20028169299997 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:178.92, Y:126.21, Z:1.01 [[-7.56293008e-02 -9.97135878e-01 4.99734343e-04 1.78924501e+02] [ 9.97123860e-01 -7.56308437e-02 -4.89729477e-03 1.26209039e+02] [ 4.92106365e-03 1.27918057e-04 9.99987883e-01 1.01185876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23028169299994 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:178.92, Y:126.21, Z:1.01 [[-7.78166572e-02 -9.96967560e-01 5.01544765e-04 1.78919917e+02] [ 9.96955540e-01 -7.78181826e-02 -4.89710935e-03 1.26214394e+02] [ 4.92128846e-03 1.18941153e-04 9.99987883e-01 1.01127480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26028169299997 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:178.91, Y:126.23, Z:1.01 [[-8.26122829e-02 -9.96581636e-01 5.03353096e-04 1.78911278e+02] [ 9.96569610e-01 -8.26137593e-02 -4.89692347e-03 1.26225524e+02] [ 4.92176790e-03 9.70803714e-05 9.99987883e-01 1.00980643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29028169299994 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:178.91, Y:126.24, Z:1.01 [[-8.52683103e-02 -9.96357898e-01 5.05176254e-04 1.78906661e+02] [ 9.96345868e-01 -8.52697636e-02 -4.89673538e-03 1.26235606e+02] [ 4.92197723e-03 8.57939215e-05 9.99987883e-01 1.01060306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32028169299997 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:178.90, Y:126.25, Z:1.01 [[-8.81947173e-02 -9.96103125e-01 5.07016901e-04 1.78900939e+02] [ 9.96091092e-01 -8.81961443e-02 -4.89654479e-03 1.26252866e+02] [ 4.92218050e-03 7.31856344e-05 9.99987883e-01 1.01176144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35028169299994 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:178.89, Y:126.25, Z:1.01 [[-9.32077360e-02 -9.95646553e-01 5.08879654e-04 1.78894888e+02] [ 9.95634515e-01 -9.32091115e-02 -4.89635120e-03 1.26248308e+02] [ 4.92246741e-03 5.02803383e-05 9.99987883e-01 1.01326547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.380281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:178.89, Y:126.27, Z:1.01 [[-9.53959631e-02 -9.95439275e-01 5.10755048e-04 1.78890435e+02] [ 9.95427234e-01 -9.53973215e-02 -4.89615556e-03 1.26274658e+02] [ 4.92255020e-03 4.13460100e-05 9.99987883e-01 1.01394673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41028169299994 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:178.89, Y:126.25, Z:1.01 [[-9.91996484e-02 -9.95067418e-01 5.12649891e-04 1.78890285e+02] [ 9.95055374e-01 -9.92009700e-02 -4.89595715e-03 1.26254586e+02] [ 4.92266281e-03 2.44378008e-05 9.99987883e-01 1.01242937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.440281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:178.89, Y:126.27, Z:1.01 [[-1.00949587e-01 -9.94891409e-01 5.14552977e-04 1.78888184e+02] [ 9.94879364e-01 -1.00950897e-01 -4.89575714e-03 1.26270254e+02] [ 4.92269130e-03 1.76934757e-05 9.99987883e-01 1.01126342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47028169299995 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:178.89, Y:126.26, Z:1.01 [[-1.03031482e-01 -9.94677961e-01 5.16456932e-04 1.78888311e+02] [ 9.94665914e-01 -1.03032776e-01 -4.89555628e-03 1.26261917e+02] [ 4.92271393e-03 9.30568717e-06 9.99987883e-01 1.01093501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.500281693 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:178.89, Y:126.24, Z:1.01 [[-1.07595250e-01 -9.94194646e-01 5.18369210e-04 1.78891366e+02] [ 9.94182593e-01 -1.07596498e-01 -4.89535379e-03 1.26236944e+02] [ 4.92270923e-03 -1.13631689e-05 9.99987883e-01 1.01014549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53028169299995 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:178.89, Y:126.24, Z:1.01 [[-1.09937655e-01 -9.93938349e-01 5.20261525e-04 1.78891371e+02] [ 9.93926295e-01 -1.09938884e-01 -4.89515267e-03 1.26244219e+02] [ 4.92267693e-03 -2.10599945e-05 9.99987883e-01 1.01067981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.560281693 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:178.90, Y:126.23, Z:1.01 [[-1.13863841e-01 -9.93496227e-01 5.22144900e-04 1.78895160e+02] [ 9.93484169e-01 -1.13865032e-01 -4.89495177e-03 1.26228795e+02] [ 4.92257016e-03 -3.86153184e-05 9.99987883e-01 1.01003424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59028169299995 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:178.90, Y:126.21, Z:1.01 [[-1.15930713e-01 -9.93257165e-01 5.24025375e-04 1.78899609e+02] [ 9.93245105e-01 -1.15931888e-01 -4.89475045e-03 1.26211592e+02] [ 4.92249720e-03 -4.69662702e-05 9.99987883e-01 1.01165448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.620281693 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:178.91, Y:126.20, Z:1.01 [[-1.19563984e-01 -9.92826358e-01 5.25886539e-04 1.78907679e+02] [ 9.92814295e-01 -1.19565124e-01 -4.89455048e-03 1.26204090e+02] [ 4.92231642e-03 -6.31042815e-05 9.99987883e-01 1.01449184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65028169299995 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:178.91, Y:126.20, Z:1.01 [[-1.21502586e-01 -9.92590975e-01 5.27733598e-04 1.78911841e+02] [ 9.92578910e-01 -1.21503711e-01 -4.89435132e-03 1.26201681e+02] [ 4.92221054e-03 -7.08591024e-05 9.99987883e-01 1.01458878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.680281693 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:178.92, Y:126.18, Z:1.01 [[-1.22921310e-01 -9.92416279e-01 5.29576653e-04 1.78917145e+02] [ 9.92404214e-01 -1.22922427e-01 -4.89415189e-03 1.26184286e+02] [ 4.92213286e-03 -7.60414597e-05 9.99987883e-01 1.01400960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71028169299996 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:178.92, Y:126.21, Z:1.01 [[-1.23558818e-01 -9.92337108e-01 5.31409145e-04 1.78923183e+02] [ 9.92325043e-01 -1.23559937e-01 -4.89395291e-03 1.26206723e+02] [ 4.92211196e-03 -7.73604360e-05 9.99987883e-01 1.01439325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.740281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:178.93, Y:126.21, Z:1.01 [[-1.22772869e-01 -9.92434652e-01 5.33247533e-04 1.78928158e+02] [ 9.92422589e-01 -1.22774006e-01 -4.89375259e-03 1.26206442e+02] [ 4.92219858e-03 -7.16131480e-05 9.99987883e-01 1.01453432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77028169299996 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:178.93, Y:126.23, Z:1.01 [[-1.18557640e-01 -9.92947028e-01 5.35103097e-04 1.78934556e+02] [ 9.92934970e-01 -1.18558838e-01 -4.89354969e-03 1.26227039e+02] [ 4.92247682e-03 -4.88451244e-05 9.99987883e-01 1.01133525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.800281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:178.94, Y:126.22, Z:1.01 [[-1.16054155e-01 -9.93242742e-01 5.36974907e-04 1.78938937e+02] [ 9.93230689e-01 -1.16055392e-01 -4.89334428e-03 1.26223441e+02] [ 4.92259753e-03 -3.45529768e-05 9.99987883e-01 1.01029869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83028169299996 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:178.94, Y:126.24, Z:1.01 [[-1.13136064e-01 -9.93579358e-01 5.38861049e-04 1.78940764e+02] [ 9.93567309e-01 -1.13137346e-01 -4.89313657e-03 1.26241901e+02] [ 4.92268480e-03 -1.81954893e-05 9.99987883e-01 1.01070998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.860281693 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:178.95, Y:126.21, Z:1.01 [[-1.05666592e-01 -9.94401468e-01 5.40760454e-04 1.78949829e+02] [ 9.94389430e-01 -1.05667973e-01 -4.89292665e-03 1.26209128e+02] [ 4.92267450e-03 2.07075973e-05 9.99987883e-01 1.01288622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89028169299996 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:178.95, Y:126.19, Z:1.01 [[-9.74283949e-02 -9.95242389e-01 5.42651827e-04 1.78954694e+02] [ 9.95230365e-01 -9.74298855e-02 -4.89271688e-03 1.26192953e+02] [ 4.92230974e-03 6.33740236e-05 9.99987883e-01 1.01384897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.920281693 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:178.96, Y:126.18, Z:1.01 [[-9.37219149e-02 -9.95598265e-01 5.44512214e-04 1.78957129e+02] [ 9.95586248e-01 -9.37234594e-02 -4.89250982e-03 1.26180266e+02] [ 4.92200786e-03 8.35734829e-05 9.99987883e-01 1.01439280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95028169299997 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:178.96, Y:126.17, Z:1.01 [[-9.07934191e-02 -9.95869598e-01 5.46356676e-04 1.78959490e+02] [ 9.95857586e-01 -9.07950080e-02 -4.89230384e-03 1.26165391e+02] [ 4.92170312e-03 9.99044474e-05 9.99987883e-01 1.01345616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98028169299994 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:178.96, Y:126.15, Z:1.01 [[-8.63101446e-02 -9.96268166e-01 5.48185802e-04 1.78961141e+02] [ 9.96256162e-01 -8.63117965e-02 -4.89209888e-03 1.26151244e+02] [ 4.92115728e-03 1.23895722e-04 9.99987883e-01 1.00913660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01028169299997 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:178.96, Y:126.14, Z:1.01 [[-8.50900970e-02 -9.96373109e-01 5.49998669e-04 1.78961994e+02] [ 9.96361109e-01 -8.50917725e-02 -4.89189506e-03 1.26138556e+02] [ 4.92095305e-03 1.31745459e-04 9.99987883e-01 1.00892238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04028169299994 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:178.96, Y:126.16, Z:1.01 [[-8.38001836e-02 -9.96482426e-01 5.51797562e-04 1.78958677e+02] [ 9.96470429e-01 -8.38018835e-02 -4.89169214e-03 1.26155862e+02] [ 4.92072692e-03 1.39925254e-04 9.99987883e-01 1.00923800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.07028169299997 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:178.96, Y:126.13, Z:1.01 [[-8.46110342e-02 -9.96413903e-01 5.53602720e-04 1.78960763e+02] [ 9.96401906e-01 -8.46127331e-02 -4.89148783e-03 1.26133794e+02] [ 4.92078832e-03 1.37736962e-04 9.99987883e-01 1.00870952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10028169299994 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:178.96, Y:126.16, Z:1.00 [[-8.70570573e-02 -9.96203172e-01 5.55408385e-04 1.78958466e+02] [ 9.96191172e-01 -8.70587357e-02 -4.89128280e-03 1.26156368e+02] [ 4.92106459e-03 1.27472244e-04 9.99987883e-01 1.00494248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.130281693 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:178.96, Y:126.15, Z:1.01 [[-8.87335880e-02 -9.96055239e-01 5.57217162e-04 1.78959262e+02] [ 9.96043238e-01 -8.87352551e-02 -4.89107673e-03 1.26153032e+02] [ 4.92122741e-03 1.21009599e-04 9.99987883e-01 1.00602980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16028169299994 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:178.96, Y:126.13, Z:1.01 [[-8.91400458e-02 -9.96018945e-01 5.59041379e-04 1.78961333e+02] [ 9.96006945e-01 -8.91417169e-02 -4.89086822e-03 1.26134166e+02] [ 4.92123132e-03 1.20836879e-04 9.99987883e-01 1.00766323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.190281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:178.96, Y:126.14, Z:1.01 [[-8.85836935e-02 -9.96068579e-01 5.60854376e-04 1.78960212e+02] [ 9.96056581e-01 -8.85853802e-02 -4.89066031e-03 1.26140970e+02] [ 4.92111656e-03 1.25409938e-04 9.99987883e-01 1.00920056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22028169299995 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:178.96, Y:126.15, Z:1.01 [[-8.79385312e-02 -9.96125744e-01 5.62662922e-04 1.78956345e+02] [ 9.96113748e-01 -8.79402345e-02 -4.89045223e-03 1.26150938e+02] [ 4.92098607e-03 1.30417086e-04 9.99987883e-01 1.00711863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.250281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:178.96, Y:126.13, Z:1.01 [[-8.83747688e-02 -9.96087136e-01 5.64485442e-04 1.78956671e+02] [ 9.96075140e-01 -8.83764758e-02 -4.89024185e-03 1.26132330e+02] [ 4.92099423e-03 1.30095922e-04 9.99987883e-01 1.00773225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28028169299995 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:178.95, Y:126.15, Z:1.01 [[-8.94334408e-02 -9.95992640e-01 5.66306104e-04 1.78952891e+02] [ 9.95980644e-01 -8.94351440e-02 -4.89003101e-03 1.26145920e+02] [ 4.92108256e-03 1.26697619e-04 9.99987883e-01 1.00999021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.310281693 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:178.95, Y:126.14, Z:1.01 [[-9.07755402e-02 -9.95871216e-01 5.68126686e-04 1.78953777e+02] [ 9.95859219e-01 -9.07772361e-02 -4.88981948e-03 1.26138255e+02] [ 4.92120344e-03 1.21898193e-04 9.99987883e-01 1.00949472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34028169299995 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:178.95, Y:126.14, Z:1.00 [[-9.37349431e-02 -9.95597025e-01 5.69954283e-04 1.78952482e+02] [ 9.95585024e-01 -9.37366124e-02 -4.88960645e-03 1.26143339e+02] [ 4.92150321e-03 1.09110966e-04 9.99987883e-01 1.00477541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.370281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:178.95, Y:126.14, Z:1.00 [[-9.64385230e-02 -9.95338779e-01 5.71783593e-04 1.78951953e+02] [ 9.95326774e-01 -9.64401686e-02 -4.88939252e-03 1.26139304e+02] [ 4.92174489e-03 9.75857261e-05 9.99987883e-01 1.00406697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40028169299995 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:178.95, Y:126.14, Z:1.01 [[-9.95112829e-02 -9.95036268e-01 5.73616974e-04 1.78951848e+02] [ 9.95024260e-01 -9.95129005e-02 -4.88917742e-03 1.26137093e+02] [ 4.92199115e-03 8.42344876e-05 9.99987883e-01 1.00517926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.430281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:178.95, Y:126.16, Z:1.01 [[-1.03922994e-01 -9.94585180e-01 5.75449396e-04 1.78949829e+02] [ 9.94573166e-01 -1.03924568e-01 -4.88896174e-03 1.26161598e+02] [ 4.92229222e-03 6.42509843e-05 9.99987883e-01 1.00831249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46028169299996 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:178.95, Y:126.17, Z:1.01 [[-1.05773726e-01 -9.94390057e-01 5.77299787e-04 1.78949171e+02] [ 9.94378041e-01 -1.05775286e-01 -4.88874323e-03 1.26171833e+02] [ 4.92238171e-03 5.69536433e-05 9.99987883e-01 1.00928847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.490281693 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:178.95, Y:126.15, Z:1.01 [[-1.08411368e-01 -9.94105950e-01 5.79177238e-04 1.78952269e+02] [ 9.94093931e-01 -1.08412905e-01 -4.88852080e-03 1.26149553e+02] [ 4.92249790e-03 4.57853512e-05 9.99987883e-01 1.00654555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52028169299996 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:178.95, Y:126.18, Z:1.01 [[-1.09090401e-01 -9.94031663e-01 5.81049623e-04 1.78949954e+02] [ 9.94019644e-01 -1.09091940e-01 -4.88829823e-03 1.26175565e+02] [ 4.92251105e-03 4.43083227e-05 9.99987883e-01 1.00576412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.550281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:178.95, Y:126.16, Z:1.00 [[-1.09473105e-01 -9.93989587e-01 5.82927533e-04 1.78954562e+02] [ 9.93977569e-01 -1.09474648e-01 -4.88807428e-03 1.26163921e+02] [ 4.92251073e-03 4.43042225e-05 9.99987883e-01 1.00472848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58028169299996 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:178.96, Y:126.16, Z:1.01 [[-1.10136074e-01 -9.93916346e-01 5.84818598e-04 1.78955677e+02] [ 9.93904328e-01 -1.10137619e-01 -4.88784802e-03 1.26161857e+02] [ 4.92252257e-03 4.29253423e-05 9.99987883e-01 1.00549805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.610281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:178.96, Y:126.14, Z:1.01 [[-1.10331693e-01 -9.93894649e-01 5.86703249e-04 1.78958069e+02] [ 9.93882632e-01 -1.10333244e-01 -4.88762179e-03 1.26143602e+02] [ 4.92251402e-03 4.38545832e-05 9.99987883e-01 1.00678599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64028169299996 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:178.96, Y:126.15, Z:1.01 [[-1.09755332e-01 -9.93958460e-01 5.88577460e-04 1.78959862e+02] [ 9.93946445e-01 -1.09756900e-01 -4.88739608e-03 1.26147538e+02] [ 4.92246912e-03 4.85966925e-05 9.99987883e-01 1.00924402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.670281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:178.96, Y:126.14, Z:1.01 [[-1.09387763e-01 -9.93998978e-01 5.90444747e-04 1.78962424e+02] [ 9.93986965e-01 -1.09389344e-01 -4.88717049e-03 1.26144161e+02] [ 4.92243084e-03 5.22977332e-05 9.99987883e-01 1.01182057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70028169299997 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:178.96, Y:126.14, Z:1.02 [[-1.06941606e-01 -9.94265127e-01 5.92315360e-04 1.78962535e+02] [ 9.94253119e-01 -1.06943226e-01 -4.88694376e-03 1.26141904e+02] [ 4.92226187e-03 6.62937810e-05 9.99987883e-01 1.01567121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73028169299994 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:178.96, Y:126.14, Z:1.02 [[-1.05491950e-01 -9.94419979e-01 5.94185261e-04 1.78961060e+02] [ 9.94407975e-01 -1.05493597e-01 -4.88671640e-03 1.26139548e+02] [ 4.92213116e-03 7.53533192e-05 9.99987883e-01 1.01628669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76028169299997 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:178.96, Y:126.12, Z:1.02 [[-1.04589737e-01 -9.94515275e-01 5.96055699e-04 1.78962076e+02] [ 9.94503273e-01 -1.04591403e-01 -4.88648824e-03 1.26116418e+02] [ 4.92202950e-03 8.17028264e-05 9.99987883e-01 1.01736582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79028169299994 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:178.96, Y:126.11, Z:1.02 [[-1.04964793e-01 -9.94475759e-01 5.97911860e-04 1.78962451e+02] [ 9.94463758e-01 -1.04966464e-01 -4.88626111e-03 1.26113955e+02] [ 4.92202892e-03 8.17162884e-05 9.99987883e-01 1.01735343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82028169299997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:178.96, Y:126.10, Z:1.02 [[-1.02942867e-01 -9.94687090e-01 5.99754565e-04 1.78961806e+02] [ 9.94675094e-01 -1.02944572e-01 -4.88603492e-03 1.26104807e+02] [ 4.92181733e-03 9.35784845e-05 9.99987883e-01 1.01935006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85028169299994 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:178.96, Y:126.11, Z:1.02 [[-1.02000886e-01 -9.94784126e-01 6.01592384e-04 1.78960500e+02] [ 9.94772133e-01 -1.02002611e-01 -4.88580863e-03 1.26108419e+02] [ 4.92168886e-03 1.00090529e-04 9.99987883e-01 1.01897242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.880281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:178.96, Y:126.08, Z:1.02 [[-9.96684378e-02 -9.95020522e-01 6.03430117e-04 1.78957576e+02] [ 9.95008534e-01 -9.96701999e-02 -4.88558165e-03 1.26082168e+02] [ 4.92139800e-03 1.13479825e-04 9.99987883e-01 1.01545602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.91028169299994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:178.95, Y:126.09, Z:1.01 [[-9.86623526e-02 -9.95120784e-01 6.05256721e-04 1.78952837e+02] [ 9.95108799e-01 -9.86641357e-02 -4.88535534e-03 1.26091584e+02] [ 4.92123577e-03 1.20295637e-04 9.99987883e-01 1.01395092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.940281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:178.95, Y:126.09, Z:1.01 [[-9.80934014e-02 -9.95177028e-01 6.07076150e-04 1.78950004e+02] [ 9.95165045e-01 -9.80952003e-02 -4.88512924e-03 1.26091104e+02] [ 4.92111966e-03 1.24942021e-04 9.99987883e-01 1.01395207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97028169299995 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:178.94, Y:126.08, Z:1.02 [[-9.80663538e-02 -9.95179692e-01 6.08905252e-04 1.78944868e+02] [ 9.95167711e-01 -9.80681620e-02 -4.88490125e-03 1.26084722e+02] [ 4.92106874e-03 1.26918393e-04 9.99987883e-01 1.01898857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.000281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:178.94, Y:126.07, Z:1.02 [[-9.98201831e-02 -9.95005306e-01 6.10733670e-04 1.78939789e+02] [ 9.94993323e-01 -9.98219792e-02 -4.88467264e-03 1.26066737e+02] [ 4.92123983e-03 1.20087007e-04 9.99987883e-01 1.01931476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03028169299995 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:178.94, Y:126.07, Z:1.02 [[-1.01358415e-01 -9.94849786e-01 6.12550205e-04 1.78936255e+02] [ 9.94837802e-01 -1.01360202e-01 -4.88444483e-03 1.26074880e+02] [ 4.92137710e-03 1.14308512e-04 9.99987883e-01 1.01878346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.060281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:178.93, Y:126.08, Z:1.02 [[-1.03152373e-01 -9.94665376e-01 6.14364613e-04 1.78933487e+02] [ 9.94653390e-01 -1.03154147e-01 -4.88421660e-03 1.26079196e+02] [ 4.92153540e-03 1.07261314e-04 9.99987883e-01 1.01747041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09028169299995 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:178.93, Y:126.09, Z:1.02 [[-1.04873157e-01 -9.94485415e-01 6.16190706e-04 1.78930472e+02] [ 9.94473428e-01 -1.04874919e-01 -4.88398621e-03 1.26086576e+02] [ 4.92167601e-03 1.00586233e-04 9.99987883e-01 1.01717191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.120281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:178.93, Y:126.07, Z:1.02 [[-1.08319794e-01 -9.94115909e-01 6.18027751e-04 1.78925483e+02] [ 9.94103916e-01 -1.08321523e-01 -4.88375374e-03 1.26074769e+02] [ 4.92196299e-03 8.53766094e-05 9.99987883e-01 1.01728789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15028169299995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:178.92, Y:126.10, Z:1.02 [[-1.11573005e-01 -9.93756047e-01 6.19866198e-04 1.78915797e+02] [ 9.93744050e-01 -1.11574704e-01 -4.88352038e-03 1.26104220e+02] [ 4.92218930e-03 7.11193000e-05 9.99987883e-01 1.01547547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.180281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:178.91, Y:126.12, Z:1.01 [[-1.13211469e-01 -9.93570721e-01 6.21720612e-04 1.78912184e+02] [ 9.93558722e-01 -1.13213158e-01 -4.88328429e-03 1.26118717e+02] [ 4.92227524e-03 6.48721484e-05 9.99987883e-01 1.01332604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21028169299996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:178.91, Y:126.12, Z:1.01 [[-1.14822437e-01 -9.93385836e-01 6.23609178e-04 1.78911237e+02] [ 9.93373836e-01 -1.14824115e-01 -4.88304310e-03 1.26115200e+02] [ 4.92235122e-03 5.87941342e-05 9.99987883e-01 1.01034892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.240281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:178.91, Y:126.12, Z:1.01 [[-1.18181319e-01 -9.92991835e-01 6.25509464e-04 1.78906825e+02] [ 9.92979831e-01 -1.18182966e-01 -4.88279966e-03 1.26123022e+02] [ 4.92250476e-03 4.40625779e-05 9.99987883e-01 1.01029774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27028169299996 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:178.91, Y:126.12, Z:1.01 [[-1.19486481e-01 -9.92835630e-01 6.27416742e-04 1.78905713e+02] [ 9.92823625e-01 -1.19488121e-01 -4.88255458e-03 1.26115825e+02] [ 4.92254299e-03 3.95149009e-05 9.99987883e-01 1.01304850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.300281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:178.90, Y:126.11, Z:1.01 [[-1.18989548e-01 -9.92895307e-01 6.29328142e-04 1.78903781e+02] [ 9.92883305e-01 -1.18991204e-01 -4.88230820e-03 1.26107373e+02] [ 4.92250541e-03 4.39057588e-05 9.99987883e-01 1.01492139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33028169299996 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:178.90, Y:126.12, Z:1.02 [[-1.18610698e-01 -9.92940635e-01 6.31232327e-04 1.78900648e+02] [ 9.92928634e-01 -1.18612368e-01 -4.88206199e-03 1.26118734e+02] [ 4.92246969e-03 4.77038704e-05 9.99987883e-01 1.01571371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.360281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:178.90, Y:126.11, Z:1.02 [[-1.17845455e-01 -9.93031746e-01 6.33142879e-04 1.78896948e+02] [ 9.93019747e-01 -1.17847144e-01 -4.88181421e-03 1.26110393e+02] [ 4.92241056e-03 5.34237645e-05 9.99987883e-01 1.01795199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39028169299996 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:178.90, Y:126.09, Z:1.02 [[-1.17669546e-01 -9.93052604e-01 6.35059186e-04 1.78897900e+02] [ 9.93040607e-01 -1.17671247e-01 -4.88156491e-03 1.26085113e+02] [ 4.92237895e-03 5.62280309e-05 9.99987883e-01 1.01729616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.420281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:178.89, Y:126.12, Z:1.02 [[-1.18045657e-01 -9.93007964e-01 6.36955371e-04 1.78892624e+02] [ 9.92995968e-01 -1.18047362e-01 -4.88131748e-03 1.26116002e+02] [ 4.92237803e-03 5.62757873e-05 9.99987883e-01 1.01674049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45028169299997 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:178.89, Y:126.10, Z:1.02 [[-1.20934885e-01 -9.92660237e-01 6.38859817e-04 1.78894419e+02] [ 9.92648237e-01 -1.20936565e-01 -4.88106821e-03 1.26099252e+02] [ 4.92250384e-03 4.38716468e-05 9.99987883e-01 1.01695721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48028169299994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:178.90, Y:126.09, Z:1.02 [[-1.25977019e-01 -9.92032953e-01 6.40777803e-04 1.78895246e+02] [ 9.92020947e-01 -1.25978647e-01 -4.88081641e-03 1.26087859e+02] [ 4.92265504e-03 2.07943033e-05 9.99987883e-01 1.01696185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51028169299997 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:178.90, Y:126.07, Z:1.02 [[-1.28536993e-01 -9.91704507e-01 6.42679459e-04 1.78897554e+02] [ 9.91692497e-01 -1.28538599e-01 -4.88056600e-03 1.26068724e+02] [ 4.92268841e-03 1.00071228e-05 9.99987883e-01 1.01641761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.90, Y:126.09, Z:1.02 [[-1.30264357e-01 -9.91479088e-01 6.44562563e-04 1.78895463e+02] [ 9.91467077e-01 -1.30265952e-01 -4.88031729e-03 1.26086176e+02] [ 4.92269709e-03 3.33116758e-06 9.99987883e-01 1.01598173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.57028169299997 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:178.89, Y:126.09, Z:1.02 [[-1.31989031e-01 -9.91250966e-01 6.46448409e-04 1.78894594e+02] [ 9.91238953e-01 -1.31990614e-01 -4.88006748e-03 1.26093607e+02] [ 4.92269672e-03 -3.33053503e-06 9.99987883e-01 1.01683008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60028169299994 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:178.90, Y:126.06, Z:1.02 [[-1.31994956e-01 -9.91250176e-01 6.48355268e-04 1.78898273e+02] [ 9.91238165e-01 -1.31996548e-01 -4.87981412e-03 1.26062323e+02] [ 4.92269726e-03 -1.43636301e-06 9.99987883e-01 1.01652730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.630281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:178.90, Y:126.07, Z:1.01 [[-1.33036809e-01 -9.91110886e-01 6.47642326e-04 1.78896528e+02] [ 9.91098872e-01 -1.33038385e-01 -4.87990874e-03 1.26067188e+02] [ 4.92269196e-03 -7.32990812e-06 9.99987883e-01 1.01449533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66028169299994 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:178.90, Y:126.07, Z:1.01 [[-1.33816965e-01 -9.91005852e-01 6.49513571e-04 1.78896806e+02] [ 9.90993838e-01 -1.33818541e-01 -4.87965967e-03 1.26071486e+02] [ 4.92268824e-03 -9.31730017e-06 9.99987883e-01 1.01153137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.690281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:178.90, Y:126.07, Z:1.01 [[-1.34370727e-01 -9.90930918e-01 6.51395055e-04 1.78900319e+02] [ 9.90918904e-01 -1.34372305e-01 -4.87940849e-03 1.26065181e+02] [ 4.92268619e-03 -1.01699896e-05 9.99987883e-01 1.01050034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72028169299995 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:178.90, Y:126.05, Z:1.01 [[-1.34281344e-01 -9.90943033e-01 6.53277711e-04 1.78902076e+02] [ 9.90931021e-01 -1.34282932e-01 -4.87915642e-03 1.26054458e+02] [ 4.92269011e-03 -7.82653029e-06 9.99987883e-01 1.01390307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.750281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:178.90, Y:126.05, Z:1.02 [[-1.34111627e-01 -9.90966015e-01 6.55152099e-04 1.78902061e+02] [ 9.90954004e-01 -1.34113227e-01 -4.87890472e-03 1.26049869e+02] [ 4.92269333e-03 -5.09225508e-06 9.99987883e-01 1.01665677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78028169299995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:178.90, Y:126.06, Z:1.02 [[-1.33243664e-01 -9.91083092e-01 6.57018914e-04 1.78899773e+02] [ 9.91071084e-01 -1.33245284e-01 -4.87865331e-03 1.26059528e+02] [ 4.92269548e-03 1.10280510e-06 9.99987883e-01 1.01743337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.810281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.90, Y:126.05, Z:1.02 [[-1.33106613e-01 -9.91101506e-01 6.58893107e-04 1.78900467e+02] [ 9.91089500e-01 -1.33108244e-01 -4.87840018e-03 1.26054132e+02] [ 4.92269387e-03 3.67471425e-06 9.99987883e-01 1.01716193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.90, Y:126.05, Z:1.02 [[-1.32668512e-01 -9.91160244e-01 6.60773471e-04 1.78901189e+02] [ 9.91148240e-01 -1.32670157e-01 -4.87814547e-03 1.26051937e+02] [ 4.92268878e-03 7.74816170e-06 9.99987883e-01 1.01792723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.870281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.90, Y:126.04, Z:1.02 [[-1.32484880e-01 -9.91184805e-01 6.62651545e-04 1.78903391e+02] [ 9.91172802e-01 -1.32486537e-01 -4.87789034e-03 1.26043735e+02] [ 4.92268319e-03 1.05554714e-05 9.99987883e-01 1.01821260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.90, Y:126.06, Z:1.02 [[-1.31971036e-01 -9.91253350e-01 6.64526074e-04 1.78903484e+02] [ 9.91241349e-01 -1.31972709e-01 -4.87763495e-03 1.26056159e+02] [ 4.92267129e-03 1.49991825e-05 9.99987883e-01 1.01730836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.930281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.90, Y:126.07, Z:1.02 [[-1.30089138e-01 -9.91502079e-01 6.66406775e-04 1.78904375e+02] [ 9.91490083e-01 -1.30090843e-01 -4.87737799e-03 1.26070557e+02] [ 4.92262383e-03 2.62418077e-05 9.99987883e-01 1.01520390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.91, Y:126.05, Z:1.01 [[-1.29685733e-01 -9.91554922e-01 6.68309031e-04 1.78906372e+02] [ 9.91542928e-01 -1.29687451e-01 -4.87711732e-03 1.26054310e+02] [ 4.92260099e-03 3.01645587e-05 9.99987883e-01 1.01440646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.990281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:178.91, Y:126.06, Z:1.01 [[-1.30273893e-01 -9.91477818e-01 6.70213433e-04 1.78905749e+02] [ 9.91465824e-01 -1.30275614e-01 -4.87685561e-03 1.26060967e+02] [ 4.92260662e-03 2.91667459e-05 9.99987883e-01 1.01162343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:178.91, Y:126.06, Z:1.01 [[-1.31478258e-01 -9.91318827e-01 6.72114188e-04 1.78906775e+02] [ 9.91306832e-01 -1.31479973e-01 -4.87659364e-03 1.26064668e+02] [ 4.92262864e-03 2.51053512e-05 9.99987883e-01 1.01156278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.050281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:178.91, Y:126.04, Z:1.01 [[-1.31887080e-01 -9.91264518e-01 6.74025513e-04 1.78912179e+02] [ 9.91252524e-01 -1.31888800e-01 -4.87632945e-03 1.26039027e+02] [ 4.92262877e-03 2.50046374e-05 9.99987883e-01 1.01235553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:178.91, Y:126.05, Z:1.02 [[-1.32065802e-01 -9.91240722e-01 6.74735878e-04 1.78912112e+02] [ 9.91228728e-01 -1.32067524e-01 -4.87623115e-03 1.26053224e+02] [ 4.92262958e-03 2.48342067e-05 9.99987883e-01 1.01517956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.110281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:178.91, Y:126.05, Z:1.02 [[-1.32596585e-01 -9.91169858e-01 6.76629985e-04 1.78912850e+02] [ 9.91157865e-01 -1.32598309e-01 -4.87596831e-03 1.26050082e+02] [ 4.92263281e-03 2.41103857e-05 9.99987883e-01 1.01707946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:178.91, Y:126.05, Z:1.02 [[-1.33876254e-01 -9.90997825e-01 6.78535237e-04 1.78914651e+02] [ 9.90985830e-01 -1.33877972e-01 -4.87570316e-03 1.26050480e+02] [ 4.92265215e-03 1.96779320e-05 9.99987884e-01 1.01973750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.170281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.92, Y:126.05, Z:1.02 [[-1.35059427e-01 -9.90837266e-01 6.80441990e-04 1.78915445e+02] [ 9.90825272e-01 -1.35061140e-01 -4.87543705e-03 1.26048066e+02] [ 4.92266598e-03 1.57253870e-05 9.99987884e-01 1.01850298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:178.92, Y:126.03, Z:1.02 [[-1.36852331e-01 -9.90591225e-01 6.82349942e-04 1.78918506e+02] [ 9.90579228e-01 -1.36854031e-01 -4.87517000e-03 1.26030835e+02] [ 4.92268296e-03 8.74330294e-06 9.99987884e-01 1.01581128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.92, Y:126.03, Z:1.01 [[-1.37593085e-01 -9.90488604e-01 6.84247155e-04 1.78920495e+02] [ 9.90476608e-01 -1.37594787e-01 -4.87490371e-03 1.26025942e+02] [ 4.92268541e-03 6.97775885e-06 9.99987884e-01 1.01434994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.92, Y:126.03, Z:1.02 [[-1.38240668e-01 -9.90398428e-01 6.86132471e-04 1.78923596e+02] [ 9.90386432e-01 -1.38242371e-01 -4.87463834e-03 1.26028859e+02] [ 4.92268673e-03 5.66302767e-06 9.99987884e-01 1.01552704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:178.93, Y:126.02, Z:1.02 [[-1.38393526e-01 -9.90377079e-01 6.88018959e-04 1.78925509e+02] [ 9.90365084e-01 -1.38395236e-01 -4.87437206e-03 1.26020762e+02] [ 4.92268491e-03 6.80841715e-06 9.99987884e-01 1.01604471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32028169299997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:178.92, Y:126.04, Z:1.02 [[-1.38347009e-01 -9.90383577e-01 6.89904707e-04 1.78922697e+02] [ 9.90371583e-01 -1.38348728e-01 -4.87410514e-03 1.26041086e+02] [ 4.92268112e-03 8.94415134e-06 9.99987884e-01 1.01678906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.92, Y:126.02, Z:1.02 [[-1.36621171e-01 -9.90623126e-01 6.91802795e-04 1.78924378e+02] [ 9.90611136e-01 -1.36622921e-01 -4.87383572e-03 1.26022211e+02] [ 4.92265049e-03 1.94384104e-05 9.99987884e-01 1.01960454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.380281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.92, Y:126.03, Z:1.02 [[-1.35153725e-01 -9.90824399e-01 6.93705263e-04 1.78922702e+02] [ 9.90812413e-01 -1.35155502e-01 -4.87356492e-03 1.26029518e+02] [ 4.92260512e-03 2.86513330e-05 9.99987884e-01 1.01961192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41028169299994 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:178.92, Y:126.03, Z:1.02 [[-1.31812524e-01 -9.91274419e-01 6.95603140e-04 1.78921586e+02] [ 9.91262441e-01 -1.31814351e-01 -4.87329402e-03 1.26027980e+02] [ 4.92246218e-03 4.71640791e-05 9.99987884e-01 1.01905320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.440281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:178.92, Y:126.01, Z:1.02 [[-1.31930720e-01 -9.91258694e-01 6.97508948e-04 1.78923603e+02] [ 9.91246717e-01 -1.31932555e-01 -4.87302123e-03 1.26009070e+02] [ 4.92244880e-03 4.85022564e-05 9.99987884e-01 1.02045481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47028169299995 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:178.92, Y:126.02, Z:1.02 [[-1.35501168e-01 -9.90776940e-01 6.99404032e-04 1.78923466e+02] [ 9.90764958e-01 -1.35502969e-01 -4.87274922e-03 1.26023350e+02] [ 4.92257889e-03 3.26817940e-05 9.99987884e-01 1.02177156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.500281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:178.93, Y:125.99, Z:1.02 [[-1.38871083e-01 -9.90310219e-01 7.01299011e-04 1.78929708e+02] [ 9.90298233e-01 -1.38872853e-01 -4.87247648e-03 1.25994361e+02] [ 4.92265464e-03 1.78490833e-05 9.99987884e-01 1.02104769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53028169299995 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:178.93, Y:125.99, Z:1.02 [[-1.47811812e-01 -9.89015255e-01 7.02004886e-04 1.78933136e+02] [ 9.89003254e-01 -1.47813477e-01 -4.87237478e-03 1.25985766e+02] [ 4.92261877e-03 -2.59094298e-05 9.99987884e-01 1.01752712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.560281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:178.94, Y:125.98, Z:1.02 [[-1.52033554e-01 -9.88375082e-01 7.03869196e-04 1.78935477e+02] [ 9.88363075e-01 -1.52035177e-01 -4.87210544e-03 1.25979386e+02] [ 4.92248049e-03 -4.50451829e-05 9.99987884e-01 1.01620713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59028169299995 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:178.94, Y:125.97, Z:1.02 [[-1.56909945e-01 -9.87612663e-01 7.05725996e-04 1.78942453e+02] [ 9.87600648e-01 -1.56911518e-01 -4.87183647e-03 1.25970264e+02] [ 4.92222392e-03 -6.74641415e-05 9.99987884e-01 1.01908346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.620281693 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:178.95, Y:125.97, Z:1.02 [[-1.58070295e-01 -9.87427608e-01 7.07574450e-04 1.78945564e+02] [ 9.87415593e-01 -1.58071862e-01 -4.87156799e-03 1.25969175e+02] [ 4.92216834e-03 -7.13801425e-05 9.99987884e-01 1.02101476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65028169299995 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:178.95, Y:125.97, Z:1.02 [[-1.58167187e-01 -9.87412091e-01 7.09418848e-04 1.78947242e+02] [ 9.87400078e-01 -1.58168762e-01 -4.87129939e-03 1.25969152e+02] [ 4.92218781e-03 -6.99994927e-05 9.99987884e-01 1.02120316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.680281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:178.95, Y:125.97, Z:1.02 [[-1.58541707e-01 -9.87352025e-01 7.11265261e-04 1.78947677e+02] [ 9.87340012e-01 -1.58543287e-01 -4.87102977e-03 1.25966683e+02] [ 4.92218744e-03 -7.00007247e-05 9.99987884e-01 1.02119078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71028169299996 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:178.95, Y:125.96, Z:1.02 [[-1.56515942e-01 -9.87675175e-01 7.13112795e-04 1.78950207e+02] [ 9.87663167e-01 -1.56517556e-01 -4.87075928e-03 1.25963271e+02] [ 4.92234270e-03 -5.80362355e-05 9.99987884e-01 1.01660815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.740281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:178.96, Y:125.97, Z:1.01 [[-1.54426634e-01 -9.88004000e-01 7.14959614e-04 1.78955318e+02] [ 9.87991996e-01 -1.54428282e-01 -4.87048818e-03 1.25965216e+02] [ 4.92247179e-03 -4.57587180e-05 9.99987884e-01 1.01241353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77028169299996 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:178.95, Y:125.99, Z:1.01 [[-1.54282335e-01 -9.88026542e-01 7.16808168e-04 1.78954365e+02] [ 9.88014539e-01 -1.54283994e-01 -4.87021610e-03 1.25988000e+02] [ 4.92249480e-03 -4.31714196e-05 9.99987884e-01 1.01250314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.800281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:178.96, Y:125.99, Z:1.01 [[-1.54457159e-01 -9.87999226e-01 7.18675686e-04 1.78955648e+02] [ 9.87987224e-01 -1.54458825e-01 -4.86994051e-03 1.25986304e+02] [ 4.92250325e-03 -4.21547789e-05 9.99987884e-01 1.01367708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83028169299996 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:178.96, Y:125.99, Z:1.01 [[-1.54590513e-01 -9.87978367e-01 7.20560989e-04 1.78957012e+02] [ 9.87966367e-01 -1.54592187e-01 -4.86966154e-03 1.25988153e+02] [ 4.92251336e-03 -4.09134543e-05 9.99987884e-01 1.01317448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.860281693 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:178.96, Y:125.96, Z:1.01 [[-1.54526978e-01 -9.87988305e-01 7.22449676e-04 1.78962571e+02] [ 9.87976306e-01 -1.54528662e-01 -4.86938132e-03 1.25962629e+02] [ 4.92253098e-03 -3.86876172e-05 9.99987884e-01 1.01344579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89028169299996 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:178.96, Y:125.97, Z:1.01 [[-1.54027472e-01 -9.88066300e-01 7.24324997e-04 1.78963442e+02] [ 9.88054303e-01 -1.54029171e-01 -4.86910235e-03 1.25967144e+02] [ 4.92256313e-03 -3.43030940e-05 9.99987884e-01 1.01499153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.920281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:178.96, Y:126.00, Z:1.02 [[-1.51581187e-01 -9.88444544e-01 7.26188674e-04 1.78958622e+02] [ 9.88432553e-01 -1.51582925e-01 -4.86882438e-03 1.25998268e+02] [ 4.92264070e-03 -2.02336526e-05 9.99987884e-01 1.02048499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95028169299997 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:178.96, Y:125.98, Z:1.02 [[-1.50036020e-01 -9.88680263e-01 7.28080539e-04 1.78960991e+02] [ 9.88668276e-01 -1.50037786e-01 -4.86854146e-03 1.25983851e+02] [ 4.92267044e-03 -1.06264526e-05 9.99987884e-01 1.02105826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98028169299994 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:178.96, Y:125.97, Z:1.02 [[-1.46943085e-01 -9.89144680e-01 7.29988045e-04 1.78964328e+02] [ 9.89132699e-01 -1.46944898e-01 -4.86825543e-03 1.25970333e+02] [ 4.92267698e-03 6.69857514e-06 9.99987884e-01 1.01887395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01028169299997 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:178.97, Y:125.96, Z:1.02 [[-1.46265999e-01 -9.89245026e-01 7.31878403e-04 1.78967185e+02] [ 9.89233049e-01 -1.46267830e-01 -4.86797122e-03 1.25960533e+02] [ 4.92266659e-03 1.19796281e-05 9.99987884e-01 1.01776888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04028169299994 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:178.97, Y:125.97, Z:1.02 [[-1.45583684e-01 -9.89345669e-01 7.33755368e-04 1.78967432e+02] [ 9.89333694e-01 -1.45585532e-01 -4.86768829e-03 1.25967654e+02] [ 4.92265049e-03 1.72729161e-05 9.99987884e-01 1.01747597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.07028169299997 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:178.97, Y:125.96, Z:1.02 [[-1.44525086e-01 -9.89500863e-01 7.35633489e-04 1.78969249e+02] [ 9.89488892e-01 -1.44526956e-01 -4.86740444e-03 1.25962310e+02] [ 4.92261977e-03 2.44391224e-05 9.99987884e-01 1.01995698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10028169299994 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:178.97, Y:125.94, Z:1.02 [[-1.43971094e-01 -9.89581619e-01 7.37516534e-04 1.78973965e+02] [ 9.89569650e-01 -1.43972980e-01 -4.86711910e-03 1.25943063e+02] [ 4.92259405e-03 2.90995165e-05 9.99987884e-01 1.01947200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.130281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:178.97, Y:125.94, Z:1.02 [[-1.43753114e-01 -9.89613306e-01 7.39385030e-04 1.78974366e+02] [ 9.89601339e-01 -1.43755012e-01 -4.86683524e-03 1.25944776e+02] [ 4.92257521e-03 3.20736931e-05 9.99987884e-01 1.01840605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16028169299994 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:178.97, Y:125.95, Z:1.02 [[-1.43213592e-01 -9.89691527e-01 7.41244439e-04 1.78973482e+02] [ 9.89679562e-01 -1.43215506e-01 -4.86655202e-03 1.25951175e+02] [ 4.92254300e-03 3.66380752e-05 9.99987884e-01 1.01702067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.190281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:178.97, Y:125.93, Z:1.02 [[-1.41794794e-01 -9.89895795e-01 7.43112716e-04 1.78974332e+02] [ 9.89883834e-01 -1.41796734e-01 -4.86626672e-03 1.25934073e+02] [ 4.92246792e-03 4.55839755e-05 9.99987884e-01 1.01724883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22028169299995 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:178.97, Y:125.93, Z:1.02 [[-1.41534741e-01 -9.89933009e-01 7.44977466e-04 1.78974790e+02] [ 9.89921051e-01 -1.41536693e-01 -4.86598123e-03 1.25933173e+02] [ 4.92243709e-03 4.87634844e-05 9.99987884e-01 1.01946548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.250281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:178.98, Y:125.93, Z:1.02 [[-1.42274033e-01 -9.89827026e-01 7.46833162e-04 1.78979008e+02] [ 9.89815068e-01 -1.42275985e-01 -4.86569640e-03 1.25925984e+02] [ 4.92245422e-03 4.69644693e-05 9.99987884e-01 1.02306984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28028169299995 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:178.98, Y:125.92, Z:1.02 [[-1.43477475e-01 -9.89653300e-01 7.48685994e-04 1.78980781e+02] [ 9.89641341e-01 -1.43479422e-01 -4.86541129e-03 1.25922284e+02] [ 4.92249137e-03 4.28536851e-05 9.99987884e-01 1.02194905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.310281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:178.98, Y:125.93, Z:1.02 [[-1.45150935e-01 -9.89409239e-01 7.50534126e-04 1.78979930e+02] [ 9.89397278e-01 -1.45152871e-01 -4.86512618e-03 1.25934518e+02] [ 4.92254298e-03 3.63988069e-05 9.99987884e-01 1.01998564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34028169299995 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:178.99, Y:125.94, Z:1.02 [[-1.49303256e-01 -9.88791167e-01 7.52391640e-04 1.78985049e+02] [ 9.88779200e-01 -1.49305151e-01 -4.86483890e-03 1.25936094e+02] [ 4.92264568e-03 1.76129166e-05 9.99987884e-01 1.01572535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.370281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:178.99, Y:125.95, Z:1.02 [[-1.53584305e-01 -9.88135260e-01 7.54260512e-04 1.78992323e+02] [ 9.88123286e-01 -1.53586157e-01 -4.86454913e-03 1.25950303e+02] [ 4.92267649e-03 -1.81602038e-06 9.99987884e-01 1.01559677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40028169299995 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:179.00, Y:125.94, Z:1.02 [[-1.55697583e-01 -9.87804480e-01 7.56142449e-04 1.78997538e+02] [ 9.87792504e-01 -1.55699419e-01 -4.86425658e-03 1.25939013e+02] [ 4.92266538e-03 -1.04411495e-05 9.99987884e-01 1.01532932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.430281693 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:179.00, Y:125.93, Z:1.01 [[-1.56189274e-01 -9.87726853e-01 7.58028394e-04 1.79001369e+02] [ 9.87714877e-01 -1.56191113e-01 -4.86396266e-03 1.25934907e+02] [ 4.92266383e-03 -1.09828759e-05 9.99987884e-01 1.01462619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46028169299996 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:179.01, Y:125.93, Z:1.02 [[-1.53071011e-01 -9.88214900e-01 7.59906001e-04 1.79009707e+02] [ 9.88202931e-01 -1.53072897e-01 -4.86366930e-03 1.25934533e+02] [ 4.92267149e-03 6.45455841e-06 9.99987884e-01 1.01530185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.490281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:179.02, Y:125.92, Z:1.02 [[-1.47042675e-01 -9.89129856e-01 7.61782567e-04 1.79018680e+02] [ 9.89117900e-01 -1.47044643e-01 -4.86337537e-03 1.25923201e+02] [ 4.92252582e-03 3.83690515e-05 9.99987884e-01 1.01629545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52028169299996 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:179.02, Y:125.89, Z:1.02 [[-1.43569452e-01 -9.89639949e-01 7.63653051e-04 1.79024757e+02] [ 9.89628002e-01 -1.43571471e-01 -4.86308164e-03 1.25892087e+02] [ 4.92233866e-03 5.75424765e-05 9.99987884e-01 1.01564518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.550281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:179.03, Y:125.89, Z:1.01 [[-1.40354032e-01 -9.90101086e-01 7.65496951e-04 1.79026831e+02] [ 9.90089147e-01 -1.40356099e-01 -4.86279138e-03 1.25886502e+02] [ 4.92209719e-03 7.53978492e-05 9.99987884e-01 1.01323801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58028169299996 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:179.03, Y:125.88, Z:1.01 [[-1.37148959e-01 -9.90550137e-01 7.67318860e-04 1.79031854e+02] [ 9.90538207e-01 -1.37151074e-01 -4.86250387e-03 1.25878146e+02] [ 4.92179248e-03 9.31713044e-05 9.99987884e-01 1.01012128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.610281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:179.04, Y:125.86, Z:1.01 [[-1.36395051e-01 -9.90654228e-01 7.69134166e-04 1.79037387e+02] [ 9.90642300e-01 -1.36397184e-01 -4.86221672e-03 1.25860145e+02] [ 4.92168328e-03 9.87545426e-05 9.99987884e-01 1.01031978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64028169299996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:179.04, Y:125.87, Z:1.02 [[-1.35172246e-01 -9.90821815e-01 7.70934762e-04 1.79039862e+02] [ 9.90809892e-01 -1.35174403e-01 -4.86193121e-03 1.25865706e+02] [ 4.92151815e-03 1.06651625e-04 9.99987884e-01 1.01667816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.670281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:179.04, Y:125.84, Z:1.02 [[-1.34924937e-01 -9.90855521e-01 7.72730065e-04 1.79044362e+02] [ 9.90843601e-01 -1.34927105e-01 -4.86164585e-03 1.25843404e+02] [ 4.92145087e-03 1.09697379e-04 9.99987884e-01 1.01891829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70028169299997 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:179.05, Y:125.84, Z:1.02 [[-1.33326522e-01 -9.91071864e-01 7.74516965e-04 1.79045697e+02] [ 9.91059948e-01 -1.33328718e-01 -4.86136116e-03 1.25837160e+02] [ 4.92122362e-03 1.19444367e-04 9.99987884e-01 1.01759717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73028169299994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:179.04, Y:125.84, Z:1.02 [[-1.32764749e-01 -9.91147274e-01 7.76289043e-04 1.79044783e+02] [ 9.91135361e-01 -1.32766960e-01 -4.86107817e-03 1.25838722e+02] [ 4.92110991e-03 1.24027698e-04 9.99987884e-01 1.01838390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76028169299997 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:179.04, Y:125.82, Z:1.03 [[-1.30635404e-01 -9.91430172e-01 7.78061017e-04 1.79043930e+02] [ 9.91418265e-01 -1.30637650e-01 -4.86079453e-03 1.25824281e+02] [ 4.92078242e-03 1.36392044e-04 9.99987884e-01 1.02510820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79028169299994 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:179.04, Y:125.82, Z:1.03 [[-1.28777050e-01 -9.91673264e-01 7.79828424e-04 1.79042389e+02] [ 9.91661364e-01 -1.28779327e-01 -4.86051097e-03 1.25822809e+02] [ 4.92046456e-03 1.47403455e-04 9.99987884e-01 1.02534517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.04, Y:125.81, Z:1.03 [[-1.26457986e-01 -9.91971656e-01 7.81589055e-04 1.79042547e+02] [ 9.91959763e-01 -1.26460300e-01 -4.86022783e-03 1.25807444e+02] [ 4.92004824e-03 1.60690269e-04 9.99987884e-01 1.02536364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85028169299994 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:179.04, Y:125.79, Z:1.02 [[-1.22004483e-01 -9.92529240e-01 7.83342961e-04 1.79038552e+02] [ 9.92517359e-01 -1.22006859e-01 -4.85994513e-03 1.25792560e+02] [ 4.91921086e-03 1.84546391e-04 9.99987884e-01 1.02050799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.880281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:179.03, Y:125.80, Z:1.02 [[-1.20792898e-01 -9.92677420e-01 7.85082327e-04 1.79029670e+02] [ 9.92665543e-01 -1.20795296e-01 -4.85966414e-03 1.25796647e+02] [ 4.91891311e-03 1.92311261e-04 9.99987884e-01 1.01904972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91028169299994 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:179.03, Y:125.80, Z:1.02 [[-1.21481925e-01 -9.92593332e-01 7.86819169e-04 1.79025065e+02] [ 9.92581455e-01 -1.21484323e-01 -4.85938291e-03 1.25800140e+02] [ 4.91897727e-03 1.90654926e-04 9.99987884e-01 1.01977779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.940281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:179.02, Y:125.80, Z:1.02 [[-1.22849100e-01 -9.92425048e-01 7.88564846e-04 1.79021095e+02] [ 9.92413170e-01 -1.22851491e-01 -4.85909961e-03 1.25798056e+02] [ 4.91916854e-03 1.85646124e-04 9.99987884e-01 1.01984225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97028169299995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:179.01, Y:125.80, Z:1.02 [[-1.25471712e-01 -9.92096883e-01 7.90314777e-04 1.79013327e+02] [ 9.92085000e-01 -1.25474079e-01 -4.85881498e-03 1.25802689e+02] [ 4.91957921e-03 1.74415603e-04 9.99987884e-01 1.01759291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.000281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:179.01, Y:125.81, Z:1.02 [[-1.27324120e-01 -9.91860848e-01 7.92070643e-04 1.79009441e+02] [ 9.91848962e-01 -1.27326475e-01 -4.85852872e-03 1.25807274e+02] [ 4.91983598e-03 1.67006549e-04 9.99987884e-01 1.01541050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03028169299995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:179.00, Y:125.82, Z:1.01 [[-1.31133566e-01 -9.91364392e-01 7.93836102e-04 1.79001386e+02] [ 9.91352499e-01 -1.31135883e-01 -4.85824025e-03 1.25815148e+02] [ 4.92038679e-03 1.49893034e-04 9.99987884e-01 1.01332136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.060281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:179.00, Y:125.83, Z:1.01 [[-1.33504291e-01 -9.91047916e-01 7.95613225e-04 1.78995303e+02] [ 9.91036019e-01 -1.33506588e-01 -4.85794920e-03 1.25833321e+02] [ 4.92068004e-03 1.39924301e-04 9.99987884e-01 1.01342237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09028169299995 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:178.99, Y:125.83, Z:1.02 [[-1.37343408e-01 -9.90523171e-01 7.97410805e-04 1.78991243e+02] [ 9.90511267e-01 -1.37345668e-01 -4.85765412e-03 1.25827151e+02] [ 4.92113988e-03 1.22677615e-04 9.99987884e-01 1.01595489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.120281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:178.99, Y:125.83, Z:1.02 [[-1.38783965e-01 -9.90322358e-01 7.99219890e-04 1.78988834e+02] [ 9.90310452e-01 -1.38786217e-01 -4.85735645e-03 1.25827294e+02] [ 4.92126940e-03 1.17352623e-04 9.99987884e-01 1.01542813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15028169299995 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:178.98, Y:125.83, Z:1.01 [[-1.40129449e-01 -9.90132868e-01 8.01028864e-04 1.78984916e+02] [ 9.90120961e-01 -1.40131693e-01 -4.85705812e-03 1.25834701e+02] [ 4.92138241e-03 1.12498593e-04 9.99987884e-01 1.01402913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.180281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:178.98, Y:125.83, Z:1.01 [[-1.41424380e-01 -9.89948736e-01 8.02846833e-04 1.78978968e+02] [ 9.89936828e-01 -1.41426618e-01 -4.85675760e-03 1.25833394e+02] [ 4.92148496e-03 1.07903713e-04 9.99987884e-01 1.01093834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21028169299996 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:178.97, Y:125.85, Z:1.02 [[-1.43880345e-01 -9.89594765e-01 8.04673009e-04 1.78971305e+02] [ 9.89582853e-01 -1.43882562e-01 -4.85645501e-03 1.25850906e+02] [ 4.92170087e-03 9.75421897e-05 9.99987884e-01 1.01501033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.240281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:178.97, Y:125.84, Z:1.02 [[-1.46289638e-01 -9.89241473e-01 8.06514391e-04 1.78970883e+02] [ 9.89229557e-01 -1.46291835e-01 -4.85614920e-03 1.25840682e+02] [ 4.92189065e-03 8.74235663e-05 9.99987884e-01 1.01647144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27028169299996 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:178.97, Y:125.85, Z:1.02 [[-1.49499183e-01 -9.88761519e-01 8.08364194e-04 1.78967033e+02] [ 9.88749598e-01 -1.49501351e-01 -4.85584125e-03 1.25850448e+02] [ 4.92212051e-03 7.33254712e-05 9.99987884e-01 1.01705450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.300281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:178.96, Y:125.87, Z:1.02 [[-1.55801645e-01 -9.87788029e-01 8.10218154e-04 1.78961041e+02] [ 9.87776096e-01 -1.55803746e-01 -4.85553189e-03 1.25866017e+02] [ 4.92247130e-03 4.38142687e-05 9.99987884e-01 1.01549344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33028169299996 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:178.96, Y:125.88, Z:1.02 [[-1.61207648e-01 -9.86920177e-01 8.12093131e-04 1.78957536e+02] [ 9.86908234e-01 -1.61209692e-01 -4.85521828e-03 1.25876309e+02] [ 4.92263017e-03 1.87630775e-05 9.99987884e-01 1.01909177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.360281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:178.96, Y:125.87, Z:1.02 [[-1.63185786e-01 -9.86595022e-01 8.13990254e-04 1.78958831e+02] [ 9.86583076e-01 -1.63187816e-01 -4.85490020e-03 1.25866279e+02] [ 4.92265366e-03 1.08183045e-05 9.99987884e-01 1.02267397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39028169299996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:178.96, Y:125.84, Z:1.03 [[-1.64904098e-01 -9.86309268e-01 8.15891450e-04 1.78963429e+02] [ 9.86297321e-01 -1.64906116e-01 -4.85458068e-03 1.25840385e+02] [ 4.92266340e-03 4.17130464e-06 9.99987884e-01 1.02553115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.420281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.96, Y:125.85, Z:1.03 [[-1.66768262e-01 -9.85995780e-01 8.17770792e-04 1.78962393e+02] [ 9.85983831e-01 -1.66770267e-01 -4.85426407e-03 1.25851556e+02] [ 4.92266374e-03 -3.22840530e-06 9.99987884e-01 1.02715920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45028169299997 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:178.97, Y:125.83, Z:1.03 [[-1.67872988e-01 -9.85808292e-01 8.19643089e-04 1.78966634e+02] [ 9.85796342e-01 -1.67874988e-01 -4.85394791e-03 1.25829235e+02] [ 4.92265968e-03 -6.84557864e-06 9.99987884e-01 1.02522917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48028169299994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:178.97, Y:125.83, Z:1.02 [[-1.69726710e-01 -9.85490826e-01 8.21510566e-04 1.78969900e+02] [ 9.85478874e-01 -1.69728698e-01 -4.85363183e-03 1.25826659e+02] [ 4.92264356e-03 -1.42096567e-05 9.99987884e-01 1.02071690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51028169299997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:178.97, Y:125.83, Z:1.02 [[-1.71708091e-01 -9.85147529e-01 8.23363681e-04 1.78971877e+02] [ 9.85135574e-01 -1.71710064e-01 -4.85331745e-03 1.25831781e+02] [ 4.92261352e-03 -2.22290224e-05 9.99987884e-01 1.01919805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:178.98, Y:125.83, Z:1.02 [[-1.73652619e-01 -9.84806624e-01 8.25221302e-04 1.78975467e+02] [ 9.84794667e-01 -1.73654577e-01 -4.85300157e-03 1.25832768e+02] [ 4.92257155e-03 -3.00628954e-05 9.99987884e-01 1.01901744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.57028169299997 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:178.99, Y:125.81, Z:1.02 [[-1.76842202e-01 -9.84238869e-01 8.27085616e-04 1.78986169e+02] [ 9.84226907e-01 -1.76844131e-01 -4.85268382e-03 1.25811573e+02] [ 4.92246528e-03 -4.41193767e-05 9.99987884e-01 1.01966227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60028169299994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:178.99, Y:125.81, Z:1.02 [[-1.77215090e-01 -9.84171796e-01 8.28938367e-04 1.78986662e+02] [ 9.84159835e-01 -1.77217023e-01 -4.85236731e-03 1.25809120e+02] [ 4.92246505e-03 -4.41048628e-05 9.99987884e-01 1.01964988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.630281693 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:178.99, Y:125.83, Z:1.02 [[-1.79001856e-01 -9.83848385e-01 8.30776695e-04 1.78985813e+02] [ 9.83836422e-01 -1.79003776e-01 -4.85205255e-03 1.25834565e+02] [ 4.92239624e-03 -5.11780403e-05 9.99987884e-01 1.01829448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66028169299994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:179.00, Y:125.81, Z:1.02 [[-1.80270550e-01 -9.83616712e-01 8.32633831e-04 1.78998024e+02] [ 9.83604748e-01 -1.80272464e-01 -4.85173384e-03 1.25814851e+02] [ 4.92234744e-03 -5.56421389e-05 9.99987884e-01 1.01504879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.690281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:179.00, Y:125.82, Z:1.01 [[-1.79988702e-01 -9.83668324e-01 8.34497031e-04 1.79001830e+02] [ 9.83656361e-01 -1.79990629e-01 -4.85141335e-03 1.25821882e+02] [ 4.92238328e-03 -5.23412797e-05 9.99987884e-01 1.01383604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72028169299995 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:179.00, Y:125.86, Z:1.01 [[-1.77410535e-01 -9.84136577e-01 8.36353300e-04 1.79004104e+02] [ 9.84124622e-01 -1.77412503e-01 -4.85109332e-03 1.25856770e+02] [ 4.92251791e-03 -3.75591872e-05 9.99987884e-01 1.01152815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.750281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:179.01, Y:125.85, Z:1.01 [[-1.76032959e-01 -9.84383916e-01 8.38240477e-04 1.79009522e+02] [ 9.84371965e-01 -1.76034952e-01 -4.85076720e-03 1.25847242e+02] [ 4.92257684e-03 -2.87544775e-05 9.99987884e-01 1.01121168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.01, Y:125.85, Z:1.01 [[-1.74833802e-01 -9.84597601e-01 8.40148140e-04 1.79013665e+02] [ 9.84585654e-01 -1.74835819e-01 -4.85043678e-03 1.25845973e+02] [ 4.92261640e-03 -2.08224979e-05 9.99987884e-01 1.01098269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.810281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.02, Y:125.83, Z:1.01 [[-1.71182167e-01 -9.85239035e-01 8.42049837e-04 1.79023634e+02] [ 9.85227097e-01 -1.71184238e-01 -4.85010661e-03 1.25825589e+02] [ 4.92266002e-03 -6.41445321e-07 9.99987884e-01 1.01335322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.03, Y:125.81, Z:1.02 [[-1.65802548e-01 -9.86158609e-01 8.43937913e-04 1.79030398e+02] [ 9.86146685e-01 -1.65804693e-01 -4.84977806e-03 1.25808206e+02] [ 4.92257925e-03 2.81410182e-05 9.99987884e-01 1.01627455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.870281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:179.04, Y:125.79, Z:1.02 [[-1.62675538e-01 -9.86679256e-01 8.45801612e-04 1.79035489e+02] [ 9.86667339e-01 -1.62677731e-01 -4.84945301e-03 1.25788037e+02] [ 4.92244777e-03 4.56374472e-05 9.99987884e-01 1.01663889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.04, Y:125.77, Z:1.01 [[-1.56736177e-01 -9.87640143e-01 8.47642163e-04 1.79042882e+02] [ 9.87628242e-01 -1.56738450e-01 -4.84913127e-03 1.25766522e+02] [ 4.92205482e-03 7.71210423e-05 9.99987884e-01 1.01465877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.930281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.04, Y:125.77, Z:1.01 [[-1.54767911e-01 -9.87950491e-01 8.49457753e-04 1.79042168e+02] [ 9.87938596e-01 -1.54770216e-01 -4.84881320e-03 1.25772337e+02] [ 4.92185814e-03 8.87714107e-05 9.99987884e-01 1.01360358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.04, Y:125.76, Z:1.01 [[-1.52721292e-01 -9.88268932e-01 8.51265303e-04 1.79043940e+02] [ 9.88257044e-01 -1.52723631e-01 -4.84849584e-03 1.25755755e+02] [ 4.92162614e-03 1.00800383e-04 9.99987884e-01 1.01218683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.990281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:179.04, Y:125.75, Z:1.01 [[-1.49210001e-01 -9.88805162e-01 8.53069524e-04 1.79041317e+02] [ 9.88793284e-01 -1.49212391e-01 -4.84817838e-03 1.25751918e+02] [ 4.92119235e-03 1.20112717e-04 9.99987884e-01 1.01298177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02028169299996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:179.04, Y:125.75, Z:1.02 [[-1.48732420e-01 -9.88877109e-01 8.54864060e-04 1.79041285e+02] [ 9.88865234e-01 -1.48734825e-01 -4.84786193e-03 1.25748588e+02] [ 4.92108775e-03 1.24311112e-04 9.99987884e-01 1.01532391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.050281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:179.04, Y:125.73, Z:1.02 [[-1.50526302e-01 -9.88605634e-01 8.56657319e-04 1.79043039e+02] [ 9.88593756e-01 -1.50528694e-01 -4.84754503e-03 1.25726077e+02] [ 4.92126183e-03 1.17203049e-04 9.99987884e-01 1.01997912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08028169299996 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:179.03, Y:125.75, Z:1.02 [[-1.54159080e-01 -9.88045668e-01 8.58437308e-04 1.79034555e+02] [ 9.88033783e-01 -1.54161437e-01 -4.84722980e-03 1.25754065e+02] [ 4.92162233e-03 1.00920577e-04 9.99987884e-01 1.02103906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.110281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:179.03, Y:125.75, Z:1.02 [[-1.56008305e-01 -9.87755369e-01 8.60224597e-04 1.79034495e+02] [ 9.87743481e-01 -1.56010649e-01 -4.84691259e-03 1.25751939e+02] [ 4.92176813e-03 9.35226208e-05 9.99987884e-01 1.01961079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14028169299996 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:179.03, Y:125.75, Z:1.02 [[-1.57709023e-01 -9.87485251e-01 8.62032299e-04 1.79034376e+02] [ 9.87473361e-01 -1.57711355e-01 -4.84659107e-03 1.25749726e+02] [ 4.92188948e-03 8.68827894e-05 9.99987884e-01 1.01778917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.170281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.03, Y:125.75, Z:1.02 [[-1.59405862e-01 -9.87212756e-01 8.63839880e-04 1.79031063e+02] [ 9.87200864e-01 -1.59408183e-01 -4.84626887e-03 1.25752722e+02] [ 4.92200159e-03 8.02598085e-05 9.99987884e-01 1.01760932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.03, Y:125.76, Z:1.02 [[-1.59082139e-01 -9.87264971e-01 8.65651749e-04 1.79029415e+02] [ 9.87253082e-01 -1.59084472e-01 -4.84594521e-03 1.25761025e+02] [ 4.92194371e-03 8.37140304e-05 9.99987884e-01 1.01594204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.03, Y:125.74, Z:1.02 [[-1.58456738e-01 -9.87365540e-01 8.67474450e-04 1.79034211e+02] [ 9.87353654e-01 -1.58459088e-01 -4.84561890e-03 1.25738910e+02] [ 4.92185633e-03 8.86831039e-05 9.99987884e-01 1.01500879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.03, Y:125.74, Z:1.01 [[-1.57385767e-01 -9.87536817e-01 8.69291375e-04 1.79034876e+02] [ 9.87524935e-01 -1.57388138e-01 -4.84529293e-03 1.25735278e+02] [ 4.92172131e-03 9.58667651e-05 9.99987884e-01 1.01325296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29028169299994 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:179.03, Y:125.74, Z:1.01 [[-1.53802448e-01 -9.88101234e-01 8.71093815e-04 1.79030729e+02] [ 9.88089362e-01 -1.53804872e-01 -4.84496886e-03 1.25743701e+02] [ 4.92129818e-03 1.15550460e-04 9.99987884e-01 1.00769785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32028169299997 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:179.03, Y:125.72, Z:1.01 [[-1.52515405e-01 -9.88300708e-01 8.72903150e-04 1.79033458e+02] [ 9.88288841e-01 -1.52517853e-01 -4.84464286e-03 1.25722614e+02] [ 4.92109728e-03 1.23797776e-04 9.99987884e-01 1.00764908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35028169299994 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:179.03, Y:125.73, Z:1.01 [[-1.49401031e-01 -9.88776298e-01 8.74707379e-04 1.79030980e+02] [ 9.88764441e-01 -1.49403525e-01 -4.84431708e-03 1.25725631e+02] [ 4.92063027e-03 1.41133586e-04 9.99987884e-01 1.01129790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.380281693 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:179.03, Y:125.70, Z:1.01 [[-1.48416277e-01 -9.88924588e-01 8.76503076e-04 1.79032099e+02] [ 9.88912735e-01 -1.48418792e-01 -4.84399215e-03 1.25704287e+02] [ 4.92043247e-03 1.47857772e-04 9.99987884e-01 1.01340970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.41028169299994 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:179.03, Y:125.71, Z:1.01 [[-1.47738624e-01 -9.89026050e-01 8.78291163e-04 1.79026246e+02] [ 9.89014201e-01 -1.47741155e-01 -4.84366792e-03 1.25705105e+02] [ 4.92027351e-03 1.53045599e-04 9.99987884e-01 1.01463385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.440281693 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:179.03, Y:125.70, Z:1.01 [[-1.48677995e-01 -9.88885271e-01 8.80069726e-04 1.79025263e+02] [ 9.88873422e-01 -1.48680524e-01 -4.84334475e-03 1.25703252e+02] [ 4.92036151e-03 1.50178777e-04 9.99987884e-01 1.01409240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47028169299995 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:179.02, Y:125.72, Z:1.01 [[-1.52469633e-01 -9.88307762e-01 8.81851867e-04 1.79020607e+02] [ 9.88295905e-01 -1.52472125e-01 -4.84302024e-03 1.25716246e+02] [ 4.92085233e-03 1.33117068e-04 9.99987884e-01 1.01170270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.500281693 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:179.02, Y:125.71, Z:1.01 [[-1.55205198e-01 -9.87881858e-01 8.83643910e-04 1.79019272e+02] [ 9.87869996e-01 -1.55207666e-01 -4.84269325e-03 1.25708899e+02] [ 4.92115711e-03 1.21314140e-04 9.99987884e-01 1.01072677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53028169299995 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:179.01, Y:125.72, Z:1.01 [[-1.57159198e-01 -9.87572885e-01 8.85443625e-04 1.79014393e+02] [ 9.87561019e-01 -1.57161651e-01 -4.84236416e-03 1.25722965e+02] [ 4.92134533e-03 1.13407541e-04 9.99987884e-01 1.01045371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.560281693 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:179.01, Y:125.73, Z:1.01 [[-1.59796212e-01 -9.87149626e-01 8.87251395e-04 1.79012346e+02] [ 9.87137756e-01 -1.59798642e-01 -4.84203291e-03 1.25725014e+02] [ 4.92159254e-03 1.02100834e-04 9.99987884e-01 1.00977408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59028169299995 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:179.01, Y:125.72, Z:1.01 [[-1.61222378e-01 -9.86917704e-01 8.89073497e-04 1.79013841e+02] [ 9.86905832e-01 -1.61224800e-01 -4.84169832e-03 1.25719072e+02] [ 4.92169849e-03 9.68417025e-05 9.99987884e-01 1.01037123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.620281693 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:179.01, Y:125.73, Z:1.01 [[-1.64036079e-01 -9.86453938e-01 8.90896073e-04 1.79009638e+02] [ 9.86442061e-01 -1.64038476e-01 -4.84136293e-03 1.25732518e+02] [ 4.92192276e-03 8.46591659e-05 9.99987884e-01 1.01435493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65028169299995 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:179.01, Y:125.71, Z:1.02 [[-1.65302552e-01 -9.86242500e-01 8.92726911e-04 1.79012356e+02] [ 9.86230622e-01 -1.65304943e-01 -4.84102531e-03 1.25714857e+02] [ 4.92199708e-03 8.02007796e-05 9.99987884e-01 1.01650225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.680281693 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:179.01, Y:125.73, Z:1.02 [[-1.67335790e-01 -9.85899555e-01 8.94558506e-04 1.79010245e+02] [ 9.85887674e-01 -1.67338166e-01 -4.84068683e-03 1.25730148e+02] [ 4.92212478e-03 7.19140504e-05 9.99987884e-01 1.01811932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71028169299996 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:179.01, Y:125.74, Z:1.02 [[-1.68758961e-01 -9.85656943e-01 8.96391792e-04 1.79008800e+02] [ 9.85645060e-01 -1.68761329e-01 -4.84034732e-03 1.25738925e+02] [ 4.92219822e-03 6.66721547e-05 9.99987884e-01 1.01664078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.740281693 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:179.01, Y:125.73, Z:1.01 [[-1.70265324e-01 -9.85397845e-01 8.98244437e-04 1.79009769e+02] [ 9.85385960e-01 -1.70267683e-01 -4.84000350e-03 1.25729766e+02] [ 4.92227101e-03 6.10326919e-05 9.99987884e-01 1.01489460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77028169299996 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:179.00, Y:125.74, Z:1.01 [[-1.71663752e-01 -9.85155189e-01 9.00100343e-04 1.79004290e+02] [ 9.85143303e-01 -1.71666103e-01 -4.83965833e-03 1.25741798e+02] [ 4.92233123e-03 5.59339156e-05 9.99987884e-01 1.01356495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.800281693 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:179.01, Y:125.72, Z:1.01 [[-1.71950820e-01 -9.85105122e-01 9.01961684e-04 1.79008504e+02] [ 9.85093237e-01 -1.71953176e-01 -4.83931141e-03 1.25715078e+02] [ 4.92232563e-03 5.63927919e-05 9.99987884e-01 1.01407406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83028169299996 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:179.01, Y:125.72, Z:1.02 [[-1.72375248e-01 -9.85030942e-01 9.03816701e-04 1.79006197e+02] [ 9.85019058e-01 -1.72377608e-01 -4.83896493e-03 1.25715011e+02] [ 4.92232794e-03 5.61588964e-05 9.99987884e-01 1.01767406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.860281693 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:179.00, Y:125.72, Z:1.02 [[-1.73388463e-01 -9.84853096e-01 9.05657492e-04 1.79003186e+02] [ 9.84841211e-01 -1.73390820e-01 -4.83862038e-03 1.25719981e+02] [ 4.92236296e-03 5.29678728e-05 9.99987884e-01 1.01871562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89028169299996 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:179.00, Y:125.74, Z:1.02 [[-1.75230409e-01 -9.84527034e-01 9.07504863e-04 1.78996325e+02] [ 9.84515146e-01 -1.75232753e-01 -4.83827387e-03 1.25744368e+02] [ 4.92243600e-03 4.56395722e-05 9.99987884e-01 1.01819992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.920281693 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:179.00, Y:125.74, Z:1.01 [[-1.81441823e-01 -9.83401260e-01 9.09376611e-04 1.78997066e+02] [ 9.83389360e-01 -1.81444101e-01 -4.83792204e-03 1.25739405e+02] [ 4.92261966e-03 1.64698898e-05 9.99987884e-01 1.01376927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95028169299997 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:179.00, Y:125.74, Z:1.01 [[-1.86140469e-01 -9.82522720e-01 9.11265671e-04 1.78999694e+02] [ 9.82510811e-01 -1.86142700e-01 -4.83756620e-03 1.25736804e+02] [ 4.92264415e-03 -5.13846890e-06 9.99987884e-01 1.01066017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98028169299994 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:179.01, Y:125.71, Z:1.01 [[-1.95038232e-01 -9.80795215e-01 9.13152361e-04 1.79010003e+02] [ 9.80783288e-01 -1.95040364e-01 -4.83721003e-03 1.25707319e+02] [ 4.92241403e-03 -4.78363174e-05 9.99987884e-01 1.00950000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01028169299997 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:179.02, Y:125.69, Z:1.01 [[-1.98728208e-01 -9.80054214e-01 9.15018696e-04 1.79015716e+02] [ 9.80042280e-01 -1.98730305e-01 -4.83685697e-03 1.25688541e+02] [ 4.92222400e-03 -6.44629107e-05 9.99987884e-01 1.01129953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04028169299994 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:179.02, Y:125.67, Z:1.01 [[-2.02230438e-01 -9.79337536e-01 9.16854456e-04 1.79022253e+02] [ 9.79325596e-01 -2.02232501e-01 -4.83650896e-03 1.25674428e+02] [ 4.92199254e-03 -8.01902902e-05 9.99987884e-01 1.01343540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.07028169299997 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:179.02, Y:125.69, Z:1.01 [[-2.03053727e-01 -9.79167167e-01 9.18670339e-04 1.79021915e+02] [ 9.79155227e-01 -2.03055788e-01 -4.83616402e-03 1.25690610e+02] [ 4.92195435e-03 -8.24802640e-05 9.99987884e-01 1.01432592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10028169299994 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:179.03, Y:125.69, Z:1.02 [[-2.02819690e-01 -9.79215669e-01 9.20490228e-04 1.79027423e+02] [ 9.79203731e-01 -2.02821763e-01 -4.83581761e-03 1.25694822e+02] [ 4.92200382e-03 -7.94515632e-05 9.99987884e-01 1.01651478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.130281693 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:179.03, Y:125.70, Z:1.02 [[-2.02579146e-01 -9.79265459e-01 9.22325593e-04 1.79029725e+02] [ 9.79253523e-01 -2.02581231e-01 -4.83546753e-03 1.25698024e+02] [ 4.92205218e-03 -7.63742941e-05 9.99987884e-01 1.01669716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16028169299994 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:179.04, Y:125.69, Z:1.02 [[-2.01702970e-01 -9.79446302e-01 9.24168398e-04 1.79037046e+02] [ 9.79434370e-01 -2.01705075e-01 -4.83511530e-03 1.25690714e+02] [ 4.92214525e-03 -7.00948236e-05 9.99987884e-01 1.01621523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.190281693 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:179.04, Y:125.69, Z:1.02 [[-2.01509449e-01 -9.79486133e-01 9.26010171e-04 1.79040500e+02] [ 9.79474203e-01 -2.01511565e-01 -4.83476254e-03 1.25688816e+02] [ 4.92218462e-03 -6.72472605e-05 9.99987884e-01 1.01593040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22028169299995 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:179.04, Y:125.69, Z:1.01 [[-2.01205417e-01 -9.79548630e-01 9.27847855e-04 1.79041356e+02] [ 9.79536703e-01 -2.01207547e-01 -4.83440984e-03 1.25693983e+02] [ 4.92222953e-03 -6.38484220e-05 9.99987884e-01 1.01452062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.250281693 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:179.04, Y:125.68, Z:1.01 [[-1.99452143e-01 -9.79907128e-01 9.29690256e-04 1.79043932e+02] [ 9.79895205e-01 -1.99454302e-01 -4.83405551e-03 1.25684390e+02] [ 4.92235617e-03 -5.31637051e-05 9.99987884e-01 1.01158345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28028169299995 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:179.04, Y:125.70, Z:1.01 [[-1.98836945e-01 -9.80032143e-01 9.31532522e-04 1.79040926e+02] [ 9.80020224e-01 -1.98839121e-01 -4.83370048e-03 1.25697166e+02] [ 4.92240694e-03 -4.81975239e-05 9.99987884e-01 1.00925565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.310281693 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:179.04, Y:125.71, Z:1.01 [[-1.97055442e-01 -9.80391902e-01 9.33380477e-04 1.79038495e+02] [ 9.80379989e-01 -1.97057649e-01 -4.83334361e-03 1.25707729e+02] [ 4.92250070e-03 -3.73691184e-05 9.99987884e-01 1.00871253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34028169299995 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:179.04, Y:125.69, Z:1.01 [[-1.96300986e-01 -9.80543241e-01 9.35248127e-04 1.79040670e+02] [ 9.80531331e-01 -1.96303211e-01 -4.83298220e-03 1.25692718e+02] [ 4.92254024e-03 -3.16790796e-05 9.99987884e-01 1.01003879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.370281693 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:179.04, Y:125.70, Z:1.01 [[-1.93925589e-01 -9.81015794e-01 9.37115637e-04 1.79035182e+02] [ 9.81003891e-01 -1.93927852e-01 -4.83262006e-03 1.25700780e+02] [ 4.92260943e-03 -1.78546027e-05 9.99987884e-01 1.01259171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40028169299995 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:179.03, Y:125.69, Z:1.01 [[-1.92927509e-01 -9.81212564e-01 9.38982377e-04 1.79034491e+02] [ 9.81200665e-01 -1.92929793e-01 -4.83225732e-03 1.25693480e+02] [ 4.92262927e-03 -1.09452333e-05 9.99987884e-01 1.01272002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.430281693 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:179.03, Y:125.70, Z:1.01 [[-1.92291764e-01 -9.81337349e-01 9.40853691e-04 1.79031441e+02] [ 9.81325453e-01 -1.92294065e-01 -4.83189295e-03 1.25704661e+02] [ 4.92263759e-03 -5.84954032e-06 9.99987884e-01 1.01298954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46028169299996 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:179.03, Y:125.70, Z:1.01 [[-1.91516245e-01 -9.81488991e-01 9.42731172e-04 1.79030392e+02] [ 9.81477099e-01 -1.91518565e-01 -4.83152661e-03 1.25695793e+02] [ 4.92264070e-03 -4.67789148e-08 9.99987884e-01 1.01304026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.490281693 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:179.03, Y:125.69, Z:1.01 [[-1.91897942e-01 -9.81414432e-01 9.44614218e-04 1.79030943e+02] [ 9.81402541e-01 -1.91900267e-01 -4.83115843e-03 1.25693359e+02] [ 4.92264032e-03 -4.25637552e-08 9.99987884e-01 1.01302788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52028169299996 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:179.03, Y:125.69, Z:1.01 [[-1.91474557e-01 -9.81497121e-01 9.46492985e-04 1.79026033e+02] [ 9.81485233e-01 -1.91476896e-01 -4.83079032e-03 1.25694913e+02] [ 4.92263833e-03 3.99545289e-06 9.99987884e-01 1.01383692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.550281693 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:179.02, Y:125.70, Z:1.01 [[-1.91628367e-01 -9.81467101e-01 9.48375102e-04 1.79024396e+02] [ 9.81455214e-01 -1.91630714e-01 -4.83042080e-03 1.25696497e+02] [ 4.92263689e-03 5.14203801e-06 9.99987884e-01 1.01445645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58028169299996 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:179.03, Y:125.68, Z:1.02 [[-1.91282794e-01 -9.81534508e-01 9.50264104e-04 1.79026225e+02] [ 9.81522623e-01 -1.91285154e-01 -4.83004916e-03 1.25678674e+02] [ 4.92263134e-03 8.80041777e-06 9.99987884e-01 1.01591663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.610281693 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:179.02, Y:125.68, Z:1.02 [[-1.91257738e-01 -9.81539389e-01 9.52144995e-04 1.79024006e+02] [ 9.81527506e-01 -1.91260107e-01 -4.82967835e-03 1.25683061e+02] [ 4.92262689e-03 1.08431484e-05 9.99987884e-01 1.01555431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64028169299996 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:179.02, Y:125.68, Z:1.01 [[-1.90747531e-01 -9.81638665e-01 9.54020340e-04 1.79020517e+02] [ 9.81626786e-01 -1.90749916e-01 -4.82930788e-03 1.25684539e+02] [ 4.92261464e-03 1.53133653e-05 9.99987884e-01 1.01207472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.670281693 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:179.02, Y:125.70, Z:1.01 [[-1.90981144e-01 -9.81593240e-01 9.55903803e-04 1.79017380e+02] [ 9.81581362e-01 -1.90983536e-01 -4.82893504e-03 1.25696433e+02] [ 4.92261188e-03 1.60618172e-05 9.99987884e-01 1.01036664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70028169299997 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:179.02, Y:125.68, Z:1.01 [[-1.91169464e-01 -9.81556580e-01 9.57800603e-04 1.79020707e+02] [ 9.81544703e-01 -1.91171862e-01 -4.82855879e-03 1.25676415e+02] [ 4.92260817e-03 1.70511144e-05 9.99987884e-01 1.01028960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73028169299994 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:179.02, Y:125.68, Z:1.02 [[-1.90821370e-01 -9.81624309e-01 9.59695002e-04 1.79016766e+02] [ 9.81612435e-01 -1.90823782e-01 -4.82818224e-03 1.25679211e+02] [ 4.92259368e-03 2.07282005e-05 9.99987884e-01 1.01693941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76028169299997 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:179.02, Y:125.67, Z:1.01 [[-1.90197792e-01 -9.81745321e-01 9.61580894e-04 1.79017005e+02] [ 9.81733451e-01 -1.90200221e-01 -4.82780661e-03 1.25667031e+02] [ 4.92256945e-03 2.57779719e-05 9.99987884e-01 1.01368681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79028169299994 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:179.01, Y:125.68, Z:1.01 [[-1.88314305e-01 -9.82108341e-01 9.63464413e-04 1.79012593e+02] [ 9.82096478e-01 -1.88316766e-01 -4.82743070e-03 1.25678324e+02] [ 4.92249646e-03 3.71407499e-05 9.99987884e-01 1.01418484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82028169299997 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:179.02, Y:125.65, Z:1.01 [[-1.87480043e-01 -9.82267938e-01 9.65351299e-04 1.79017914e+02] [ 9.82256078e-01 -1.87482523e-01 -4.82705335e-03 1.25646380e+02] [ 4.92244623e-03 4.32460140e-05 9.99987884e-01 1.01350664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85028169299994 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:179.02, Y:125.65, Z:1.01 [[-1.86228823e-01 -9.82505924e-01 9.67226896e-04 1.79015740e+02] [ 9.82494069e-01 -1.86231328e-01 -4.82667749e-03 1.25648820e+02] [ 4.92236718e-03 5.14282200e-05 9.99987884e-01 1.01247208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.880281693 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:179.01, Y:125.64, Z:1.01 [[-1.83590471e-01 -9.83002340e-01 9.69085733e-04 1.79012998e+02] [ 9.82990494e-01 -1.83593017e-01 -4.82630425e-03 1.25639690e+02] [ 4.92218574e-03 6.65385908e-05 9.99987884e-01 1.00902601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.91028169299994 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:179.01, Y:125.65, Z:1.01 [[-1.82452363e-01 -9.83214215e-01 9.70943802e-04 1.79011037e+02] [ 9.83202374e-01 -1.82454932e-01 -4.82593042e-03 1.25645285e+02] [ 4.92207687e-03 7.41318408e-05 9.99987884e-01 1.00786022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.940281693 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:179.01, Y:125.64, Z:1.01 [[-1.80527191e-01 -9.83569513e-01 9.72803267e-04 1.79011117e+02] [ 9.83557679e-01 -1.80529791e-01 -4.82555556e-03 1.25635774e+02] [ 4.92188931e-03 8.56641348e-05 9.99987884e-01 1.00805082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97028169299995 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:179.01, Y:125.62, Z:1.01 [[-1.79474173e-01 -9.83762203e-01 9.74663840e-04 1.79011776e+02] [ 9.83750374e-01 -1.79476796e-01 -4.82517974e-03 1.25623109e+02] [ 4.92175899e-03 9.28307736e-05 9.99987884e-01 1.00833226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.000281693 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:179.01, Y:125.62, Z:1.01 [[-1.76236530e-01 -9.84347363e-01 9.76512810e-04 1.79007632e+02] [ 9.84335545e-01 -1.76239201e-01 -4.82480552e-03 1.25624219e+02] [ 4.92138443e-03 1.10909287e-04 9.99987884e-01 1.00805529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03028169299995 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:179.01, Y:125.59, Z:1.01 [[-1.74612753e-01 -9.84636699e-01 9.78358260e-04 1.79013701e+02] [ 9.84624887e-01 -1.74615452e-01 -4.82443127e-03 1.25586281e+02] [ 4.92114855e-03 1.20908665e-04 9.99987884e-01 1.00782697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.060281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:179.01, Y:125.60, Z:1.01 [[-1.73773309e-01 -9.84785194e-01 9.79040422e-04 1.79008098e+02] [ 9.84773385e-01 -1.73776021e-01 -4.82429283e-03 1.25603981e+02] [ 4.92102590e-03 1.25799622e-04 9.99987884e-01 1.00828825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09028169299995 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:179.01, Y:125.59, Z:1.01 [[-1.72956478e-01 -9.84928979e-01 9.80854366e-04 1.79005284e+02] [ 9.84917175e-01 -1.72959209e-01 -4.82392400e-03 1.25593298e+02] [ 4.92087034e-03 1.31731404e-04 9.99987884e-01 1.01034352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.120281693 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:179.01, Y:125.58, Z:1.01 [[-1.72767600e-01 -9.84962127e-01 9.82677391e-04 1.79005174e+02] [ 9.84950325e-01 -1.72770342e-01 -4.82355261e-03 1.25582938e+02] [ 4.92079414e-03 1.34534808e-04 9.99987884e-01 1.01131459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15028169299995 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:179.00, Y:125.57, Z:1.01 [[-1.72032004e-01 -9.85090869e-01 9.84490460e-04 1.79001369e+02] [ 9.85079071e-01 -1.72034764e-01 -4.82318253e-03 1.25574677e+02] [ 4.92063965e-03 1.40059191e-04 9.99987884e-01 1.01295867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.180281693 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:179.00, Y:125.57, Z:1.01 [[-1.72330009e-01 -9.85038779e-01 9.86294860e-04 1.78998593e+02] [ 9.85026982e-01 -1.72332774e-01 -4.82281352e-03 1.25571484e+02] [ 4.92062927e-03 1.40411554e-04 9.99987884e-01 1.01330177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21028169299996 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:178.99, Y:125.60, Z:1.01 [[-1.73754633e-01 -9.84788480e-01 9.88095904e-04 1.78985508e+02] [ 9.84776682e-01 -1.73757390e-01 -4.82244449e-03 1.25601601e+02] [ 4.92077675e-03 1.35131733e-04 9.99987884e-01 1.01485339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.240281693 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:178.99, Y:125.58, Z:1.01 [[-1.74320656e-01 -9.84688443e-01 9.89919574e-04 1.78986510e+02] [ 9.84676645e-01 -1.74323415e-01 -4.82207011e-03 1.25579852e+02] [ 4.92080287e-03 1.34164260e-04 9.99987884e-01 1.01452649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27028169299996 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:178.98, Y:125.59, Z:1.01 [[-1.77125884e-01 -9.84187707e-01 9.89461276e-04 1.78979475e+02] [ 9.84175901e-01 -1.77128607e-01 -4.82216415e-03 1.25587445e+02] [ 4.92117658e-03 1.19673854e-04 9.99987884e-01 1.00861726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.300281693 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:178.98, Y:125.58, Z:1.01 [[-1.79361096e-01 -9.83782809e-01 9.91284839e-04 1.78978760e+02] [ 9.83770998e-01 -1.79363801e-01 -4.82178926e-03 1.25582782e+02] [ 4.92139399e-03 1.10355871e-04 9.99987884e-01 1.00778872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33028169299996 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:178.97, Y:125.60, Z:1.01 [[-1.82895120e-01 -9.83131931e-01 9.91057260e-04 1.78973316e+02] [ 9.83120110e-01 -1.82897782e-01 -4.82183603e-03 1.25601972e+02] [ 4.92176314e-03 9.24380411e-05 9.99987884e-01 1.01012815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.360281693 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:178.97, Y:125.63, Z:1.01 [[-1.89722214e-01 -9.81837306e-01 9.92896084e-04 1.78965755e+02] [ 9.81825470e-01 -1.89724803e-01 -4.82145736e-03 1.25626909e+02] [ 4.92226372e-03 6.01130984e-05 9.99987884e-01 1.01471458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39028169299996 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:178.97, Y:125.62, Z:1.01 [[-1.92135828e-01 -9.81367838e-01 9.94769502e-04 1.78966492e+02] [ 9.81355997e-01 -1.92138397e-01 -4.82107080e-03 1.25619939e+02] [ 4.92237725e-03 4.99225846e-05 9.99987884e-01 1.01269603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.420281693 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:178.97, Y:125.62, Z:1.01 [[-1.95708400e-01 -9.80661631e-01 9.94057999e-04 1.78967199e+02] [ 9.80649780e-01 -1.95710922e-01 -4.82121750e-03 1.25617464e+02] [ 4.92253102e-03 3.12699934e-05 9.99987884e-01 1.01048720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45028169299997 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:178.97, Y:125.59, Z:1.01 [[-1.97200192e-01 -9.80362738e-01 9.93588172e-04 1.78972060e+02] [ 9.80350882e-01 -1.97202694e-01 -4.82131432e-03 1.25594762e+02] [ 4.92257517e-03 2.33009300e-05 9.99987884e-01 1.00863858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48028169299994 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:178.97, Y:125.60, Z:1.01 [[-2.02139702e-01 -9.79356194e-01 9.92888072e-04 1.78972487e+02] [ 9.79344326e-01 -2.02142140e-01 -4.82145850e-03 1.25597770e+02] [ 4.92262976e-03 -2.22888330e-06 9.99987884e-01 1.01315439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51028169299997 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:178.98, Y:125.59, Z:1.01 [[-2.05356498e-01 -9.78686734e-01 9.93117521e-04 1.78976666e+02] [ 9.78674858e-01 -2.05358898e-01 -4.82141123e-03 1.25587057e+02] [ 4.92259673e-03 -1.81689768e-05 9.99987884e-01 1.01383867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54028169299994 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:178.99, Y:125.57, Z:1.01 [[-2.13543670e-01 -9.76933015e-01 9.92658197e-04 1.78985420e+02] [ 9.76921119e-01 -2.13545969e-01 -4.82150580e-03 1.25572325e+02] [ 4.92226636e-03 -5.98532871e-05 9.99987884e-01 1.01135464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.57028169299997 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:178.99, Y:125.56, Z:1.01 [[-2.18047348e-01 -9.75937687e-01 9.92204074e-04 1.78990956e+02] [ 9.75925780e-01 -2.18049589e-01 -4.82159925e-03 1.25561422e+02] [ 4.92193011e-03 -8.30193935e-05 9.99987884e-01 1.00937740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60028169299994 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:179.00, Y:125.55, Z:1.01 [[-2.24149910e-01 -9.74554170e-01 9.94001459e-04 1.78998979e+02] [ 9.74542251e-01 -2.24152086e-01 -4.82122868e-03 1.25552368e+02] [ 4.92135602e-03 -1.11981557e-04 9.99987884e-01 1.01038032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.630281693 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:179.00, Y:125.55, Z:1.01 [[-2.25584886e-01 -9.74223007e-01 9.95788001e-04 1.79001626e+02] [ 9.74211086e-01 -2.25587053e-01 -4.82085966e-03 1.25553818e+02] [ 4.92122927e-03 -1.17405366e-04 9.99987884e-01 1.01046279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66028169299994 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:179.01, Y:125.54, Z:1.01 [[-2.24150857e-01 -9.74553948e-01 9.97571252e-04 1.79008522e+02] [ 9.74542032e-01 -2.24153051e-01 -4.82049062e-03 1.25539209e+02] [ 4.92143681e-03 -1.08341992e-04 9.99987884e-01 1.01075245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.690281693 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:179.01, Y:125.55, Z:1.01 [[-2.22007720e-01 -9.75044396e-01 9.99348088e-04 1.79007624e+02] [ 9.75032486e-01 -2.22009949e-01 -4.82012224e-03 1.25553610e+02] [ 4.92169839e-03 -9.57074972e-05 9.99987884e-01 1.01113306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72028169299995 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:179.01, Y:125.57, Z:1.01 [[-2.19960960e-01 -9.75508162e-01 1.00112735e-03 1.79007034e+02] [ 9.75496259e-01 -2.19963222e-01 -4.81975266e-03 1.25566860e+02] [ 4.92191925e-03 -8.35614400e-05 9.99987884e-01 1.01130461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.750281693 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:179.01, Y:125.58, Z:1.01 [[-2.16461654e-01 -9.76290606e-01 1.00292666e-03 1.79008044e+02] [ 9.76278712e-01 -2.16463968e-01 -4.81937822e-03 1.25581037e+02] [ 4.92221116e-03 -6.40746309e-05 9.99987884e-01 1.01304058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78028169299995 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:179.01, Y:125.57, Z:1.01 [[-2.13806578e-01 -9.76875498e-01 1.00474676e-03 1.79012241e+02] [ 9.76863613e-01 -2.13808933e-01 -4.81899873e-03 1.25571821e+02] [ 4.92238562e-03 -4.88330777e-05 9.99987884e-01 1.00828212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.810281693 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:179.01, Y:125.59, Z:1.01 [[-2.13076552e-01 -9.77034989e-01 1.00657242e-03 1.79011161e+02] [ 9.77023108e-01 -2.13078925e-01 -4.81861737e-03 1.25585215e+02] [ 4.92243713e-03 -4.32898571e-05 9.99987884e-01 1.00831352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84028169299995 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:179.01, Y:125.58, Z:1.01 [[-2.12511122e-01 -9.77158128e-01 1.00840335e-03 1.79014555e+02] [ 9.77146249e-01 -2.12513511e-01 -4.81823417e-03 1.25578102e+02] [ 4.92247602e-03 -3.85708006e-05 9.99987884e-01 1.00791220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.870281693 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:179.02, Y:125.59, Z:1.01 [[-2.09918275e-01 -9.77718414e-01 1.01024141e-03 1.79015482e+02] [ 9.77706544e-01 -2.09920704e-01 -4.81784875e-03 1.25585906e+02] [ 4.92257003e-03 -2.36348618e-05 9.99987884e-01 1.00662434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90028169299995 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:179.02, Y:125.59, Z:1.01 [[-2.08211208e-01 -9.78083365e-01 1.01208268e-03 1.79015976e+02] [ 9.78071501e-01 -2.08213667e-01 -4.81746193e-03 1.25588178e+02] [ 4.92260882e-03 -1.31603443e-05 9.99987884e-01 1.00720726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.930281693 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:179.02, Y:125.59, Z:1.01 [[-2.03160609e-01 -9.79144902e-01 1.01393331e-03 1.79015009e+02] [ 9.79133053e-01 -2.03163138e-01 -4.81707239e-03 1.25593066e+02] [ 4.92260575e-03 1.41362559e-05 9.99987884e-01 1.00908965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96028169299996 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:179.01, Y:125.60, Z:1.01 [[-2.00026629e-01 -9.79789935e-01 1.01579278e-03 1.79014386e+02] [ 9.79778096e-01 -2.00029206e-01 -4.81668025e-03 1.25595060e+02] [ 4.92252305e-03 3.17871980e-05 9.99987884e-01 1.00947408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.990281693 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:179.02, Y:125.58, Z:1.01 [[-1.93673000e-01 -9.81065611e-01 1.01766023e-03 1.79015903e+02] [ 9.81053791e-01 -1.93675663e-01 -4.81628566e-03 1.25581589e+02] [ 4.92218826e-03 6.55949365e-05 9.99987884e-01 1.00735756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02028169299996 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:179.02, Y:125.58, Z:1.01 [[-1.91537845e-01 -9.81484699e-01 1.01952283e-03 1.79016389e+02] [ 9.81472887e-01 -1.91540542e-01 -4.81589135e-03 1.25575199e+02] [ 4.92200363e-03 7.82085650e-05 9.99987884e-01 1.00628158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.050281693 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:179.02, Y:125.57, Z:1.01 [[-1.89735322e-01 -9.81834744e-01 1.02137501e-03 1.79015394e+02] [ 9.81822939e-01 -1.89738050e-01 -4.81549850e-03 1.25574079e+02] [ 4.92181744e-03 8.91392558e-05 9.99987884e-01 1.00502926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08028169299996 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:179.01, Y:125.57, Z:1.00 [[-1.85480620e-01 -9.82647390e-01 1.02322551e-03 1.79012136e+02] [ 9.82635599e-01 -1.85483408e-01 -4.81510527e-03 1.25573964e+02] [ 4.92134198e-03 1.12349101e-04 9.99987884e-01 1.00488535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.110281693 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:179.02, Y:125.55, Z:1.01 [[-1.83988354e-01 -9.82927889e-01 1.02507926e-03 1.79015333e+02] [ 9.82916104e-01 -1.83991169e-01 -4.81471059e-03 1.25545828e+02] [ 4.92111885e-03 1.21716235e-04 9.99987884e-01 1.00611963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14028169299996 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:179.01, Y:125.53, Z:1.01 [[-1.81943971e-01 -9.83308364e-01 1.02576632e-03 1.79011859e+02] [ 9.83296586e-01 -1.81946815e-01 -4.81456421e-03 1.25532569e+02] [ 4.92083617e-03 1.32651589e-04 9.99987884e-01 1.01086808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.170281693 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:179.01, Y:125.54, Z:1.01 [[-1.81162994e-01 -9.83452548e-01 1.02758133e-03 1.79007967e+02] [ 9.83440774e-01 -1.81165856e-01 -4.81417680e-03 1.25535067e+02] [ 4.92067709e-03 1.38414692e-04 9.99987884e-01 1.01192055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20028169299997 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:179.00, Y:125.53, Z:1.01 [[-1.79671101e-01 -9.83726200e-01 1.02939352e-03 1.79002801e+02] [ 9.83714433e-01 -1.79673990e-01 -4.81378927e-03 1.25528019e+02] [ 4.92040587e-03 1.47730444e-04 9.99987884e-01 1.01144850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.23028169299994 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:179.00, Y:125.52, Z:1.01 [[-1.79627257e-01 -9.83734205e-01 1.03120677e-03 1.79002246e+02] [ 9.83722440e-01 -1.79630155e-01 -4.81340081e-03 1.25515943e+02] [ 4.92034285e-03 1.49803250e-04 9.99987884e-01 1.01199610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26028169299997 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:179.00, Y:125.52, Z:1.01 [[-1.80441777e-01 -9.83585125e-01 1.03301218e-03 1.78997477e+02] [ 9.83573360e-01 -1.80444674e-01 -4.81301332e-03 1.25522573e+02] [ 4.92040985e-03 1.47574582e-04 9.99987884e-01 1.01412227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29028169299994 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:178.99, Y:125.53, Z:1.01 [[-1.84011389e-01 -9.82923567e-01 1.03481804e-03 1.78990096e+02] [ 9.82911793e-01 -1.84014252e-01 -4.81262502e-03 1.25532632e+02] [ 4.92086382e-03 1.31557036e-04 9.99987884e-01 1.01476419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32028169299997 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:178.99, Y:125.53, Z:1.01 [[-1.87662701e-01 -9.82232985e-01 1.03663947e-03 1.78988433e+02] [ 9.82221203e-01 -1.87665529e-01 -4.81223265e-03 1.25533417e+02] [ 4.92127513e-03 1.15132689e-04 9.99987884e-01 1.01380813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.35028169299994 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:178.99, Y:125.55, Z:1.01 [[-1.98493767e-01 -9.80101602e-01 1.03686778e-03 1.78985851e+02] [ 9.80089790e-01 -1.98496465e-01 -4.81218346e-03 1.25545681e+02] [ 4.92224330e-03 6.10351014e-05 9.99987884e-01 1.01456044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.380281693 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:178.99, Y:125.54, Z:1.01 [[-2.04481021e-01 -9.78869978e-01 1.03871085e-03 1.78988791e+02] [ 9.78858152e-01 -2.04483657e-01 -4.81178560e-03 1.25535257e+02] [ 4.92251185e-03 3.28317533e-05 9.99987884e-01 1.01418750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.41028169299994 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:178.99, Y:125.53, Z:1.01 [[-2.04527546e-01 -9.78860258e-01 1.03801588e-03 1.78988957e+02] [ 9.78848431e-01 -2.04530178e-01 -4.81193551e-03 1.25534437e+02] [ 4.92251801e-03 3.18868511e-05 9.99987884e-01 1.01418337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.440281693 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:179.00, Y:125.52, Z:1.01 [[-2.15986639e-01 -9.76395767e-01 1.03824459e-03 1.78995520e+02] [ 9.76383910e-01 -2.15989133e-01 -4.81188617e-03 1.25522083e+02] [ 4.92255483e-03 -2.55778103e-05 9.99987884e-01 1.01066879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.47028169299995 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:179.00, Y:125.51, Z:1.01 [[-2.20855860e-01 -9.75305907e-01 1.03755680e-03 1.79001410e+02] [ 9.75294037e-01 -2.20858292e-01 -4.81203446e-03 1.25506587e+02] [ 4.92235866e-03 -5.08430506e-05 9.99987884e-01 1.00894494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.500281693 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:179.01, Y:125.49, Z:1.01 [[-2.27274191e-01 -9.73830256e-01 1.03710576e-03 1.79009543e+02] [ 9.73818370e-01 -2.27276541e-01 -4.81213167e-03 1.25491083e+02] [ 4.92190923e-03 -8.37206948e-05 9.99987884e-01 1.00742379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53028169299995 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:179.01, Y:125.50, Z:1.01 [[-2.28650629e-01 -9.73507994e-01 1.03732775e-03 1.79010155e+02] [ 9.73496105e-01 -2.28652964e-01 -4.81208382e-03 1.25498203e+02] [ 4.92179013e-03 -9.04514724e-05 9.99987884e-01 1.00694000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.560281693 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:179.01, Y:125.52, Z:1.01 [[-2.28394564e-01 -9.73568099e-01 1.03910403e-03 1.79007656e+02] [ 9.73556212e-01 -2.28396912e-01 -4.81170022e-03 1.25518129e+02] [ 4.92184599e-03 -8.73399913e-05 9.99987884e-01 1.00677815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59028169299995 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:179.01, Y:125.50, Z:1.01 [[-2.24046861e-01 -9.74577817e-01 1.04090033e-03 1.79014500e+02] [ 9.74565942e-01 -2.24049270e-01 -4.81131160e-03 1.25502852e+02] [ 4.92221052e-03 -6.35332486e-05 9.99987884e-01 1.00571497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.620281693 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:179.01, Y:125.54, Z:1.00 [[-2.17726041e-01 -9.76009367e-01 1.04270232e-03 1.79009968e+02] [ 9.75997510e-01 -2.17728535e-01 -4.81092105e-03 1.25538438e+02] [ 4.92253005e-03 -2.97879195e-05 9.99987884e-01 1.00180223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65028169299995 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:179.01, Y:125.54, Z:1.00 [[-2.14769319e-01 -9.76664246e-01 1.04451982e-03 1.79010413e+02] [ 9.76652399e-01 -2.14771858e-01 -4.81052641e-03 1.25538749e+02] [ 4.92260261e-03 -1.30206887e-05 9.99987884e-01 1.00082026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.680281693 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:179.00, Y:125.57, Z:1.00 [[-2.08896882e-01 -9.77937113e-01 1.04636440e-03 1.79004939e+02] [ 9.77925284e-01 -2.08899502e-01 -4.81012515e-03 1.25566919e+02] [ 4.92258491e-03 1.84460604e-05 9.99987884e-01 1.00298766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71028169299996 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:179.01, Y:125.54, Z:1.00 [[-2.06107114e-01 -9.78528875e-01 1.04823214e-03 1.79011213e+02] [ 9.78517055e-01 -2.06109777e-01 -4.80971810e-03 1.25541088e+02] [ 4.92249893e-03 3.43959101e-05 9.99987884e-01 1.00380627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.740281693 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:179.01, Y:125.55, Z:1.00 [[-2.02950952e-01 -9.79188342e-01 1.05010446e-03 1.79010146e+02] [ 9.79176532e-01 -2.02953662e-01 -4.80930928e-03 1.25546218e+02] [ 4.92234212e-03 5.21837496e-05 9.99987884e-01 1.00478148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77028169299996 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:179.02, Y:125.51, Z:1.01 [[-1.95185052e-01 -9.80765869e-01 1.05196561e-03 1.79015635e+02] [ 9.80754083e-01 -1.95187865e-01 -4.80890214e-03 1.25511766e+02] [ 4.92173801e-03 9.30937555e-05 9.99987884e-01 1.00577795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.800281693 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:179.02, Y:125.49, Z:1.01 [[-1.87237765e-01 -9.82314060e-01 1.05173606e-03 1.79015296e+02] [ 9.82302298e-01 -1.87240672e-01 -4.80895235e-03 1.25492067e+02] [ 4.92082927e-03 1.32705261e-04 9.99987884e-01 1.00788721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83028169299996 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:179.01, Y:125.49, Z:1.01 [[-1.83393095e-01 -9.83039095e-01 1.05354363e-03 1.79012126e+02] [ 9.83027347e-01 -1.83396057e-01 -4.80855631e-03 1.25491870e+02] [ 4.92021460e-03 1.53806177e-04 9.99987884e-01 1.01002090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.860281693 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:179.01, Y:125.48, Z:1.01 [[-1.75108067e-01 -9.84548654e-01 1.05534196e-03 1.79007326e+02] [ 9.84536933e-01 -1.75111136e-01 -4.80816160e-03 1.25480156e+02] [ 4.91867116e-03 1.97075256e-04 9.99987884e-01 1.01184342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89028169299996 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:179.00, Y:125.47, Z:1.01 [[-1.71564822e-01 -9.85172268e-01 1.05511865e-03 1.79004352e+02] [ 9.85160558e-01 -1.71567933e-01 -4.80821060e-03 1.25474040e+02] [ 4.91794027e-03 2.14541481e-04 9.99987884e-01 1.01295037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.920281693 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:179.00, Y:125.45, Z:1.01 [[-1.68808531e-01 -9.85648298e-01 1.05489667e-03 1.79004544e+02] [ 9.85636596e-01 -1.68811673e-01 -4.80825930e-03 1.25448039e+02] [ 4.91733147e-03 2.28069572e-04 9.99987884e-01 1.01263248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.95028169299997 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:178.99, Y:125.46, Z:1.01 [[-1.66766518e-01 -9.85995852e-01 1.05313746e-03 1.78992510e+02] [ 9.85984154e-01 -1.66769676e-01 -4.80864459e-03 1.25456326e+02] [ 4.91693501e-03 2.36455935e-04 9.99987884e-01 1.00946952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98028169299994 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:178.99, Y:125.46, Z:1.01 [[-1.67269558e-01 -9.85910638e-01 1.05269958e-03 1.78987922e+02] [ 9.85898939e-01 -1.67272707e-01 -4.80874044e-03 1.25456712e+02] [ 4.91707627e-03 2.33499511e-04 9.99987884e-01 1.00876628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01028169299997 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:178.97, Y:125.49, Z:1.01 [[-1.71088007e-01 -9.85255189e-01 1.05203835e-03 1.78972409e+02] [ 9.85243476e-01 -1.71091108e-01 -4.80888510e-03 1.25486991e+02] [ 4.91797341e-03 2.13771352e-04 9.99987884e-01 1.00896004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04028169299994 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:178.97, Y:125.47, Z:1.01 [[-1.73302899e-01 -9.84868011e-01 1.05159475e-03 1.78971467e+02] [ 9.84856291e-01 -1.73305972e-01 -4.80898211e-03 1.25468926e+02] [ 4.91846029e-03 2.02259160e-04 9.99987884e-01 1.01004373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.07028169299997 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:178.96, Y:125.49, Z:1.01 [[-1.75830914e-01 -9.84419823e-01 1.04981664e-03 1.78962171e+02] [ 9.84408093e-01 -1.75833947e-01 -4.80937024e-03 1.25490659e+02] [ 4.91903280e-03 1.87812030e-04 9.99987884e-01 1.01109777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10028169299994 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:178.95, Y:125.52, Z:1.01 [[-1.80609244e-01 -9.83554371e-01 1.04914520e-03 1.78945812e+02] [ 9.83542625e-01 -1.80612217e-01 -4.80951671e-03 1.25523411e+02] [ 4.91990962e-03 1.63235850e-04 9.99987884e-01 1.00994661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.130281693 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:178.94, Y:125.52, Z:1.01 [[-1.83012732e-01 -9.83109984e-01 1.04846073e-03 1.78935466e+02] [ 9.83098230e-01 -1.83015673e-01 -4.80966592e-03 1.25522807e+02] [ 4.92031533e-03 1.50509792e-04 9.99987884e-01 1.00788763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16028169299994 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:178.93, Y:125.53, Z:1.01 [[-1.82937947e-01 -9.83123905e-01 1.04662584e-03 1.78928580e+02] [ 9.83112149e-01 -1.82940881e-01 -4.81006517e-03 1.25532166e+02] [ 4.92036071e-03 1.49007129e-04 9.99987884e-01 1.00747624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.190281693 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:178.92, Y:125.53, Z:1.01 [[-1.83055124e-01 -9.83102095e-01 1.04478622e-03 1.78924146e+02] [ 9.83090337e-01 -1.83058047e-01 -4.81046472e-03 1.25531011e+02] [ 4.92043447e-03 1.46539018e-04 9.99987884e-01 1.00758823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22028169299995 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:178.91, Y:125.55, Z:1.01 [[-1.84887452e-01 -9.82759148e-01 1.04294307e-03 1.78911013e+02] [ 9.82747382e-01 -1.84890344e-01 -4.81086429e-03 1.25554245e+02] [ 4.92075100e-03 1.35481135e-04 9.99987884e-01 1.01037895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.250281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:178.91, Y:125.56, Z:1.01 [[-1.86338553e-01 -9.82485043e-01 1.04108619e-03 1.78906631e+02] [ 9.82473271e-01 -1.86341419e-01 -4.81126609e-03 1.25556304e+02] [ 4.92099445e-03 1.26314991e-04 9.99987884e-01 1.01156246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28028169299995 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:178.90, Y:125.55, Z:1.01 [[-1.89330117e-01 -9.81912943e-01 1.03921252e-03 1.78900555e+02] [ 9.81901159e-01 -1.89332937e-01 -4.81167077e-03 1.25550195e+02] [ 4.92139896e-03 1.09409790e-04 9.99987884e-01 1.00980774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.310281693 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:178.90, Y:125.56, Z:1.01 [[-1.90298344e-01 -9.81725758e-01 1.03734373e-03 1.78895426e+02] [ 9.81713970e-01 -1.90301144e-01 -4.81207362e-03 1.25555809e+02] [ 4.92154432e-03 1.02645191e-04 9.99987884e-01 1.00862618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34028169299995 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:178.89, Y:125.55, Z:1.01 [[-1.91523754e-01 -9.81487432e-01 1.03547669e-03 1.78892794e+02] [ 9.81475638e-01 -1.91526529e-01 -4.81247534e-03 1.25549505e+02] [ 4.92170532e-03 9.45918034e-05 9.99987884e-01 1.00765992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.370281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:178.89, Y:125.54, Z:1.01 [[-1.94768819e-01 -9.80848632e-01 1.03361294e-03 1.78887765e+02] [ 9.80836827e-01 -1.94771546e-01 -4.81287560e-03 1.25535972e+02] [ 4.92202084e-03 7.64075450e-05 9.99987884e-01 1.01011151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40028169299995 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:178.89, Y:125.52, Z:1.01 [[-1.95863646e-01 -9.80630597e-01 1.03176426e-03 1.78887909e+02] [ 9.80618787e-01 -1.95866351e-01 -4.81327188e-03 1.25520855e+02] [ 4.92212958e-03 6.90224391e-05 9.99987884e-01 1.01220667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.430281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:178.88, Y:125.55, Z:1.01 [[-1.98650181e-01 -9.80069918e-01 1.02993737e-03 1.78878430e+02] [ 9.80058098e-01 -1.98652844e-01 -4.81366277e-03 1.25546809e+02] [ 4.92232606e-03 5.31634792e-05 9.99987884e-01 1.01320606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46028169299996 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:178.89, Y:125.51, Z:1.01 [[-2.00858322e-01 -9.79619762e-01 1.02810519e-03 1.78885161e+02] [ 9.79607934e-01 -2.00860949e-01 -4.81405405e-03 1.25509387e+02] [ 4.92244867e-03 4.01971761e-05 9.99987884e-01 1.01272439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.490281693 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:178.89, Y:125.50, Z:1.01 [[-2.07997758e-01 -9.78128764e-01 1.02628339e-03 1.78885647e+02] [ 9.78116916e-01 -2.08000290e-01 -4.81444240e-03 1.25501269e+02] [ 4.92261184e-03 2.43191812e-06 9.99987884e-01 1.01366084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52028169299996 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:178.89, Y:125.48, Z:1.01 [[-2.12058249e-01 -9.77256491e-01 1.02449437e-03 1.78889511e+02] [ 9.77244630e-01 -2.12060723e-01 -4.81482307e-03 1.25484697e+02] [ 4.92257211e-03 -1.98413284e-05 9.99987884e-01 1.01398972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.550281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:178.89, Y:125.47, Z:1.01 [[-2.16484526e-01 -9.76285514e-01 1.02272405e-03 1.78893389e+02] [ 9.76273640e-01 -2.16486937e-01 -4.81519907e-03 1.25473215e+02] [ 4.92241550e-03 -4.39575556e-05 9.99987884e-01 1.01339237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58028169299996 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:178.90, Y:125.45, Z:1.01 [[-2.26045649e-01 -9.74116175e-01 1.02097454e-03 1.78902067e+02] [ 9.74104276e-01 -2.26047936e-01 -4.81557000e-03 1.25452575e+02] [ 4.92171381e-03 -9.40029858e-05 9.99987884e-01 1.01002953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.610281693 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:178.91, Y:125.43, Z:1.01 [[-2.33410933e-01 -9.72377652e-01 1.01924884e-03 1.78913300e+02] [ 9.72365735e-01 -2.33413121e-01 -4.81593523e-03 1.25427728e+02] [ 4.92081384e-03 -1.33009292e-04 9.99987884e-01 1.00820154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64028169299996 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:178.92, Y:125.43, Z:1.01 [[-2.35650348e-01 -9.71837372e-01 1.01755361e-03 1.78917226e+02] [ 9.71825449e-01 -2.35652500e-01 -4.81629338e-03 1.25427707e+02] [ 4.92044296e-03 -1.46076723e-04 9.99987884e-01 1.00878976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.670281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:178.92, Y:125.45, Z:1.01 [[-2.37093990e-01 -9.71486185e-01 1.01587694e-03 1.78917079e+02] [ 9.71474257e-01 -2.37096116e-01 -4.81664701e-03 1.25452631e+02] [ 4.92016650e-03 -1.55099760e-04 9.99987884e-01 1.00891486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70028169299997 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:178.93, Y:125.43, Z:1.01 [[-2.39068123e-01 -9.71002268e-01 1.01418945e-03 1.78932584e+02] [ 9.70990334e-01 -2.39070216e-01 -4.81700230e-03 1.25430829e+02] [ 4.91978265e-03 -1.66823544e-04 9.99987884e-01 1.01002336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.73028169299994 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:178.93, Y:125.45, Z:1.01 [[-2.39429420e-01 -9.70913244e-01 1.01250517e-03 1.78934866e+02] [ 9.70901308e-01 -2.39431501e-01 -4.81735630e-03 1.25445656e+02] [ 4.91966066e-03 -1.70374232e-04 9.99987884e-01 1.00872662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76028169299997 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:178.95, Y:125.44, Z:1.01 [[-2.40700090e-01 -9.70599014e-01 1.01082916e-03 1.78945906e+02] [ 9.70587073e-01 -2.40702146e-01 -4.81770795e-03 1.25441698e+02] [ 4.91937133e-03 -1.78525021e-04 9.99987884e-01 1.00783094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.79028169299994 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:178.95, Y:125.46, Z:1.01 [[-2.40769723e-01 -9.70581744e-01 1.00915201e-03 1.78948300e+02] [ 9.70569802e-01 -2.40771770e-01 -4.81805923e-03 1.25455268e+02] [ 4.91929565e-03 -1.80590323e-04 9.99987884e-01 1.00764610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82028169299997 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:178.96, Y:125.48, Z:1.01 [[-2.40957266e-01 -9.70535203e-01 1.00747371e-03 1.78955483e+02] [ 9.70523260e-01 -2.40959302e-01 -4.81841015e-03 1.25477330e+02] [ 4.91919683e-03 -1.83254265e-04 9.99987884e-01 1.00620084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.85028169299994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:178.96, Y:125.48, Z:1.01 [[-2.40856777e-01 -9.70560148e-01 1.00577941e-03 1.78959934e+02] [ 9.70548203e-01 -2.40858806e-01 -4.81876378e-03 1.25480900e+02] [ 4.91915092e-03 -1.84474509e-04 9.99987884e-01 1.00817454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.880281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:178.97, Y:125.50, Z:1.01 [[-2.40311981e-01 -9.70695186e-01 1.00417981e-03 1.78965236e+02] [ 9.70683240e-01 -2.40314009e-01 -4.81909710e-03 1.25500191e+02] [ 4.91919283e-03 -1.83346254e-04 9.99987884e-01 1.01043176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.91028169299994 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:178.97, Y:125.51, Z:1.01 [[-2.39092653e-01 -9.70996239e-01 1.00353302e-03 1.78968689e+02] [ 9.70984296e-01 -2.39094693e-01 -4.81923179e-03 1.25506199e+02] [ 4.91939536e-03 -1.77828114e-04 9.99987884e-01 1.01188320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.940281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:178.98, Y:125.51, Z:1.01 [[-2.35645345e-01 -9.71838601e-01 1.00288243e-03 1.78979345e+02] [ 9.71826664e-01 -2.35647424e-01 -4.81936717e-03 1.25506738e+02] [ 4.91997371e-03 -1.61033557e-04 9.99987884e-01 1.01409830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.97028169299995 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:178.98, Y:125.52, Z:1.02 [[-2.33555534e-01 -9.72342948e-01 1.00223192e-03 1.78980674e+02] [ 9.72331015e-01 -2.33557636e-01 -4.81950245e-03 1.25521435e+02] [ 4.92028813e-03 -1.51120290e-04 9.99987884e-01 1.01613498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.000281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:178.98, Y:125.53, Z:1.02 [[-2.31118975e-01 -9.72924979e-01 1.00244790e-03 1.78982041e+02] [ 9.72913052e-01 -2.31121107e-01 -4.81945752e-03 1.25530079e+02] [ 4.92065748e-03 -1.38573439e-04 9.99987884e-01 1.01682670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:178.99, Y:125.53, Z:1.01 [[-2.26170974e-01 -9.74087104e-01 1.00244790e-03 1.78986303e+02] [ 9.74075188e-01 -2.26173167e-01 -4.81945752e-03 1.25532306e+02] [ 4.92129823e-03 -1.13561781e-04 9.99987884e-01 1.01482275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.060281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.99, Y:125.56, Z:1.01 [[-2.22026895e-01 -9.75040026e-01 1.00244790e-03 1.78986178e+02] [ 9.75028120e-01 -2.22029139e-01 -4.81945752e-03 1.25555531e+02] [ 4.92173663e-03 -9.26343012e-05 9.99987884e-01 1.01117610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:178.99, Y:125.56, Z:1.01 [[-2.20824412e-01 -9.75313063e-01 1.00421559e-03 1.78987850e+02] [ 9.75301161e-01 -2.20826679e-01 -4.81908917e-03 1.25556711e+02] [ 4.92187821e-03 -8.47599031e-05 9.99987884e-01 1.01102355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.120281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.99, Y:125.55, Z:1.01 [[-2.19850721e-01 -9.75533007e-01 1.00600134e-03 1.78990152e+02] [ 9.75521109e-01 -2.19853009e-01 -4.81871636e-03 1.25550719e+02] [ 4.92198928e-03 -7.80227273e-05 9.99987884e-01 1.01129528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.15028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.99, Y:125.57, Z:1.02 [[-2.18200850e-01 -9.75903363e-01 1.00756170e-03 1.78986772e+02] [ 9.75891470e-01 -2.18203166e-01 -4.81839007e-03 1.25565709e+02] [ 4.92213623e-03 -6.81059419e-05 9.99987884e-01 1.01549750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.180281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.99, Y:125.56, Z:1.02 [[-2.16358863e-01 -9.76313384e-01 1.00935469e-03 1.78988561e+02] [ 9.76301497e-01 -2.16361210e-01 -4.81801445e-03 1.25555564e+02] [ 4.92227719e-03 -5.69856289e-05 9.99987884e-01 1.01696725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.21028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:178.99, Y:125.57, Z:1.02 [[-2.11944911e-01 -9.77281094e-01 1.00913080e-03 1.78985375e+02] [ 9.77269218e-01 -2.11947311e-01 -4.81806134e-03 1.25568546e+02] [ 4.92248282e-03 -3.49711143e-05 9.99987884e-01 1.01807002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.240281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:178.98, Y:125.60, Z:1.02 [[-2.09921811e-01 -9.77717654e-01 1.01093093e-03 1.78977113e+02] [ 9.77705785e-01 -2.09924244e-01 -4.81768361e-03 1.25604777e+02] [ 4.92255322e-03 -2.29438531e-05 9.99987884e-01 1.01676718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.27028169299996 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:178.98, Y:125.59, Z:1.01 [[-2.06338913e-01 -9.78480060e-01 1.01276755e-03 1.78981122e+02] [ 9.78468201e-01 -2.06341399e-01 -4.81729748e-03 1.25585299e+02] [ 4.92260540e-03 -3.03508208e-06 9.99987884e-01 1.01033437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.300281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:178.98, Y:125.58, Z:1.01 [[-2.06664588e-01 -9.78411326e-01 1.01230474e-03 1.78981553e+02] [ 9.78399467e-01 -2.06667067e-01 -4.81739474e-03 1.25583666e+02] [ 4.92260362e-03 -5.14648491e-06 9.99987884e-01 1.01032605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.33028169299996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:178.98, Y:125.58, Z:1.01 [[-2.05567980e-01 -9.78642313e-01 1.01390811e-03 1.78983270e+02] [ 9.78630458e-01 -2.05570480e-01 -4.81705725e-03 1.25578668e+02] [ 4.92260563e-03 2.00862792e-06 9.99987884e-01 1.00748169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.360281693 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:178.98, Y:125.60, Z:1.01 [[-2.04742736e-01 -9.78815296e-01 1.01413636e-03 1.78978593e+02] [ 9.78803443e-01 -2.04745247e-01 -4.81700920e-03 1.25602652e+02] [ 4.92260189e-03 6.39251915e-06 9.99987884e-01 1.00696732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.39028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.98, Y:125.59, Z:1.01 [[-2.02163746e-01 -9.79351207e-01 1.01598281e-03 1.78980187e+02] [ 9.79339363e-01 -2.02166298e-01 -4.81661972e-03 1.25591182e+02] [ 4.92255982e-03 2.12460720e-05 9.99987884e-01 1.01198376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.420281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.98, Y:125.61, Z:1.02 [[-2.01583411e-01 -9.79470825e-01 1.01551835e-03 1.78975066e+02] [ 9.79458982e-01 -2.01585968e-01 -4.81671764e-03 1.25612848e+02] [ 4.92254866e-03 2.36881990e-05 9.99987884e-01 1.01641649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.45028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.98, Y:125.59, Z:1.02 [[-2.02077789e-01 -9.79368946e-01 1.01738175e-03 1.78978997e+02] [ 9.79357103e-01 -2.02080349e-01 -4.81632403e-03 1.25587943e+02] [ 4.92255105e-03 2.31079283e-05 9.99987884e-01 1.02042311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.97, Y:125.61, Z:1.02 [[-2.03572965e-01 -9.79059250e-01 1.01667977e-03 1.78974831e+02] [ 9.79047403e-01 -2.03575503e-01 -4.81647220e-03 1.25606243e+02] [ 4.92258276e-03 1.48741676e-05 9.99987884e-01 1.01894130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.51028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.98, Y:125.58, Z:1.02 [[-2.04555355e-01 -9.78854468e-01 1.01853684e-03 1.78980554e+02] [ 9.78842620e-01 -2.04557890e-01 -4.81607946e-03 1.25578586e+02] [ 4.92259064e-03 1.18324266e-05 9.99987884e-01 1.01543243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:178.98, Y:125.60, Z:1.01 [[-2.06899267e-01 -9.78361721e-01 1.01783918e-03 1.78977813e+02] [ 9.78349867e-01 -2.06901771e-01 -4.81622690e-03 1.25596265e+02] [ 4.92260477e-03 -6.70988305e-07 9.99987884e-01 1.00937486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.57028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.98, Y:125.59, Z:1.01 [[-2.07391594e-01 -9.78257475e-01 1.01968258e-03 1.78979547e+02] [ 9.78245621e-01 -2.07394101e-01 -4.81583659e-03 1.25586608e+02] [ 4.92260429e-03 -1.26401341e-06 9.99987884e-01 1.01186402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.98, Y:125.59, Z:1.01 [[-2.07601248e-01 -9.78213005e-01 1.01921983e-03 1.78978478e+02] [ 9.78201150e-01 -2.07603750e-01 -4.81593452e-03 1.25586162e+02] [ 4.92260364e-03 -2.79200700e-06 9.99987884e-01 1.01321227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.630281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.98, Y:125.59, Z:1.01 [[-2.07023046e-01 -9.78335534e-01 1.02083052e-03 1.78977277e+02] [ 9.78323682e-01 -2.07025563e-01 -4.81559308e-03 1.25586856e+02] [ 4.92260384e-03 1.76392924e-06 9.99987884e-01 1.01416169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66028169299994 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:178.97, Y:125.60, Z:1.01 [[-2.07780819e-01 -9.78174877e-01 1.02083052e-03 1.78974303e+02] [ 9.78163023e-01 -2.07783327e-01 -4.81559308e-03 1.25601301e+02] [ 4.92260373e-03 -2.04920418e-06 9.99987884e-01 1.01404263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.690281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:178.98, Y:125.58, Z:1.01 [[-2.08554310e-01 -9.78010253e-01 1.02268662e-03 1.78980206e+02] [ 9.77998399e-01 -2.08556817e-01 -4.81519887e-03 1.25579248e+02] [ 4.92260213e-03 -4.04459698e-06 9.99987884e-01 1.01371889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:178.98, Y:125.58, Z:1.01 [[-2.12464669e-01 -9.77168215e-01 1.02198870e-03 1.78984736e+02] [ 9.77156350e-01 -2.12467126e-01 -4.81534699e-03 1.25575731e+02] [ 4.92254302e-03 -2.44483577e-05 9.99987884e-01 1.01414558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.750281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.99, Y:125.57, Z:1.01 [[-2.14752174e-01 -9.76668038e-01 1.02358994e-03 1.78988703e+02] [ 9.76656169e-01 -2.14754610e-01 -4.81500659e-03 1.25567504e+02] [ 4.92248370e-03 -3.43376976e-05 9.99987884e-01 1.01372363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78028169299995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.99, Y:125.55, Z:1.01 [[-2.16485067e-01 -9.76285393e-01 1.02358994e-03 1.78993333e+02] [ 9.76273520e-01 -2.16487482e-01 -4.81500659e-03 1.25554600e+02] [ 4.92241501e-03 -4.30732663e-05 9.99987884e-01 1.01306797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.810281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:179.00, Y:125.56, Z:1.01 [[-2.16787667e-01 -9.76218244e-01 1.02336472e-03 1.78995273e+02] [ 9.76206370e-01 -2.16790078e-01 -4.81505446e-03 1.25559280e+02] [ 4.92239933e-03 -4.48292704e-05 9.99987884e-01 1.00989794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84028169299995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:178.99, Y:125.57, Z:1.01 [[-2.15801210e-01 -9.76436781e-01 1.02516870e-03 1.78994643e+02] [ 9.76424911e-01 -2.15803641e-01 -4.81467035e-03 1.25569279e+02] [ 4.92245635e-03 -3.80114270e-05 9.99987884e-01 1.00807409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.870281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.00, Y:125.58, Z:1.01 [[-2.12171225e-01 -9.77231967e-01 1.02698495e-03 1.78995612e+02] [ 9.77220108e-01 -2.12173710e-01 -4.81428290e-03 1.25578157e+02] [ 4.92257036e-03 -1.78619646e-05 9.99987884e-01 1.00720944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.00, Y:125.58, Z:1.01 [[-2.10262804e-01 -9.77644360e-01 1.02881633e-03 1.78996424e+02] [ 9.77632508e-01 -2.10265321e-01 -4.81389151e-03 1.25582748e+02] [ 4.92259828e-03 -6.37804037e-06 9.99987884e-01 1.00801510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.930281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.00, Y:125.58, Z:1.01 [[-2.07376162e-01 -9.78260735e-01 1.03065944e-03 1.79000922e+02] [ 9.78248892e-01 -2.07378723e-01 -4.81349686e-03 1.25583522e+02] [ 4.92259181e-03 1.00369540e-05 9.99987884e-01 1.00819527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.00, Y:125.59, Z:1.01 [[-2.06892288e-01 -9.78363182e-01 1.03250855e-03 1.79000734e+02] [ 9.78351343e-01 -2.06894863e-01 -4.81310019e-03 1.25593115e+02] [ 4.92258073e-03 1.43628187e-05 9.99987884e-01 1.00995061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.990281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.00, Y:125.60, Z:1.01 [[-2.06903031e-01 -9.78360908e-01 1.03436774e-03 1.79000706e+02] [ 9.78349071e-01 -2.06905616e-01 -4.81270060e-03 1.25601595e+02] [ 4.92257463e-03 1.62103693e-05 9.99987884e-01 1.01201079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.00, Y:125.60, Z:1.01 [[-2.07004423e-01 -9.78339458e-01 1.03624186e-03 1.79003488e+02] [ 9.78327623e-01 -2.07007016e-01 -4.81229705e-03 1.25603964e+02] [ 4.92256942e-03 1.76172579e-05 9.99987884e-01 1.01325024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.050281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.01, Y:125.58, Z:1.01 [[-2.06445169e-01 -9.78457620e-01 1.03812633e-03 1.79011969e+02] [ 9.78445788e-01 -2.06447778e-01 -4.81189048e-03 1.25581458e+02] [ 4.92254979e-03 2.23587938e-05 9.99987884e-01 1.00931973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.01, Y:125.58, Z:1.01 [[-2.06678612e-01 -9.78408335e-01 1.03999887e-03 1.79014130e+02] [ 9.78396504e-01 -2.06681228e-01 -4.81148574e-03 1.25581085e+02] [ 4.92254599e-03 2.31000602e-05 9.99987884e-01 1.00813917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.110281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.01, Y:125.60, Z:1.01 [[-2.07451879e-01 -9.78244669e-01 1.04185805e-03 1.79012156e+02] [ 9.78232839e-01 -2.07454494e-01 -4.81108312e-03 1.25598637e+02] [ 4.92255455e-03 2.11115269e-05 9.99987884e-01 1.00990625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.02, Y:125.59, Z:1.01 [[-2.07939550e-01 -9.78141122e-01 1.04373154e-03 1.79017570e+02] [ 9.78129292e-01 -2.07942168e-01 -4.81067665e-03 1.25592200e+02] [ 4.92255645e-03 2.05744597e-05 9.99987884e-01 1.01379326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.170281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.02, Y:125.59, Z:1.02 [[-2.07792971e-01 -9.78172269e-01 1.04561633e-03 1.79020570e+02] [ 9.78160442e-01 -2.07795600e-01 -4.81026695e-03 1.25585125e+02] [ 4.92254421e-03 2.32408718e-05 9.99987884e-01 1.01577670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.02, Y:125.60, Z:1.02 [[-2.06567550e-01 -9.78431781e-01 1.04749393e-03 1.79018980e+02] [ 9.78419959e-01 -2.06570203e-01 -4.80985805e-03 1.25595292e+02] [ 4.92249901e-03 3.13283758e-05 9.99987884e-01 1.01629779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.23028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.02, Y:125.59, Z:1.01 [[-2.05590076e-01 -9.78637634e-01 1.04937616e-03 1.79019321e+02] [ 9.78625817e-01 -2.05592751e-01 -4.80944736e-03 1.25590302e+02] [ 4.92245032e-03 3.81719526e-05 9.99987884e-01 1.01334208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.02, Y:125.58, Z:1.01 [[-2.02846888e-01 -9.79209904e-01 1.05126594e-03 1.79021184e+02] [ 9.79198096e-01 -2.02849605e-01 -4.80903425e-03 1.25575628e+02] [ 4.92230284e-03 5.38999755e-05 9.99987884e-01 1.01008506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.29028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.02, Y:125.56, Z:1.01 [[-2.01601733e-01 -9.79467014e-01 1.05314498e-03 1.79022661e+02] [ 9.79455212e-01 -2.01604474e-01 -4.80862272e-03 1.25563839e+02] [ 4.92220608e-03 6.20816639e-05 9.99987884e-01 1.01106843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.02, Y:125.55, Z:1.01 [[-1.98868564e-01 -9.80025602e-01 1.05500931e-03 1.79019951e+02] [ 9.80013810e-01 -1.98871347e-01 -4.80821365e-03 1.25552525e+02] [ 4.92198360e-03 7.77211481e-05 9.99987884e-01 1.01353975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.35028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.02, Y:125.55, Z:1.01 [[-1.97989429e-01 -9.80203586e-01 1.05686102e-03 1.79017770e+02] [ 9.80191798e-01 -1.97992232e-01 -4.80780660e-03 1.25547955e+02] [ 4.92187954e-03 8.40316191e-05 9.99987884e-01 1.01309868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.380281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.01, Y:125.54, Z:1.01 [[-1.97858798e-01 -9.80229960e-01 1.05870670e-03 1.79014889e+02] [ 9.80218176e-01 -1.97861611e-01 -4.80740014e-03 1.25540227e+02] [ 4.92183506e-03 8.65771371e-05 9.99987884e-01 1.00911578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.41028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.01, Y:125.54, Z:1.01 [[-1.98712247e-01 -9.80057304e-01 1.06054794e-03 1.79011916e+02] [ 9.80045518e-01 -1.98715059e-01 -4.80699391e-03 1.25544948e+02] [ 4.92187634e-03 8.41766962e-05 9.99987884e-01 1.01166982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.440281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.01, Y:125.54, Z:1.02 [[-2.00376885e-01 -9.79718314e-01 1.06239116e-03 1.79007705e+02] [ 9.79706527e-01 -2.00379686e-01 -4.80658651e-03 1.25541891e+02] [ 4.92198244e-03 7.77027237e-05 9.99987884e-01 1.01563901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.47028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.00, Y:125.56, Z:1.02 [[-2.01122721e-01 -9.79565474e-01 1.06424038e-03 1.79001229e+02] [ 9.79553687e-01 -2.01125523e-01 -4.80617703e-03 1.25561949e+02] [ 4.92201099e-03 7.58491839e-05 9.99987884e-01 1.01518279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.500281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.00, Y:125.56, Z:1.01 [[-2.01053409e-01 -9.79579701e-01 1.06610502e-03 1.78997639e+02] [ 9.79567915e-01 -2.01056221e-01 -4.80576338e-03 1.25557444e+02] [ 4.92197530e-03 7.81071639e-05 9.99987884e-01 1.01109541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.53028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.99, Y:125.56, Z:1.01 [[-2.00988719e-01 -9.79592974e-01 1.06798565e-03 1.78994943e+02] [ 9.79581191e-01 -2.00991540e-01 -4.80534542e-03 1.25558701e+02] [ 4.92193869e-03 8.03584355e-05 9.99987884e-01 1.01124200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.560281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.00, Y:125.54, Z:1.02 [[-2.00798898e-01 -9.79631899e-01 1.06986834e-03 1.78996362e+02] [ 9.79620119e-01 -2.00801731e-01 -4.80492621e-03 1.25536304e+02] [ 4.92189041e-03 8.32406648e-05 9.99987884e-01 1.01549819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.99, Y:125.54, Z:1.02 [[-2.02503787e-01 -9.79280896e-01 1.06916399e-03 1.78994753e+02] [ 9.79269110e-01 -2.02506596e-01 -4.80508294e-03 1.25539298e+02] [ 4.92203868e-03 7.39517828e-05 9.99987884e-01 1.01837555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.620281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.99, Y:125.55, Z:1.02 [[-2.04881273e-01 -9.78786247e-01 1.07101945e-03 1.78991665e+02] [ 9.78774456e-01 -2.04884062e-01 -4.80466933e-03 1.25549609e+02] [ 4.92217908e-03 6.38997110e-05 9.99987884e-01 1.01990592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.65028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.99, Y:125.55, Z:1.02 [[-2.09108648e-01 -9.77891825e-01 1.07288790e-03 1.78990353e+02] [ 9.77880025e-01 -2.09111396e-01 -4.80425207e-03 1.25548148e+02] [ 4.92239191e-03 4.45449868e-05 9.99987884e-01 1.01690360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.680281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.99, Y:125.53, Z:1.01 [[-2.11024020e-01 -9.77480287e-01 1.07312189e-03 1.78993384e+02] [ 9.77468481e-01 -2.11026746e-01 -4.80419980e-03 1.25532320e+02] [ 4.92246802e-03 3.51412698e-05 9.99987884e-01 1.01494445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.71028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.00, Y:125.52, Z:1.01 [[-2.14167040e-01 -9.76796462e-01 1.07241868e-03 1.78995655e+02] [ 9.76784648e-01 -2.14169724e-01 -4.80435677e-03 1.25518364e+02] [ 4.92255831e-03 1.85872362e-05 9.99987884e-01 1.01464364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.740281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.99, Y:125.53, Z:1.01 [[-2.15992416e-01 -9.76394453e-01 1.07172450e-03 1.78993427e+02] [ 9.76382632e-01 -2.15995075e-01 -4.80451162e-03 1.25525404e+02] [ 4.92258571e-03 8.67511803e-06 9.99987884e-01 1.01402102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.77028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.99, Y:125.53, Z:1.01 [[-2.16883596e-01 -9.76196883e-01 1.07356005e-03 1.78991743e+02] [ 9.76185061e-01 -2.16886252e-01 -4.80410144e-03 1.25532478e+02] [ 4.92258926e-03 6.06249088e-06 9.99987884e-01 1.01206504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.800281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.99, Y:125.52, Z:1.01 [[-2.17225438e-01 -9.76120870e-01 1.07540893e-03 1.78992626e+02] [ 9.76109050e-01 -2.17228100e-01 -4.80368752e-03 1.25523297e+02] [ 4.92258868e-03 6.23326238e-06 9.99987884e-01 1.01029887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.99, Y:125.54, Z:1.01 [[-2.16550603e-01 -9.76270803e-01 1.07494650e-03 1.78986978e+02] [ 9.76258984e-01 -2.16553271e-01 -4.80379100e-03 1.25541203e+02] [ 4.92258408e-03 9.16234595e-06 9.99987884e-01 1.00946762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.860281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.99, Y:125.53, Z:1.01 [[-2.15575937e-01 -9.76486485e-01 1.07680146e-03 1.78989738e+02] [ 9.76474671e-01 -2.15578625e-01 -4.80337516e-03 1.25526293e+02] [ 4.92256631e-03 1.59772524e-05 9.99987884e-01 1.01117923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.99, Y:125.53, Z:1.01 [[-2.14556111e-01 -9.76711071e-01 1.07610126e-03 1.78987422e+02] [ 9.76699260e-01 -2.14558809e-01 -4.80353202e-03 1.25532642e+02] [ 4.92254992e-03 2.04001516e-05 9.99987884e-01 1.01340829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.920281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.98, Y:125.53, Z:1.02 [[-2.12721529e-01 -9.77112272e-01 1.07610126e-03 1.78984221e+02] [ 9.77100466e-01 -2.12724249e-01 -4.80353202e-03 1.25531615e+02] [ 4.92250293e-03 2.96443636e-05 9.99987884e-01 1.01591091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.98, Y:125.54, Z:1.02 [[-2.12008092e-01 -9.77267319e-01 1.07540245e-03 1.78979426e+02] [ 9.77255513e-01 -2.12010817e-01 -4.80368847e-03 1.25542029e+02] [ 4.92248470e-03 3.25221456e-05 9.99987884e-01 1.01538855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.98, Y:125.54, Z:1.01 [[-2.09320235e-01 -9.77846554e-01 1.07493753e-03 1.78977448e+02] [ 9.77834756e-01 -2.09322990e-01 -4.80379250e-03 1.25535683e+02] [ 4.92238108e-03 4.55802997e-05 9.99987884e-01 1.01145064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.01028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.97, Y:125.55, Z:1.01 [[-2.07247851e-01 -9.78287879e-01 1.07447252e-03 1.78972829e+02] [ 9.78276086e-01 -2.07250629e-01 -4.80389651e-03 1.25551523e+02] [ 4.92227883e-03 5.55335471e-05 9.99987884e-01 1.00975371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.97, Y:125.55, Z:1.01 [[-2.03070102e-01 -9.79163612e-01 1.07412443e-03 1.78969470e+02] [ 9.79151831e-01 -2.03072929e-01 -4.80397434e-03 1.25554335e+02] [ 4.92200246e-03 7.61873421e-05 9.99987884e-01 1.00925140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.07028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.97, Y:125.56, Z:1.01 [[-2.00680083e-01 -9.79656242e-01 1.07341730e-03 1.78965986e+02] [ 9.79644466e-01 -2.00682934e-01 -4.80413234e-03 1.25559837e+02] [ 4.92181476e-03 8.74736409e-05 9.99987884e-01 1.01238604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.96, Y:125.56, Z:1.02 [[-1.97641458e-01 -9.80273790e-01 1.07294731e-03 1.78963419e+02] [ 9.80262022e-01 -1.97644344e-01 -4.80423730e-03 1.25561229e+02] [ 4.92152987e-03 1.02253039e-04 9.99987884e-01 1.01557677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.130281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.96, Y:125.54, Z:1.02 [[-1.92022786e-01 -9.81389882e-01 1.07223789e-03 1.78963566e+02] [ 9.81378130e-01 -1.92025736e-01 -4.80439563e-03 1.25541397e+02] [ 4.92088253e-03 1.29717382e-04 9.99987884e-01 1.01856093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.96, Y:125.53, Z:1.02 [[-1.88302971e-01 -9.82110404e-01 1.07037382e-03 1.78959493e+02] [ 9.82098661e-01 -1.88305956e-01 -4.80481089e-03 1.25529671e+02] [ 4.92041253e-03 1.46452528e-04 9.99987884e-01 1.01700205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.190281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.96, Y:125.52, Z:1.02 [[-1.87428587e-01 -9.82277651e-01 1.06853346e-03 1.78957146e+02] [ 9.82265908e-01 -1.87431574e-01 -4.80522013e-03 1.25524566e+02] [ 4.92033725e-03 1.48948365e-04 9.99987884e-01 1.01631570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.96, Y:125.53, Z:1.02 [[-1.87056087e-01 -9.82348656e-01 1.06670630e-03 1.78956523e+02] [ 9.82336913e-01 -1.87059069e-01 -4.80562570e-03 1.25527030e+02] [ 4.92033704e-03 1.48943439e-04 9.99987884e-01 1.01632809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.250281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.95, Y:125.53, Z:1.02 [[-1.86747352e-01 -9.82407396e-01 1.06488380e-03 1.78952568e+02] [ 9.82395652e-01 -1.86750329e-01 -4.80602952e-03 1.25534432e+02] [ 4.92034635e-03 1.48623924e-04 9.99987884e-01 1.01587045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.94, Y:125.57, Z:1.01 [[-1.88699279e-01 -9.82034344e-01 1.06305783e-03 1.78941643e+02] [ 9.82022591e-01 -1.88702223e-01 -4.80643338e-03 1.25566447e+02] [ 4.92068402e-03 1.36976295e-04 9.99987884e-01 1.01385641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.310281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.94, Y:125.56, Z:1.01 [[-1.89439291e-01 -9.81891861e-01 1.06235939e-03 1.78941881e+02] [ 9.81880105e-01 -1.89442223e-01 -4.80658775e-03 1.25555166e+02] [ 4.92080511e-03 1.32552971e-04 9.99987884e-01 1.01292498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.93, Y:125.57, Z:1.01 [[-1.90612776e-01 -9.81664732e-01 1.06049666e-03 1.78933497e+02] [ 9.81652970e-01 -1.90615685e-01 -4.80699870e-03 1.25573250e+02] [ 4.92100838e-03 1.24764327e-04 9.99987884e-01 1.01257372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.370281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.93, Y:125.58, Z:1.01 [[-1.90836592e-01 -9.81621248e-01 1.05863095e-03 1.78930036e+02] [ 9.81609483e-01 -1.90839490e-01 -4.80740954e-03 1.25580907e+02] [ 4.92108394e-03 1.21732523e-04 9.99987884e-01 1.01485185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.92, Y:125.59, Z:1.02 [[-1.92441269e-01 -9.81307924e-01 1.05674986e-03 1.78923125e+02] [ 9.81296152e-01 -1.92444138e-01 -4.80782300e-03 1.25594134e+02] [ 4.92132012e-03 1.11761010e-04 9.99987884e-01 1.01844176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.430281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.92, Y:125.58, Z:1.02 [[-1.92966994e-01 -9.81204681e-01 1.05485575e-03 1.78924896e+02] [ 9.81192906e-01 -1.92969848e-01 -4.80823854e-03 1.25577526e+02] [ 4.92142152e-03 1.07185638e-04 9.99987884e-01 1.01948883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.92, Y:125.58, Z:1.02 [[-1.93381635e-01 -9.81123048e-01 1.05296633e-03 1.78921191e+02] [ 9.81111269e-01 -1.93384474e-01 -4.80865227e-03 1.25581679e+02] [ 4.92150691e-03 1.03172093e-04 9.99987884e-01 1.01919129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.490281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.92, Y:125.59, Z:1.02 [[-1.93327855e-01 -9.81133648e-01 1.05108890e-03 1.78919039e+02] [ 9.81121867e-01 -1.93330686e-01 -4.80906261e-03 1.25587025e+02] [ 4.92154088e-03 1.01520548e-04 9.99987884e-01 1.01828510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.92, Y:125.57, Z:1.02 [[-1.93937645e-01 -9.81013297e-01 1.04920781e-03 1.78921881e+02] [ 9.81001512e-01 -1.93940459e-01 -4.80947298e-03 1.25570626e+02] [ 4.92164079e-03 9.65365874e-05 9.99987884e-01 1.01628123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.550281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.92, Y:125.59, Z:1.01 [[-1.94044893e-01 -9.80992091e-01 1.04733768e-03 1.78917728e+02] [ 9.80980304e-01 -1.94047696e-01 -4.80988019e-03 1.25588152e+02] [ 4.92168789e-03 9.40849491e-05 9.99987884e-01 1.01456038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.92, Y:125.59, Z:1.01 [[-1.94381682e-01 -9.80925415e-01 1.04547022e-03 1.78915584e+02] [ 9.80913624e-01 -1.94384472e-01 -4.81028607e-03 1.25586717e+02] [ 4.92175503e-03 9.04844878e-05 9.99987884e-01 1.00897598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.610281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.92, Y:125.57, Z:1.01 [[-1.94182217e-01 -9.80964921e-01 1.04383148e-03 1.78916307e+02] [ 9.80953130e-01 -1.94185002e-01 -4.81064165e-03 1.25572972e+02] [ 4.92176713e-03 8.98086955e-05 9.99987884e-01 1.00834705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.91, Y:125.58, Z:1.01 [[-1.94889269e-01 -9.80824698e-01 1.04196781e-03 1.78910486e+02] [ 9.80812902e-01 -1.94892036e-01 -4.81104528e-03 1.25578710e+02] [ 4.92186326e-03 8.43543763e-05 9.99987884e-01 1.01314259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.670281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.91, Y:125.58, Z:1.02 [[-1.95305412e-01 -9.80741920e-01 1.04022595e-03 1.78907666e+02] [ 9.80730121e-01 -1.95308166e-01 -4.81142187e-03 1.25584932e+02] [ 4.92192774e-03 8.04841943e-05 9.99987884e-01 1.01575203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.91, Y:125.55, Z:1.02 [[-1.97223805e-01 -9.80357941e-01 1.03836262e-03 1.78911177e+02] [ 9.80346135e-01 -1.97226526e-01 -4.81182396e-03 1.25554443e+02] [ 4.92210249e-03 6.89485451e-05 9.99987884e-01 1.01532238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.73028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.91, Y:125.56, Z:1.01 [[-1.98588710e-01 -9.80082369e-01 1.03651895e-03 1.78908124e+02] [ 9.80070557e-01 -1.98591406e-01 -4.81222108e-03 1.25558024e+02] [ 4.92221679e-03 6.02089314e-05 9.99987884e-01 1.01466209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.91, Y:125.54, Z:1.01 [[-2.01690182e-01 -9.79448825e-01 1.03469637e-03 1.78908762e+02] [ 9.79437002e-01 -2.01692832e-01 -4.81261293e-03 1.25536968e+02] [ 4.92239891e-03 4.27631297e-05 9.99987884e-01 1.01467638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.79028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.90, Y:125.55, Z:1.01 [[-2.02694799e-01 -9.79241416e-01 1.03288759e-03 1.78904521e+02] [ 9.79229589e-01 -2.02697428e-01 -4.81300110e-03 1.25549749e+02] [ 4.92245367e-03 3.58638029e-05 9.99987884e-01 1.01475247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.90, Y:125.56, Z:1.01 [[-2.03214695e-01 -9.79133660e-01 1.03108691e-03 1.78901777e+02] [ 9.79121829e-01 -2.03217309e-01 -4.81338682e-03 1.25556145e+02] [ 4.92248377e-03 3.14087655e-05 9.99987884e-01 1.01186081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.85028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.90, Y:125.57, Z:1.01 [[-2.02908351e-01 -9.79197192e-01 1.02927638e-03 1.78898125e+02] [ 9.79185361e-01 -2.02910959e-01 -4.81377395e-03 1.25568711e+02] [ 4.92248540e-03 3.10974287e-05 9.99987884e-01 1.00891415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.880281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.90, Y:125.54, Z:1.01 [[-2.02152526e-01 -9.79353512e-01 1.02745590e-03 1.78904275e+02] [ 9.79341680e-01 -2.02155135e-01 -4.81416248e-03 1.25543894e+02] [ 4.92247242e-03 3.30352752e-05 9.99987884e-01 1.00871719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.91028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.90, Y:125.59, Z:1.01 [[-2.01252070e-01 -9.79538949e-01 1.02564654e-03 1.78897009e+02] [ 9.79527118e-01 -2.01254680e-01 -4.81454793e-03 1.25589220e+02] [ 4.92245339e-03 3.57108641e-05 9.99987884e-01 1.01341587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.940281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.90, Y:125.58, Z:1.02 [[-2.00702650e-01 -9.79651672e-01 1.02382725e-03 1.78898945e+02] [ 9.79639840e-01 -2.00705258e-01 -4.81493478e-03 1.25581490e+02] [ 4.92244642e-03 3.66117903e-05 9.99987884e-01 1.01596960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.97028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.89, Y:125.61, Z:1.02 [[-1.99687097e-01 -9.79859183e-01 1.02198576e-03 1.78892457e+02] [ 9.79847352e-01 -1.99689708e-01 -4.81532561e-03 1.25607743e+02] [ 4.92242106e-03 3.98316547e-05 9.99987884e-01 1.01705594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.000281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.90, Y:125.58, Z:1.01 [[-1.98849927e-01 -9.80029421e-01 1.02013523e-03 1.78897081e+02] [ 9.80017590e-01 -1.98852540e-01 -4.81571762e-03 1.25584280e+02] [ 4.92240143e-03 4.21453729e-05 9.99987884e-01 1.01438060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.03028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.90, Y:125.59, Z:1.01 [[-1.97349439e-01 -9.80332679e-01 1.01828608e-03 1.78895903e+02] [ 9.80320850e-01 -1.97352061e-01 -4.81610859e-03 1.25586669e+02] [ 4.92234949e-03 4.77907457e-05 9.99987884e-01 1.01224889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.060281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.89, Y:125.60, Z:1.01 [[-1.96241742e-01 -9.80555019e-01 1.01645418e-03 1.78892436e+02] [ 9.80543191e-01 -1.96244368e-01 -4.81649518e-03 1.25599245e+02] [ 4.92231194e-03 5.14798252e-05 9.99987884e-01 1.01247586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.90, Y:125.58, Z:1.02 [[-1.94403580e-01 -9.80921107e-01 1.01461546e-03 1.78895828e+02] [ 9.80909282e-01 -1.94406218e-01 -4.81688249e-03 1.25578138e+02] [ 4.92222926e-03 5.88265293e-05 9.99987884e-01 1.01544489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.120281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.89, Y:125.58, Z:1.02 [[-1.94403711e-01 -9.80921083e-01 1.01278538e-03 1.78894279e+02] [ 9.80909256e-01 -1.94406340e-01 -4.81726724e-03 1.25583224e+02] [ 4.92225090e-03 5.69559298e-05 9.99987884e-01 1.01736452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.15028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.90, Y:125.58, Z:1.02 [[-1.95186011e-01 -9.80765721e-01 1.01096894e-03 1.78895349e+02] [ 9.80753890e-01 -1.95188622e-01 -4.81764842e-03 1.25575433e+02] [ 4.92231406e-03 5.11741459e-05 9.99987884e-01 1.01707116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.180281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.89, Y:125.58, Z:1.01 [[-1.97914223e-01 -9.80218823e-01 1.00915741e-03 1.78893689e+02] [ 9.80206983e-01 -1.97916793e-01 -4.81802785e-03 1.25575075e+02] [ 4.92245079e-03 3.56268966e-05 9.99987884e-01 1.01324903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.21028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.89, Y:125.58, Z:1.01 [[-1.98433152e-01 -9.80113906e-01 1.00735426e-03 1.78890850e+02] [ 9.80102063e-01 -1.98435707e-01 -4.81840483e-03 1.25583927e+02] [ 4.92248063e-03 3.11787270e-05 9.99987884e-01 1.01147838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.240281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.89, Y:125.57, Z:1.01 [[-1.98729534e-01 -9.80053856e-01 1.00554833e-03 1.78890292e+02] [ 9.80042010e-01 -1.98732076e-01 -4.81878167e-03 1.25571344e+02] [ 4.92250027e-03 2.78453719e-05 9.99987884e-01 1.01180069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.88, Y:125.60, Z:1.01 [[-1.98572187e-01 -9.80085751e-01 1.00374753e-03 1.78883371e+02] [ 9.80073903e-01 -1.98574722e-01 -4.81915675e-03 1.25596157e+02] [ 4.92250575e-03 2.67962619e-05 9.99987884e-01 1.01170739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.300281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.88, Y:125.60, Z:1.01 [[-2.00142024e-01 -9.79766384e-01 1.00194073e-03 1.78882238e+02] [ 9.79754530e-01 -2.00144532e-01 -4.81953237e-03 1.25596016e+02] [ 4.92254876e-03 1.70650028e-05 9.99987884e-01 1.01221730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.89, Y:125.57, Z:1.01 [[-2.01840571e-01 -9.79417880e-01 1.00012076e-03 1.78887511e+02] [ 9.79406020e-01 -2.01843049e-01 -4.81991001e-03 1.25569779e+02] [ 4.92257347e-03 6.67090157e-06 9.99987884e-01 1.01336709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.360281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:178.89, Y:125.55, Z:1.02 [[-2.06198275e-01 -9.78509721e-01 9.98320710e-04 1.78890372e+02] [ 9.78497849e-01 -2.06200691e-01 -4.82028281e-03 1.25548460e+02] [ 4.92254801e-03 -1.70793323e-05 9.99987884e-01 1.01513079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.89, Y:125.56, Z:1.02 [[-2.07556954e-01 -9.78222428e-01 9.96554591e-04 1.78887163e+02] [ 9.78210550e-01 -2.07559345e-01 -4.82064792e-03 1.25562930e+02] [ 4.92251013e-03 -2.57187827e-05 9.99987884e-01 1.01508782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.420281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.89, Y:125.55, Z:1.01 [[-2.10205763e-01 -9.77656661e-01 9.94795619e-04 1.78888647e+02] [ 9.77644776e-01 -2.10208113e-01 -4.82101087e-03 1.25551285e+02] [ 4.92240751e-03 -4.08475293e-05 9.99987884e-01 1.01357650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.89, Y:125.56, Z:1.01 [[-2.11218075e-01 -9.77438458e-01 9.93037896e-04 1.78885780e+02] [ 9.77426568e-01 -2.11220404e-01 -4.82137291e-03 1.25559093e+02] [ 4.92234516e-03 -4.77394843e-05 9.99987884e-01 1.01356977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.89, Y:125.53, Z:1.01 [[-2.14694904e-01 -9.76680662e-01 9.91284769e-04 1.78891870e+02] [ 9.76668762e-01 -2.14697182e-01 -4.82173333e-03 1.25529502e+02] [ 4.92211974e-03 -6.70447074e-05 9.99987884e-01 1.01265363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.51028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:178.89, Y:125.54, Z:1.01 [[-2.16851316e-01 -9.76204142e-01 9.89547948e-04 1.78892910e+02] [ 9.76192236e-01 -2.16853559e-01 -4.82208974e-03 1.25535135e+02] [ 4.92193097e-03 -7.96874833e-05 9.99987884e-01 1.01259936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.90, Y:125.52, Z:1.01 [[-2.22310571e-01 -9.74975402e-01 9.87828741e-04 1.78899676e+02] [ 9.74963482e-01 -2.22312739e-01 -4.82244190e-03 1.25521246e+02] [ 4.92136915e-03 -1.08982864e-04 9.99987884e-01 1.01378231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.57028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.90, Y:125.53, Z:1.01 [[-2.24575693e-01 -9.74456149e-01 9.86118145e-04 1.78898419e+02] [ 9.74444222e-01 -2.24577825e-01 -4.82279167e-03 1.25532342e+02] [ 4.92105926e-03 -1.22164652e-04 9.99987884e-01 1.01392541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.91, Y:125.51, Z:1.01 [[-2.27906074e-01 -9.73682624e-01 9.84412673e-04 1.78906541e+02] [ 9.73670689e-01 -2.27908156e-01 -4.82313976e-03 1.25508166e+02] [ 4.92056305e-03 -1.40729080e-04 9.99987884e-01 1.01177527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.630281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.91, Y:125.51, Z:1.01 [[-2.28635536e-01 -9.73511595e-01 9.82717759e-04 1.78909867e+02] [ 9.73499657e-01 -2.28637601e-01 -4.82348507e-03 1.25505883e+02] [ 4.92040488e-03 -1.46144694e-04 9.99987884e-01 1.01043675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.91, Y:125.52, Z:1.01 [[-2.29134373e-01 -9.73394307e-01 9.81041894e-04 1.78912658e+02] [ 9.73382366e-01 -2.29136424e-01 -4.82382590e-03 1.25522536e+02] [ 4.92027710e-03 -1.50375444e-04 9.99987884e-01 1.01045989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.690281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.92, Y:125.53, Z:1.01 [[-2.28771384e-01 -9.73479684e-01 9.79361593e-04 1.78915498e+02] [ 9.73467742e-01 -2.28773431e-01 -4.82416702e-03 1.25528084e+02] [ 4.92028050e-03 -1.50254450e-04 9.99987884e-01 1.01202052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72028169299995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.92, Y:125.54, Z:1.01 [[-2.28465768e-01 -9.73551456e-01 9.77671989e-04 1.78921922e+02] [ 9.73539513e-01 -2.28467810e-01 -4.82450942e-03 1.25543984e+02] [ 4.92027474e-03 -1.50432936e-04 9.99987884e-01 1.01329944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.750281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:178.93, Y:125.53, Z:1.01 [[-2.28331051e-01 -9.73583062e-01 9.75974509e-04 1.78928646e+02] [ 9.73571118e-01 -2.28333086e-01 -4.82485278e-03 1.25531744e+02] [ 4.92024222e-03 -1.51483111e-04 9.99987884e-01 1.01176808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78028169299995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:178.93, Y:125.55, Z:1.01 [[-2.27969729e-01 -9.73667733e-01 9.74278995e-04 1.78933571e+02] [ 9.73655788e-01 -2.27971760e-01 -4.82519513e-03 1.25547193e+02] [ 4.92024490e-03 -1.51386042e-04 9.99987884e-01 1.01081630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.810281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.93, Y:125.57, Z:1.01 [[-2.27679182e-01 -9.73735716e-01 9.72586201e-04 1.78933958e+02] [ 9.73723771e-01 -2.27681208e-01 -4.82553632e-03 1.25566020e+02] [ 4.92023666e-03 -1.51643856e-04 9.99987884e-01 1.01124158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.94, Y:125.55, Z:1.01 [[-2.27157241e-01 -9.73857610e-01 9.70877403e-04 1.78940537e+02] [ 9.73845665e-01 -2.27159266e-01 -4.82588009e-03 1.25553982e+02] [ 4.92026385e-03 -1.50748858e-04 9.99987884e-01 1.01148025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.870281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:178.95, Y:125.57, Z:1.01 [[-2.25979121e-01 -9.74131663e-01 9.69168484e-04 1.78946563e+02] [ 9.74119719e-01 -2.25981151e-01 -4.82622327e-03 1.25567816e+02] [ 4.92039071e-03 -1.46539559e-04 9.99987884e-01 1.00991243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90028169299995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.95, Y:125.58, Z:1.01 [[-2.25484523e-01 -9.74246270e-01 9.67462855e-04 1.78947766e+02] [ 9.74234325e-01 -2.25486552e-01 -4.82656515e-03 1.25584744e+02] [ 4.92041296e-03 -1.45780221e-04 9.99987884e-01 1.01051622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.930281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:178.96, Y:125.59, Z:1.01 [[-2.24385806e-01 -9.74499910e-01 9.66814283e-04 1.78956176e+02] [ 9.74487967e-01 -2.24387845e-01 -4.82669507e-03 1.25586512e+02] [ 4.92055528e-03 -1.40892978e-04 9.99987884e-01 1.01091179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96028169299996 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:178.96, Y:125.60, Z:1.01 [[-2.23492859e-01 -9.74705088e-01 9.66163126e-04 1.78956124e+02] [ 9.74693146e-01 -2.23494906e-01 -4.82682540e-03 1.25603820e+02] [ 4.92066382e-03 -1.37048435e-04 9.99987884e-01 1.01021692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.990281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:178.96, Y:125.62, Z:1.01 [[-2.20884950e-01 -9.75299393e-01 9.65729044e-04 1.78958118e+02] [ 9.75287457e-01 -2.20887026e-01 -4.82691225e-03 1.25622080e+02] [ 4.92100161e-03 -1.24328846e-04 9.99987884e-01 1.00914619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02028169299996 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:178.96, Y:125.62, Z:1.01 [[-2.19237235e-01 -9.75671102e-01 9.67264485e-04 1.78960546e+02] [ 9.75659170e-01 -2.19239339e-01 -4.82660455e-03 1.25621062e+02] [ 4.92124100e-03 -1.14450973e-04 9.99987884e-01 1.00882665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.050281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:178.96, Y:125.63, Z:1.01 [[-2.15604506e-01 -9.76480293e-01 9.66599179e-04 1.78962425e+02] [ 9.76468369e-01 -2.15606651e-01 -4.82673778e-03 1.25631267e+02] [ 4.92161953e-03 -9.68128892e-05 9.99987884e-01 1.01033283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.96, Y:125.64, Z:1.01 [[-2.14244424e-01 -9.76779601e-01 9.68146195e-04 1.78962485e+02] [ 9.76767681e-01 -2.14246593e-01 -4.82642746e-03 1.25640429e+02] [ 4.92177791e-03 -8.83812543e-05 9.99987884e-01 1.01235571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.110281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:178.96, Y:125.64, Z:1.01 [[-2.14153681e-01 -9.76799498e-01 9.69930355e-04 1.78962177e+02] [ 9.76787580e-01 -2.14155861e-01 -4.82606888e-03 1.25642074e+02] [ 4.92181793e-03 -8.61044938e-05 9.99987884e-01 1.01236399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14028169299996 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:178.96, Y:125.65, Z:1.02 [[-2.11155969e-01 -9.77451900e-01 9.69482008e-04 1.78963745e+02] [ 9.77439988e-01 -2.11158182e-01 -4.82615895e-03 1.25648713e+02] [ 4.92205229e-03 -7.14617866e-05 9.99987884e-01 1.01556129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.170281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:178.96, Y:125.65, Z:1.01 [[-2.09968141e-01 -9.77707746e-01 9.71278754e-04 1.78964729e+02] [ 9.77695838e-01 -2.09970378e-01 -4.82579732e-03 1.25646521e+02] [ 4.92215919e-03 -6.36484981e-05 9.99987884e-01 1.01496146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20028169299997 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:178.96, Y:125.65, Z:1.01 [[-2.09392647e-01 -9.77831159e-01 9.71054500e-04 1.78963612e+02] [ 9.77819253e-01 -2.09394890e-01 -4.82584244e-03 1.25650583e+02] [ 4.92219296e-03 -6.09801384e-05 9.99987884e-01 1.01154335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.23028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:178.96, Y:125.64, Z:1.01 [[-2.10071825e-01 -9.77685472e-01 9.72629691e-04 1.78963290e+02] [ 9.77673565e-01 -2.10074068e-01 -4.82552495e-03 1.25644848e+02] [ 4.92216991e-03 -6.27924971e-05 9.99987884e-01 1.00840739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.96, Y:125.64, Z:1.01 [[-2.11467040e-01 -9.77384646e-01 9.72178995e-04 1.78964363e+02] [ 9.77372736e-01 -2.11469263e-01 -4.82561575e-03 1.25643462e+02] [ 4.92206871e-03 -7.02774364e-05 9.99987884e-01 1.01063375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.29028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:178.97, Y:125.63, Z:1.01 [[-2.16623649e-01 -9.76254706e-01 9.71729893e-04 1.78970936e+02] [ 9.76242783e-01 -2.16625807e-01 -4.82570618e-03 1.25634685e+02] [ 4.92162014e-03 -9.67177882e-05 9.99987884e-01 1.00818830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.98, Y:125.63, Z:1.01 [[-2.20438382e-01 -9.75400418e-01 9.71283165e-04 1.78975671e+02] [ 9.75388488e-01 -2.20440491e-01 -4.82579609e-03 1.25626598e+02] [ 4.92119367e-03 -1.16412267e-04 9.99987884e-01 1.00834163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.35028169299994 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:178.98, Y:125.64, Z:1.01 [[-2.24149643e-01 -9.74554253e-01 9.72833038e-04 1.78975975e+02] [ 9.74542315e-01 -2.24151714e-01 -4.82548363e-03 1.25637618e+02] [ 4.92075779e-03 -1.33563471e-04 9.99987884e-01 1.00844329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.380281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:178.98, Y:125.62, Z:1.01 [[-2.30870678e-01 -9.72983957e-01 9.74609737e-04 1.78983439e+02] [ 9.72972007e-01 -2.30872676e-01 -4.82512477e-03 1.25622849e+02] [ 4.91977974e-03 -1.65711837e-04 9.99987884e-01 1.01109012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.41028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.99, Y:125.59, Z:1.01 [[-2.33929710e-01 -9.72253021e-01 9.76386303e-04 1.78994682e+02] [ 9.72241067e-01 -2.33931679e-01 -4.82476524e-03 1.25594694e+02] [ 4.91930027e-03 -1.79373072e-04 9.99987884e-01 1.01256097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.440281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:179.00, Y:125.58, Z:1.01 [[-2.34687183e-01 -9.72070457e-01 9.76386303e-04 1.78999927e+02] [ 9.72058500e-01 -2.34689142e-01 -4.82476524e-03 1.25584055e+02] [ 4.91915902e-03 -1.83205956e-04 9.99987884e-01 1.01394174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.47028169299995 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:179.00, Y:125.60, Z:1.02 [[-2.35137946e-01 -9.71961517e-01 9.78113053e-04 1.79000016e+02] [ 9.71949561e-01 -2.35139909e-01 -4.82441516e-03 1.25600062e+02] [ 4.91913929e-03 -1.83726519e-04 9.99987884e-01 1.01552371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.500281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:179.01, Y:125.59, Z:1.02 [[-2.33696253e-01 -9.72309159e-01 9.79845056e-04 1.79008526e+02] [ 9.72297208e-01 -2.33698242e-01 -4.82406336e-03 1.25590573e+02] [ 4.91946906e-03 -1.74664921e-04 9.99987884e-01 1.01798834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.53028169299995 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:179.01, Y:125.61, Z:1.02 [[-2.29258478e-01 -9.73365084e-01 9.81582890e-04 1.79008947e+02] [ 9.73353143e-01 -2.29260530e-01 -4.82370973e-03 1.25612351e+02] [ 4.92026884e-03 -1.50449558e-04 9.99987884e-01 1.01632048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.560281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:179.01, Y:125.63, Z:1.01 [[-2.27886999e-01 -9.73687090e-01 9.83329610e-04 1.79007974e+02] [ 9.73675153e-01 -2.27889077e-01 -4.82335362e-03 1.25626689e+02] [ 4.92052723e-03 -1.41735975e-04 9.99987884e-01 1.01409336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59028169299995 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:179.01, Y:125.62, Z:1.01 [[-2.27302276e-01 -9.73823755e-01 9.85101267e-04 1.79013500e+02] [ 9.73811821e-01 -2.27304369e-01 -4.82299176e-03 1.25620589e+02] [ 4.92066177e-03 -1.36973744e-04 9.99987884e-01 1.00988490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.620281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:179.01, Y:125.64, Z:1.01 [[-2.27714632e-01 -9.73727412e-01 9.86880175e-04 1.79013855e+02] [ 9.73715479e-01 -2.27716730e-01 -4.82262773e-03 1.25635887e+02] [ 4.92065395e-03 -1.37242400e-04 9.99987884e-01 1.00883477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.65028169299995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:179.02, Y:125.62, Z:1.01 [[-2.28369511e-01 -9.73574028e-01 9.88667236e-04 1.79021831e+02] [ 9.73562096e-01 -2.28371609e-01 -4.82226135e-03 1.25615279e+02] [ 4.92061193e-03 -1.38728522e-04 9.99987884e-01 1.00896021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.680281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:179.03, Y:125.61, Z:1.01 [[-2.28607169e-01 -9.73518249e-01 9.90453005e-04 1.79027097e+02] [ 9.73506317e-01 -2.28609273e-01 -4.82189454e-03 1.25608491e+02] [ 4.92062907e-03 -1.38107401e-04 9.99987884e-01 1.01019714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.71028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:179.04, Y:125.60, Z:1.01 [[-2.28542060e-01 -9.73533534e-01 9.92222989e-04 1.79035352e+02] [ 9.73521604e-01 -2.28544174e-01 -4.82153029e-03 1.25601279e+02] [ 4.92068821e-03 -1.35971951e-04 9.99987884e-01 1.01459718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.740281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:179.04, Y:125.63, Z:1.01 [[-2.27972790e-01 -9.73666996e-01 9.93985833e-04 1.79037616e+02] [ 9.73655069e-01 -2.27974919e-01 -4.82116684e-03 1.25628381e+02] [ 4.92081488e-03 -1.31295511e-04 9.99987884e-01 1.01422744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.77028169299996 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:179.04, Y:125.64, Z:1.01 [[-2.27850127e-01 -9.73695706e-01 9.95762347e-04 1.79039508e+02] [ 9.73683781e-01 -2.27852267e-01 -4.82079990e-03 1.25637255e+02] [ 4.92087887e-03 -1.28862224e-04 9.99987884e-01 1.01291044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.800281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:179.05, Y:125.61, Z:1.01 [[-2.27455751e-01 -9.73787906e-01 9.97564086e-04 1.79047600e+02] [ 9.73775983e-01 -2.27457904e-01 -4.82042704e-03 1.25612365e+02] [ 4.92097739e-03 -1.25029903e-04 9.99987884e-01 1.01056224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.83028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.05, Y:125.64, Z:1.01 [[-2.24505995e-01 -9.74472195e-01 9.99357258e-04 1.79048545e+02] [ 9.74460281e-01 -2.24508193e-01 -4.82005525e-03 1.25636943e+02] [ 4.92137371e-03 -1.08297347e-04 9.99987884e-01 1.00741936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.860281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.05, Y:125.64, Z:1.01 [[-2.23124356e-01 -9.74789474e-01 1.00115231e-03 1.79051943e+02] [ 9.74777564e-01 -2.23126580e-01 -4.81968238e-03 1.25639951e+02] [ 4.92155935e-03 -9.94877173e-05 9.99987884e-01 1.00585108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.89028169299996 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:179.06, Y:125.63, Z:1.01 [[-2.21507350e-01 -9.75158186e-01 1.00296718e-03 1.79060953e+02] [ 9.75146282e-01 -2.21509602e-01 -4.81930468e-03 1.25632892e+02] [ 4.92175127e-03 -8.94716914e-05 9.99987884e-01 1.00700455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.920281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.06, Y:125.66, Z:1.01 [[-2.21221171e-01 -9.75223146e-01 1.00478071e-03 1.79057140e+02] [ 9.75211243e-01 -2.21223436e-01 -4.81892654e-03 1.25662812e+02] [ 4.92180975e-03 -8.61751260e-05 9.99987884e-01 1.00932154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.95028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.06, Y:125.65, Z:1.01 [[-2.20368619e-01 -9.75416146e-01 1.00661176e-03 1.79064052e+02] [ 9.75404248e-01 -2.20370903e-01 -4.81854403e-03 1.25649962e+02] [ 4.92191359e-03 -8.00025104e-05 9.99987884e-01 1.01281813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98028169299994 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:179.07, Y:125.63, Z:1.01 [[-2.20660859e-01 -9.75350075e-01 1.00845666e-03 1.79071407e+02] [ 9.75338177e-01 -2.20663149e-01 -4.81815789e-03 1.25631236e+02] [ 4.92191988e-03 -7.95925809e-05 9.99987884e-01 1.01388130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.01028169299997 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:179.08, Y:125.64, Z:1.02 [[-2.22239481e-01 -9.74991586e-01 1.01028200e-03 1.79076920e+02] [ 9.74979686e-01 -2.22241761e-01 -4.81777512e-03 1.25644273e+02] [ 4.92181705e-03 -8.56954137e-05 9.99987884e-01 1.01698228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04028169299994 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:179.08, Y:125.65, Z:1.02 [[-2.23097016e-01 -9.74795721e-01 1.01210538e-03 1.79080713e+02] [ 9.74783821e-01 -2.23099295e-01 -4.81739203e-03 1.25647386e+02] [ 4.92177314e-03 -8.81618358e-05 9.99987884e-01 1.01774216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.07028169299997 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:179.09, Y:125.64, Z:1.02 [[-2.23405683e-01 -9.74725024e-01 1.01394129e-03 1.79086362e+02] [ 9.74713125e-01 -2.23407967e-01 -4.81700559e-03 1.25642089e+02] [ 4.92177845e-03 -8.78445464e-05 9.99987884e-01 1.01733146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10028169299994 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:179.09, Y:125.66, Z:1.01 [[-2.21641426e-01 -9.75127708e-01 1.01577765e-03 1.79087999e+02] [ 9.75115815e-01 -2.21643740e-01 -4.81661832e-03 1.25664956e+02] [ 4.92195874e-03 -7.70612968e-05 9.99987884e-01 1.01239663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.130281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:179.09, Y:125.68, Z:1.01 [[-2.19977273e-01 -9.75504466e-01 1.01762734e-03 1.79088346e+02] [ 9.75492579e-01 -2.19979617e-01 -4.81622750e-03 1.25675618e+02] [ 4.92210871e-03 -6.67726719e-05 9.99987884e-01 1.00981560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16028169299994 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:179.09, Y:125.67, Z:1.01 [[-2.15809361e-01 -9.76434985e-01 1.01950284e-03 1.79093679e+02] [ 9.76423110e-01 -2.15811765e-01 -4.81583046e-03 1.25672314e+02] [ 4.92236605e-03 -4.38351616e-05 9.99987884e-01 1.00939323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.190281693 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:179.10, Y:125.66, Z:1.01 [[-2.13323716e-01 -9.76981038e-01 1.02138518e-03 1.79098907e+02] [ 9.76969171e-01 -2.13326159e-01 -4.81543120e-03 1.25660098e+02] [ 4.92247315e-03 -2.93838429e-05 9.99987884e-01 1.01097487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:179.11, Y:125.64, Z:1.01 [[-2.08497267e-01 -9.78022414e-01 1.02325909e-03 1.79107773e+02] [ 9.78010561e-01 -2.08499778e-01 -4.81503297e-03 1.25639410e+02] [ 4.92255946e-03 -3.16301521e-06 9.99987884e-01 1.01351867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.250281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:179.11, Y:125.63, Z:1.01 [[-2.06125590e-01 -9.78525007e-01 1.02511219e-03 1.79111008e+02] [ 9.78513163e-01 -2.06128139e-01 -4.81463841e-03 1.25628848e+02] [ 4.92254856e-03 1.06655862e-05 9.99987884e-01 1.01330209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28028169299995 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:179.11, Y:125.62, Z:1.01 [[-2.03405836e-01 -9.79093975e-01 1.02694615e-03 1.79112110e+02] [ 9.79082139e-01 -2.03408426e-01 -4.81424721e-03 1.25621019e+02] [ 4.92248993e-03 2.62186558e-05 9.99987884e-01 1.01249962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.310281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:179.11, Y:125.60, Z:1.01 [[-1.97021979e-01 -9.80398532e-01 1.02877089e-03 1.79112538e+02] [ 9.80386715e-01 -1.97024656e-01 -4.81385724e-03 1.25602972e+02] [ 4.92219180e-03 6.01576326e-05 9.99987884e-01 1.01009547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34028169299995 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:179.12, Y:125.58, Z:1.01 [[-1.93151871e-01 -9.81168331e-01 1.03058150e-03 1.79116039e+02] [ 9.81156527e-01 -1.93154603e-01 -4.81346958e-03 1.25577419e+02] [ 4.92188547e-03 8.14311074e-05 9.99987884e-01 1.01078157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.370281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:179.11, Y:125.59, Z:1.01 [[-1.85382749e-01 -9.82665849e-01 1.03236774e-03 1.79108766e+02] [ 9.82654069e-01 -1.85385583e-01 -4.81308645e-03 1.25586785e+02] [ 4.92104178e-03 1.22197165e-04 9.99987884e-01 1.01386277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40028169299995 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:179.11, Y:125.55, Z:1.02 [[-1.83152457e-01 -9.83083978e-01 1.03414753e-03 1.79112369e+02] [ 9.83072207e-01 -1.83155327e-01 -4.81270401e-03 1.25551616e+02] [ 4.92070183e-03 1.35183133e-04 9.99987884e-01 1.01518974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.430281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:179.11, Y:125.54, Z:1.02 [[-1.81761186e-01 -9.83342157e-01 1.03591471e-03 1.79110660e+02] [ 9.83330392e-01 -1.81764081e-01 -4.81232360e-03 1.25542023e+02] [ 4.92045276e-03 1.43952768e-04 9.99987884e-01 1.01567666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46028169299996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:179.10, Y:125.54, Z:1.01 [[-1.81528735e-01 -9.83385093e-01 1.03765785e-03 1.79104448e+02] [ 9.83373331e-01 -1.81531641e-01 -4.81194771e-03 1.25539733e+02] [ 4.92036538e-03 1.46898276e-04 9.99987884e-01 1.01413554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.490281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:179.10, Y:125.53, Z:1.01 [[-1.81736864e-01 -9.83346649e-01 1.03939784e-03 1.79102522e+02] [ 9.83334888e-01 -1.81739776e-01 -4.81157183e-03 1.25532977e+02] [ 4.92034297e-03 1.47636186e-04 9.99987884e-01 1.01277883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52028169299996 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:179.09, Y:125.54, Z:1.01 [[-1.80842248e-01 -9.83511564e-01 1.04113660e-03 1.79092920e+02] [ 9.83499809e-01 -1.80845180e-01 -4.81119557e-03 1.25542477e+02] [ 4.92015101e-03 1.53890226e-04 9.99987884e-01 1.01287345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.550281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:179.09, Y:125.52, Z:1.01 [[-1.80516929e-01 -9.83571325e-01 1.04288125e-03 1.79093551e+02] [ 9.83559572e-01 -1.80519873e-01 -4.81081737e-03 1.25520821e+02] [ 4.92004280e-03 1.57301857e-04 9.99987884e-01 1.01416862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58028169299996 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:179.08, Y:125.54, Z:1.01 [[-1.79338753e-01 -9.83786827e-01 1.04462274e-03 1.79080794e+02] [ 9.83775080e-01 -1.79341719e-01 -4.81043919e-03 1.25538805e+02] [ 4.91979114e-03 1.64975656e-04 9.99987884e-01 1.01449456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.610281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:179.08, Y:125.53, Z:1.01 [[-1.78899186e-01 -9.83866854e-01 1.04636630e-03 1.79077820e+02] [ 9.83855110e-01 -1.78902166e-01 -4.81005990e-03 1.25528880e+02] [ 4.91965570e-03 1.68957033e-04 9.99987884e-01 1.01388641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:179.07, Y:125.52, Z:1.02 [[-1.77872230e-01 -9.84053033e-01 1.04811964e-03 1.79070729e+02] [ 9.84041294e-01 -1.77875231e-01 -4.80967781e-03 1.25518819e+02] [ 4.91941256e-03 1.75884888e-04 9.99987884e-01 1.01573439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.670281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:179.06, Y:125.53, Z:1.02 [[-1.77965215e-01 -9.84036219e-01 1.04986539e-03 1.79063997e+02] [ 9.84024483e-01 -1.77968223e-01 -4.80929672e-03 1.25529118e+02] [ 4.91936484e-03 1.77205728e-04 9.99987884e-01 1.01715095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.06, Y:125.51, Z:1.01 [[-1.80900644e-01 -9.83500814e-01 1.05161597e-03 1.79058987e+02] [ 9.83489071e-01 -1.80903626e-01 -4.80891390e-03 1.25509206e+02] [ 4.91981188e-03 1.64317188e-04 9.99987884e-01 1.01484040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.73028169299994 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:179.05, Y:125.53, Z:1.01 [[-1.83754954e-01 -9.82971519e-01 1.05336503e-03 1.79049515e+02] [ 9.82959769e-01 -1.83757911e-01 -4.80853075e-03 1.25533000e+02] [ 4.92021293e-03 1.51824098e-04 9.99987884e-01 1.01354542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.04, Y:125.55, Z:1.01 [[-1.90102509e-01 -9.81763680e-01 1.05512143e-03 1.79038279e+02] [ 9.81751913e-01 -1.90105398e-01 -4.80814532e-03 1.25548819e+02] [ 4.92104672e-03 1.21826991e-04 9.99987884e-01 1.01168956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.79028169299994 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:179.03, Y:125.57, Z:1.01 [[-1.93176823e-01 -9.81163390e-01 1.05690743e-03 1.79030916e+02] [ 9.81151617e-01 -1.93179684e-01 -4.80775269e-03 1.25567020e+02] [ 4.92136397e-03 1.08240042e-04 9.99987884e-01 1.01294810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82028169299997 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:179.02, Y:125.59, Z:1.02 [[-1.96215049e-01 -9.80560316e-01 1.05872046e-03 1.79020362e+02] [ 9.80548536e-01 -1.96217882e-01 -4.80735341e-03 1.25586126e+02] [ 4.92163987e-03 9.48517162e-05 9.99987884e-01 1.01641875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.85028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.02, Y:125.58, Z:1.02 [[-1.96157095e-01 -9.80571909e-01 1.06056320e-03 1.79017249e+02] [ 9.80560132e-01 -1.96159938e-01 -4.80694684e-03 1.25583054e+02] [ 4.92159705e-03 9.70292694e-05 9.99987884e-01 1.01801702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.880281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.02, Y:125.55, Z:1.02 [[-1.93440404e-01 -9.81111452e-01 1.06242218e-03 1.79015418e+02] [ 9.81099685e-01 -1.93443289e-01 -4.80653594e-03 1.25546985e+02] [ 4.92126590e-03 1.12563811e-04 9.99987884e-01 1.01765026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.91028169299994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:179.01, Y:125.53, Z:1.02 [[-1.91869290e-01 -9.81419913e-01 1.06310923e-03 1.79014595e+02] [ 9.81408151e-01 -1.91872197e-01 -4.80638397e-03 1.25528834e+02] [ 4.92106204e-03 1.21146587e-04 9.99987884e-01 1.01636297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.940281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:179.00, Y:125.56, Z:1.02 [[-1.90425229e-01 -9.81701125e-01 1.06491524e-03 1.79003480e+02] [ 9.81689369e-01 -1.90428162e-01 -4.80598379e-03 1.25557921e+02] [ 4.92082955e-03 1.30235409e-04 9.99987884e-01 1.01592359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.97028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.00, Y:125.52, Z:1.02 [[-1.88126774e-01 -9.82144174e-01 1.06673268e-03 1.78999853e+02] [ 9.82132428e-01 -1.88129744e-01 -4.80558036e-03 1.25523612e+02] [ 4.92045690e-03 1.43614421e-04 9.99987884e-01 1.01623933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.000281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:178.99, Y:125.53, Z:1.02 [[-1.88913134e-01 -9.81993224e-01 1.06604791e-03 1.78992217e+02] [ 9.81981474e-01 -1.88916091e-01 -4.80573227e-03 1.25528554e+02] [ 4.92059012e-03 1.38973349e-04 9.99987884e-01 1.01643406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03028169299995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:178.99, Y:125.53, Z:1.02 [[-1.88867207e-01 -9.82002056e-01 1.06762027e-03 1.78992046e+02] [ 9.81990309e-01 -1.88870172e-01 -4.80538293e-03 1.25529373e+02] [ 4.92053754e-03 1.40813505e-04 9.99987884e-01 1.01643822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.060281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:178.98, Y:125.54, Z:1.02 [[-1.92311599e-01 -9.81333333e-01 1.06739552e-03 1.78978995e+02] [ 9.81321575e-01 -1.92314522e-01 -4.80543285e-03 1.25541840e+02] [ 4.92100710e-03 1.23317777e-04 9.99987884e-01 1.01615694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.97, Y:125.56, Z:1.02 [[-1.95301659e-01 -9.80742638e-01 1.06739552e-03 1.78970601e+02] [ 9.80730871e-01 -1.95304546e-01 -4.80543285e-03 1.25563531e+02] [ 4.92136009e-03 1.08318728e-04 9.99987884e-01 1.01572037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.120281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.96, Y:125.58, Z:1.02 [[-2.02510745e-01 -9.79279459e-01 1.06739552e-03 1.78960517e+02] [ 9.79267671e-01 -2.02513545e-01 -4.80543285e-03 1.25577036e+02] [ 4.92202374e-03 7.21141374e-05 9.99987884e-01 1.01681277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.96, Y:125.59, Z:1.02 [[-2.06530799e-01 -9.78439518e-01 1.06669292e-03 1.78955097e+02] [ 9.78427718e-01 -2.06533547e-01 -4.80558881e-03 1.25585527e+02] [ 4.92228587e-03 5.11798270e-05 9.99987884e-01 1.01664941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.180281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:178.96, Y:125.56, Z:1.01 [[-2.13432041e-01 -9.76957332e-01 1.06598503e-03 1.78959203e+02] [ 9.76945512e-01 -2.13434702e-01 -4.80574583e-03 1.25559687e+02] [ 4.92252682e-03 1.57091546e-05 9.99987884e-01 1.01400620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.21028169299996 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:178.96, Y:125.55, Z:1.01 [[-2.16169274e-01 -9.76355321e-01 1.06412452e-03 1.78963015e+02] [ 9.76343492e-01 -2.16171893e-01 -4.80615776e-03 1.25546047e+02] [ 4.92255152e-03 7.41505670e-09 9.99987884e-01 1.01352141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.240281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.96, Y:125.54, Z:1.02 [[-2.20684608e-01 -9.75344644e-01 1.06229429e-03 1.78964809e+02] [ 9.75332801e-01 -2.20687163e-01 -4.80656226e-03 1.25535875e+02] [ 4.92248947e-03 -2.46438367e-05 9.99987884e-01 1.01604524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.27028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.97, Y:125.53, Z:1.02 [[-2.21975311e-01 -9.75051710e-01 1.06048367e-03 1.78967009e+02] [ 9.75039861e-01 -2.21977842e-01 -4.80696171e-03 1.25525177e+02] [ 4.92244011e-03 -3.30129697e-05 9.99987884e-01 1.01659823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.300281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:178.97, Y:125.53, Z:1.02 [[-2.22767760e-01 -9.74870968e-01 1.05868989e-03 1.78968087e+02] [ 9.74859116e-01 -2.22770272e-01 -4.80735674e-03 1.25527961e+02] [ 4.92239715e-03 -3.88505976e-05 9.99987884e-01 1.01532271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.33028169299996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:178.97, Y:125.56, Z:1.01 [[-2.24357809e-01 -9.74506262e-01 1.05801660e-03 1.78967616e+02] [ 9.74494404e-01 -2.24360299e-01 -4.80750491e-03 1.25556467e+02] [ 4.92232056e-03 -4.75700095e-05 9.99987884e-01 1.00990951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.360281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:178.97, Y:125.55, Z:1.01 [[-2.25547278e-01 -9.74231649e-01 1.05824168e-03 1.78970637e+02] [ 9.74219789e-01 -2.25549754e-01 -4.80745537e-03 1.25549825e+02] [ 4.92226132e-03 -5.33484880e-05 9.99987884e-01 1.00895469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.39028169299996 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:178.97, Y:125.55, Z:1.01 [[-2.25144479e-01 -9.74324815e-01 1.05755626e-03 1.78972433e+02] [ 9.74312955e-01 -2.25146957e-01 -4.80760614e-03 1.25545019e+02] [ 4.92227554e-03 -5.20152149e-05 9.99987884e-01 1.00969860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.420281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.97, Y:125.55, Z:1.01 [[-2.24388645e-01 -9.74499163e-01 1.05687528e-03 1.78973426e+02] [ 9.74487305e-01 -2.24391129e-01 -4.80775584e-03 1.25551287e+02] [ 4.92230748e-03 -4.88942753e-05 9.99987884e-01 1.00995656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.45028169299997 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:178.98, Y:125.54, Z:1.01 [[-2.22294646e-01 -9.74978961e-01 1.05619513e-03 1.78978868e+02] [ 9.74967107e-01 -2.22297152e-01 -4.80790526e-03 1.25542119e+02] [ 4.92239564e-03 -3.90160805e-05 9.99987884e-01 1.00819480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48028169299994 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:178.98, Y:125.55, Z:1.01 [[-2.20790103e-01 -9.75320776e-01 1.05551704e-03 1.78976760e+02] [ 9.75308925e-01 -2.20792623e-01 -4.80805412e-03 1.25545668e+02] [ 4.92244545e-03 -3.21155738e-05 9.99987884e-01 1.00814487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.51028169299997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:178.97, Y:125.56, Z:1.01 [[-2.18220561e-01 -9.75898906e-01 1.05484208e-03 1.78969572e+02] [ 9.75887061e-01 -2.18223109e-01 -4.80820219e-03 1.25564595e+02] [ 4.92251018e-03 -1.98418387e-05 9.99987884e-01 1.01255562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:178.97, Y:125.57, Z:1.01 [[-2.17542436e-01 -9.76050294e-01 1.05461733e-03 1.78968479e+02] [ 9.76038451e-01 -2.17544992e-01 -4.80825149e-03 1.25569493e+02] [ 4.92252200e-03 -1.66516811e-05 9.99987884e-01 1.01350507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.57028169299997 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:178.97, Y:125.58, Z:1.01 [[-2.17761777e-01 -9.76001382e-01 1.05393142e-03 1.78967550e+02] [ 9.75989537e-01 -2.17764327e-01 -4.80840183e-03 1.25575980e+02] [ 4.92251550e-03 -1.84600933e-05 9.99987884e-01 1.01308820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60028169299994 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:178.97, Y:125.56, Z:1.01 [[-2.21602973e-01 -9.75136407e-01 1.05324451e-03 1.78972789e+02] [ 9.75124552e-01 -2.21605473e-01 -4.80855229e-03 1.25564305e+02] [ 4.92239915e-03 -3.85449028e-05 9.99987884e-01 1.01172552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.630281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:178.98, Y:125.56, Z:1.01 [[-2.24818046e-01 -9.74400195e-01 1.05143075e-03 1.78977330e+02] [ 9.74388330e-01 -2.24820498e-01 -4.80894885e-03 1.25556435e+02] [ 4.92222388e-03 -5.66366329e-05 9.99987884e-01 1.01177365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:178.99, Y:125.55, Z:1.01 [[-2.32251244e-01 -9.72655260e-01 1.05075251e-03 1.78985520e+02] [ 9.72643376e-01 -2.32253602e-01 -4.80909704e-03 1.25550347e+02] [ 4.92163459e-03 -9.49113069e-05 9.99987884e-01 1.01299110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.690281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:178.99, Y:125.53, Z:1.01 [[-2.35043166e-01 -9.71984366e-01 1.05007944e-03 1.78992223e+02] [ 9.71972474e-01 -2.35045486e-01 -4.80924400e-03 1.25534014e+02] [ 4.92132641e-03 -1.09731619e-04 9.99987884e-01 1.01377620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.00, Y:125.54, Z:1.01 [[-2.37742399e-01 -9.71327674e-01 1.04941384e-03 1.78999394e+02] [ 9.71315775e-01 -2.37744683e-01 -4.80938924e-03 1.25538180e+02] [ 4.92098542e-03 -1.24083521e-04 9.99987884e-01 1.01355504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.750281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:179.00, Y:125.55, Z:1.01 [[-2.37880012e-01 -9.71293980e-01 1.05117111e-03 1.79000898e+02] [ 9.71282082e-01 -2.37882303e-01 -4.80900513e-03 1.25552796e+02] [ 4.92101273e-03 -1.22982532e-04 9.99987884e-01 1.01193755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78028169299995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:179.01, Y:125.53, Z:1.01 [[-2.36856169e-01 -9.71544156e-01 1.05294116e-03 1.79010803e+02] [ 9.71532263e-01 -2.36858481e-01 -4.80861754e-03 1.25529505e+02] [ 4.92118231e-03 -1.15984421e-04 9.99987884e-01 1.01084227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.810281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.01, Y:125.55, Z:1.01 [[-2.34040469e-01 -9.72226284e-01 1.05448461e-03 1.79014481e+02] [ 9.72214399e-01 -2.34042823e-01 -4.80827905e-03 1.25551562e+02] [ 4.92152983e-03 -1.00146758e-04 9.99987884e-01 1.01100880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.02, Y:125.55, Z:1.01 [[-2.33490086e-01 -9.72358609e-01 1.05625016e-03 1.79018267e+02] [ 9.72346727e-01 -2.33492456e-01 -4.80789118e-03 1.25553140e+02] [ 4.92162082e-03 -9.55535411e-05 9.99987884e-01 1.01251236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.870281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:179.03, Y:125.55, Z:1.02 [[-2.31976082e-01 -9.72720915e-01 1.05803233e-03 1.79027385e+02] [ 9.72709038e-01 -2.31978479e-01 -4.80749896e-03 1.25552569e+02] [ 4.92179551e-03 -8.60671653e-05 9.99987884e-01 1.01561314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.03, Y:125.56, Z:1.02 [[-2.31147156e-01 -9.72918223e-01 1.05981635e-03 1.79031380e+02] [ 9.72906351e-01 -2.31149572e-01 -4.80710564e-03 1.25556205e+02] [ 4.92189677e-03 -8.00467401e-05 9.99987884e-01 1.01670877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.930281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.04, Y:125.58, Z:1.01 [[-2.28642511e-01 -9.73509874e-01 1.06160339e-03 1.79035805e+02] [ 9.73498010e-01 -2.28644966e-01 -4.80671095e-03 1.25576286e+02] [ 4.92211085e-03 -6.55496678e-05 9.99987884e-01 1.01403269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.04, Y:125.57, Z:1.01 [[-2.27557951e-01 -9.73763959e-01 1.06340748e-03 1.79040438e+02] [ 9.73752099e-01 -2.27560429e-01 -4.80631179e-03 1.25567270e+02] [ 4.92220266e-03 -5.82192031e-05 9.99987884e-01 1.01091313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.990281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.04, Y:125.58, Z:1.01 [[-2.24354101e-01 -9.74507108e-01 1.06522056e-03 1.79038972e+02] [ 9.74495258e-01 -2.24356626e-01 -4.80590993e-03 1.25584720e+02] [ 4.92238267e-03 -4.01732161e-05 9.99987884e-01 1.00770964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.04, Y:125.60, Z:1.01 [[-2.23019366e-01 -9.74813430e-01 1.06704125e-03 1.79038231e+02] [ 9.74801586e-01 -2.23021916e-01 -4.80550565e-03 1.25596782e+02] [ 4.92244503e-03 -3.15673176e-05 9.99987884e-01 1.00878768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.050281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:179.05, Y:125.57, Z:1.01 [[-2.22335732e-01 -9.74969579e-01 1.06888452e-03 1.79046771e+02] [ 9.74957738e-01 -2.22338300e-01 -4.80509562e-03 1.25573694e+02] [ 4.92247602e-03 -2.62272169e-05 9.99987884e-01 1.01087509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08028169299996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.05, Y:125.60, Z:1.01 [[-2.23194138e-01 -9.74773425e-01 1.07072303e-03 1.79048416e+02] [ 9.74761584e-01 -2.23196704e-01 -4.80468591e-03 1.25599701e+02] [ 4.92246199e-03 -2.86780470e-05 9.99987884e-01 1.01255844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.110281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.05, Y:125.59, Z:1.01 [[-2.25654278e-01 -9.74206855e-01 1.07256537e-03 1.79053914e+02] [ 9.74195010e-01 -2.25656824e-01 -4.80427460e-03 1.25591221e+02] [ 4.92238895e-03 -3.92172856e-05 9.99987884e-01 1.01049390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.06, Y:125.58, Z:1.01 [[-2.26992905e-01 -9.73895819e-01 1.07442114e-03 1.79057579e+02] [ 9.73883972e-01 -2.26995444e-01 -4.80385954e-03 1.25583539e+02] [ 4.92234743e-03 -4.40805077e-05 9.99987884e-01 1.00997224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.170281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.06, Y:125.58, Z:1.01 [[-2.28045246e-01 -9.73649941e-01 1.07626778e-03 1.79060641e+02] [ 9.73638093e-01 -2.28047781e-01 -4.80344578e-03 1.25581785e+02] [ 4.92231518e-03 -4.75076695e-05 9.99987884e-01 1.01055734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.07, Y:125.58, Z:1.01 [[-2.27692186e-01 -9.73732564e-01 1.07811087e-03 1.79066550e+02] [ 9.73720719e-01 -2.27694734e-01 -4.80303207e-03 1.25579058e+02] [ 4.92234891e-03 -4.38339760e-05 9.99987884e-01 1.01313258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.23028169299994 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:179.07, Y:125.58, Z:1.01 [[-2.26968130e-01 -9.73901587e-01 1.07995257e-03 1.79067945e+02] [ 9.73889746e-01 -2.26970696e-01 -4.80261794e-03 1.25579835e+02] [ 4.92239482e-03 -3.82864742e-05 9.99987884e-01 1.01275765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.07, Y:125.59, Z:1.01 [[-2.26055281e-01 -9.74113874e-01 1.08179535e-03 1.79068446e+02] [ 9.74102038e-01 -2.26057867e-01 -4.80220281e-03 1.25592628e+02] [ 4.92244074e-03 -3.17842486e-05 9.99987884e-01 1.00982325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.29028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.07, Y:125.59, Z:1.01 [[-2.26389676e-01 -9.74036211e-01 1.08365032e-03 1.79071952e+02] [ 9.74024376e-01 -2.26392267e-01 -4.80178419e-03 1.25586041e+02] [ 4.92244173e-03 -3.15725401e-05 9.99987884e-01 1.00826857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.07, Y:125.60, Z:1.01 [[-2.26341701e-01 -9.74047358e-01 1.08551199e-03 1.79073084e+02] [ 9.74035525e-01 -2.26344302e-01 -4.80136329e-03 1.25597379e+02] [ 4.92245469e-03 -2.94214902e-05 9.99987884e-01 1.00838481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.35028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.08, Y:125.59, Z:1.01 [[-2.25879539e-01 -9.74154634e-01 1.08737915e-03 1.79075619e+02] [ 9.74142804e-01 -2.25882155e-01 -4.80094040e-03 1.25592058e+02] [ 4.92247788e-03 -2.51716279e-05 9.99987884e-01 1.00964061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.380281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.08, Y:125.58, Z:1.01 [[-2.24890340e-01 -9.74383471e-01 1.08925310e-03 1.79079318e+02] [ 9.74371646e-01 -2.24892977e-01 -4.80051519e-03 1.25581574e+02] [ 4.92250803e-03 -1.82521559e-05 9.99987884e-01 1.00978843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.41028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.08, Y:125.58, Z:1.01 [[-2.22144185e-01 -9.75013216e-01 1.09111900e-03 1.79080378e+02] [ 9.75001400e-01 -2.22146865e-01 -4.80009105e-03 1.25583792e+02] [ 4.92254087e-03 -2.46976325e-06 9.99987884e-01 1.01071316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.440281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.08, Y:125.56, Z:1.01 [[-2.20718980e-01 -9.75336833e-01 1.09298220e-03 1.79083260e+02] [ 9.75325023e-01 -2.20721687e-01 -4.79966676e-03 1.25563817e+02] [ 4.92253665e-03 6.63533754e-06 9.99987884e-01 1.01114464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.47028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.08, Y:125.56, Z:1.01 [[-2.17583393e-01 -9.76041120e-01 1.09483556e-03 1.79079349e+02] [ 9.76029322e-01 -2.17586146e-01 -4.79924396e-03 1.25557900e+02] [ 4.92248050e-03 2.43558284e-05 9.99987884e-01 1.01384722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.500281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.08, Y:125.57, Z:1.01 [[-2.16798202e-01 -9.76215825e-01 1.09667519e-03 1.79075381e+02] [ 9.76204031e-01 -2.16800974e-01 -4.79882355e-03 1.25565171e+02] [ 4.92244774e-03 3.02024255e-05 9.99987884e-01 1.01481083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.08, Y:125.55, Z:1.01 [[-2.16518040e-01 -9.76277999e-01 1.09851989e-03 1.79076264e+02] [ 9.76266208e-01 -2.16520824e-01 -4.79840123e-03 1.25547666e+02] [ 4.92242599e-03 3.35074168e-05 9.99987884e-01 1.01372236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.560281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.07, Y:125.55, Z:1.01 [[-2.17495981e-01 -9.76060596e-01 1.10036195e-03 1.79073760e+02] [ 9.76048804e-01 -2.17498762e-01 -4.79797878e-03 1.25547519e+02] [ 4.92244539e-03 3.04658641e-05 9.99987884e-01 1.01168427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.05, Y:125.65, Z:1.01 [[-2.18884369e-01 -9.75750182e-01 1.10219561e-03 1.79046829e+02] [ 9.75738388e-01 -2.18887142e-01 -4.79755751e-03 1.25651335e+02] [ 4.92247406e-03 2.53442215e-05 9.99987884e-01 1.01024118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.620281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.06, Y:125.56, Z:1.01 [[-2.20311297e-01 -9.75428988e-01 1.10505079e-03 1.79063034e+02] [ 9.75417194e-01 -2.20314067e-01 -4.79690042e-03 1.25555649e+02] [ 4.92249396e-03 2.10741878e-05 9.99987884e-01 1.00780156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.65028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.06, Y:125.56, Z:1.01 [[-2.21290874e-01 -9.75207224e-01 1.10458182e-03 1.79056019e+02] [ 9.75195426e-01 -2.21293630e-01 -4.79700841e-03 1.25559370e+02] [ 4.92251417e-03 1.56489565e-05 9.99987884e-01 1.01228179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.680281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.06, Y:125.54, Z:1.01 [[-2.21688130e-01 -9.75116992e-01 1.10644227e-03 1.79056911e+02] [ 9.75105195e-01 -2.21690891e-01 -4.79657925e-03 1.25539698e+02] [ 4.92251411e-03 1.55529199e-05 9.99987884e-01 1.01435412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.71028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.05, Y:125.54, Z:1.01 [[-2.22123099e-01 -9.75018000e-01 1.10829631e-03 1.79053655e+02] [ 9.75006204e-01 -2.22125863e-01 -4.79615082e-03 1.25540842e+02] [ 4.92251466e-03 1.52598991e-05 9.99987884e-01 1.01448108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.740281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.05, Y:125.55, Z:1.01 [[-2.22168579e-01 -9.75007636e-01 1.11014151e-03 1.79046334e+02] [ 9.74995842e-01 -2.22171352e-01 -4.79572368e-03 1.25554826e+02] [ 4.92250885e-03 1.69242420e-05 9.99987884e-01 1.01086620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.05, Y:125.55, Z:1.01 [[-2.21961766e-01 -9.75054736e-01 1.11200146e-03 1.79045648e+02] [ 9.75042944e-01 -2.21964550e-01 -4.79529237e-03 1.25545089e+02] [ 4.92249744e-03 1.98776156e-05 9.99987884e-01 1.01050159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.800281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.04, Y:125.55, Z:1.01 [[-2.19600624e-01 -9.75589219e-01 1.11386879e-03 1.79037822e+02] [ 9.75577437e-01 -2.19603447e-01 -4.79485858e-03 1.25547623e+02] [ 4.92242177e-03 3.37113218e-05 9.99987884e-01 1.01174208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83028169299996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:179.04, Y:125.53, Z:1.01 [[-2.18722220e-01 -9.75786527e-01 1.11573595e-03 1.79037781e+02] [ 9.75774749e-01 -2.18725062e-01 -4.79442407e-03 1.25533648e+02] [ 4.92237382e-03 4.00598959e-05 9.99987884e-01 1.01160075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.860281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.03, Y:125.54, Z:1.01 [[-2.18339236e-01 -9.75872291e-01 1.11760041e-03 1.79033543e+02] [ 9.75860517e-01 -2.18342092e-01 -4.79398941e-03 1.25540428e+02] [ 4.92234064e-03 4.39061234e-05 9.99987884e-01 1.01188242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.03, Y:125.54, Z:1.01 [[-2.18529590e-01 -9.75829680e-01 1.11946376e-03 1.79028155e+02] [ 9.75817908e-01 -2.18532453e-01 -4.79355425e-03 1.25544740e+02] [ 4.92233168e-03 4.48593427e-05 9.99987884e-01 1.01261015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.920281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.03, Y:125.54, Z:1.01 [[-2.18912640e-01 -9.75743818e-01 1.12133960e-03 1.79028798e+02] [ 9.75732047e-01 -2.18915507e-01 -4.79311541e-03 1.25542312e+02] [ 4.92233135e-03 4.48534395e-05 9.99987884e-01 1.01259776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.03, Y:125.52, Z:1.01 [[-2.19417107e-01 -9.75630500e-01 1.12322102e-03 1.79030980e+02] [ 9.75618729e-01 -2.19419978e-01 -4.79267447e-03 1.25521037e+02] [ 4.92233652e-03 4.42406911e-05 9.99987884e-01 1.01225346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.02, Y:125.52, Z:1.01 [[-2.19975005e-01 -9.75504860e-01 1.12508889e-03 1.79024571e+02] [ 9.75493089e-01 -2.19977878e-01 -4.79223595e-03 1.25523078e+02] [ 4.92234412e-03 4.33443110e-05 9.99987884e-01 1.01132043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.02, Y:125.52, Z:1.01 [[-2.21291439e-01 -9.75207070e-01 1.12694749e-03 1.79022006e+02] [ 9.75195298e-01 -2.21294305e-01 -4.79179884e-03 1.25523628e+02] [ 4.92238316e-03 3.86098282e-05 9.99987884e-01 1.00940857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:179.02, Y:125.52, Z:1.01 [[-2.23266572e-01 -9.74756772e-01 1.12881282e-03 1.79020926e+02] [ 9.74744996e-01 -2.23269424e-01 -4.79135938e-03 1.25520260e+02] [ 4.92243939e-03 3.05542634e-05 9.99987884e-01 1.00827755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.07028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.02, Y:125.50, Z:1.01 [[-2.27804807e-01 -9.73706163e-01 1.13068018e-03 1.79024044e+02] [ 9.73694376e-01 -2.27807613e-01 -4.79091867e-03 1.25498860e+02] [ 4.92252459e-03 9.54262952e-06 9.99987884e-01 1.00885986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.02, Y:125.51, Z:1.01 [[-2.30188652e-01 -9.73145365e-01 1.13253357e-03 1.79021555e+02] [ 9.73133574e-01 -2.30191438e-01 -4.79048050e-03 1.25511342e+02] [ 4.92253343e-03 -6.07801872e-07 9.99987884e-01 1.01028190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.130281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.03, Y:125.49, Z:1.01 [[-2.34506399e-01 -9.72113914e-01 1.13438463e-03 1.79030339e+02] [ 9.72102113e-01 -2.34509142e-01 -4.79004213e-03 1.25486066e+02] [ 4.92249017e-03 -2.05578365e-05 9.99987884e-01 1.01273460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.04, Y:125.47, Z:1.01 [[-2.36561155e-01 -9.71615938e-01 1.13507474e-03 1.79035253e+02] [ 9.71604132e-01 -2.36563876e-01 -4.78987860e-03 1.25471505e+02] [ 4.92244007e-03 -3.02559099e-05 9.99987884e-01 1.01408873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.190281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.04, Y:125.47, Z:1.01 [[-2.38151937e-01 -9.71227246e-01 1.13689472e-03 1.79036895e+02] [ 9.71215437e-01 -2.38154648e-01 -4.78944658e-03 1.25470253e+02] [ 4.92239777e-03 -3.64462738e-05 9.99987884e-01 1.01364106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.04, Y:125.47, Z:1.01 [[-2.39013618e-01 -9.71015548e-01 1.13870677e-03 1.79040079e+02] [ 9.71003739e-01 -2.39016327e-01 -4.78901572e-03 1.25472856e+02] [ 4.92237823e-03 -3.89514422e-05 9.99987884e-01 1.01273583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.250281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.05, Y:125.47, Z:1.01 [[-2.38788543e-01 -9.71070920e-01 1.14052193e-03 1.79047717e+02] [ 9.71059113e-01 -2.38791264e-01 -4.78858339e-03 1.25467154e+02] [ 4.92240075e-03 -3.59446389e-05 9.99987884e-01 1.01121978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.05, Y:125.47, Z:1.01 [[-2.39369162e-01 -9.70927958e-01 1.14233692e-03 1.79049852e+02] [ 9.70916152e-01 -2.39371885e-01 -4.78815038e-03 1.25472420e+02] [ 4.92239241e-03 -3.70221729e-05 9.99987884e-01 1.01040450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.310281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.05, Y:125.49, Z:1.01 [[-2.40684468e-01 -9.70602740e-01 1.14415296e-03 1.79048044e+02] [ 9.70590932e-01 -2.40687184e-01 -4.78771639e-03 1.25494212e+02] [ 4.92235360e-03 -4.18244830e-05 9.99987884e-01 1.00828066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.06, Y:125.48, Z:1.01 [[-2.43811732e-01 -9.69821904e-01 1.14598939e-03 1.79059856e+02] [ 9.69810090e-01 -2.43814419e-01 -4.78727678e-03 1.25476594e+02] [ 4.92221462e-03 -5.58021653e-05 9.99987884e-01 1.00907153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.370281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.07, Y:125.46, Z:1.01 [[-2.45372615e-01 -9.69428163e-01 1.14783055e-03 1.79066748e+02] [ 9.69416346e-01 -2.45375291e-01 -4.78683529e-03 1.25464942e+02] [ 4.92214220e-03 -6.18325921e-05 9.99987884e-01 1.00954714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40028169299995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:179.07, Y:125.46, Z:1.01 [[-2.46589619e-01 -9.69119311e-01 1.14965269e-03 1.79073985e+02] [ 9.69107493e-01 -2.46592290e-01 -4.78639763e-03 1.25464760e+02] [ 4.92208586e-03 -6.61389377e-05 9.99987884e-01 1.01278104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.430281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:179.08, Y:125.46, Z:1.01 [[-2.46448392e-01 -9.69155232e-01 1.15146805e-03 1.79078674e+02] [ 9.69143417e-01 -2.46451074e-01 -4.78596086e-03 1.25455016e+02] [ 4.92211955e-03 -6.35546752e-05 9.99987884e-01 1.01244790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.07, Y:125.48, Z:1.01 [[-2.45569040e-01 -9.69378418e-01 1.15327878e-03 1.79073760e+02] [ 9.69366607e-01 -2.45571742e-01 -4.78552449e-03 1.25484919e+02] [ 4.92219684e-03 -5.72267210e-05 9.99987884e-01 1.01080427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.490281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.08, Y:125.47, Z:1.01 [[-2.41672423e-01 -9.70357205e-01 1.15510584e-03 1.79079492e+02] [ 9.70345408e-01 -2.41675181e-01 -4.78508344e-03 1.25469592e+02] [ 4.92240061e-03 -3.55710624e-05 9.99987884e-01 1.00832166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.08, Y:125.47, Z:1.01 [[-2.39200841e-01 -9.70969422e-01 1.15694525e-03 1.79078590e+02] [ 9.70957634e-01 -2.39203638e-01 -4.78463867e-03 1.25471803e+02] [ 4.92248336e-03 -2.11447732e-05 9.99987884e-01 1.00788146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.550281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:179.07, Y:125.48, Z:1.01 [[-2.34632287e-01 -9.72083508e-01 1.15877865e-03 1.79074067e+02] [ 9.72071735e-01 -2.34635149e-01 -4.78419460e-03 1.25482243e+02] [ 4.92252687e-03 3.88945455e-06 9.99987884e-01 1.00875650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.07, Y:125.49, Z:1.01 [[-2.33850574e-01 -9.72271856e-01 1.16062387e-03 1.79072086e+02] [ 9.72260087e-01 -2.33853454e-01 -4.78374691e-03 1.25486210e+02] [ 4.92251839e-03 9.74630399e-06 9.99987884e-01 1.01118487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.610281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:179.07, Y:125.48, Z:1.01 [[-2.34104006e-01 -9.72210863e-01 1.16248324e-03 1.79072763e+02] [ 9.72199097e-01 -2.34106892e-01 -4.78329503e-03 1.25475796e+02] [ 4.92251673e-03 1.03766293e-05 9.99987884e-01 1.01258937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.07, Y:125.47, Z:1.01 [[-2.35187239e-01 -9.71949385e-01 1.16434181e-03 1.79072595e+02] [ 9.71937617e-01 -2.35190121e-01 -4.78284258e-03 1.25473337e+02] [ 4.92252260e-03 6.80406098e-06 9.99987884e-01 1.01178086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.670281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.07, Y:125.49, Z:1.01 [[-2.36202109e-01 -9.71703249e-01 1.16619487e-03 1.79068694e+02] [ 9.71691480e-01 -2.36204987e-01 -4.78239071e-03 1.25486504e+02] [ 4.92252563e-03 3.57084612e-06 9.99987884e-01 1.00892309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70028169299997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:179.07, Y:125.47, Z:1.01 [[-2.38736118e-01 -9.71083777e-01 1.16805936e-03 1.79071307e+02] [ 9.71072003e-01 -2.38738975e-01 -4.78193528e-03 1.25469278e+02] [ 4.92252107e-03 -7.35091898e-06 9.99987884e-01 1.00994442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.73028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.07, Y:125.48, Z:1.01 [[-2.40687465e-01 -9.70601965e-01 1.16992432e-03 1.79069189e+02] [ 9.70590188e-01 -2.40690308e-01 -4.78147896e-03 1.25478807e+02] [ 4.92250232e-03 -1.53249912e-05 9.99987884e-01 1.01084879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76028169299997 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:179.08, Y:125.44, Z:1.01 [[-2.44907682e-01 -9.69545695e-01 1.17178719e-03 1.79082361e+02] [ 9.69533907e-01 -2.44910483e-01 -4.78102239e-03 1.25436937e+02] [ 4.92240264e-03 -3.48217049e-05 9.99987884e-01 1.01228445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.79028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.09, Y:125.43, Z:1.01 [[-2.47616831e-01 -9.68857331e-01 1.17362994e-03 1.79085032e+02] [ 9.68845538e-01 -2.47619608e-01 -4.78057000e-03 1.25433644e+02] [ 4.92230407e-03 -4.66834659e-05 9.99987884e-01 1.01132926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.09, Y:125.43, Z:1.01 [[-2.53177548e-01 -9.67419117e-01 1.17544429e-03 1.79091741e+02] [ 9.67407310e-01 -2.53180266e-01 -4.78012384e-03 1.25426774e+02] [ 4.92198248e-03 -7.30866275e-05 9.99987884e-01 1.00801412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.85028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.09, Y:125.43, Z:1.01 [[-2.56404726e-01 -9.66568792e-01 1.17725400e-03 1.79093850e+02] [ 9.66556979e-01 -2.56407414e-01 -4.77967810e-03 1.25431268e+02] [ 4.92174435e-03 -8.76489819e-05 9.99987884e-01 1.00811211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.880281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.10, Y:125.43, Z:1.01 [[-2.59291788e-01 -9.65798312e-01 1.17906354e-03 1.79098764e+02] [ 9.65786492e-01 -2.59294449e-01 -4.77923168e-03 1.25427823e+02] [ 4.92149852e-03 -1.00491883e-04 9.99987884e-01 1.00865073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.91028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.11, Y:125.42, Z:1.01 [[-2.63218868e-01 -9.64735421e-01 1.18087619e-03 1.79108783e+02] [ 9.64723593e-01 -2.63221490e-01 -4.77878376e-03 1.25423227e+02] [ 4.92109395e-03 -1.18646933e-04 9.99987884e-01 1.00865268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.940281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.11, Y:125.42, Z:1.01 [[-2.64509344e-01 -9.64382397e-01 1.18268419e-03 1.79113865e+02] [ 9.64370567e-01 -2.64511959e-01 -4.77833626e-03 1.25422097e+02] [ 4.92097749e-03 -1.23368763e-04 9.99987884e-01 1.00826439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.97028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.12, Y:125.43, Z:1.01 [[-2.64479311e-01 -9.64390632e-01 1.18448936e-03 1.79123107e+02] [ 9.64378804e-01 -2.64481935e-01 -4.77788874e-03 1.25426672e+02] [ 4.92102718e-03 -1.21356284e-04 9.99987884e-01 1.00812167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.000281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:179.13, Y:125.41, Z:1.01 [[-2.64224731e-01 -9.64460411e-01 1.18629763e-03 1.79132112e+02] [ 9.64448586e-01 -2.64227368e-01 -4.77743973e-03 1.25410807e+02] [ 4.92110378e-03 -1.18194661e-04 9.99987884e-01 1.00854768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.14, Y:125.41, Z:1.01 [[-2.63959944e-01 -9.64532911e-01 1.18809861e-03 1.79137330e+02] [ 9.64521088e-01 -2.63962593e-01 -4.77699180e-03 1.25409731e+02] [ 4.92117939e-03 -1.14988323e-04 9.99987884e-01 1.00712156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.060281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.14, Y:125.41, Z:1.01 [[-2.63888473e-01 -9.64552465e-01 1.18989035e-03 1.79142028e+02] [ 9.64540645e-01 -2.63891131e-01 -4.77654546e-03 1.25409556e+02] [ 4.92123021e-03 -1.12777684e-04 9.99987884e-01 1.00541414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.15, Y:125.43, Z:1.01 [[-2.62297427e-01 -9.64986342e-01 1.19168250e-03 1.79146558e+02] [ 9.64974528e-01 -2.62300114e-01 -4.77609830e-03 1.25432755e+02] [ 4.92144808e-03 -1.02815038e-04 9.99987884e-01 1.00731766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.120281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.16, Y:125.43, Z:1.01 [[-2.58302857e-01 -9.66063254e-01 1.19349068e-03 1.79155291e+02] [ 9.66051453e-01 -2.58305602e-01 -4.77564641e-03 1.25434194e+02] [ 4.92186184e-03 -8.05897062e-05 9.99987884e-01 1.01050239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.15028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.16, Y:125.44, Z:1.01 [[-2.55777142e-01 -9.66735033e-01 1.19531579e-03 1.79156158e+02] [ 9.66723242e-01 -2.55779927e-01 -4.77518955e-03 1.25444636e+02] [ 4.92208082e-03 -6.58447805e-05 9.99987884e-01 1.01019511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.180281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.15, Y:125.46, Z:1.01 [[-2.53526565e-01 -9.67327684e-01 1.19715016e-03 1.79154021e+02] [ 9.67315901e-01 -2.53529386e-01 -4.77472963e-03 1.25464432e+02] [ 4.92224090e-03 -5.24984176e-05 9.99987884e-01 1.00843632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.21028169299996 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:179.16, Y:125.45, Z:1.01 [[-2.51128508e-01 -9.67953013e-01 1.19900757e-03 1.79160496e+02] [ 9.67941239e-01 -2.51131367e-01 -4.77426316e-03 1.25450700e+02] [ 4.92237082e-03 -3.83847097e-05 9.99987884e-01 1.00518456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.240281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.16, Y:125.46, Z:1.00 [[-2.46389772e-01 -9.69170077e-01 1.20087173e-03 1.79163993e+02] [ 9.69158320e-01 -2.46392698e-01 -4.77379422e-03 1.25461473e+02] [ 4.92250454e-03 -1.23792456e-05 9.99987884e-01 9.99752445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.27028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.18, Y:125.42, Z:1.00 [[-2.39058460e-01 -9.71004432e-01 1.20250051e-03 1.79179050e+02] [ 9.70992699e-01 -2.39061483e-01 -4.77338390e-03 1.25417833e+02] [ 4.92244848e-03 2.65014115e-05 9.99987884e-01 1.00094826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.300281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.18, Y:125.40, Z:1.00 [[-2.34789634e-01 -9.72045460e-01 1.20434155e-03 1.79183478e+02] [ 9.72033744e-01 -2.34792718e-01 -4.77291935e-03 1.25404949e+02] [ 4.92226522e-03 5.00286391e-05 9.99987884e-01 1.00418321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.33028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.19, Y:125.39, Z:1.01 [[-2.30828097e-01 -9.72993800e-01 1.20614587e-03 1.79188799e+02] [ 9.72982098e-01 -2.30831237e-01 -4.77246335e-03 1.25388272e+02] [ 4.92199339e-03 7.19397018e-05 9.99987884e-01 1.00661110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.360281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.17, Y:125.45, Z:1.01 [[-2.26653618e-01 -9.73974681e-01 1.20793328e-03 1.79172494e+02] [ 9.73962995e-01 -2.26656817e-01 -4.77201090e-03 1.25454588e+02] [ 4.92160411e-03 9.48887803e-05 9.99987884e-01 1.00772120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.39028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.20, Y:125.36, Z:1.01 [[-2.25025056e-01 -9.74352219e-01 1.21582836e-03 1.79196817e+02] [ 9.74340549e-01 -2.25028313e-01 -4.77001012e-03 1.25359579e+02] [ 4.92126575e-03 1.11259073e-04 9.99987884e-01 1.00624941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.420281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.20, Y:125.37, Z:1.00 [[-2.25604693e-01 -9.74218178e-01 1.21028485e-03 1.79195501e+02] [ 9.74206498e-01 -2.25607916e-01 -4.77141625e-03 1.25374094e+02] [ 4.92145029e-03 1.02613468e-04 9.99987884e-01 1.00421055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.45028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.20, Y:125.36, Z:1.00 [[-2.25799515e-01 -9.74173039e-01 1.21204048e-03 1.79201364e+02] [ 9.74161362e-01 -2.25802745e-01 -4.77097024e-03 1.25356926e+02] [ 4.92143265e-03 1.03440235e-04 9.99987884e-01 1.00435959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.21, Y:125.34, Z:1.01 [[-2.25794329e-01 -9.74174239e-01 1.21379707e-03 1.79206512e+02] [ 9.74162564e-01 -2.25797567e-01 -4.77052330e-03 1.25342785e+02] [ 4.92139333e-03 1.05278560e-04 9.99987884e-01 1.00655375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.51028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.20, Y:125.35, Z:1.01 [[-2.25085010e-01 -9.74338371e-01 1.21553598e-03 1.79204794e+02] [ 9.74326701e-01 -2.25088265e-01 -4.77008018e-03 1.25353221e+02] [ 4.92127504e-03 1.10655614e-04 9.99987884e-01 1.00679881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.21, Y:125.35, Z:1.00 [[-2.25477284e-01 -9.74247665e-01 1.21727528e-03 1.79206675e+02] [ 9.74235996e-01 -2.25480543e-01 -4.76963629e-03 1.25346650e+02] [ 4.92127891e-03 1.10468753e-04 9.99987884e-01 1.00142741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.57028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.21, Y:125.34, Z:1.00 [[-2.26898530e-01 -9.73917641e-01 1.21901993e-03 1.79209743e+02] [ 9.73905969e-01 -2.26901780e-01 -4.76919035e-03 1.25339436e+02] [ 4.92139641e-03 1.05088507e-04 9.99987884e-01 1.00145367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.21, Y:125.36, Z:1.00 [[-2.28277338e-01 -9.73595381e-01 1.22075835e-03 1.79206404e+02] [ 9.73583708e-01 -2.28280580e-01 -4.76874533e-03 1.25358844e+02] [ 4.92150386e-03 9.99139477e-05 9.99987884e-01 1.00330918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.630281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.21, Y:125.34, Z:1.01 [[-2.28955029e-01 -9.73436233e-01 1.22250685e-03 1.79211513e+02] [ 9.73424560e-01 -2.28958272e-01 -4.76829705e-03 1.25341750e+02] [ 4.92153617e-03 9.82925992e-05 9.99987884e-01 1.01013453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.21, Y:125.35, Z:1.01 [[-2.28940256e-01 -9.73439706e-01 1.22403823e-03 1.79209463e+02] [ 9.73428034e-01 -2.28943506e-01 -4.76790391e-03 1.25346321e+02] [ 4.92150258e-03 9.99479843e-05 9.99987884e-01 1.01170731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.690281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.21, Y:125.33, Z:1.01 [[-2.26892079e-01 -9.73919135e-01 1.22578448e-03 1.79210989e+02] [ 9.73907473e-01 -2.26895362e-01 -4.76745492e-03 1.25328271e+02] [ 4.92124039e-03 1.12102907e-04 9.99987884e-01 1.01242057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.21, Y:125.33, Z:1.01 [[-2.25441863e-01 -9.74255849e-01 1.22752585e-03 1.79207623e+02] [ 9.74244194e-01 -2.25445173e-01 -4.76700651e-03 1.25332455e+02] [ 4.92102375e-03 1.21227102e-04 9.99987884e-01 1.01146830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.750281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.21, Y:125.31, Z:1.01 [[-2.21236530e-01 -9.75219405e-01 1.22926211e-03 1.79208227e+02] [ 9.75207766e-01 -2.21239898e-01 -4.76655874e-03 1.25306620e+02] [ 4.92040240e-03 1.44249041e-04 9.99987884e-01 1.00979667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.20, Y:125.32, Z:1.01 [[-2.19041963e-01 -9.75714663e-01 1.23098919e-03 1.79200977e+02] [ 9.75703035e-01 -2.19045365e-01 -4.76611267e-03 1.25323200e+02] [ 4.92000849e-03 1.57101217e-04 9.99987884e-01 1.01040346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.810281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.20, Y:125.31, Z:1.01 [[-2.17232751e-01 -9.76119057e-01 1.23271448e-03 1.79201576e+02] [ 9.76107437e-01 -2.17236183e-01 -4.76566640e-03 1.25309427e+02] [ 4.91964797e-03 1.68002947e-04 9.99987884e-01 1.01192502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.20, Y:125.31, Z:1.01 [[-2.17585947e-01 -9.76040384e-01 1.23444558e-03 1.79202268e+02] [ 9.76028766e-01 -2.17589384e-01 -4.76521795e-03 1.25307052e+02] [ 4.91964741e-03 1.68009938e-04 9.99987884e-01 1.01191263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.870281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.20, Y:125.28, Z:1.01 [[-2.16132474e-01 -9.76363265e-01 1.23616974e-03 1.79204586e+02] [ 9.76351655e-01 -2.16135936e-01 -4.76477063e-03 1.25282465e+02] [ 4.91932772e-03 1.77114711e-04 9.99987884e-01 1.01335102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.20, Y:125.27, Z:1.01 [[-2.17139388e-01 -9.76139823e-01 1.23788083e-03 1.79204828e+02] [ 9.76128211e-01 -2.17142847e-01 -4.76432605e-03 1.25273172e+02] [ 4.91944536e-03 1.73807560e-04 9.99987884e-01 1.01423680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.930281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.20, Y:125.27, Z:1.01 [[-2.17710423e-01 -9.76012620e-01 1.23957487e-03 1.79199381e+02] [ 9.76001009e-01 -2.17713883e-01 -4.76388526e-03 1.25274007e+02] [ 4.91948479e-03 1.72678850e-04 9.99987884e-01 1.01414724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.20, Y:125.28, Z:1.01 [[-2.17219043e-01 -9.76122096e-01 1.24126770e-03 1.79195836e+02] [ 9.76110489e-01 -2.17222517e-01 -4.76344414e-03 1.25277403e+02] [ 4.91933437e-03 1.76903641e-04 9.99987884e-01 1.01258606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.990281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.16, Y:125.41, Z:1.01 [[-2.16139107e-01 -9.76361788e-01 1.24296719e-03 1.79159151e+02] [ 9.76350188e-01 -2.16142602e-01 -4.76300064e-03 1.25405412e+02] [ 4.91906998e-03 1.84100543e-04 9.99987884e-01 1.00990426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.18, Y:125.29, Z:1.01 [[-2.17060330e-01 -9.76157404e-01 1.23907227e-03 1.79183072e+02] [ 9.76145795e-01 -2.17063795e-01 -4.76401786e-03 1.25290831e+02] [ 4.91938904e-03 1.75435902e-04 9.99987884e-01 1.01110139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.050281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.18, Y:125.28, Z:1.01 [[-2.18332130e-01 -9.75873727e-01 1.24524223e-03 1.79183928e+02] [ 9.75862122e-01 -2.18335611e-01 -4.76240458e-03 1.25277738e+02] [ 4.91938622e-03 1.75398786e-04 9.99987884e-01 1.01207166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.18, Y:125.28, Z:1.01 [[-2.20756592e-01 -9.75328136e-01 1.24696319e-03 1.79180432e+02] [ 9.75316525e-01 -2.20760052e-01 -4.76195393e-03 1.25280288e+02] [ 4.91974730e-03 1.64951089e-04 9.99987884e-01 1.01237436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.110281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.18, Y:125.27, Z:1.01 [[-2.22438748e-01 -9.74945867e-01 1.24868103e-03 1.79181803e+02] [ 9.74934253e-01 -2.22442197e-01 -4.76150343e-03 1.25271007e+02] [ 4.91996744e-03 1.58239044e-04 9.99987884e-01 1.01066757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.18, Y:125.28, Z:1.01 [[-2.24142621e-01 -9.74555551e-01 1.25039791e-03 1.79177891e+02] [ 9.74543933e-01 -2.24146057e-01 -4.76105253e-03 1.25280887e+02] [ 4.92018193e-03 1.51412909e-04 9.99987884e-01 1.00842242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.170281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.17, Y:125.31, Z:1.01 [[-2.27868846e-01 -9.73691030e-01 1.25211839e-03 1.79168029e+02] [ 9.73679401e-01 -2.27872247e-01 -4.76060001e-03 1.25305931e+02] [ 4.92067656e-03 1.34369448e-04 9.99987884e-01 1.00535089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.17, Y:125.29, Z:1.00 [[-2.29553982e-01 -9.73295123e-01 1.25386390e-03 1.79169141e+02] [ 9.73283491e-01 -2.29557371e-01 -4.76014023e-03 1.25294151e+02] [ 4.92085497e-03 1.27655883e-04 9.99987884e-01 1.00487707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.23028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.16, Y:125.31, Z:1.01 [[-2.31426618e-01 -9.72851553e-01 1.25562154e-03 1.79161259e+02] [ 9.72839917e-01 -2.31429993e-01 -4.75967655e-03 1.25313485e+02] [ 4.92104721e-03 1.20002910e-04 9.99987884e-01 1.00794148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.17, Y:125.29, Z:1.01 [[-2.32111589e-01 -9.72688352e-01 1.25738779e-03 1.79166761e+02] [ 9.72676716e-01 -2.32114965e-01 -4.75920991e-03 1.25291342e+02] [ 4.92108657e-03 1.18364053e-04 9.99987884e-01 1.00880135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.29028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.16, Y:125.30, Z:1.01 [[-2.32419162e-01 -9.72614902e-01 1.25915559e-03 1.79164626e+02] [ 9.72603268e-01 -2.32422542e-01 -4.75874215e-03 1.25300066e+02] [ 4.92107968e-03 1.18635978e-04 9.99987884e-01 1.00859629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.17, Y:125.30, Z:1.01 [[-2.32942513e-01 -9.72489689e-01 1.26091780e-03 1.79165379e+02] [ 9.72478055e-01 -2.32945896e-01 -4.75827518e-03 1.25298600e+02] [ 4.92109918e-03 1.17810309e-04 9.99987884e-01 1.00744150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.35028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.17, Y:125.29, Z:1.01 [[-2.33303216e-01 -9.72403216e-01 1.26268781e-03 1.79165490e+02] [ 9.72391584e-01 -2.33306603e-01 -4.75780543e-03 1.25293510e+02] [ 4.92109871e-03 1.17815691e-04 9.99987884e-01 1.00764836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.380281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.16, Y:125.29, Z:1.01 [[-2.31976265e-01 -9.72720625e-01 1.26445650e-03 1.79161895e+02] [ 9.72708999e-01 -2.31979676e-01 -4.75733533e-03 1.25289173e+02] [ 4.92088640e-03 1.26359335e-04 9.99987884e-01 1.00944344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.41028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.16, Y:125.28, Z:1.01 [[-2.31089515e-01 -9.72931669e-01 1.26622302e-03 1.79162843e+02] [ 9.72920050e-01 -2.31092946e-01 -4.75686510e-03 1.25276946e+02] [ 4.92071991e-03 1.32672119e-04 9.99987884e-01 1.01141823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.440281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.17, Y:125.26, Z:1.01 [[-2.30284876e-01 -9.73122432e-01 1.26798313e-03 1.79165278e+02] [ 9.73110818e-01 -2.30288325e-01 -4.75639588e-03 1.25255817e+02] [ 4.92055724e-03 1.38562066e-04 9.99987884e-01 1.01453688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.47028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.16, Y:125.27, Z:1.01 [[-2.31469190e-01 -9.72841406e-01 1.26972516e-03 1.79159060e+02] [ 9.72829790e-01 -2.31472633e-01 -4.75593080e-03 1.25274230e+02] [ 4.92067303e-03 1.34375016e-04 9.99987884e-01 1.01420445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.500281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.15, Y:125.29, Z:1.01 [[-2.33566998e-01 -9.72339879e-01 1.27146952e-03 1.79153268e+02] [ 9.72328259e-01 -2.33570425e-01 -4.75546441e-03 1.25291980e+02] [ 4.92090537e-03 1.25566195e-04 9.99987884e-01 1.01278268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.53028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.15, Y:125.28, Z:1.01 [[-2.38611952e-01 -9.71114162e-01 1.27324048e-03 1.79154787e+02] [ 9.71102526e-01 -2.38615327e-01 -4.75499020e-03 1.25281836e+02] [ 4.92145302e-03 1.01849548e-04 9.99987884e-01 1.01173465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.560281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.15, Y:125.30, Z:1.01 [[-2.41590131e-01 -9.70377547e-01 1.27501932e-03 1.79148639e+02] [ 9.70365903e-01 -2.41593479e-01 -4.75451317e-03 1.25302012e+02] [ 4.92170918e-03 8.85918168e-05 9.99987884e-01 1.01363894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.59028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.15, Y:125.30, Z:1.01 [[-2.46456670e-01 -9.69152970e-01 1.27680843e-03 1.79145340e+02] [ 9.69141312e-01 -2.46459968e-01 -4.75403266e-03 1.25303734e+02] [ 4.92206704e-03 6.57447432e-05 9.99987884e-01 1.01498717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.620281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.14, Y:125.31, Z:1.01 [[-2.48600196e-01 -9.68605342e-01 1.27861598e-03 1.79142368e+02] [ 9.68593679e-01 -2.48603478e-01 -4.75354646e-03 1.25309225e+02] [ 4.92217887e-03 5.67267729e-05 9.99987884e-01 1.01284835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.65028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.14, Y:125.30, Z:1.01 [[-2.51520203e-01 -9.67851201e-01 1.28043202e-03 1.79142810e+02] [ 9.67839531e-01 -2.51523459e-01 -4.75305724e-03 1.25301811e+02] [ 4.92231085e-03 4.37628080e-05 9.99987884e-01 1.00697303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.680281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.14, Y:125.32, Z:1.01 [[-2.53205510e-01 -9.67411663e-01 1.28225059e-03 1.79137626e+02] [ 9.67399990e-01 -2.53208754e-01 -4.75256658e-03 1.25319919e+02] [ 4.92236542e-03 3.70731658e-05 9.99987884e-01 1.00511638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.71028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.13, Y:125.33, Z:1.01 [[-2.55007254e-01 -9.66938287e-01 1.28408022e-03 1.79134338e+02] [ 9.66926611e-01 -2.55010485e-01 -4.75207219e-03 1.25330202e+02] [ 4.92241447e-03 2.97984575e-05 9.99987884e-01 1.00600333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.740281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.13, Y:125.33, Z:1.01 [[-2.57493708e-01 -9.66279119e-01 1.28593288e-03 1.79133340e+02] [ 9.66267437e-01 -2.57496919e-01 -4.75157080e-03 1.25328033e+02] [ 4.92246740e-03 1.90554831e-05 9.99987884e-01 1.00969677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.77028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.14, Y:125.31, Z:1.01 [[-2.58674747e-01 -9.65963621e-01 1.28756013e-03 1.79135648e+02] [ 9.65951937e-01 -2.58677951e-01 -4.75112981e-03 1.25314965e+02] [ 4.92248198e-03 1.47238987e-05 9.99987884e-01 1.01060039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.800281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.13, Y:125.32, Z:1.01 [[-2.59834917e-01 -9.65652191e-01 1.28941368e-03 1.79132281e+02] [ 9.65640505e-01 -2.59838116e-01 -4.75062672e-03 1.25315843e+02] [ 4.92249192e-03 1.07313802e-05 9.99987884e-01 1.00826947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.83028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.13, Y:125.32, Z:1.01 [[-2.59932937e-01 -9.65625808e-01 1.29126296e-03 1.79130007e+02] [ 9.65614124e-01 -2.59936144e-01 -4.75012402e-03 1.25319104e+02] [ 4.92248826e-03 1.21480678e-05 9.99987884e-01 1.00799100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.860281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.13, Y:125.31, Z:1.01 [[-2.60437881e-01 -9.65489740e-01 1.29311895e-03 1.79129952e+02] [ 9.65478057e-01 -2.60441091e-01 -4.74961871e-03 1.25309106e+02] [ 4.92248945e-03 1.14973366e-05 9.99987884e-01 1.00971480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.89028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.13, Y:125.31, Z:1.01 [[-2.61483841e-01 -9.65206985e-01 1.29497410e-03 1.79129172e+02] [ 9.65195302e-01 -2.61487047e-01 -4.74911286e-03 1.25307813e+02] [ 4.92249586e-03 8.08664547e-06 9.99987884e-01 1.01022647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.920281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.13, Y:125.31, Z:1.01 [[-2.63037738e-01 -9.64784674e-01 1.29682560e-03 1.79128387e+02] [ 9.64772988e-01 -2.63040934e-01 -4.74860722e-03 1.25306347e+02] [ 4.92250168e-03 2.07940900e-06 9.99987884e-01 1.01177956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.95028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.13, Y:125.29, Z:1.02 [[-2.67441819e-01 -9.63573135e-01 1.29867909e-03 1.79131332e+02] [ 9.63561437e-01 -2.67444971e-01 -4.74810026e-03 1.25292856e+02] [ 4.92246705e-03 -1.84834798e-05 9.99987884e-01 1.01620692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.13, Y:125.29, Z:1.02 [[-2.73477280e-01 -9.61877584e-01 1.30052550e-03 1.79133645e+02] [ 9.61865868e-01 -2.73480368e-01 -4.74759447e-03 1.25289788e+02] [ 4.92227289e-03 -4.74281300e-05 9.99987884e-01 1.01818860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.01028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.14, Y:125.26, Z:1.02 [[-2.77226757e-01 -9.60803637e-01 1.30236273e-03 1.79143026e+02] [ 9.60791912e-01 -2.77229809e-01 -4.74709042e-03 1.25258579e+02] [ 4.92207551e-03 -6.47209091e-05 9.99987884e-01 1.01772173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.15, Y:125.25, Z:1.02 [[-2.81083715e-01 -9.59682366e-01 1.30417901e-03 1.79147013e+02] [ 9.59670631e-01 -2.81086729e-01 -4.74659138e-03 1.25246937e+02] [ 4.92180746e-03 -8.26072469e-05 9.99987884e-01 1.01685189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.07028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.15, Y:125.27, Z:1.01 [[-2.87316495e-01 -9.57834812e-01 1.30596894e-03 1.79146753e+02] [ 9.57823060e-01 -2.87319441e-01 -4.74609885e-03 1.25266015e+02] [ 4.92120896e-03 -1.12745320e-04 9.99987884e-01 1.01485938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.16, Y:125.24, Z:1.02 [[-2.91548350e-01 -9.56555199e-01 1.30776575e-03 1.79161776e+02] [ 9.56543437e-01 -2.91551253e-01 -4.74560370e-03 1.25243320e+02] [ 4.92071263e-03 -1.32638184e-04 9.99987884e-01 1.01616550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.130281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.17, Y:125.24, Z:1.02 [[-2.93003888e-01 -9.56110353e-01 1.30956118e-03 1.79166547e+02] [ 9.56098588e-01 -2.93006782e-01 -4.74510819e-03 1.25241846e+02] [ 4.92055737e-03 -1.38265556e-04 9.99987884e-01 1.01758815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.17, Y:125.23, Z:1.02 [[-2.94296377e-01 -9.55713306e-01 1.31134093e-03 1.79173448e+02] [ 9.55701539e-01 -2.94299264e-01 -4.74461629e-03 1.25232412e+02] [ 4.92041959e-03 -1.43072838e-04 9.99987884e-01 1.01824014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.190281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.18, Y:125.23, Z:1.02 [[-2.95348854e-01 -9.55388575e-01 1.31311531e-03 1.79179338e+02] [ 9.55376808e-01 -2.95351737e-01 -4.74412517e-03 1.25228970e+02] [ 4.92031387e-03 -1.46652017e-04 9.99987884e-01 1.01901911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.19, Y:125.24, Z:1.02 [[-2.94916098e-01 -9.55522248e-01 1.31488262e-03 1.79186658e+02] [ 9.55510484e-01 -2.94918995e-01 -4.74363529e-03 1.25240535e+02] [ 4.92043292e-03 -1.42590284e-04 9.99987884e-01 1.01593863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.250281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.19, Y:125.26, Z:1.01 [[-2.93722128e-01 -9.55889940e-01 1.31665547e-03 1.79187005e+02] [ 9.55878182e-01 -2.93725048e-01 -4.74314316e-03 1.25255045e+02] [ 4.92065753e-03 -1.34603863e-04 9.99987884e-01 1.01223754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.19, Y:125.26, Z:1.00 [[-2.89149454e-01 -9.57283059e-01 1.31844587e-03 1.79193255e+02] [ 9.57271317e-01 -2.89152440e-01 -4.74264543e-03 1.25258373e+02] [ 4.92128597e-03 -1.09222925e-04 9.99987884e-01 1.00299418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.310281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.19, Y:125.28, Z:1.00 [[-2.86096263e-01 -9.58199972e-01 1.32002194e-03 1.79190091e+02] [ 9.58188241e-01 -2.86099293e-01 -4.74220673e-03 1.25281581e+02] [ 4.92163970e-03 -9.18981219e-05 9.99987884e-01 1.00133461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.20, Y:125.27, Z:1.00 [[-2.82731693e-01 -9.59198125e-01 1.32184423e-03 1.79195163e+02] [ 9.59186408e-01 -2.82734773e-01 -4.74169873e-03 1.25273272e+02] [ 4.92195986e-03 -7.27334923e-05 9.99987884e-01 1.00299277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.370281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.20, Y:125.28, Z:1.01 [[-2.75575669e-01 -9.61278471e-01 1.32367855e-03 1.79197318e+02] [ 9.61266779e-01 -2.75578846e-01 -4.74118661e-03 1.25275289e+02] [ 4.92237842e-03 -3.41474562e-05 9.99987884e-01 1.01328371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.20, Y:125.28, Z:1.02 [[-2.72495746e-01 -9.62156076e-01 1.32424989e-03 1.79195971e+02] [ 9.62144395e-01 -2.72498963e-01 -4.74102702e-03 1.25279717e+02] [ 4.92246468e-03 -1.77900827e-05 9.99987884e-01 1.01580865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.430281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.20, Y:125.25, Z:1.01 [[-2.66643940e-01 -9.63794195e-01 1.32609013e-03 1.79201969e+02] [ 9.63782537e-01 -2.66647237e-01 -4.74051224e-03 1.25250749e+02] [ 4.92247645e-03 1.40336501e-05 9.99987884e-01 1.01325845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.20, Y:125.24, Z:1.01 [[-2.64739129e-01 -9.64319154e-01 1.32791663e-03 1.79203419e+02] [ 9.64307505e-01 -2.64742458e-01 -4.74000055e-03 1.25238839e+02] [ 4.92242923e-03 2.56563541e-05 9.99987884e-01 1.01095330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.490281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.20, Y:125.23, Z:1.01 [[-2.60300866e-01 -9.65526639e-01 1.32971823e-03 1.79200683e+02] [ 9.65515008e-01 -2.60304257e-01 -4.73949509e-03 1.25226610e+02] [ 4.92224008e-03 5.01682375e-05 9.99987884e-01 1.00926948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.20, Y:125.22, Z:1.01 [[-2.58459922e-01 -9.66021064e-01 1.33150812e-03 1.79198014e+02] [ 9.66009442e-01 -2.58463345e-01 -4.73899218e-03 1.25221264e+02] [ 4.92211231e-03 6.14098609e-05 9.99987884e-01 1.00992109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.550281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.19, Y:125.22, Z:1.01 [[-2.55849758e-01 -9.66715637e-01 1.33329138e-03 1.79188661e+02] [ 9.66704027e-01 -2.55853221e-01 -4.73849042e-03 1.25223233e+02] [ 4.92189968e-03 7.65565161e-05 9.99987884e-01 1.01096422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.19, Y:125.21, Z:1.01 [[-2.55555393e-01 -9.66793493e-01 1.33507766e-03 1.79186895e+02] [ 9.66781887e-01 -2.55558867e-01 -4.73798708e-03 1.25212187e+02] [ 4.92184601e-03 7.99107510e-05 9.99987884e-01 1.00967499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.610281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.18, Y:125.21, Z:1.01 [[-2.55495319e-01 -9.66809368e-01 1.33686289e-03 1.79182940e+02] [ 9.66797765e-01 -2.55498803e-01 -4.73748331e-03 1.25208839e+02] [ 4.92181011e-03 8.20712455e-05 9.99987884e-01 1.00853166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.17, Y:125.22, Z:1.01 [[-2.55772116e-01 -9.66736175e-01 1.33864356e-03 1.79170989e+02] [ 9.66724573e-01 -2.55775606e-01 -4.73698010e-03 1.25220286e+02] [ 4.92180239e-03 8.25121946e-05 9.99987884e-01 1.01023380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.670281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.17, Y:125.20, Z:1.01 [[-2.57066154e-01 -9.66392879e-01 1.34043485e-03 1.79174351e+02] [ 9.66381275e-01 -2.57069637e-01 -4.73647316e-03 1.25195005e+02] [ 4.92187903e-03 7.77842054e-05 9.99987884e-01 1.01230723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.16, Y:125.22, Z:1.02 [[-2.59829287e-01 -9.65653634e-01 1.34222214e-03 1.79160688e+02] [ 9.65642022e-01 -2.59832746e-01 -4.73596662e-03 1.25216581e+02] [ 4.92205664e-03 6.55632714e-05 9.99987884e-01 1.01565294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.73028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.16, Y:125.21, Z:1.02 [[-2.60197794e-01 -9.65554401e-01 1.34401187e-03 1.79161441e+02] [ 9.65542791e-01 -2.60201257e-01 -4.73545866e-03 1.25214199e+02] [ 4.92205653e-03 6.55450762e-05 9.99987884e-01 1.01564056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.16, Y:125.22, Z:1.02 [[-2.61623609e-01 -9.65169040e-01 1.34581891e-03 1.79157521e+02] [ 9.65157428e-01 -2.61627063e-01 -4.73494505e-03 1.25218162e+02] [ 4.92212502e-03 6.01537028e-05 9.99987884e-01 1.01529074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.79028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.16, Y:125.21, Z:1.01 [[-2.63097903e-01 -9.64768199e-01 1.34763114e-03 1.79158835e+02] [ 9.64756583e-01 -2.63101349e-01 -4.73442921e-03 1.25206463e+02] [ 4.92219031e-03 5.45176174e-05 9.99987884e-01 1.01326718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.15, Y:125.22, Z:1.01 [[-2.65669910e-01 -9.64063109e-01 1.34944196e-03 1.79153102e+02] [ 9.64051487e-01 -2.65673334e-01 -4.73391301e-03 1.25217773e+02] [ 4.92230164e-03 4.32732875e-05 9.99987884e-01 1.00900917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.85028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.15, Y:125.23, Z:1.01 [[-2.67857648e-01 -9.63457552e-01 1.35125651e-03 1.79148975e+02] [ 9.63445925e-01 -2.67861054e-01 -4.73339501e-03 1.25229310e+02] [ 4.92237416e-03 3.39865256e-05 9.99987884e-01 1.01075757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.880281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.15, Y:125.22, Z:1.01 [[-2.69551059e-01 -9.62985148e-01 1.35309038e-03 1.79151358e+02] [ 9.62973518e-01 -2.69554454e-01 -4.73287072e-03 1.25221992e+02] [ 4.92241575e-03 2.72398923e-05 9.99987884e-01 1.01123139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.91028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.15, Y:125.22, Z:1.01 [[-2.71721884e-01 -9.62374866e-01 1.35493086e-03 1.79153836e+02] [ 9.62363230e-01 -2.71725262e-01 -4.73234377e-03 1.25218275e+02] [ 4.92245764e-03 1.80542775e-05 9.99987884e-01 1.01071971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.940281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.16, Y:125.22, Z:1.01 [[-2.74380388e-01 -9.61620280e-01 1.35676619e-03 1.79157337e+02] [ 9.61608638e-01 -2.74383742e-01 -4.73181752e-03 1.25217093e+02] [ 4.92248627e-03 6.36016573e-06 9.99987884e-01 1.00749260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.97028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.16, Y:125.21, Z:1.01 [[-2.75412652e-01 -9.61325140e-01 1.35860007e-03 1.79159392e+02] [ 9.61313497e-01 -2.75416003e-01 -4.73129092e-03 1.25213353e+02] [ 4.92248911e-03 2.98321079e-06 9.99987884e-01 1.00567176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.000281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.16, Y:125.23, Z:1.01 [[-2.76243251e-01 -9.61086789e-01 1.36043313e-03 1.79155729e+02] [ 9.61075146e-01 -2.76246601e-01 -4.73076378e-03 1.25231784e+02] [ 4.92248960e-03 6.36904109e-07 9.99987884e-01 1.00540864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.03028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.16, Y:125.21, Z:1.01 [[-2.76707442e-01 -9.60953243e-01 1.36227965e-03 1.79161885e+02] [ 9.60941601e-01 -2.76710795e-01 -4.73023200e-03 1.25213376e+02] [ 4.92248926e-03 1.80789678e-07 9.99987884e-01 1.00658797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.060281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.16, Y:125.21, Z:1.01 [[-2.77257654e-01 -9.60794636e-01 1.36412848e-03 1.79163731e+02] [ 9.60782994e-01 -2.77261010e-01 -4.72969876e-03 1.25211359e+02] [ 4.92248884e-03 -7.13740550e-07 9.99987885e-01 1.00737254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.09028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.16, Y:125.22, Z:1.01 [[-2.78900688e-01 -9.60318978e-01 1.36596556e-03 1.79163465e+02] [ 9.60307334e-01 -2.78904033e-01 -4.72916814e-03 1.25217970e+02] [ 4.92248322e-03 -7.22150563e-06 9.99987885e-01 1.00843932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.120281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.17, Y:125.22, Z:1.01 [[-2.81129259e-01 -9.59668937e-01 1.36780864e-03 1.79166213e+02] [ 9.59657287e-01 -2.81132586e-01 -4.72863501e-03 1.25222352e+02] [ 4.92245971e-03 -1.67301226e-05 9.99987885e-01 1.00625216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.15028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.17, Y:125.23, Z:1.01 [[-2.82164209e-01 -9.59365146e-01 1.36966187e-03 1.79166626e+02] [ 9.59353495e-01 -2.82167533e-01 -4.72809816e-03 1.25231009e+02] [ 4.92244669e-03 -2.01101788e-05 9.99987885e-01 1.00634677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.180281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.17, Y:125.22, Z:1.01 [[-2.82505551e-01 -9.59264683e-01 1.37152663e-03 1.79173439e+02] [ 9.59253034e-01 -2.82508879e-01 -4.72755716e-03 1.25216749e+02] [ 4.92244708e-03 -1.99200629e-05 9.99987885e-01 1.00694951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.21028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.18, Y:125.21, Z:1.01 [[-2.79156955e-01 -9.60244505e-01 1.37338925e-03 1.79179066e+02] [ 9.60232870e-01 -2.79160333e-01 -4.72701600e-03 1.25211263e+02] [ 4.92248693e-03 -8.05894757e-07 9.99987885e-01 1.01402337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.240281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.18, Y:125.20, Z:1.02 [[-2.76085990e-01 -9.61131955e-01 1.37500606e-03 1.79183016e+02] [ 9.61120334e-01 -2.76089414e-01 -4.72654565e-03 1.25198934e+02] [ 4.92245868e-03 1.66132432e-05 9.99987885e-01 1.01577775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.27028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.19, Y:125.17, Z:1.01 [[-2.67138096e-01 -9.63657274e-01 1.37684470e-03 1.79189267e+02] [ 9.63645688e-01 -2.67141636e-01 -4.72600999e-03 1.25172656e+02] [ 4.92206645e-03 6.42931439e-05 9.99987885e-01 1.01096254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.300281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.20, Y:125.15, Z:1.01 [[-2.62581217e-01 -9.64908910e-01 1.37854545e-03 1.79195826e+02] [ 9.64897343e-01 -2.62584820e-01 -4.72551384e-03 1.25147092e+02] [ 4.92167552e-03 8.93236619e-05 9.99987885e-01 1.00874564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.33028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.20, Y:125.13, Z:1.01 [[-2.54430125e-01 -9.67090175e-01 1.38032742e-03 1.79198038e+02] [ 9.67078641e-01 -2.54433835e-01 -4.72499327e-03 1.25128889e+02] [ 4.92069657e-03 1.32704532e-04 9.99987885e-01 1.01152948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.360281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.20, Y:125.13, Z:1.01 [[-2.51289267e-01 -9.67911047e-01 1.38208446e-03 1.79196070e+02] [ 9.67899528e-01 -2.51293023e-01 -4.72447927e-03 1.25125826e+02] [ 4.92018386e-03 1.50507964e-04 9.99987885e-01 1.01495052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.39028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.20, Y:125.10, Z:1.02 [[-2.48635700e-01 -9.68596084e-01 1.38383144e-03 1.79200714e+02] [ 9.68584578e-01 -2.48639496e-01 -4.72396751e-03 1.25097497e+02] [ 4.91969159e-03 1.65810819e-04 9.99987885e-01 1.01691860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.420281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.19, Y:125.10, Z:1.01 [[-2.45684309e-01 -9.69348906e-01 1.38556239e-03 1.79190838e+02] [ 9.69337414e-01 -2.45688148e-01 -4.72345976e-03 1.25104357e+02] [ 4.91909681e-03 1.82597514e-04 9.99987885e-01 1.01349736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.45028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.19, Y:125.10, Z:1.01 [[-2.45775972e-01 -9.69325666e-01 1.38728466e-03 1.79188657e+02] [ 9.69314177e-01 -2.45779818e-01 -4.72295388e-03 1.25101724e+02] [ 4.91904698e-03 1.83926109e-04 9.99987885e-01 1.01010606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.18, Y:125.11, Z:1.01 [[-2.47782218e-01 -9.68814762e-01 1.38901443e-03 1.79182512e+02] [ 9.68803268e-01 -2.47786049e-01 -4.72244510e-03 1.25105027e+02] [ 4.91935292e-03 1.75543794e-04 9.99987885e-01 1.01025108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.51028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.18, Y:125.10, Z:1.01 [[-2.50184355e-01 -9.68197219e-01 1.39074896e-03 1.79181055e+02] [ 9.68185718e-01 -2.50188166e-01 -4.72193423e-03 1.25102320e+02] [ 4.91971252e-03 1.65149213e-04 9.99987885e-01 1.01289446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.18, Y:125.11, Z:1.02 [[-2.52837293e-01 -9.67507811e-01 1.39248748e-03 1.79177989e+02] [ 9.67496303e-01 -2.52841081e-01 -4.72142149e-03 1.25106185e+02] [ 4.92009021e-03 1.53475059e-04 9.99987885e-01 1.01595821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.57028169299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:179.17, Y:125.11, Z:1.02 [[-2.56815136e-01 -9.66459540e-01 1.39423081e-03 1.79173181e+02] [ 9.66448019e-01 -2.56818885e-01 -4.72090663e-03 1.25112462e+02] [ 4.92063005e-03 1.35051326e-04 9.99987885e-01 1.01684267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.17, Y:125.11, Z:1.02 [[-2.58547536e-01 -9.65997528e-01 1.39598436e-03 1.79172861e+02] [ 9.65986003e-01 -2.58551273e-01 -4.72038804e-03 1.25109674e+02] [ 4.92081671e-03 1.28056652e-04 9.99987885e-01 1.01560931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.630281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.16, Y:125.14, Z:1.02 [[-2.61661746e-01 -9.65158628e-01 1.39774338e-03 1.79160302e+02] [ 9.65147094e-01 -2.61665455e-01 -4.71986712e-03 1.25139878e+02] [ 4.92116163e-03 1.14019287e-04 9.99987885e-01 1.01520264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.16, Y:125.12, Z:1.01 [[-2.63288668e-01 -9.64716082e-01 1.39952439e-03 1.79164830e+02] [ 9.64704544e-01 -2.63292366e-01 -4.71933896e-03 1.25119748e+02] [ 4.92130628e-03 1.07579069e-04 9.99987885e-01 1.01398338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.690281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.16, Y:125.14, Z:1.01 [[-2.64916995e-01 -9.64270202e-01 1.40131635e-03 1.79156711e+02] [ 9.64258661e-01 -2.64920682e-01 -4.71880682e-03 1.25143017e+02] [ 4.92144248e-03 1.01139302e-04 9.99987885e-01 1.01223644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72028169299995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:179.16, Y:125.14, Z:1.01 [[-2.67225314e-01 -9.63633054e-01 1.40311374e-03 1.79155474e+02] [ 9.63621507e-01 -2.67228982e-01 -4.71827231e-03 1.25141586e+02] [ 4.92163581e-03 9.12287818e-05 9.99987885e-01 1.00864143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.750281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.16, Y:125.13, Z:1.01 [[-2.69128209e-01 -9.63103335e-01 1.40493015e-03 1.79155923e+02] [ 9.63091783e-01 -2.69131863e-01 -4.71773139e-03 1.25130890e+02] [ 4.92177430e-03 8.34020863e-05 9.99987885e-01 1.00798545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.16, Y:125.12, Z:1.01 [[-2.69747418e-01 -9.62930086e-01 1.40674241e-03 1.79156584e+02] [ 9.62918536e-01 -2.69751074e-01 -4.71719094e-03 1.25123474e+02] [ 4.92179536e-03 8.21282649e-05 9.99987885e-01 1.00678942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.810281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.15, Y:125.14, Z:1.01 [[-2.70201765e-01 -9.62802691e-01 1.40854575e-03 1.79149833e+02] [ 9.62791141e-01 -2.70205424e-01 -4.71665241e-03 1.25141772e+02] [ 4.92180233e-03 8.16875667e-05 9.99987885e-01 1.00526377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.15, Y:125.14, Z:1.01 [[-2.69541271e-01 -9.62987806e-01 1.41036032e-03 1.79147042e+02] [ 9.62976262e-01 -2.69544946e-01 -4.71610976e-03 1.25142415e+02] [ 4.92171168e-03 8.69572890e-05 9.99987885e-01 1.01014158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.870281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.14, Y:125.15, Z:1.01 [[-2.68385944e-01 -9.63310434e-01 1.41196095e-03 1.79143985e+02] [ 9.63298896e-01 -2.68389642e-01 -4.71563049e-03 1.25145578e+02] [ 4.92157175e-03 9.45314776e-05 9.99987885e-01 1.01480613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.15, Y:125.11, Z:1.01 [[-2.67090159e-01 -9.63670516e-01 1.40858576e-03 1.79151510e+02] [ 9.63658978e-01 -2.67093856e-01 -4.71664168e-03 1.25105906e+02] [ 4.92151312e-03 9.76277398e-05 9.99987885e-01 1.01139340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.930281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.15, Y:125.12, Z:1.01 [[-2.66693488e-01 -9.63780363e-01 1.41280157e-03 1.79145893e+02] [ 9.63768833e-01 -2.66697210e-01 -4.71537856e-03 1.25117616e+02] [ 4.92137949e-03 1.04053369e-04 9.99987885e-01 1.00912568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.15, Y:125.10, Z:1.01 [[-2.65927142e-01 -9.63992092e-01 1.41460094e-03 1.79148329e+02] [ 9.63980569e-01 -2.65930881e-01 -4.71483869e-03 1.25104013e+02] [ 4.92125329e-03 1.09844237e-04 9.99987885e-01 1.01048774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.990281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.14, Y:125.10, Z:1.01 [[-2.64066391e-01 -9.64503466e-01 1.41640277e-03 1.79142510e+02] [ 9.64491952e-01 -2.64070162e-01 -4.71429733e-03 1.25103518e+02] [ 4.92098582e-03 1.21221594e-04 9.99987885e-01 1.01264645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.14, Y:125.10, Z:1.01 [[-2.63290513e-01 -9.64715551e-01 1.41819932e-03 1.79139265e+02] [ 9.64704043e-01 -2.63294302e-01 -4.71375681e-03 1.25101582e+02] [ 4.92083830e-03 1.27055170e-04 9.99987885e-01 1.01363029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.050281693 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:179.14, Y:125.08, Z:1.01 [[-2.61244568e-01 -9.65271599e-01 1.41999955e-03 1.79136485e+02] [ 9.65260102e-01 -2.61248390e-01 -4.71321444e-03 1.25084571e+02] [ 4.92050464e-03 1.39367234e-04 9.99987885e-01 1.01361612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.13, Y:125.08, Z:1.01 [[-2.60748530e-01 -9.65405712e-01 1.41999955e-03 1.79133753e+02] [ 9.65394217e-01 -2.60752358e-01 -4.71321444e-03 1.25082247e+02] [ 4.92043237e-03 1.41895613e-04 9.99987885e-01 1.01267511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.110281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.12, Y:125.10, Z:1.02 [[-2.58847712e-01 -9.65917098e-01 1.42178067e-03 1.79121123e+02] [ 9.65905614e-01 -2.58851571e-01 -4.71267709e-03 1.25098405e+02] [ 4.92008554e-03 1.53440245e-04 9.99987885e-01 1.01581296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.12, Y:125.07, Z:1.02 [[-2.57750758e-01 -9.66210391e-01 1.42357660e-03 1.79124806e+02] [ 9.66198914e-01 -2.57754639e-01 -4.71213453e-03 1.25071587e+02] [ 4.91984682e-03 1.60901919e-04 9.99987885e-01 1.01634402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.170281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.12, Y:125.08, Z:1.02 [[-2.57511707e-01 -9.66274133e-01 1.42178685e-03 1.79118823e+02] [ 9.66262654e-01 -2.57515582e-01 -4.71267448e-03 1.25079774e+02] [ 4.91986772e-03 1.60250682e-04 9.99987885e-01 1.01611382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.11, Y:125.08, Z:1.02 [[-2.60511351e-01 -9.65469738e-01 1.42178685e-03 1.79113664e+02] [ 9.65458247e-01 -2.60515190e-01 -4.71267448e-03 1.25077357e+02] [ 4.92034167e-03 1.44970642e-04 9.99987885e-01 1.01625427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.23028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.10, Y:125.10, Z:1.02 [[-2.66288149e-01 -9.63892422e-01 1.42111456e-03 1.79100097e+02] [ 9.63880908e-01 -2.66291916e-01 -4.71287720e-03 1.25104737e+02] [ 4.92113794e-03 1.14801848e-04 9.99987885e-01 1.01719153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.09, Y:125.12, Z:1.02 [[-2.69467636e-01 -9.63008395e-01 1.42291565e-03 1.79093596e+02] [ 9.62996870e-01 -2.69471374e-01 -4.71233335e-03 1.25118496e+02] [ 4.92145162e-03 1.00441989e-04 9.99987885e-01 1.01889519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.29028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.09, Y:125.12, Z:1.02 [[-2.72875044e-01 -9.62048433e-01 1.42245702e-03 1.79091864e+02] [ 9.62036894e-01 -2.72878739e-01 -4.71247179e-03 1.25118706e+02] [ 4.92178438e-03 8.25401880e-05 9.99987885e-01 1.01922275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.09, Y:125.11, Z:1.01 [[-2.78478728e-01 -9.60441345e-01 1.42176324e-03 1.79093262e+02] [ 9.60429784e-01 -2.78482352e-01 -4.71268110e-03 1.25108714e+02] [ 4.92218974e-03 5.31223231e-05 9.99987885e-01 1.01325846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.35028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.09, Y:125.10, Z:1.01 [[-2.80201973e-01 -9.59940018e-01 1.41993408e-03 1.79093265e+02] [ 9.59928448e-01 -2.80205568e-01 -4.71323216e-03 1.25104547e+02] [ 4.92229360e-03 4.23781641e-05 9.99987885e-01 1.00858412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.380281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.09, Y:125.11, Z:1.01 [[-2.82513448e-01 -9.59262290e-01 1.41811755e-03 1.79088335e+02] [ 9.59250709e-01 -2.82517006e-01 -4.71377865e-03 1.25111386e+02] [ 4.92239243e-03 2.86244082e-05 9.99987885e-01 1.00530697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.41028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.09, Y:125.11, Z:1.01 [[-2.83171270e-01 -9.59068309e-01 1.41766268e-03 1.79087206e+02] [ 9.59056725e-01 -2.83174818e-01 -4.71391545e-03 1.25112697e+02] [ 4.92241329e-03 2.47735049e-05 9.99987885e-01 1.00756002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.440281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.09, Y:125.10, Z:1.01 [[-2.85530205e-01 -9.58368665e-01 1.41584255e-03 1.79090337e+02] [ 9.58357069e-01 -2.85533715e-01 -4.71446207e-03 1.25104039e+02] [ 4.92246350e-03 1.07613928e-05 9.99987885e-01 1.00994497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.47028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.09, Y:125.09, Z:1.01 [[-2.87301625e-01 -9.57839119e-01 1.41403072e-03 1.79093645e+02] [ 9.57827514e-01 -2.87305105e-01 -4.71500544e-03 1.25093660e+02] [ 4.92247490e-03 -2.31199229e-07 9.99987885e-01 1.00981959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.500281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.09, Y:125.09, Z:1.01 [[-2.89438945e-01 -9.57195436e-01 1.41223515e-03 1.79093177e+02] [ 9.57183821e-01 -2.89442390e-01 -4.71554319e-03 1.25094305e+02] [ 4.92245713e-03 -1.30932100e-05 9.99987885e-01 1.00965222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.53028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.10, Y:125.08, Z:1.01 [[-2.94670170e-01 -9.55597981e-01 1.41044912e-03 1.79099791e+02] [ 9.55586345e-01 -2.94673543e-01 -4.71607734e-03 1.25079804e+02] [ 4.92229602e-03 -4.18813915e-05 9.99987885e-01 1.00781011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.560281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.10, Y:125.09, Z:1.01 [[-2.97357063e-01 -9.54765308e-01 1.40867572e-03 1.79100689e+02] [ 9.54753659e-01 -2.97360395e-01 -4.71660699e-03 1.25086993e+02] [ 4.92213709e-03 -5.75781040e-05 9.99987885e-01 1.00855496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.59028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.11, Y:125.07, Z:1.01 [[-3.02424768e-01 -9.53172218e-01 1.40801039e-03 1.79113297e+02] [ 9.53160551e-01 -3.02428033e-01 -4.71680560e-03 1.25066894e+02] [ 4.92174986e-03 -8.44188766e-05 9.99987885e-01 1.01150260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.620281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.12, Y:125.06, Z:1.01 [[-3.04412211e-01 -9.52539358e-01 1.40625956e-03 1.79119603e+02] [ 9.52527682e-01 -3.04415444e-01 -4.71732753e-03 1.25055756e+02] [ 4.92152726e-03 -9.65109426e-05 9.99987885e-01 1.01166985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.65028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.12, Y:125.06, Z:1.01 [[-3.04281324e-01 -9.52581178e-01 1.40560792e-03 1.79118919e+02] [ 9.52569501e-01 -3.04284555e-01 -4.71752169e-03 1.25058172e+02] [ 4.92152714e-03 -9.65145096e-05 9.99987885e-01 1.01168218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.680281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.12, Y:125.07, Z:1.01 [[-3.05692412e-01 -9.52129285e-01 1.40495967e-03 1.79120869e+02] [ 9.52117603e-01 -3.05695623e-01 -4.71771474e-03 1.25071063e+02] [ 4.92136438e-03 -1.04482763e-04 9.99987885e-01 1.01104118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.71028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.12, Y:125.07, Z:1.01 [[-3.04488114e-01 -9.52515097e-01 1.40668696e-03 1.79121960e+02] [ 9.52503421e-01 -3.04491348e-01 -4.71719965e-03 1.25074324e+02] [ 4.92152789e-03 -9.64570787e-05 9.99987885e-01 1.01173530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.740281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.12, Y:125.09, Z:1.01 [[-2.99575288e-01 -9.54071627e-01 1.40625235e-03 1.79117493e+02] [ 9.54059967e-01 -2.99578580e-01 -4.71732921e-03 1.25094680e+02] [ 4.92195304e-03 -7.15461926e-05 9.99987885e-01 1.01223434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.77028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.12, Y:125.09, Z:1.01 [[-2.95806008e-01 -9.55246996e-01 1.40800399e-03 1.79118107e+02] [ 9.55235352e-01 -2.95809355e-01 -4.71680633e-03 1.25094885e+02] [ 4.92221583e-03 -5.02844608e-05 9.99987885e-01 1.01133030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.800281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.11, Y:125.11, Z:1.01 [[-2.92621076e-01 -9.56227444e-01 1.40756236e-03 1.79114387e+02] [ 9.56215811e-01 -2.92624459e-01 -4.71693812e-03 1.25111874e+02] [ 4.92235286e-03 -3.43421301e-05 9.99987885e-01 1.01041569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.83028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.12, Y:125.11, Z:1.01 [[-2.87147516e-01 -9.57885336e-01 1.40933906e-03 1.79116237e+02] [ 9.57873725e-01 -2.87150975e-01 -4.71640721e-03 1.25113067e+02] [ 4.92247039e-03 -4.33576056e-06 9.99987885e-01 1.01063596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.860281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.11, Y:125.13, Z:1.01 [[-2.85038122e-01 -9.58515144e-01 1.40956226e-03 1.79111183e+02] [ 9.58503541e-01 -2.85041607e-01 -4.71634050e-03 1.25129880e+02] [ 4.92246769e-03 6.73357834e-06 9.99987885e-01 1.01262773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.89028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.11, Y:125.13, Z:1.01 [[-2.81729397e-01 -9.59492863e-01 1.41136676e-03 1.79106534e+02] [ 9.59481275e-01 -2.81732931e-01 -4.71580045e-03 1.25134509e+02] [ 4.92240537e-03 2.56003614e-05 9.99987885e-01 1.01463788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.920281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.11, Y:125.13, Z:1.01 [[-2.79804403e-01 -9.60055988e-01 1.41295941e-03 1.79106553e+02] [ 9.60044409e-01 -2.79807968e-01 -4.71532320e-03 1.25128873e+02] [ 4.92233158e-03 3.71355925e-05 9.99987885e-01 1.01362166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.95028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.10, Y:125.15, Z:1.01 [[-2.76336236e-01 -9.61059983e-01 1.41227215e-03 1.79096206e+02] [ 9.61048415e-01 -2.76339840e-01 -4.71552903e-03 1.25145834e+02] [ 4.92217331e-03 5.41903695e-05 9.99987885e-01 1.01310721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98028169299994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:179.09, Y:125.15, Z:1.01 [[-2.74805471e-01 -9.61498806e-01 1.41410372e-03 1.79091422e+02] [ 9.61487247e-01 -2.74809102e-01 -4.71497971e-03 1.25148021e+02] [ 4.92205594e-03 6.39404748e-05 9.99987885e-01 1.01293810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.01028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.09, Y:125.15, Z:1.01 [[-2.73652532e-01 -9.61827580e-01 1.41340707e-03 1.79086551e+02] [ 9.61816025e-01 -2.73656174e-01 -4.71518854e-03 1.25151769e+02] [ 4.92198595e-03 6.91142869e-05 9.99987885e-01 1.01304251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.09, Y:125.14, Z:1.01 [[-2.73462612e-01 -9.61881596e-01 1.41270948e-03 1.79085968e+02] [ 9.61870040e-01 -2.73466252e-01 -4.71539754e-03 1.25135822e+02] [ 4.92198247e-03 6.93579928e-05 9.99987885e-01 1.01145559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.07028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.08, Y:125.15, Z:1.01 [[-2.75015178e-01 -9.61438850e-01 1.41087183e-03 1.79079463e+02] [ 9.61427285e-01 -2.75018790e-01 -4.71594730e-03 1.25149248e+02] [ 4.92211121e-03 5.94935861e-05 9.99987885e-01 1.01026737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.08, Y:125.13, Z:1.01 [[-2.79574933e-01 -9.60122840e-01 1.41017973e-03 1.79079249e+02] [ 9.60111258e-01 -2.79578487e-01 -4.71615425e-03 1.25125058e+02] [ 4.92234333e-03 3.54109290e-05 9.99987885e-01 1.00881663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.130281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.08, Y:125.13, Z:1.01 [[-2.81761936e-01 -9.59483313e-01 1.40835475e-03 1.79075926e+02] [ 9.59471720e-01 -2.81765455e-01 -4.71669917e-03 1.25125522e+02] [ 4.92241986e-03 2.22902659e-05 9.99987885e-01 1.00860491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.08, Y:125.11, Z:1.01 [[-2.86906074e-01 -9.57957685e-01 1.40654748e-03 1.79077935e+02] [ 9.57946070e-01 -2.86909522e-01 -4.71723805e-03 1.25108347e+02] [ 4.92246630e-03 -6.00761784e-06 9.99987885e-01 1.01131902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.190281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.08, Y:125.10, Z:1.01 [[-2.89486691e-01 -9.57181008e-01 1.40475373e-03 1.79080126e+02] [ 9.57169382e-01 -2.89490098e-01 -4.71777215e-03 1.25097972e+02] [ 4.92242420e-03 -2.11449871e-05 9.99987885e-01 1.01227122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.08, Y:125.11, Z:1.01 [[-2.91896302e-01 -9.56448943e-01 1.40298113e-03 1.79076922e+02] [ 9.56437306e-01 -2.91899671e-01 -4.71829923e-03 1.25105968e+02] [ 4.92234204e-03 -3.53906044e-05 9.99987885e-01 1.01254062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.250281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.08, Y:125.09, Z:1.01 [[-2.97142339e-01 -9.54832167e-01 1.40121266e-03 1.79081730e+02] [ 9.54820509e-01 -2.97145636e-01 -4.71882436e-03 1.25088901e+02] [ 4.92204952e-03 -6.42559222e-05 9.99987885e-01 1.01365647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.09, Y:125.07, Z:1.01 [[-2.99560274e-01 -9.54076351e-01 1.39945287e-03 1.79086837e+02] [ 9.54064682e-01 -2.99563532e-01 -4.71934620e-03 1.25074440e+02] [ 4.92184165e-03 -7.85600802e-05 9.99987885e-01 1.01295988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.310281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.09, Y:125.06, Z:1.01 [[-3.04162317e-01 -9.52619195e-01 1.39771649e-03 1.79092084e+02] [ 9.52607509e-01 -3.04165510e-01 -4.71986040e-03 1.25062946e+02] [ 4.92136677e-03 -1.04128451e-04 9.99987885e-01 1.01170871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.09, Y:125.07, Z:1.01 [[-3.05625329e-01 -9.52150834e-01 1.39599967e-03 1.79092121e+02] [ 9.52139139e-01 -3.05628496e-01 -4.72036813e-03 1.25065356e+02] [ 4.92115973e-03 -1.13478134e-04 9.99987885e-01 1.01112991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.370281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.10, Y:125.06, Z:1.01 [[-3.07749238e-01 -9.51466480e-01 1.39429157e-03 1.79095172e+02] [ 9.51454777e-01 -3.07752370e-01 -4.72087262e-03 1.25058142e+02] [ 4.92084859e-03 -1.26239572e-04 9.99987885e-01 1.00989464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.10, Y:125.05, Z:1.01 [[-3.08122622e-01 -9.51345631e-01 1.39258971e-03 1.79097391e+02] [ 9.51333925e-01 -3.08125742e-01 -4.72137459e-03 1.25053558e+02] [ 4.92075183e-03 -1.29944487e-04 9.99987885e-01 1.00989234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.430281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:179.09, Y:125.07, Z:1.01 [[-3.08832588e-01 -9.51115397e-01 1.39089824e-03 1.79094647e+02] [ 9.51103685e-01 -3.08835691e-01 -4.72187283e-03 1.25068852e+02] [ 4.92060497e-03 -1.35379765e-04 9.99987885e-01 1.00990459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46028169299996 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:179.10, Y:125.08, Z:1.01 [[-3.12027328e-01 -9.50072110e-01 1.39025869e-03 1.79095679e+02] [ 9.50060387e-01 -3.12030388e-01 -4.72206113e-03 1.25082800e+02] [ 4.92010154e-03 -1.52582409e-04 9.99987885e-01 1.00874179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.490281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:179.10, Y:125.06, Z:1.01 [[-3.14470065e-01 -9.49266373e-01 1.38961423e-03 1.79104377e+02] [ 9.49254642e-01 -3.14473092e-01 -4.72225078e-03 1.25063399e+02] [ 4.91967015e-03 -1.65908755e-04 9.99987885e-01 1.00760221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52028169299996 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:179.12, Y:125.05, Z:1.01 [[-3.21205508e-01 -9.47008498e-01 1.38791319e-03 1.79116341e+02] [ 9.46996743e-01 -3.21208443e-01 -4.72275067e-03 1.25050778e+02] [ 4.91829446e-03 -2.02624265e-04 9.99987885e-01 1.00610080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.550281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:179.13, Y:125.04, Z:1.01 [[-3.24225499e-01 -9.45978807e-01 1.38623558e-03 1.79125368e+02] [ 9.45967041e-01 -3.24228388e-01 -4.72324304e-03 1.25037129e+02] [ 4.91754474e-03 -2.20062666e-04 9.99987885e-01 1.00615895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58028169299996 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:179.13, Y:125.04, Z:1.01 [[-3.29267995e-01 -9.44235495e-01 1.38457850e-03 1.79134579e+02] [ 9.44223712e-01 -3.29270812e-01 -4.72372875e-03 1.25037817e+02] [ 4.91621364e-03 -2.48020844e-04 9.99987885e-01 1.00957198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.610281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:179.14, Y:125.02, Z:1.01 [[-3.30624686e-01 -9.43761305e-01 1.38416627e-03 1.79144115e+02] [ 9.43749517e-01 -3.30627485e-01 -4.72384954e-03 1.25019250e+02] [ 4.91582982e-03 -2.55515024e-04 9.99987885e-01 1.01022525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64028169299996 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.14, Y:125.04, Z:1.01 [[-3.31180339e-01 -9.43566462e-01 1.38355117e-03 1.79142068e+02] [ 9.43554672e-01 -3.31183128e-01 -4.72402969e-03 1.25042518e+02] [ 4.91564478e-03 -2.59049588e-04 9.99987885e-01 1.01077582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.670281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:179.14, Y:125.07, Z:1.01 [[-3.28780065e-01 -9.44405501e-01 1.38518423e-03 1.79144497e+02] [ 9.44393720e-01 -3.28782891e-01 -4.72355079e-03 1.25071005e+02] [ 4.91637223e-03 -2.44850049e-04 9.99987885e-01 1.01142517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70028169299997 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:179.15, Y:125.07, Z:1.01 [[-3.27064504e-01 -9.45000998e-01 1.38684732e-03 1.79148357e+02] [ 9.44989224e-01 -3.27067361e-01 -4.72306245e-03 1.25072807e+02] [ 4.91689122e-03 -2.34190307e-04 9.99987885e-01 1.01041634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.73028169299994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.16, Y:125.07, Z:1.01 [[-3.23309788e-01 -9.46292161e-01 1.38852847e-03 1.79157530e+02] [ 9.46280400e-01 -3.23312699e-01 -4.72256816e-03 1.25070369e+02] [ 4.91785812e-03 -2.12915231e-04 9.99987885e-01 1.00924797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.16, Y:125.07, Z:1.01 [[-3.22388787e-01 -9.46606326e-01 1.39020997e-03 1.79162356e+02] [ 9.46594571e-01 -3.22391719e-01 -4.72207312e-03 1.25070207e+02] [ 4.91813647e-03 -2.06378214e-04 9.99987885e-01 1.00908729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.79028169299994 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:179.16, Y:125.09, Z:1.01 [[-3.21618886e-01 -9.46868182e-01 1.39189077e-03 1.79164766e+02] [ 9.46856431e-01 -3.21621836e-01 -4.72157763e-03 1.25094649e+02] [ 4.91837409e-03 -2.00627811e-04 9.99987885e-01 1.01394584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82028169299997 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:179.17, Y:125.08, Z:1.02 [[-3.21678767e-01 -9.46847838e-01 1.39358633e-03 1.79172554e+02] [ 9.46836089e-01 -3.21681724e-01 -4.72107712e-03 1.25084611e+02] [ 4.91843292e-03 -1.99172438e-04 9.99987885e-01 1.01553361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.85028169299994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:179.18, Y:125.11, Z:1.01 [[-3.21627249e-01 -9.46865337e-01 1.39529101e-03 1.79176493e+02] [ 9.46853590e-01 -3.21630215e-01 -4.72057326e-03 1.25107400e+02] [ 4.91851494e-03 -1.97128688e-04 9.99987885e-01 1.01316903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.880281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:179.19, Y:125.09, Z:1.01 [[-3.21332611e-01 -9.46965365e-01 1.39700383e-03 1.79187518e+02] [ 9.46953621e-01 -3.21335589e-01 -4.72006631e-03 1.25089630e+02] [ 4.91864637e-03 -1.93813395e-04 9.99987885e-01 1.01138686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.91028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:179.19, Y:125.10, Z:1.01 [[-3.21047422e-01 -9.47062087e-01 1.39871944e-03 1.79189663e+02] [ 9.47050346e-01 -3.21050413e-01 -4.71955787e-03 1.25098624e+02] [ 4.91877377e-03 -1.90544156e-04 9.99987885e-01 1.01094138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.940281693 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:179.19, Y:125.12, Z:1.01 [[-3.18566426e-01 -9.47899505e-01 1.40043081e-03 1.79192402e+02] [ 9.47887774e-01 -3.18569456e-01 -4.71905000e-03 1.25118404e+02] [ 4.91931964e-03 -1.75879654e-04 9.99987885e-01 1.00691642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.97028169299995 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:179.19, Y:125.14, Z:1.01 [[-3.16703833e-01 -9.48523440e-01 1.40216050e-03 1.79190911e+02] [ 9.48511718e-01 -3.16706895e-01 -4.71853600e-03 1.25140391e+02] [ 4.91971590e-03 -1.64412773e-04 9.99987885e-01 1.00689359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.000281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:179.20, Y:125.13, Z:1.01 [[-3.11544590e-01 -9.50230497e-01 1.40391769e-03 1.79202377e+02] [ 9.50218794e-01 -3.11547724e-01 -4.71801312e-03 1.25133752e+02] [ 4.92058732e-03 -1.35842489e-04 9.99987885e-01 1.00926364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.03028169299995 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:179.20, Y:125.15, Z:1.01 [[-3.09163214e-01 -9.51007955e-01 1.40568526e-03 1.79201091e+02] [ 9.50996263e-01 -3.09166385e-01 -4.71748643e-03 1.25147265e+02] [ 4.92095776e-03 -1.21671835e-04 9.99987885e-01 1.01102732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.060281693 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:179.20, Y:125.15, Z:1.01 [[-3.06953554e-01 -9.51723455e-01 1.40745840e-03 1.79201411e+02] [ 9.51711772e-01 -3.06956761e-01 -4.71695736e-03 1.25153827e+02] [ 4.92126783e-03 -1.08392094e-04 9.99987885e-01 1.01173908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.09028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:179.21, Y:125.16, Z:1.01 [[-3.03395284e-01 -9.52863745e-01 1.40924680e-03 1.79205464e+02] [ 9.52852076e-01 -3.03398544e-01 -4.71642299e-03 1.25159475e+02] [ 4.92167190e-03 -8.81367545e-05 9.99987885e-01 1.00918962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.120281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:179.21, Y:125.16, Z:1.01 [[-3.02780559e-01 -9.53059254e-01 1.41104536e-03 1.79206879e+02] [ 9.53047590e-01 -3.02783836e-01 -4.71588484e-03 1.25163696e+02] [ 4.92175942e-03 -8.30848681e-05 9.99987885e-01 1.00716144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.15028169299995 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:179.21, Y:125.16, Z:1.01 [[-3.00882876e-01 -9.53660054e-01 1.41285150e-03 1.79209718e+02] [ 9.53648399e-01 -3.00886185e-01 -4.71534367e-03 1.25164085e+02] [ 4.92194240e-03 -7.14025945e-05 9.99987885e-01 1.00808629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.180281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:179.21, Y:125.18, Z:1.01 [[-2.99749451e-01 -9.54016911e-01 1.41466345e-03 1.79205557e+02] [ 9.54005262e-01 -2.99752782e-01 -4.71480000e-03 1.25180549e+02] [ 4.92204824e-03 -6.36623367e-05 9.99987885e-01 1.01151012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.21028169299996 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:179.21, Y:125.18, Z:1.01 [[-2.96666651e-01 -9.54980048e-01 1.41648920e-03 1.79209718e+02] [ 9.54968413e-01 -2.96670029e-01 -4.71425142e-03 1.25176339e+02] [ 4.92224594e-03 -4.58587347e-05 9.99987885e-01 1.01449010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.240281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:179.21, Y:125.18, Z:1.01 [[-2.95674940e-01 -9.55287558e-01 1.41832647e-03 1.79210155e+02] [ 9.55275929e-01 -2.95678339e-01 -4.71369860e-03 1.25179467e+02] [ 4.92230604e-03 -3.88294149e-05 9.99987885e-01 1.01432511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.27028169299996 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:179.21, Y:125.17, Z:1.01 [[-2.94147811e-01 -9.55758886e-01 1.42016477e-03 1.79214163e+02] [ 9.55747266e-01 -2.94151238e-01 -4.71314468e-03 1.25172984e+02] [ 4.92237313e-03 -2.90425964e-05 9.99987885e-01 1.01343089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.300281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:179.22, Y:125.17, Z:1.01 [[-2.93705463e-01 -9.55894910e-01 1.42200348e-03 1.79215422e+02] [ 9.55883294e-01 -2.93708905e-01 -4.71258986e-03 1.25173466e+02] [ 4.92239574e-03 -2.48440197e-05 9.99987885e-01 1.01310178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.33028169299996 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:179.22, Y:125.17, Z:1.01 [[-2.93475416e-01 -9.55965560e-01 1.42384072e-03 1.79217917e+02] [ 9.55953948e-01 -2.93478869e-01 -4.71203470e-03 1.25170016e+02] [ 4.92241005e-03 -2.17401867e-05 9.99987885e-01 1.01295943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.360281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.22, Y:125.16, Z:1.01 [[-2.92526697e-01 -9.56256294e-01 1.42567837e-03 1.79220934e+02] [ 9.56244687e-01 -2.92530171e-01 -4.71147863e-03 1.25163505e+02] [ 4.92243503e-03 -1.49359139e-05 9.99987885e-01 1.01229809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.39028169299996 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:179.22, Y:125.17, Z:1.01 [[-2.91870068e-01 -9.56456913e-01 1.42751114e-03 1.79219843e+02] [ 9.56445311e-01 -2.91873559e-01 -4.71092326e-03 1.25167003e+02] [ 4.92244787e-03 -9.64115454e-06 9.99987885e-01 1.01126934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.420281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:179.22, Y:125.16, Z:1.01 [[-2.89776137e-01 -9.57093385e-01 1.42934494e-03 1.79221339e+02] [ 9.57081794e-01 -2.89779662e-01 -4.71036680e-03 1.25161844e+02] [ 4.92245600e-03 3.04812921e-06 9.99987885e-01 1.01007763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.45028169299997 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:179.23, Y:125.15, Z:1.01 [[-2.89466832e-01 -9.57186975e-01 1.43118069e-03 1.79226181e+02] [ 9.57175388e-01 -2.89470370e-01 -4.70980897e-03 1.25146120e+02] [ 4.92245220e-03 6.55745176e-06 9.99987885e-01 1.00680682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48028169299994 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:179.22, Y:125.15, Z:1.01 [[-2.89253509e-01 -9.57251458e-01 1.43300451e-03 1.79223991e+02] [ 9.57239874e-01 -2.89257059e-01 -4.70925399e-03 1.25153874e+02] [ 4.92244691e-03 9.56081578e-06 9.99987885e-01 1.00601311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.51028169299997 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:179.23, Y:125.13, Z:1.01 [[-2.88088678e-01 -9.57602660e-01 1.43482626e-03 1.79229366e+02] [ 9.57591084e-01 -2.88092251e-01 -4.70869887e-03 1.25133605e+02] [ 4.92242489e-03 1.74540040e-05 9.99987885e-01 1.00768840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54028169299994 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:179.23, Y:125.13, Z:1.01 [[-2.88455447e-01 -9.57492241e-01 1.43664232e-03 1.79230160e+02] [ 9.57480666e-01 -2.88459024e-01 -4.70814471e-03 1.25131253e+02] [ 4.92242447e-03 1.74672572e-05 9.99987885e-01 1.00767602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.57028169299997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:179.23, Y:125.13, Z:1.01 [[-2.87637721e-01 -9.57738207e-01 1.43844549e-03 1.79229161e+02] [ 9.57726637e-01 -2.87641317e-01 -4.70759374e-03 1.25131537e+02] [ 4.92239874e-03 2.35560243e-05 9.99987885e-01 1.00981743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60028169299994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:179.23, Y:125.11, Z:1.01 [[-2.84689827e-01 -9.58618604e-01 1.44025114e-03 1.79229946e+02] [ 9.58607049e-01 -2.84693467e-01 -4.70704125e-03 1.25114153e+02] [ 4.92228740e-03 4.05881406e-05 9.99987885e-01 1.01239515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.630281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:179.23, Y:125.12, Z:1.01 [[-2.83362087e-01 -9.59011912e-01 1.44204880e-03 1.79225975e+02] [ 9.59000365e-01 -2.83365752e-01 -4.70649046e-03 1.25118289e+02] [ 4.92220766e-03 4.92843623e-05 9.99987885e-01 1.01349042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.22, Y:125.12, Z:1.01 [[-2.82505894e-01 -9.59264476e-01 1.44384150e-03 1.79222486e+02] [ 9.59252935e-01 -2.82509578e-01 -4.70594043e-03 1.25119555e+02] [ 4.92214054e-03 5.55532832e-05 9.99987885e-01 1.01320920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.690281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.22, Y:125.09, Z:1.01 [[-2.81401142e-01 -9.59589135e-01 1.44564261e-03 1.79224693e+02] [ 9.59577600e-01 -2.81404849e-01 -4.70538707e-03 1.25094078e+02] [ 4.92204915e-03 6.31049708e-05 9.99987885e-01 1.01412313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.22, Y:125.09, Z:1.02 [[-2.81309181e-01 -9.59616095e-01 1.44743164e-03 1.79222263e+02] [ 9.59604563e-01 -2.81312898e-01 -4.70483669e-03 1.25093095e+02] [ 4.92201819e-03 6.54482478e-05 9.99987885e-01 1.01568759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.750281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:179.21, Y:125.11, Z:1.02 [[-2.81446065e-01 -9.59575954e-01 1.44920756e-03 1.79210555e+02] [ 9.59564425e-01 -2.81449788e-01 -4.70428959e-03 1.25113639e+02] [ 4.92200234e-03 6.66042210e-05 9.99987885e-01 1.01560970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78028169299995 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:179.22, Y:125.09, Z:1.01 [[-2.82511860e-01 -9.59262708e-01 1.45100148e-03 1.79215472e+02] [ 9.59251178e-01 -2.82515579e-01 -4.70373621e-03 1.25089333e+02] [ 4.92204926e-03 6.30136184e-05 9.99987885e-01 1.01281115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.810281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.21, Y:125.10, Z:1.01 [[-2.84020381e-01 -9.58817143e-01 1.45279727e-03 1.79209014e+02] [ 9.58805609e-01 -2.84024091e-01 -4.70318149e-03 1.25101776e+02] [ 4.92212046e-03 5.71507757e-05 9.99987885e-01 1.01110253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84028169299995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:179.20, Y:125.10, Z:1.01 [[-2.86266873e-01 -9.58148820e-01 1.45458871e-03 1.79202872e+02] [ 9.58137281e-01 -2.86270565e-01 -4.70262738e-03 1.25104448e+02] [ 4.92222280e-03 4.74892356e-05 9.99987885e-01 1.00994345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.870281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:179.20, Y:125.09, Z:1.01 [[-2.86384006e-01 -9.58113814e-01 1.45639516e-03 1.79203022e+02] [ 9.58102277e-01 -2.86387705e-01 -4.70206786e-03 1.25092141e+02] [ 4.92220983e-03 4.87784904e-05 9.99987885e-01 1.01272187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90028169299995 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:179.20, Y:125.11, Z:1.01 [[-2.86184631e-01 -9.58173383e-01 1.45820018e-03 1.79196503e+02] [ 9.58161849e-01 -2.86188341e-01 -4.70150802e-03 1.25106314e+02] [ 4.92217973e-03 5.16924485e-05 9.99987885e-01 1.01487192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.930281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.20, Y:125.09, Z:1.02 [[-2.85484478e-01 -9.58382221e-01 1.46001013e-03 1.79199461e+02] [ 9.58370693e-01 -2.85488205e-01 -4.70094589e-03 1.25088338e+02] [ 4.92211863e-03 5.71838378e-05 9.99987885e-01 1.01574508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.19, Y:125.10, Z:1.01 [[-2.84073510e-01 -9.58801389e-01 1.46182197e-03 1.79190543e+02] [ 9.58789870e-01 -2.84077264e-01 -4.70038240e-03 1.25099393e+02] [ 4.92200356e-03 6.63259681e-05 9.99987885e-01 1.01286828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.990281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:179.19, Y:125.10, Z:1.01 [[-2.83859084e-01 -9.58864890e-01 1.46363359e-03 1.79188783e+02] [ 9.58853375e-01 -2.83862849e-01 -4.69981822e-03 1.25097007e+02] [ 4.92196189e-03 6.93239151e-05 9.99987885e-01 1.01058066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.19, Y:125.07, Z:1.01 [[-2.84225116e-01 -9.58756453e-01 1.46545567e-03 1.79191575e+02] [ 9.58744939e-01 -2.84228885e-01 -4.69925001e-03 1.25073973e+02] [ 4.92196110e-03 6.93533330e-05 9.99987885e-01 1.01160391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.050281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:179.19, Y:125.07, Z:1.01 [[-2.85541972e-01 -9.58365082e-01 1.46726475e-03 1.79190958e+02] [ 9.58353565e-01 -2.85545734e-01 -4.69868508e-03 1.25072161e+02] [ 4.92202691e-03 6.44866006e-05 9.99987885e-01 1.01388589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:179.19, Y:125.08, Z:1.02 [[-2.87409332e-01 -9.57806722e-01 1.46906101e-03 1.79188077e+02] [ 9.57795202e-01 -2.87413081e-01 -4.69812341e-03 1.25082187e+02] [ 4.92212154e-03 5.67750707e-05 9.99987885e-01 1.01574667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.110281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.19, Y:125.09, Z:1.02 [[-2.92485599e-01 -9.56268796e-01 1.47086572e-03 1.79186629e+02] [ 9.56257259e-01 -2.92489296e-01 -4.69755833e-03 1.25092996e+02] [ 4.92234093e-03 3.25578617e-05 9.99987885e-01 1.01617013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14028169299996 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.19, Y:125.09, Z:1.01 [[-2.96395615e-01 -9.55064118e-01 1.47268816e-03 1.79189690e+02] [ 9.55052569e-01 -2.96399274e-01 -4.69698693e-03 1.25085092e+02] [ 4.92242738e-03 1.43282809e-05 9.99987885e-01 1.01360747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.170281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:179.19, Y:125.09, Z:1.01 [[-2.96982428e-01 -9.54881806e-01 1.47451529e-03 1.79186617e+02] [ 9.54870257e-01 -2.96986088e-01 -4.69641327e-03 1.25094846e+02] [ 4.92243011e-03 1.32185750e-05 9.99987885e-01 1.01178017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20028169299997 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:179.19, Y:125.09, Z:1.01 [[-2.96844299e-01 -9.54924752e-01 1.47634684e-03 1.79187985e+02] [ 9.54913207e-01 -2.96847969e-01 -4.69583744e-03 1.25090424e+02] [ 4.92242197e-03 1.58505218e-05 9.99987885e-01 1.01009580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.23028169299994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.19, Y:125.09, Z:1.01 [[-2.95727400e-01 -9.55271229e-01 1.47818501e-03 1.79188244e+02] [ 9.55259690e-01 -2.95731093e-01 -4.69525874e-03 1.25090403e+02] [ 4.92239085e-03 2.35338957e-05 9.99987885e-01 1.00877540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26028169299997 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.20, Y:125.07, Z:1.01 [[-2.90792533e-01 -9.56784988e-01 1.48002358e-03 1.79195208e+02] [ 9.56773471e-01 -2.90796295e-01 -4.69467912e-03 1.25067470e+02] [ 4.92218388e-03 5.08696695e-05 9.99987885e-01 1.00924998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.29028169299994 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:179.20, Y:125.06, Z:1.01 [[-2.84710321e-01 -9.58612454e-01 1.48184828e-03 1.79195990e+02] [ 9.58600965e-01 -2.84714165e-01 -4.69410309e-03 1.25057419e+02] [ 4.92172888e-03 8.40415961e-05 9.99987885e-01 1.01187013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32028169299997 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:179.20, Y:125.04, Z:1.01 [[-2.82616540e-01 -9.59231823e-01 1.48365416e-03 1.79198648e+02] [ 9.59220345e-01 -2.82620418e-01 -4.69353224e-03 1.25043706e+02] [ 4.92149645e-03 9.66814123e-05 9.99987885e-01 1.01212797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.35028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.20, Y:125.05, Z:1.01 [[-2.81324716e-01 -9.59611483e-01 1.48544724e-03 1.79195894e+02] [ 9.59600013e-01 -2.81328618e-01 -4.69296468e-03 1.25048823e+02] [ 4.92132162e-03 1.05188236e-04 9.99987885e-01 1.01157427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.380281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.20, Y:125.04, Z:1.01 [[-2.80457880e-01 -9.59865181e-01 1.48723804e-03 1.79197169e+02] [ 9.59853718e-01 -2.80461801e-01 -4.69239710e-03 1.25038773e+02] [ 4.92118205e-03 1.11511220e-04 9.99987885e-01 1.01179904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.41028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.20, Y:125.03, Z:1.01 [[-2.80633607e-01 -9.59813816e-01 1.48902950e-03 1.79199818e+02] [ 9.59802355e-01 -2.80637535e-01 -4.69182855e-03 1.25025389e+02] [ 4.92115943e-03 1.12489248e-04 9.99987885e-01 1.01222868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.440281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.20, Y:125.01, Z:1.01 [[-2.79899833e-01 -9.60028052e-01 1.49080835e-03 1.79200537e+02] [ 9.60016597e-01 -2.79903779e-01 -4.69126326e-03 1.25013499e+02] [ 4.92102722e-03 1.18116960e-04 9.99987885e-01 1.01104272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.47028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.20, Y:125.00, Z:1.01 [[-2.79344465e-01 -9.60189795e-01 1.49257421e-03 1.79204061e+02] [ 9.60178345e-01 -2.79348425e-01 -4.69070136e-03 1.25002572e+02] [ 4.92091184e-03 1.22815976e-04 9.99987885e-01 1.01159448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.500281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.20, Y:125.01, Z:1.01 [[-2.79019523e-01 -9.60284267e-01 1.49432840e-03 1.79201689e+02] [ 9.60272821e-01 -2.79023496e-01 -4.69014246e-03 1.25010690e+02] [ 4.92082275e-03 1.26321636e-04 9.99987885e-01 1.01321723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.53028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.20, Y:125.00, Z:1.02 [[-2.78337242e-01 -9.60482244e-01 1.49608379e-03 1.79203772e+02] [ 9.60470805e-01 -2.78341232e-01 -4.68958245e-03 1.24998502e+02] [ 4.92068248e-03 1.31659359e-04 9.99987885e-01 1.01903400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.560281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:179.20, Y:125.00, Z:1.02 [[-2.78075197e-01 -9.60558141e-01 1.49783955e-03 1.79202124e+02] [ 9.60546705e-01 -2.78079198e-01 -4.68902160e-03 1.24997053e+02] [ 4.92059589e-03 1.34844240e-04 9.99987885e-01 1.01952374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.59028169299995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:179.19, Y:125.01, Z:1.02 [[-2.78009515e-01 -9.60577150e-01 1.49958999e-03 1.79194890e+02] [ 9.60565718e-01 -2.78013526e-01 -4.68846173e-03 1.25011358e+02] [ 4.92053550e-03 1.37017759e-04 9.99987885e-01 1.01661386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.620281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.20, Y:124.99, Z:1.02 [[-2.78901496e-01 -9.60318542e-01 1.50135278e-03 1.79200595e+02] [ 9.60307109e-01 -2.78905505e-01 -4.68789717e-03 1.24990752e+02] [ 4.92061013e-03 1.34298211e-04 9.99987885e-01 1.01523598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.65028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.20, Y:125.00, Z:1.01 [[-2.80258915e-01 -9.59923268e-01 1.50311536e-03 1.79195361e+02] [ 9.59911833e-01 -2.80262916e-01 -4.68733196e-03 1.25000797e+02] [ 4.92074651e-03 1.29191650e-04 9.99987885e-01 1.01414123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.680281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.19, Y:125.01, Z:1.01 [[-2.82584326e-01 -9.59241281e-01 1.50487399e-03 1.79186032e+02] [ 9.59229838e-01 -2.82588308e-01 -4.68676728e-03 1.25013194e+02] [ 4.92100044e-03 1.19113066e-04 9.99987885e-01 1.01201042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.71028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.18, Y:125.01, Z:1.01 [[-2.83811255e-01 -9.58878982e-01 1.50665211e-03 1.79184256e+02] [ 9.58867537e-01 -2.83815231e-01 -4.68619560e-03 1.25014791e+02] [ 4.92110528e-03 1.14684742e-04 9.99987885e-01 1.01206461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.740281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.19, Y:125.00, Z:1.01 [[-2.85326427e-01 -9.58429212e-01 1.50844446e-03 1.79188762e+02] [ 9.58417764e-01 -2.85330394e-01 -4.68561858e-03 1.24999717e+02] [ 4.92123878e-03 1.08789156e-04 9.99987885e-01 1.01399602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.77028169299996 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:179.18, Y:125.01, Z:1.02 [[-2.85666336e-01 -9.58327952e-01 1.51023066e-03 1.79184914e+02] [ 9.58316506e-01 -2.85670307e-01 -4.68504280e-03 1.25006802e+02] [ 4.92123553e-03 1.08919964e-04 9.99987885e-01 1.01500826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.800281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.19, Y:124.99, Z:1.01 [[-2.85652698e-01 -9.58332014e-01 1.51201518e-03 1.79186457e+02] [ 9.58320572e-01 -2.85656678e-01 -4.68446681e-03 1.24993983e+02] [ 4.92119175e-03 1.10864671e-04 9.99987885e-01 1.01479586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.83028169299996 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:179.18, Y:124.99, Z:1.01 [[-2.83971132e-01 -9.58831635e-01 1.51379948e-03 1.79183993e+02] [ 9.58820202e-01 -2.83975141e-01 -4.68389013e-03 1.24986836e+02] [ 4.92094346e-03 1.21371942e-04 9.99987885e-01 1.01411320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.860281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.18, Y:124.99, Z:1.02 [[-2.83395850e-01 -9.59001822e-01 1.51557474e-03 1.79179478e+02] [ 9.58990395e-01 -2.83399875e-01 -4.68331564e-03 1.24991099e+02] [ 4.92082192e-03 1.26189399e-04 9.99987885e-01 1.01557684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.89028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.18, Y:124.98, Z:1.02 [[-2.84416855e-01 -9.58699510e-01 1.51735300e-03 1.79179445e+02] [ 9.58688081e-01 -2.84420876e-01 -4.68273943e-03 1.24984115e+02] [ 4.92090686e-03 1.22818210e-04 9.99987885e-01 1.01623745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.920281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.18, Y:124.98, Z:1.02 [[-2.86160408e-01 -9.58180522e-01 1.51913281e-03 1.79178636e+02] [ 9.58169089e-01 -2.86164417e-01 -4.68216197e-03 1.24980997e+02] [ 4.92107815e-03 1.15736720e-04 9.99987885e-01 1.01630981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.95028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.17, Y:124.99, Z:1.02 [[-2.88639726e-01 -9.57436575e-01 1.52090976e-03 1.79174024e+02] [ 9.57425135e-01 -2.88643714e-01 -4.68158469e-03 1.24992747e+02] [ 4.92132145e-03 1.04865914e-04 9.99987885e-01 1.01669150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.17, Y:125.00, Z:1.02 [[-2.93332731e-01 -9.56009200e-01 1.52269621e-03 1.79174208e+02] [ 9.55997743e-01 -2.93336671e-01 -4.68100357e-03 1.24995654e+02] [ 4.92174511e-03 8.26025837e-05 9.99987885e-01 1.01798730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.01028169299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:179.17, Y:125.00, Z:1.02 [[-2.96475002e-01 -9.55039397e-01 1.52449555e-03 1.79169656e+02] [ 9.55027930e-01 -2.96478913e-01 -4.68041749e-03 1.25002427e+02] [ 4.92196388e-03 6.83090498e-05 9.99987885e-01 1.01672190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.17, Y:125.00, Z:1.02 [[-2.96802613e-01 -9.54937631e-01 1.52630552e-03 1.79169175e+02] [ 9.54926167e-01 -2.96806529e-01 -4.67982718e-03 1.24999639e+02] [ 4.92196052e-03 6.85241513e-05 9.99987885e-01 1.01548738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.07028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.17, Y:125.00, Z:1.01 [[-2.96553065e-01 -9.55015154e-01 1.52812198e-03 1.79168233e+02] [ 9.55003694e-01 -2.96556993e-01 -4.67923397e-03 1.25000837e+02] [ 4.92191461e-03 7.17209568e-05 9.99987885e-01 1.01378576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10028169299994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.16, Y:125.01, Z:1.01 [[-2.96159780e-01 -9.55137186e-01 1.52994066e-03 1.79164097e+02] [ 9.55125730e-01 -2.96163722e-01 -4.67863925e-03 1.25009768e+02] [ 4.92185525e-03 7.56609242e-05 9.99987885e-01 1.01226207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.130281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.17, Y:124.99, Z:1.01 [[-2.96116292e-01 -9.55150666e-01 1.53177084e-03 1.79169089e+02] [ 9.55139214e-01 -2.96120244e-01 -4.67803998e-03 1.24991011e+02] [ 4.92182135e-03 7.78105440e-05 9.99987885e-01 1.01447904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.17, Y:125.00, Z:1.02 [[-2.97000948e-01 -9.54875957e-01 1.53108341e-03 1.79166714e+02] [ 9.54864499e-01 -2.97004886e-01 -4.67826496e-03 1.24999763e+02] [ 4.92190198e-03 7.25280659e-05 9.99987885e-01 1.01558982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.190281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.17, Y:124.99, Z:1.02 [[-2.98065469e-01 -9.54544198e-01 1.53289987e-03 1.79171408e+02] [ 9.54532739e-01 -2.98069403e-01 -4.67766969e-03 1.24989175e+02] [ 4.92195301e-03 6.89512986e-05 9.99987885e-01 1.01557238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.17, Y:124.99, Z:1.01 [[-2.99773176e-01 -9.54009270e-01 1.53471733e-03 1.79172476e+02] [ 9.53997807e-01 -2.99777098e-01 -4.67707332e-03 1.24988086e+02] [ 4.92204441e-03 6.20558462e-05 9.99987885e-01 1.01172728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.250281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.18, Y:124.98, Z:1.01 [[-3.00819454e-01 -9.53679870e-01 1.53652935e-03 1.79175007e+02] [ 9.53668406e-01 -3.00823373e-01 -4.67647795e-03 1.24982406e+02] [ 4.92208683e-03 5.85639544e-05 9.99987885e-01 1.00951896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.17, Y:125.00, Z:1.01 [[-3.02293065e-01 -9.53213794e-01 1.53833963e-03 1.79171366e+02] [ 9.53202327e-01 -3.02296974e-01 -4.67588238e-03 1.25001781e+02] [ 4.92215100e-03 5.28621034e-05 9.99987885e-01 1.00598096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.310281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.18, Y:124.99, Z:1.01 [[-3.03200744e-01 -9.52925462e-01 1.54016192e-03 1.79176072e+02] [ 9.52913995e-01 -3.03204651e-01 -4.67528207e-03 1.24993750e+02] [ 4.92217958e-03 5.00928517e-05 9.99987885e-01 1.00562461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.18, Y:124.98, Z:1.01 [[-3.04743727e-01 -9.52433138e-01 1.54199484e-03 1.79183314e+02] [ 9.52421667e-01 -3.04747625e-01 -4.67467746e-03 1.24984450e+02] [ 4.92223699e-03 4.40506616e-05 9.99987885e-01 1.01005285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.370281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.19, Y:124.98, Z:1.01 [[-3.05974173e-01 -9.52038562e-01 1.54358729e-03 1.79187563e+02] [ 9.52027088e-01 -3.05978064e-01 -4.67415157e-03 1.24979635e+02] [ 4.92227639e-03 3.93672497e-05 9.99987885e-01 1.01202851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.19, Y:124.99, Z:1.01 [[-3.07645165e-01 -9.51499902e-01 1.54540002e-03 1.79187590e+02] [ 9.51488425e-01 -3.07649045e-01 -4.67355216e-03 1.24989270e+02] [ 4.92232526e-03 3.26345052e-05 9.99987885e-01 1.01366787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.430281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.19, Y:125.00, Z:1.01 [[-3.10181053e-01 -9.50676244e-01 1.54721801e-03 1.79190742e+02] [ 9.50664759e-01 -3.10184911e-01 -4.67295021e-03 1.24996001e+02] [ 4.92238644e-03 2.14250215e-05 9.99987885e-01 1.01370786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.19, Y:124.99, Z:1.01 [[-3.10554735e-01 -9.50554237e-01 1.54904938e-03 1.79191603e+02] [ 9.50542754e-01 -3.10558598e-01 -4.67234305e-03 1.24993639e+02] [ 4.92238609e-03 2.14194099e-05 9.99987885e-01 1.01369547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.490281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:179.20, Y:124.98, Z:1.01 [[-3.11219846e-01 -9.50336679e-01 1.55088584e-03 1.79199555e+02] [ 9.50325196e-01 -3.11223709e-01 -4.67173340e-03 1.24976671e+02] [ 4.92239204e-03 1.99097429e-05 9.99987885e-01 1.01321534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.20, Y:124.99, Z:1.01 [[-3.11048956e-01 -9.50392622e-01 1.55271115e-03 1.79199510e+02] [ 9.50381143e-01 -3.11052831e-01 -4.67112665e-03 1.24988508e+02] [ 4.92237951e-03 2.27183286e-05 9.99987885e-01 1.01375097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.550281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.20, Y:124.99, Z:1.01 [[-3.10723260e-01 -9.50499153e-01 1.55453436e-03 1.79202931e+02] [ 9.50487678e-01 -3.10727148e-01 -4.67051982e-03 1.24985584e+02] [ 4.92236116e-03 2.63266068e-05 9.99987885e-01 1.01381443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.21, Y:124.98, Z:1.01 [[-3.10284653e-01 -9.50642421e-01 1.55636603e-03 1.79208543e+02] [ 9.50630951e-01 -3.10288555e-01 -4.66990937e-03 1.24975501e+02] [ 4.92233651e-03 3.05285081e-05 9.99987885e-01 1.01398012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.610281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.21, Y:124.97, Z:1.02 [[-3.09079394e-01 -9.51034963e-01 1.55819063e-03 1.79212683e+02] [ 9.51023501e-01 -3.09083320e-01 -4.66930048e-03 1.24972346e+02] [ 4.92227874e-03 3.86913391e-05 9.99987885e-01 1.01572518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64028169299996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:179.22, Y:124.97, Z:1.02 [[-3.08529841e-01 -9.51213385e-01 1.56000759e-03 1.79215742e+02] [ 9.51201929e-01 -3.08533781e-01 -4.66869336e-03 1.24966016e+02] [ 4.92223865e-03 4.34510063e-05 9.99987885e-01 1.01548235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.670281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.21, Y:124.97, Z:1.01 [[-3.07406441e-01 -9.51577028e-01 1.56182032e-03 1.79214844e+02] [ 9.51565580e-01 -3.07410404e-01 -4.66808686e-03 1.24969359e+02] [ 4.92216404e-03 5.11744942e-05 9.99987885e-01 1.01314011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70028169299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:179.22, Y:124.95, Z:1.01 [[-3.06745374e-01 -9.51790329e-01 1.56363344e-03 1.79220019e+02] [ 9.51778886e-01 -3.06749354e-01 -4.66747946e-03 1.24954479e+02] [ 4.92210536e-03 5.65055663e-05 9.99987885e-01 1.01352683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.73028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.22, Y:124.96, Z:1.01 [[-3.05700261e-01 -9.52126514e-01 1.56544174e-03 1.79218483e+02] [ 9.52115079e-01 -3.05704263e-01 -4.66687289e-03 1.24958468e+02] [ 4.92201563e-03 6.38164262e-05 9.99987885e-01 1.01389093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.22, Y:124.95, Z:1.02 [[-3.02222659e-01 -9.53236072e-01 1.56724497e-03 1.79221284e+02] [ 9.53224654e-01 -3.02226711e-01 -4.66626724e-03 1.24946442e+02] [ 4.92171755e-03 8.36848486e-05 9.99987885e-01 1.01688882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.79028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.22, Y:124.94, Z:1.02 [[-3.00275984e-01 -9.53851074e-01 1.56904613e-03 1.79223511e+02] [ 9.53839668e-01 -3.00280068e-01 -4.66566152e-03 1.24935332e+02] [ 4.92149953e-03 9.56323414e-05 9.99987885e-01 1.01608270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.22, Y:124.94, Z:1.01 [[-2.97044501e-01 -9.54862345e-01 1.57083508e-03 1.79218397e+02] [ 9.54850956e-01 -2.97048632e-01 -4.66505914e-03 1.24936740e+02] [ 4.92110372e-03 1.14183219e-04 9.99987885e-01 1.01171121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.85028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.22, Y:124.92, Z:1.01 [[-2.96405178e-01 -9.55060991e-01 1.57262173e-03 1.79220682e+02] [ 9.55049608e-01 -2.96409326e-01 -4.66445677e-03 1.24923574e+02] [ 4.92098045e-03 1.19362626e-04 9.99987885e-01 1.01038113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.880281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.22, Y:124.91, Z:1.01 [[-2.96317459e-01 -9.55088208e-01 1.57440429e-03 1.79221568e+02] [ 9.55076828e-01 -2.96321617e-01 -4.66385502e-03 1.24913520e+02] [ 4.92092296e-03 1.21695384e-04 9.99987885e-01 1.01044105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.91028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.22, Y:124.91, Z:1.01 [[-2.97013668e-01 -9.54871927e-01 1.57617515e-03 1.79215758e+02] [ 9.54860548e-01 -2.97017826e-01 -4.66325647e-03 1.24913846e+02] [ 4.92096481e-03 1.19976554e-04 9.99987885e-01 1.01136023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.940281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.21, Y:124.91, Z:1.01 [[-2.98341918e-01 -9.54457757e-01 1.57794433e-03 1.79214217e+02] [ 9.54446375e-01 -2.98346069e-01 -4.66265774e-03 1.24908987e+02] [ 4.92108334e-03 1.14996994e-04 9.99987885e-01 1.01099752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.97028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.20, Y:124.93, Z:1.01 [[-3.01940008e-01 -9.53325619e-01 1.57971532e-03 1.79199032e+02] [ 9.53314225e-01 -3.01944125e-01 -4.66205765e-03 1.24932305e+02] [ 4.92144475e-03 9.83033643e-05 9.99987885e-01 1.00936029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.000281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.20, Y:124.93, Z:1.01 [[-3.05107160e-01 -9.52316712e-01 1.58150409e-03 1.79196708e+02] [ 9.52305307e-01 -3.05111247e-01 -4.66145077e-03 1.24930238e+02] [ 4.92171215e-03 8.38327333e-05 9.99987885e-01 1.00987368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.03028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.19, Y:124.93, Z:1.01 [[-3.12295714e-01 -9.49983621e-01 1.58331340e-03 1.79192689e+02] [ 9.49972189e-01 -3.12299724e-01 -4.66083614e-03 1.24929835e+02] [ 4.92218633e-03 4.85445428e-05 9.99987885e-01 1.01225768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.060281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.19, Y:124.93, Z:1.01 [[-3.16710775e-01 -9.48520834e-01 1.58512493e-03 1.79191719e+02] [ 9.48509386e-01 -3.16714741e-01 -4.66021996e-03 1.24928647e+02] [ 4.92234816e-03 2.75639921e-05 9.99987885e-01 1.01240374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.09028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.19, Y:124.92, Z:1.01 [[-3.25153465e-01 -9.45659931e-01 1.58693958e-03 1.79193290e+02] [ 9.45648452e-01 -3.25157338e-01 -4.65960194e-03 1.24919673e+02] [ 4.92240390e-03 -1.43987593e-05 9.99987885e-01 1.01191342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.120281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.20, Y:124.91, Z:1.01 [[-3.28637085e-01 -9.44454948e-01 1.58693958e-03 1.79197474e+02] [ 9.44443454e-01 -3.28640915e-01 -4.65960194e-03 1.24907939e+02] [ 4.92231738e-03 -3.25432974e-05 9.99987885e-01 1.01199166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.15028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.21, Y:124.88, Z:1.01 [[-3.31736044e-01 -9.43370914e-01 1.58649026e-03 1.79206807e+02] [ 9.43359406e-01 -3.31739834e-01 -4.65975492e-03 1.24882533e+02] [ 4.92217927e-03 -4.91781505e-05 9.99987885e-01 1.01245163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.180281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.21, Y:124.87, Z:1.01 [[-3.36945504e-01 -9.41522816e-01 1.58582458e-03 1.79213036e+02] [ 9.41511287e-01 -3.36949227e-01 -4.65998146e-03 1.24873287e+02] [ 4.92182123e-03 -7.70880640e-05 9.99987885e-01 1.01090921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.21028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.22, Y:124.86, Z:1.01 [[-3.38881634e-01 -9.40827677e-01 1.58756726e-03 1.79218512e+02] [ 9.40816143e-01 -3.38885341e-01 -4.65938768e-03 1.24863129e+02] [ 4.92168416e-03 -8.53719998e-05 9.99987885e-01 1.00931379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.240281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.21, Y:124.88, Z:1.01 [[-3.40073299e-01 -9.40397589e-01 1.58929875e-03 1.79213589e+02] [ 9.40386053e-01 -3.40077000e-01 -4.65879700e-03 1.24882223e+02] [ 4.92160542e-03 -8.97780826e-05 9.99987885e-01 1.00810470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.27028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.22, Y:124.88, Z:1.01 [[-3.38985804e-01 -9.40790143e-01 1.59103846e-03 1.79218475e+02] [ 9.40778614e-01 -3.38989528e-01 -4.65820279e-03 1.24878928e+02] [ 4.92173665e-03 -8.22496634e-05 9.99987885e-01 1.00762229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.300281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.22, Y:124.88, Z:1.01 [[-3.36077013e-01 -9.41833162e-01 1.59279043e-03 1.79222159e+02] [ 9.41821647e-01 -3.36080781e-01 -4.65760366e-03 1.24879696e+02] [ 4.92199183e-03 -6.51890155e-05 9.99987885e-01 1.01081171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.33028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.22, Y:124.88, Z:1.01 [[-3.34765069e-01 -9.42300274e-01 1.59454219e-03 1.79223028e+02] [ 9.42288768e-01 -3.34768861e-01 -4.65700386e-03 1.24880329e+02] [ 4.92209909e-03 -5.64830253e-05 9.99987885e-01 1.01208518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.360281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:179.22, Y:124.88, Z:1.01 [[-3.33459296e-01 -9.42763146e-01 1.59629629e-03 1.79223630e+02] [ 9.42751648e-01 -3.33463113e-01 -4.65640253e-03 1.24881445e+02] [ 4.92219063e-03 -4.78097523e-05 9.99987885e-01 1.01147415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.39028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.22, Y:124.89, Z:1.01 [[-3.31865926e-01 -9.43325211e-01 1.59805475e-03 1.79222285e+02] [ 9.43313722e-01 -3.31869771e-01 -4.65579895e-03 1.24889828e+02] [ 4.92227859e-03 -3.76340573e-05 9.99987885e-01 1.01047305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.420281693 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:179.22, Y:124.89, Z:1.01 [[-3.32061317e-01 -9.43256446e-01 1.59982169e-03 1.79224421e+02] [ 9.43244959e-01 -3.32065169e-01 -4.65519172e-03 1.24889827e+02] [ 4.92228466e-03 -3.67853497e-05 9.99987885e-01 1.00804832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.45028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.22, Y:124.89, Z:1.01 [[-3.32612390e-01 -9.43062263e-01 1.60159687e-03 1.79224543e+02] [ 9.43050778e-01 -3.32616244e-01 -4.65458090e-03 1.24890146e+02] [ 4.92227673e-03 -3.77841061e-05 9.99987885e-01 1.00661506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.22, Y:124.89, Z:1.01 [[-3.32711423e-01 -9.43027326e-01 1.60337446e-03 1.79224419e+02] [ 9.43015843e-01 -3.32715284e-01 -4.65396849e-03 1.24891316e+02] [ 4.92228665e-03 -3.64209595e-05 9.99987885e-01 1.00750076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.51028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.23, Y:124.88, Z:1.01 [[-3.31772751e-01 -9.43357973e-01 1.60515626e-03 1.79229030e+02] [ 9.43346497e-01 -3.31776632e-01 -4.65335386e-03 1.24877094e+02] [ 4.92233181e-03 -2.96374802e-05 9.99987885e-01 1.01069132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.23, Y:124.89, Z:1.01 [[-3.31588588e-01 -9.43422719e-01 1.60693192e-03 1.79225309e+02] [ 9.43411246e-01 -3.31592481e-01 -4.65274060e-03 1.24887175e+02] [ 4.92234772e-03 -2.67980427e-05 9.99987885e-01 1.01109314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.57028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.22, Y:124.89, Z:1.01 [[-3.32155616e-01 -9.43223229e-01 1.60870821e-03 1.79221932e+02] [ 9.43211756e-01 -3.32159510e-01 -4.65212635e-03 1.24894189e+02] [ 4.92234137e-03 -2.78773933e-05 9.99987885e-01 1.00989619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.23, Y:124.86, Z:1.01 [[-3.32684736e-01 -9.43036729e-01 1.61049913e-03 1.79232363e+02] [ 9.43025258e-01 -3.32688633e-01 -4.65150628e-03 1.24864139e+02] [ 4.92233602e-03 -2.87437844e-05 9.99987885e-01 1.01199504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.630281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.23, Y:124.87, Z:1.01 [[-3.34541982e-01 -9.42379471e-01 1.61094236e-03 1.79230541e+02] [ 9.42367993e-01 -3.34545859e-01 -4.65135277e-03 1.24873642e+02] [ 4.92227346e-03 -3.79722577e-05 9.99987885e-01 1.01402098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.23, Y:124.89, Z:1.01 [[-3.36100503e-01 -9.41824745e-01 1.61270847e-03 1.79226509e+02] [ 9.41813264e-01 -3.36104369e-01 -4.65074035e-03 1.24890362e+02] [ 4.92222071e-03 -4.42459466e-05 9.99987885e-01 1.01349590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.690281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.24, Y:124.86, Z:1.01 [[-3.37863888e-01 -9.41193597e-01 1.61449496e-03 1.79238801e+02] [ 9.41182111e-01 -3.37867741e-01 -4.65012009e-03 1.24859348e+02] [ 4.92214902e-03 -5.15738780e-05 9.99987885e-01 1.01193790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.25, Y:124.85, Z:1.01 [[-3.41512104e-01 -9.39875989e-01 1.61516011e-03 1.79246308e+02] [ 9.39864489e-01 -3.41515916e-01 -4.64988905e-03 1.24850320e+02] [ 4.92192195e-03 -6.99617669e-05 9.99987885e-01 1.00872402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.750281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.24, Y:124.87, Z:1.01 [[-3.43068466e-01 -9.39309008e-01 1.61691410e-03 1.79243776e+02] [ 9.39297505e-01 -3.43072268e-01 -4.64927905e-03 1.24865945e+02] [ 4.92182808e-03 -7.62576512e-05 9.99987885e-01 1.01020842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.26, Y:124.83, Z:1.01 [[-3.44793198e-01 -9.38677277e-01 1.61867362e-03 1.79261387e+02] [ 9.38665770e-01 -3.44796987e-01 -4.64866638e-03 1.24832369e+02] [ 4.92171129e-03 -8.34350266e-05 9.99987885e-01 1.01318378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.810281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.26, Y:124.85, Z:1.02 [[-3.45895567e-01 -9.38271621e-01 1.61910945e-03 1.79258274e+02] [ 9.38260110e-01 -3.45899345e-01 -4.64851458e-03 1.24852031e+02] [ 4.92161821e-03 -8.87547801e-05 9.99987885e-01 1.01528523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84028169299995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:179.27, Y:124.83, Z:1.02 [[-3.46740724e-01 -9.37959617e-01 1.62084924e-03 1.79268621e+02] [ 9.37948105e-01 -3.46744501e-01 -4.64790787e-03 1.24834051e+02] [ 4.92157044e-03 -9.13464677e-05 9.99987885e-01 1.01528198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.870281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:179.27, Y:124.85, Z:1.01 [[-3.48501892e-01 -9.37306673e-01 1.62259109e-03 1.79272410e+02] [ 9.37295157e-01 -3.48505655e-01 -4.64729971e-03 1.24845515e+02] [ 4.92142720e-03 -9.87459740e-05 9.99987885e-01 1.01303521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90028169299995 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:179.28, Y:124.84, Z:1.01 [[-3.49493836e-01 -9.36937255e-01 1.62432902e-03 1.79277671e+02] [ 9.36925738e-01 -3.49497595e-01 -4.64669218e-03 1.24841504e+02] [ 4.92135811e-03 -1.02114605e-04 9.99987885e-01 1.01204421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.930281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:179.27, Y:124.87, Z:1.01 [[-3.49523672e-01 -9.36926122e-01 1.62607239e-03 1.79274903e+02] [ 9.36914608e-01 -3.49527440e-01 -4.64608203e-03 1.24874700e+02] [ 4.92139254e-03 -1.00424677e-04 9.99987885e-01 1.00889436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96028169299996 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:179.29, Y:124.85, Z:1.01 [[-3.48368500e-01 -9.37356249e-01 1.62783564e-03 1.79287151e+02] [ 9.37344743e-01 -3.48372291e-01 -4.64546416e-03 1.24851629e+02] [ 4.92154769e-03 -9.24902055e-05 9.99987885e-01 1.00694283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.990281693 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:179.28, Y:124.87, Z:1.01 [[-3.46214722e-01 -9.38153884e-01 1.62960592e-03 1.79284774e+02] [ 9.38142389e-01 -3.46218549e-01 -4.64484307e-03 1.24867994e+02] [ 4.92177736e-03 -7.93106602e-05 9.99987885e-01 1.00657079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02028169299996 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:179.28, Y:124.90, Z:1.01 [[-3.39162025e-01 -9.40726559e-01 1.63137334e-03 1.79279553e+02] [ 9.40715096e-01 -3.39165946e-01 -4.64422223e-03 1.24898282e+02] [ 4.92224948e-03 -4.04862839e-05 9.99987885e-01 1.00987927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.050281693 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:179.28, Y:124.90, Z:1.01 [[-3.35434841e-01 -9.42061994e-01 1.63317384e-03 1.79283255e+02] [ 9.42050550e-01 -3.35438816e-01 -4.64358898e-03 1.24895019e+02] [ 4.92237860e-03 -1.90892150e-05 9.99987885e-01 1.01118819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08028169299996 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:179.29, Y:124.87, Z:1.01 [[-3.27868069e-01 -9.44722105e-01 1.63499494e-03 1.79293738e+02] [ 9.44710696e-01 -3.27872145e-01 -4.64294769e-03 1.24872899e+02] [ 4.92236462e-03 2.23229111e-05 9.99987885e-01 1.01020479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.110281693 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:179.29, Y:124.88, Z:1.01 [[-3.24160082e-01 -9.46000826e-01 1.63680040e-03 1.79292214e+02] [ 9.45989436e-01 -3.24164212e-01 -4.64231112e-03 1.24879322e+02] [ 4.92222226e-03 4.35439352e-05 9.99987885e-01 1.00809622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14028169299996 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:179.30, Y:124.87, Z:1.01 [[-3.20754851e-01 -9.47160832e-01 1.63859683e-03 1.79295798e+02] [ 9.47149460e-01 -3.20759030e-01 -4.64167694e-03 1.24869771e+02] [ 4.92200932e-03 6.31557109e-05 9.99987885e-01 1.00904355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.170281693 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:179.31, Y:124.83, Z:1.01 [[-3.14415642e-01 -9.49284000e-01 1.64039363e-03 1.79310609e+02] [ 9.49272660e-01 -3.14419906e-01 -4.64104186e-03 1.24825497e+02] [ 4.92143919e-03 9.79646640e-05 9.99987885e-01 1.01269028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20028169299997 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:179.31, Y:124.82, Z:1.01 [[-3.10770207e-01 -9.50483657e-01 1.64215640e-03 1.79312226e+02] [ 9.50472336e-01 -3.10774523e-01 -4.64041805e-03 1.24817184e+02] [ 4.92098189e-03 1.18720550e-04 9.99987885e-01 1.01426646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.23028169299994 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:179.32, Y:124.81, Z:1.01 [[-3.10228328e-01 -9.50660656e-01 1.64388753e-03 1.79315616e+02] [ 9.50649341e-01 -3.10232658e-01 -4.63980470e-03 1.24807576e+02] [ 4.92086738e-03 1.23361748e-04 9.99987885e-01 1.01353227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26028169299997 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:179.31, Y:124.82, Z:1.01 [[-3.10051791e-01 -9.50718244e-01 1.64561036e-03 1.79311623e+02] [ 9.50706933e-01 -3.10056133e-01 -4.63919359e-03 1.24818633e+02] [ 4.92079756e-03 1.26102897e-04 9.99987885e-01 1.01371738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.29028169299994 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:179.32, Y:124.80, Z:1.02 [[-3.09810507e-01 -9.50796895e-01 1.64733658e-03 1.79317256e+02] [ 9.50785589e-01 -3.09814860e-01 -4.63858054e-03 1.24801498e+02] [ 4.92071733e-03 1.29182892e-04 9.99987885e-01 1.01569815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32028169299997 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:179.32, Y:124.80, Z:1.02 [[-3.10166261e-01 -9.50680899e-01 1.64906201e-03 1.79316284e+02] [ 9.50669594e-01 -3.10170618e-01 -4.63796705e-03 1.24803869e+02] [ 4.92071727e-03 1.29172215e-04 9.99987885e-01 1.01658037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.35028169299994 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:179.32, Y:124.80, Z:1.02 [[-3.10519169e-01 -9.50565685e-01 1.65078055e-03 1.79317190e+02] [ 9.50554382e-01 -3.10523530e-01 -4.63735529e-03 1.24801544e+02] [ 4.92071701e-03 1.29168973e-04 9.99987885e-01 1.01656798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.380281693 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:179.31, Y:124.81, Z:1.02 [[-3.10265908e-01 -9.50648377e-01 1.65250191e-03 1.79313595e+02] [ 9.50637078e-01 -3.10270280e-01 -4.63674181e-03 1.24810154e+02] [ 4.92063331e-03 1.32306675e-04 9.99987885e-01 1.01547861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.41028169299994 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:179.31, Y:124.81, Z:1.02 [[-3.09503685e-01 -9.50896804e-01 1.65423028e-03 1.79313070e+02] [ 9.50885512e-01 -3.09508075e-01 -4.63612511e-03 1.24810440e+02] [ 4.92047418e-03 1.38085804e-04 9.99987885e-01 1.01547735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.440281693 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:179.32, Y:124.78, Z:1.02 [[-3.08039640e-01 -9.51372082e-01 1.65596771e-03 1.79322764e+02] [ 9.51360800e-01 -3.08044056e-01 -4.63550444e-03 1.24780576e+02] [ 4.92020052e-03 1.47503646e-04 9.99987885e-01 1.01543446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.47028169299995 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:179.32, Y:124.77, Z:1.02 [[-3.03555069e-01 -9.52812454e-01 1.65768894e-03 1.79320771e+02] [ 9.52801196e-01 -3.03559546e-01 -4.63488883e-03 1.24773967e+02] [ 4.91938710e-03 1.72504004e-04 9.99987885e-01 1.01526921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.500281693 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:179.32, Y:124.76, Z:1.02 [[-3.01810538e-01 -9.53366480e-01 1.65939073e-03 1.79322413e+02] [ 9.53355234e-01 -3.01815044e-01 -4.63427947e-03 1.24762328e+02] [ 4.91899580e-03 1.83314453e-04 9.99987885e-01 1.01592427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.53028169299995 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:179.32, Y:124.75, Z:1.02 [[-2.99639287e-01 -9.54051120e-01 1.66108501e-03 1.79322040e+02] [ 9.54039887e-01 -2.99643826e-01 -4.63367210e-03 1.24753020e+02] [ 4.91849393e-03 1.96311155e-04 9.99987885e-01 1.01523645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.560281693 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:179.32, Y:124.75, Z:1.01 [[-2.99713741e-01 -9.54027730e-01 1.66277025e-03 1.79322984e+02] [ 9.54016500e-01 -2.99718288e-01 -4.63306728e-03 1.24745757e+02] [ 4.91843732e-03 1.97716329e-04 9.99987885e-01 1.01386579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.59028169299995 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:179.32, Y:124.75, Z:1.01 [[-3.00373864e-01 -9.53820094e-01 1.66444891e-03 1.79320237e+02] [ 9.53808865e-01 -3.00378412e-01 -4.63246414e-03 1.24746742e+02] [ 4.91850190e-03 1.96094967e-04 9.99987885e-01 1.01309344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.620281693 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:179.31, Y:124.75, Z:1.01 [[-3.03563388e-01 -9.52809789e-01 1.66612734e-03 1.79312855e+02] [ 9.52798548e-01 -3.03567906e-01 -4.63186039e-03 1.24751718e+02] [ 4.91906471e-03 1.81420481e-04 9.99987885e-01 1.01411010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.65028169299995 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:179.31, Y:124.76, Z:1.02 [[-3.07008564e-01 -9.51705290e-01 1.66781378e-03 1.79306595e+02] [ 9.51694036e-01 -3.07013050e-01 -4.63125307e-03 1.24756629e+02] [ 4.91962864e-03 1.65414070e-04 9.99987885e-01 1.01678995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.680281693 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:179.31, Y:124.75, Z:1.02 [[-3.08466084e-01 -9.51233877e-01 1.66951126e-03 1.79305893e+02] [ 9.51222619e-01 -3.08470561e-01 -4.63064107e-03 1.24752843e+02] [ 4.91981773e-03 1.59681153e-04 9.99987885e-01 1.01824309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.71028169299996 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:179.30, Y:124.76, Z:1.02 [[-3.09846030e-01 -9.50785278e-01 1.67121312e-03 1.79300620e+02] [ 9.50774017e-01 -3.09850499e-01 -4.63002678e-03 1.24760901e+02] [ 4.91998752e-03 1.54350599e-04 9.99987885e-01 1.01922592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.740281693 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:179.29, Y:124.76, Z:1.02 [[-3.11870079e-01 -9.50123284e-01 1.67292156e-03 1.79293680e+02] [ 9.50112017e-01 -3.11874532e-01 -4.62940940e-03 1.24764699e+02] [ 4.92025129e-03 1.45688604e-04 9.99987885e-01 1.01729086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.77028169299996 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:179.29, Y:124.77, Z:1.01 [[-3.12706913e-01 -9.49848189e-01 1.67464246e-03 1.79287959e+02] [ 9.49836921e-01 -3.12711364e-01 -4.62878680e-03 1.24773682e+02] [ 4.92032449e-03 1.43183610e-04 9.99987885e-01 1.01489418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.800281693 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:179.29, Y:124.76, Z:1.01 [[-3.14057736e-01 -9.49402406e-01 1.67637600e-03 1.79288137e+02] [ 9.49391135e-01 -3.14062180e-01 -4.62815889e-03 1.24762778e+02] [ 4.92047149e-03 1.38027405e-04 9.99987885e-01 1.01493123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.83028169299996 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:179.29, Y:124.76, Z:1.02 [[-3.14629291e-01 -9.49213144e-01 1.67811240e-03 1.79288268e+02] [ 9.49201874e-01 -3.14633736e-01 -4.62752921e-03 1.24759298e+02] [ 4.92050233e-03 1.36911204e-04 9.99987885e-01 1.01535162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.860281693 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:179.29, Y:124.76, Z:1.02 [[-3.15562193e-01 -9.48903410e-01 1.67984294e-03 1.79288464e+02] [ 9.48892138e-01 -3.15566636e-01 -4.62690092e-03 1.24755730e+02] [ 4.92058444e-03 1.33914755e-04 9.99987885e-01 1.01604949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.89028169299996 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:179.29, Y:124.75, Z:1.02 [[-3.17731846e-01 -9.48179122e-01 1.68157267e-03 1.79289029e+02] [ 9.48167844e-01 -3.17736271e-01 -4.62627219e-03 1.24749284e+02] [ 4.92083133e-03 1.24499131e-04 9.99987885e-01 1.01602888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.920281693 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:179.28, Y:124.78, Z:1.01 [[-3.19445628e-01 -9.47603112e-01 1.68329909e-03 1.79276584e+02] [ 9.47591829e-01 -3.19450042e-01 -4.62564394e-03 1.24777221e+02] [ 4.92100455e-03 1.17438728e-04 9.99987885e-01 1.01468169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.95028169299997 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:179.28, Y:124.78, Z:1.01 [[-3.19855619e-01 -9.47464798e-01 1.68504335e-03 1.79275875e+02] [ 9.47453517e-01 -3.19860036e-01 -4.62500845e-03 1.24777032e+02] [ 4.92101072e-03 1.17165311e-04 9.99987885e-01 1.01490024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98028169299994 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:179.28, Y:124.76, Z:1.01 [[-3.19978610e-01 -9.47423265e-01 1.68681023e-03 1.79280413e+02] [ 9.47411987e-01 -3.19983035e-01 -4.62436395e-03 1.24760487e+02] [ 4.92098065e-03 1.18406677e-04 9.99987885e-01 1.01494588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.01028169299997 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:179.28, Y:124.75, Z:1.02 [[-3.19946839e-01 -9.47433992e-01 1.68856926e-03 1.79282084e+02] [ 9.47422717e-01 -3.19951272e-01 -4.62372156e-03 1.24749740e+02] [ 4.92093085e-03 1.20443779e-04 9.99987885e-01 1.01568352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04028169299994 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:179.28, Y:124.74, Z:1.02 [[-3.19011259e-01 -9.47749418e-01 1.69031337e-03 1.79277569e+02] [ 9.47738151e-01 -3.19015711e-01 -4.62308387e-03 1.24744649e+02] [ 4.92076157e-03 1.27158667e-04 9.99987885e-01 1.01663415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.07028169299997 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:179.26, Y:124.78, Z:1.02 [[-3.17245449e-01 -9.48341954e-01 1.69205155e-03 1.79261580e+02] [ 9.48330699e-01 -3.17249932e-01 -4.62244760e-03 1.24776225e+02] [ 4.92046423e-03 1.38173966e-04 9.99987885e-01 1.01671494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10028169299994 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:179.26, Y:124.77, Z:1.02 [[-3.17247848e-01 -9.48341148e-01 1.69381306e-03 1.79261220e+02] [ 9.48329896e-01 -3.17252339e-01 -4.62180204e-03 1.24773377e+02] [ 4.92041121e-03 1.40036811e-04 9.99987885e-01 1.01710491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.130281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:179.27, Y:124.76, Z:1.02 [[-3.18093971e-01 -9.48057673e-01 1.69559885e-03 1.79265310e+02] [ 9.48046420e-01 -3.18098460e-01 -4.62114680e-03 1.24757380e+02] [ 4.92048106e-03 1.37547483e-04 9.99987885e-01 1.01742753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16028169299994 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:179.26, Y:124.75, Z:1.02 [[-3.20546807e-01 -9.47231156e-01 1.69737515e-03 1.79262247e+02] [ 9.47219896e-01 -3.20551276e-01 -4.62049426e-03 1.24753611e+02] [ 4.92077189e-03 1.26702835e-04 9.99987885e-01 1.01809362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.190281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:179.27, Y:124.74, Z:1.02 [[-3.22233455e-01 -9.46658710e-01 1.69914234e-03 1.79265146e+02] [ 9.46647445e-01 -3.22237913e-01 -4.61984430e-03 1.24740334e+02] [ 4.92094393e-03 1.19820366e-04 9.99987885e-01 1.01642140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22028169299995 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:179.25, Y:124.77, Z:1.02 [[-3.26253273e-01 -9.45280866e-01 1.69914234e-03 1.79249385e+02] [ 9.45269582e-01 -3.26257682e-01 -4.61984430e-03 1.24772207e+02] [ 4.92140866e-03 9.89082500e-05 9.99987885e-01 1.01534217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.250281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:179.25, Y:124.76, Z:1.02 [[-3.27259573e-01 -9.44932950e-01 1.70091636e-03 1.79252054e+02] [ 9.44921664e-01 -3.27263979e-01 -4.61919106e-03 1.24757993e+02] [ 4.92147448e-03 9.55582241e-05 9.99987885e-01 1.01686405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28028169299995 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:179.25, Y:124.76, Z:1.02 [[-3.27695732e-01 -9.44781782e-01 1.70046871e-03 1.79249657e+02] [ 9.44770494e-01 -3.27700131e-01 -4.61935584e-03 1.24755640e+02] [ 4.92152706e-03 9.28094670e-05 9.99987885e-01 1.01976889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.310281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:179.24, Y:124.76, Z:1.02 [[-3.27967146e-01 -9.44687598e-01 1.70069028e-03 1.79241949e+02] [ 9.44676309e-01 -3.27971543e-01 -4.61927427e-03 1.24761532e+02] [ 4.92154913e-03 9.16316134e-05 9.99987885e-01 1.02443907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34028169299995 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:179.24, Y:124.76, Z:1.02 [[-3.27595020e-01 -9.44816704e-01 1.70247448e-03 1.79238256e+02] [ 9.44805420e-01 -3.27599430e-01 -4.61861659e-03 1.24763430e+02] [ 4.92147577e-03 9.54713286e-05 9.99987885e-01 1.02440928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.370281693 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:179.23, Y:124.76, Z:1.02 [[-3.27769438e-01 -9.44756211e-01 1.70202581e-03 1.79232505e+02] [ 9.44744925e-01 -3.27773844e-01 -4.61878193e-03 1.24757589e+02] [ 4.92150245e-03 9.40846889e-05 9.99987885e-01 1.02190213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40028169299995 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:179.23, Y:124.75, Z:1.02 [[-3.28634715e-01 -9.44455573e-01 1.70135098e-03 1.79230095e+02] [ 9.44444282e-01 -3.28639107e-01 -4.61903049e-03 1.24753172e+02] [ 4.92159955e-03 8.88574390e-05 9.99987885e-01 1.02076178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.430281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:179.22, Y:124.77, Z:1.02 [[-3.30340662e-01 -9.43860241e-01 1.70067937e-03 1.79221513e+02] [ 9.43848941e-01 -3.30345030e-01 -4.61927775e-03 1.24768893e+02] [ 4.92176359e-03 7.92491554e-05 9.99987885e-01 1.02029466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46028169299996 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:179.23, Y:124.75, Z:1.02 [[-3.35611337e-01 -9.41999013e-01 1.70023172e-03 1.79226618e+02] [ 9.41987687e-01 -3.35615640e-01 -4.61944252e-03 1.24746335e+02] [ 4.92213465e-03 5.12600648e-05 9.99987885e-01 1.01877200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.490281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:179.22, Y:124.75, Z:1.02 [[-3.38880290e-01 -9.40827967e-01 1.69845130e-03 1.79224277e+02] [ 9.40816624e-01 -3.38884545e-01 -4.62009704e-03 1.24749669e+02] [ 4.92229540e-03 3.22713881e-05 9.99987885e-01 1.01842379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52028169299996 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:179.23, Y:124.74, Z:1.01 [[-3.43763508e-01 -9.39054720e-01 1.69778495e-03 1.79226500e+02] [ 9.39043354e-01 -3.43767701e-01 -4.62034189e-03 1.24738650e+02] [ 4.92239750e-03 5.98873652e-06 9.99987885e-01 1.01467143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.550281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:179.22, Y:124.76, Z:1.01 [[-3.45230870e-01 -9.38516260e-01 1.69602742e-03 1.79217509e+02] [ 9.38504884e-01 -3.45235036e-01 -4.62098696e-03 1.24759786e+02] [ 4.92239948e-03 -3.57733350e-06 9.99987885e-01 1.01359055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58028169299996 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:179.23, Y:124.73, Z:1.01 [[-3.45987178e-01 -9.38237709e-01 1.69547652e-03 1.79227794e+02] [ 9.38226328e-01 -3.45991332e-01 -4.62118908e-03 1.24726529e+02] [ 4.92239403e-03 -8.13146069e-06 9.99987885e-01 1.01385046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.610281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:179.22, Y:124.73, Z:1.02 [[-3.47256120e-01 -9.37768798e-01 1.69372560e-03 1.79222804e+02] [ 9.37757409e-01 -3.47260250e-01 -4.62183072e-03 1.24728602e+02] [ 4.92237222e-03 -1.66552706e-05 9.99987885e-01 1.01621179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64028169299996 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:179.22, Y:124.74, Z:1.02 [[-3.48071591e-01 -9.37466429e-01 1.69199691e-03 1.79219119e+02] [ 9.37455033e-01 -3.48075703e-01 -4.62246349e-03 1.24738671e+02] [ 4.92234735e-03 -2.27772048e-05 9.99987885e-01 1.01718390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.670281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:179.22, Y:124.73, Z:1.02 [[-3.50940435e-01 -9.36396257e-01 1.69134250e-03 1.79224684e+02] [ 9.36384848e-01 -3.50944508e-01 -4.62270292e-03 1.24729104e+02] [ 4.92224908e-03 -3.85458837e-05 9.99987885e-01 1.01513911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70028169299997 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:179.22, Y:124.75, Z:1.01 [[-3.52463656e-01 -9.35823977e-01 1.68961122e-03 1.79218314e+02] [ 9.35812558e-01 -3.52467703e-01 -4.62333563e-03 1.24747023e+02] [ 4.92216172e-03 -4.83983840e-05 9.99987885e-01 1.01291537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.73028169299994 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:179.22, Y:124.74, Z:1.01 [[-3.54070969e-01 -9.35217032e-01 1.68895715e-03 1.79221913e+02] [ 9.35205604e-01 -3.54074993e-01 -4.62357455e-03 1.24736692e+02] [ 4.92206316e-03 -5.75513338e-05 9.99987885e-01 1.01049856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76028169299997 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:179.23, Y:124.73, Z:1.01 [[-3.57677603e-01 -9.33843609e-01 1.68722160e-03 1.79226572e+02] [ 9.33832163e-01 -3.57681573e-01 -4.62420780e-03 1.24733027e+02] [ 4.92177497e-03 -7.83937580e-05 9.99987885e-01 1.01047815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.79028169299994 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:179.23, Y:124.72, Z:1.01 [[-3.58790419e-01 -9.33416624e-01 1.68549900e-03 1.79233585e+02] [ 9.33405171e-01 -3.58794367e-01 -4.62483559e-03 1.24720390e+02] [ 4.92164597e-03 -8.60932165e-05 9.99987885e-01 1.01459023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82028169299997 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:179.23, Y:124.73, Z:1.02 [[-3.60195451e-01 -9.32875341e-01 1.68379054e-03 1.79232655e+02] [ 9.32863879e-01 -3.60199374e-01 -4.62545751e-03 1.24734066e+02] [ 4.92147556e-03 -9.53213788e-05 9.99987885e-01 1.01559679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.85028169299994 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:179.24, Y:124.73, Z:1.02 [[-3.60677700e-01 -9.32688996e-01 1.68314706e-03 1.79236633e+02] [ 9.32677531e-01 -3.60681614e-01 -4.62569166e-03 1.24729497e+02] [ 4.92141191e-03 -9.85503859e-05 9.99987885e-01 1.01605044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.880281693 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:179.24, Y:124.74, Z:1.02 [[-3.61317224e-01 -9.32441437e-01 1.68250344e-03 1.79240321e+02] [ 9.32429968e-01 -3.61321126e-01 -4.62592575e-03 1.24744227e+02] [ 4.92132889e-03 -1.02610019e-04 9.99987885e-01 1.01518703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.91028169299994 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:179.25, Y:124.73, Z:1.02 [[-3.60729223e-01 -9.32669069e-01 1.68399910e-03 1.79249154e+02] [ 9.32657605e-01 -3.60733140e-01 -4.62538121e-03 1.24733553e+02] [ 4.92142427e-03 -9.79156071e-05 9.99987885e-01 1.01639593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.940281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:179.25, Y:124.74, Z:1.02 [[-3.59633655e-01 -9.33092064e-01 1.68335438e-03 1.79252308e+02] [ 9.33080604e-01 -3.59637583e-01 -4.62561584e-03 1.24735242e+02] [ 4.92152293e-03 -9.28218096e-05 9.99987885e-01 1.01821218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.97028169299995 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:179.25, Y:124.75, Z:1.02 [[-3.55794748e-01 -9.34562606e-01 1.68335438e-03 1.79252689e+02] [ 9.34551161e-01 -3.55798723e-01 -4.62561584e-03 1.24745587e+02] [ 4.92186293e-03 -7.25890329e-05 9.99987885e-01 1.02066794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.000281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:179.25, Y:124.77, Z:1.02 [[-3.53155570e-01 -9.35563095e-01 1.68506340e-03 1.79246791e+02] [ 9.35551664e-01 -3.53159585e-01 -4.62499318e-03 1.24768040e+02] [ 4.92206922e-03 -5.68782361e-05 9.99987885e-01 1.02051934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.03028169299995 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:179.25, Y:124.78, Z:1.02 [[-3.46399268e-01 -9.38085658e-01 1.68679551e-03 1.79247284e+02] [ 9.38074260e-01 -3.46403374e-01 -4.62436137e-03 1.24778139e+02] [ 4.92235873e-03 -1.95359428e-05 9.99987885e-01 1.01811353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.060281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:179.25, Y:124.78, Z:1.02 [[-3.43289798e-01 -9.39228015e-01 1.68855050e-03 1.79248676e+02] [ 9.39216634e-01 -3.43293950e-01 -4.62372046e-03 1.24775461e+02] [ 4.92239696e-03 -1.36134138e-06 9.99987885e-01 1.01733666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.09028169299995 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:179.24, Y:124.80, Z:1.01 [[-3.37838466e-01 -9.41202589e-01 1.69031249e-03 1.79238932e+02] [ 9.41191235e-01 -3.37842694e-01 -4.62307623e-03 1.24802269e+02] [ 4.92231104e-03 2.90543195e-05 9.99987885e-01 1.01421522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.120281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:179.24, Y:124.81, Z:1.01 [[-3.36153131e-01 -9.41805824e-01 1.69209428e-03 1.79236887e+02] [ 9.41794481e-01 -3.36157387e-01 -4.62242398e-03 1.24809897e+02] [ 4.92223582e-03 3.97627620e-05 9.99987885e-01 1.01289765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.15028169299995 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:179.24, Y:124.80, Z:1.01 [[-3.33627065e-01 -9.42703619e-01 1.69390306e-03 1.79239909e+02] [ 9.42692291e-01 -3.33631361e-01 -4.62176106e-03 1.24804086e+02] [ 4.92209005e-03 5.48847817e-05 9.99987885e-01 1.01163933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.180281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:179.25, Y:124.78, Z:1.01 [[-3.32589284e-01 -9.43070248e-01 1.69571621e-03 1.79245250e+02] [ 9.43058928e-01 -3.32593601e-01 -4.62109572e-03 1.24784934e+02] [ 4.92200225e-03 6.22333908e-05 9.99987885e-01 1.01343627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.21028169299996 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:179.24, Y:124.79, Z:1.01 [[-3.32204884e-01 -9.43205726e-01 1.69503929e-03 1.79240226e+02] [ 9.43194407e-01 -3.32209202e-01 -4.62134400e-03 1.24793137e+02] [ 4.92198578e-03 6.35185290e-05 9.99987885e-01 1.01459729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.240281693 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:179.24, Y:124.78, Z:1.02 [[-3.30680087e-01 -9.43741385e-01 1.69682760e-03 1.79242288e+02] [ 9.43730076e-01 -3.30684432e-01 -4.62068729e-03 1.24781406e+02] [ 4.92184829e-03 7.33779613e-05 9.99987885e-01 1.01512065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.27028169299996 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:179.24, Y:124.78, Z:1.02 [[-3.30997556e-01 -9.43630087e-01 1.69638031e-03 1.79242950e+02] [ 9.43618775e-01 -3.31001895e-01 -4.62085150e-03 1.24779850e+02] [ 4.92187960e-03 7.12457606e-05 9.99987885e-01 1.01511233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.300281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:179.24, Y:124.79, Z:1.01 [[-3.30420674e-01 -9.43832239e-01 1.69793466e-03 1.79238840e+02] [ 9.43820933e-01 -3.30425027e-01 -4.62028028e-03 1.24789363e+02] [ 4.92180959e-03 7.59101504e-05 9.99987885e-01 1.01341323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.33028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:179.24, Y:124.77, Z:1.01 [[-3.28848152e-01 -9.44381281e-01 1.69972134e-03 1.79243863e+02] [ 9.44369986e-01 -3.28852533e-01 -4.61962290e-03 1.24768076e+02] [ 4.92164306e-03 8.60113688e-05 9.99987885e-01 1.01124581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.360281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:179.24, Y:124.77, Z:1.01 [[-3.28824914e-01 -9.44389374e-01 1.69905014e-03 1.79239987e+02] [ 9.44378078e-01 -3.28829292e-01 -4.61986975e-03 1.24774758e+02] [ 4.92165335e-03 8.54174336e-05 9.99987885e-01 1.01007044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.39028169299996 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:179.24, Y:124.78, Z:1.01 [[-3.28618752e-01 -9.44461129e-01 1.70082032e-03 1.79238863e+02] [ 9.44449837e-01 -3.28623141e-01 -4.61921796e-03 1.24775420e+02] [ 4.92160072e-03 8.83778389e-05 9.99987885e-01 1.01080612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.420281693 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:179.23, Y:124.78, Z:1.01 [[-3.30167213e-01 -9.43920929e-01 1.70059911e-03 1.79234574e+02] [ 9.43909629e-01 -3.30171583e-01 -4.61929939e-03 1.24780597e+02] [ 4.92174288e-03 8.00706717e-05 9.99987885e-01 1.01255116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.45028169299997 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:179.23, Y:124.79, Z:1.01 [[-3.31122559e-01 -9.43586222e-01 1.70071017e-03 1.79229787e+02] [ 9.43574919e-01 -3.31126918e-01 -4.61925850e-03 1.24788680e+02] [ 4.92181960e-03 7.52067701e-05 9.99987885e-01 1.01352655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48028169299994 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:179.23, Y:124.79, Z:1.02 [[-3.32769348e-01 -9.43006717e-01 1.70071017e-03 1.79225463e+02] [ 9.42995406e-01 -3.32773687e-01 -4.61925850e-03 1.24788394e+02] [ 4.92194339e-03 6.66142400e-05 9.99987885e-01 1.01878313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.51028169299997 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:179.23, Y:124.78, Z:1.02 [[-3.33747919e-01 -9.42660828e-01 1.70003226e-03 1.79226569e+02] [ 9.42649511e-01 -3.33752243e-01 -4.61950798e-03 1.24780779e+02] [ 4.92201880e-03 6.07834013e-05 9.99987885e-01 1.01978353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54028169299994 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:179.22, Y:124.78, Z:1.02 [[-3.36663535e-01 -9.41623479e-01 1.69935722e-03 1.79222798e+02] [ 9.41612147e-01 -3.36667821e-01 -4.61975630e-03 1.24783672e+02] [ 4.92218989e-03 4.48319085e-05 9.99987885e-01 1.01869278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.57028169299997 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:179.23, Y:124.77, Z:1.02 [[-3.38657623e-01 -9.40908141e-01 1.69868426e-03 1.79225093e+02] [ 9.40896799e-01 -3.38661881e-01 -4.62000373e-03 1.24774889e+02] [ 4.92227873e-03 3.36870992e-05 9.99987885e-01 1.01790064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60028169299994 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:179.23, Y:124.76, Z:1.02 [[-3.40706627e-01 -9.40168129e-01 1.69801375e-03 1.79228989e+02] [ 9.40156777e-01 -3.40710857e-01 -4.62025015e-03 1.24762070e+02] [ 4.92234366e-03 2.22492916e-05 9.99987885e-01 1.01859996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.630281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:179.23, Y:124.76, Z:1.02 [[-3.45598812e-01 -9.38380831e-01 1.69625422e-03 1.79226769e+02] [ 9.38369454e-01 -3.45602975e-01 -4.62089605e-03 1.24760951e+02] [ 4.92239078e-03 -5.26303420e-06 9.99987885e-01 1.02107207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66028169299994 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:179.23, Y:124.75, Z:1.02 [[-3.47296265e-01 -9.37753928e-01 1.69559492e-03 1.79229976e+02] [ 9.37742542e-01 -3.47300404e-01 -4.62113796e-03 1.24748229e+02] [ 4.92237107e-03 -1.48724594e-05 9.99987885e-01 1.02031884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.690281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:179.22, Y:124.76, Z:1.02 [[-3.50309750e-01 -9.36632377e-01 1.69385858e-03 1.79224101e+02] [ 9.36620975e-01 -3.50313844e-01 -4.62177432e-03 1.24761126e+02] [ 4.92228558e-03 -3.25491299e-05 9.99987885e-01 1.01679391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72028169299995 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:179.22, Y:124.76, Z:1.02 [[-3.51113970e-01 -9.36331198e-01 1.69320402e-03 1.79223628e+02] [ 9.36319791e-01 -3.51118051e-01 -4.62201411e-03 1.24761495e+02] [ 4.92225050e-03 -3.74732920e-05 9.99987885e-01 1.01746704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.750281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:179.23, Y:124.74, Z:1.02 [[-3.51450876e-01 -9.36204794e-01 1.69254741e-03 1.79229525e+02] [ 9.36193385e-01 -3.51454949e-01 -4.62225454e-03 1.24741702e+02] [ 4.92223102e-03 -3.99437205e-05 9.99987885e-01 1.01879856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:179.23, Y:124.74, Z:1.02 [[-3.50724435e-01 -9.36477182e-01 1.69082303e-03 1.79230359e+02] [ 9.36465772e-01 -3.50728509e-01 -4.62288523e-03 1.24737769e+02] [ 4.92224637e-03 -3.79609232e-05 9.99987885e-01 1.01817573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.810281693 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:179.22, Y:124.75, Z:1.02 [[-3.49688971e-01 -9.36864329e-01 1.68911665e-03 1.79224148e+02] [ 9.36852921e-01 -3.49693049e-01 -4.62350863e-03 1.24753303e+02] [ 4.92227266e-03 -3.43361114e-05 9.99987885e-01 1.01689389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84028169299995 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:179.22, Y:124.76, Z:1.02 [[-3.46490584e-01 -9.38051931e-01 1.68847104e-03 1.79219160e+02] [ 9.38040535e-01 -3.46494698e-01 -4.62374439e-03 1.24761696e+02] [ 4.92235861e-03 -1.82296104e-05 9.99987885e-01 1.01510213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.870281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:179.21, Y:124.79, Z:1.02 [[-3.44521552e-01 -9.38776891e-01 1.68782043e-03 1.79208122e+02] [ 9.38765503e-01 -3.44525686e-01 -4.62398187e-03 1.24785881e+02] [ 4.92238482e-03 -8.59381111e-06 9.99987885e-01 1.01535124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90028169299995 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:179.20, Y:124.79, Z:1.02 [[-3.39834479e-01 -9.40483748e-01 1.68738340e-03 1.79201302e+02] [ 9.40472380e-01 -3.39838668e-01 -4.62414135e-03 1.24792059e+02] [ 4.92236791e-03 1.54948133e-05 9.99987885e-01 1.01641277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.930281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:179.20, Y:124.79, Z:1.02 [[-3.37480260e-01 -9.41331096e-01 1.68561918e-03 1.79200155e+02] [ 9.41319736e-01 -3.37484469e-01 -4.62478436e-03 1.24789600e+02] [ 4.92232362e-03 2.59331763e-05 9.99987885e-01 1.01561166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96028169299996 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:179.19, Y:124.80, Z:1.01 [[-3.35732017e-01 -9.41956038e-01 1.68385414e-03 1.79193171e+02] [ 9.41944682e-01 -3.35736238e-01 -4.62542691e-03 1.24804317e+02] [ 4.92227966e-03 3.31935401e-05 9.99987885e-01 1.01497109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.990281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:179.19, Y:124.80, Z:1.02 [[-3.33443740e-01 -9.42768497e-01 1.68318606e-03 1.79191530e+02] [ 9.42757150e-01 -3.33447985e-01 -4.62567001e-03 1.24801271e+02] [ 4.92219096e-03 4.44349883e-05 9.99987885e-01 1.01509495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02028169299996 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:179.19, Y:124.81, Z:1.02 [[-3.32728082e-01 -9.43021313e-01 1.68140918e-03 1.79188200e+02] [ 9.43009966e-01 -3.32732327e-01 -4.62631581e-03 1.24805643e+02] [ 4.92217360e-03 4.62804311e-05 9.99987885e-01 1.01572986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.050281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:179.18, Y:124.81, Z:1.02 [[-3.32479631e-01 -9.43108941e-01 1.67963325e-03 1.79183083e+02] [ 9.43097591e-01 -3.32483871e-01 -4.62696049e-03 1.24811164e+02] [ 4.92217877e-03 4.56879566e-05 9.99987885e-01 1.01525103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08028169299996 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:179.18, Y:124.81, Z:1.02 [[-3.32522775e-01 -9.43093733e-01 1.67785261e-03 1.79181237e+02] [ 9.43082380e-01 -3.32527005e-01 -4.62760610e-03 1.24813073e+02] [ 4.92219762e-03 4.35688123e-05 9.99987885e-01 1.01624315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.110281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:179.19, Y:124.79, Z:1.02 [[-3.34456839e-01 -9.42409578e-01 1.67606905e-03 1.79188433e+02] [ 9.42398214e-01 -3.34461037e-01 -4.62825200e-03 1.24786167e+02] [ 4.92228881e-03 3.15739413e-05 9.99987885e-01 1.01850179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14028169299996 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:179.18, Y:124.82, Z:1.02 [[-3.36252800e-01 -9.41770275e-01 1.67430472e-03 1.79175300e+02] [ 9.41758900e-01 -3.36256968e-01 -4.62889017e-03 1.24821195e+02] [ 4.92234780e-03 2.03140845e-05 9.99987885e-01 1.01943273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.170281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:179.19, Y:124.79, Z:1.02 [[-3.41356927e-01 -9.39932257e-01 1.67363785e-03 1.79188754e+02] [ 9.39920858e-01 -3.41361030e-01 -4.62913127e-03 1.24788319e+02] [ 4.92238455e-03 -7.09890435e-06 9.99987885e-01 1.01911824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20028169299997 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:179.20, Y:124.78, Z:1.02 [[-3.43694242e-01 -9.39080121e-01 1.67187260e-03 1.79195328e+02] [ 9.39068708e-01 -3.43698307e-01 -4.62976873e-03 1.24776298e+02] [ 4.92234356e-03 -2.12216146e-05 9.99987885e-01 1.01858836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.23028169299994 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:179.19, Y:124.79, Z:1.02 [[-3.48043306e-01 -9.37476969e-01 1.67014094e-03 1.79194265e+02] [ 9.37465535e-01 -3.48047310e-01 -4.63039333e-03 1.24793988e+02] [ 4.92217516e-03 -4.58778344e-05 9.99987885e-01 1.01766035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26028169299997 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:179.20, Y:124.78, Z:1.02 [[-3.48962340e-01 -9.37135261e-01 1.66948751e-03 1.79201775e+02] [ 9.37123822e-01 -3.48966330e-01 -4.63062891e-03 1.24779908e+02] [ 4.92212056e-03 -5.13985867e-05 9.99987885e-01 1.01612294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.29028169299994 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:179.20, Y:124.79, Z:1.01 [[-3.49120106e-01 -9.37076502e-01 1.66775861e-03 1.79200713e+02] [ 9.37065059e-01 -3.49124085e-01 -4.63125150e-03 1.24789961e+02] [ 4.92209165e-03 -5.40646884e-05 9.99987885e-01 1.01413515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32028169299997 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:179.21, Y:124.79, Z:1.01 [[-3.46092335e-01 -9.38198975e-01 1.66710857e-03 1.79205500e+02] [ 9.38187544e-01 -3.46096348e-01 -4.63148548e-03 1.24788339e+02] [ 4.92223512e-03 -3.88611373e-05 9.99987885e-01 1.01393120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.35028169299994 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:179.20, Y:124.82, Z:1.01 [[-3.41742147e-01 -9.39792281e-01 1.66538550e-03 1.79197680e+02] [ 9.39780866e-01 -3.41746204e-01 -4.63210498e-03 1.24820247e+02] [ 4.92235568e-03 -1.78880754e-05 9.99987885e-01 1.01486360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.380281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:179.20, Y:124.81, Z:1.01 [[-3.39385245e-01 -9.40645989e-01 1.66712849e-03 1.79202075e+02] [ 9.40634587e-01 -3.39389340e-01 -4.63147758e-03 1.24811838e+02] [ 4.92238645e-03 -3.69643854e-06 9.99987885e-01 1.01476598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.41028169299994 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:179.20, Y:124.83, Z:1.01 [[-3.37377440e-01 -9.41367988e-01 1.66537252e-03 1.79199080e+02] [ 9.41356592e-01 -3.37381551e-01 -4.63210890e-03 1.24825477e+02] [ 4.92238500e-03 4.94035031e-06 9.99987885e-01 1.01477995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.440281693 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:179.20, Y:124.84, Z:1.02 [[-3.35739706e-01 -9.41953332e-01 1.66471005e-03 1.79196714e+02] [ 9.41941941e-01 -3.35743833e-01 -4.63234697e-03 1.24837179e+02] [ 4.92237079e-03 1.27974021e-05 9.99987885e-01 1.01592474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.47028169299995 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:179.20, Y:124.84, Z:1.02 [[-3.34217151e-01 -9.42494630e-01 1.66404231e-03 1.79197594e+02] [ 9.42483245e-01 -3.34221293e-01 -4.63258683e-03 1.24842645e+02] [ 4.92234658e-03 2.00420249e-05 9.99987885e-01 1.01764522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.500281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:179.20, Y:124.85, Z:1.02 [[-3.33514484e-01 -9.42743508e-01 1.66337197e-03 1.79197561e+02] [ 9.42732125e-01 -3.33518631e-01 -4.63282750e-03 1.24846265e+02] [ 4.92233360e-03 2.29991176e-05 9.99987885e-01 1.02083612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.53028169299995 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:179.20, Y:124.85, Z:1.02 [[-3.33420402e-01 -9.42776788e-01 1.66270046e-03 1.79196723e+02] [ 9.42765404e-01 -3.33424547e-01 -4.63306849e-03 1.24849047e+02] [ 4.92233458e-03 2.27769172e-05 9.99987885e-01 1.02080192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.560281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:179.19, Y:124.86, Z:1.02 [[-3.33489803e-01 -9.42752242e-01 1.66202855e-03 1.79194235e+02] [ 9.42740856e-01 -3.33493943e-01 -4.63330952e-03 1.24857602e+02] [ 4.92233939e-03 2.17007417e-05 9.99987885e-01 1.01870105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.59028169299995 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:179.19, Y:124.87, Z:1.02 [[-3.34684706e-01 -9.42328704e-01 1.66158144e-03 1.79192380e+02] [ 9.42317313e-01 -3.34688830e-01 -4.63346985e-03 1.24869826e+02] [ 4.92236439e-03 1.49854678e-05 9.99987885e-01 1.01628934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.620281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:179.20, Y:124.86, Z:1.02 [[-3.35325314e-01 -9.42100936e-01 1.66135750e-03 1.79197807e+02] [ 9.42089542e-01 -3.35329429e-01 -4.63355014e-03 1.24858867e+02] [ 4.92237399e-03 1.14008713e-05 9.99987885e-01 1.01647171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.65028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:179.20, Y:124.86, Z:1.02 [[-3.36250846e-01 -9.41770997e-01 1.66068002e-03 1.79200385e+02] [ 9.41759597e-01 -3.36254946e-01 -4.63379294e-03 1.24857330e+02] [ 4.92238367e-03 5.84455468e-06 9.99987885e-01 1.01913097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.680281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:179.20, Y:124.86, Z:1.02 [[-3.35594732e-01 -9.42005000e-01 1.66000714e-03 1.79198768e+02] [ 9.41993602e-01 -3.35598838e-01 -4.63403398e-03 1.24862572e+02] [ 4.92237965e-03 8.55870983e-06 9.99987885e-01 1.02107792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.71028169299996 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:179.20, Y:124.86, Z:1.02 [[-3.34425576e-01 -9.42420702e-01 1.65956078e-03 1.79200638e+02] [ 9.42409308e-01 -3.34429693e-01 -4.63419383e-03 1.24857277e+02] [ 4.92236661e-03 1.41925918e-05 9.99987885e-01 1.02183105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.740281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:179.20, Y:124.86, Z:1.02 [[-3.32934796e-01 -9.42948392e-01 1.65888946e-03 1.79199669e+02] [ 9.42937003e-01 -3.32938928e-01 -4.63443413e-03 1.24858283e+02] [ 4.92234109e-03 2.12638735e-05 9.99987885e-01 1.02018769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.77028169299996 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:179.19, Y:124.87, Z:1.02 [[-3.29231733e-01 -9.44247699e-01 1.65822019e-03 1.79194801e+02] [ 9.44236325e-01 -3.29235906e-01 -4.63467358e-03 1.24868460e+02] [ 4.92222549e-03 3.98701293e-05 9.99987885e-01 1.01590447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.800281693 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:179.19, Y:124.88, Z:1.02 [[-3.26029530e-01 -9.45358131e-01 1.65799840e-03 1.79189643e+02] [ 9.45346772e-01 -3.26033741e-01 -4.63475293e-03 1.24879275e+02] [ 4.92206479e-03 5.63171139e-05 9.99987885e-01 1.01839271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.83028169299996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:179.19, Y:124.88, Z:1.02 [[-3.24639431e-01 -9.45836398e-01 1.65777484e-03 1.79187329e+02] [ 9.45825044e-01 -3.24643658e-01 -4.63483289e-03 1.24882882e+02] [ 4.92197973e-03 6.33154478e-05 9.99987885e-01 1.02030352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.860281693 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:179.19, Y:124.89, Z:1.02 [[-3.23815456e-01 -9.46118811e-01 1.65709503e-03 1.79185140e+02] [ 9.46107459e-01 -3.23819690e-01 -4.63507593e-03 1.24885330e+02] [ 4.92193252e-03 6.68807372e-05 9.99987885e-01 1.02231137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.89028169299996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.18, Y:124.89, Z:1.02 [[-3.23187415e-01 -9.46333530e-01 1.65641440e-03 1.79179098e+02] [ 9.46322181e-01 -3.23191653e-01 -4.63531915e-03 1.24894996e+02] [ 4.92189724e-03 6.94248771e-05 9.99987885e-01 1.02103160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.920281693 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:179.18, Y:124.88, Z:1.02 [[-3.22957265e-01 -9.46412100e-01 1.65596100e-03 1.79182968e+02] [ 9.46400750e-01 -3.22961503e-01 -4.63548112e-03 1.24878688e+02] [ 4.92188707e-03 7.01404255e-05 9.99987885e-01 1.01851977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.95028169299997 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:179.17, Y:124.90, Z:1.01 [[-3.24015322e-01 -9.46050387e-01 1.65415720e-03 1.79174785e+02] [ 9.46039030e-01 -3.24019538e-01 -4.63612471e-03 1.24896158e+02] [ 4.92198683e-03 6.27218319e-05 9.99987885e-01 1.01470743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98028169299994 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:179.17, Y:124.91, Z:1.02 [[-3.25187185e-01 -9.45648222e-01 1.65370566e-03 1.79170852e+02] [ 9.45636858e-01 -3.25191385e-01 -4.63628577e-03 1.24906001e+02] [ 4.92206623e-03 5.61443052e-05 9.99987885e-01 1.01510063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.01028169299997 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:179.18, Y:124.88, Z:1.02 [[-3.26657222e-01 -9.45141432e-01 1.65301844e-03 1.79178891e+02] [ 9.45130061e-01 -3.26661401e-01 -4.63653078e-03 1.24882773e+02] [ 4.92215466e-03 4.77611503e-05 9.99987885e-01 1.01604295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04028169299994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:179.18, Y:124.89, Z:1.02 [[-3.30115701e-01 -9.43939033e-01 1.65121087e-03 1.79178913e+02] [ 9.43927643e-01 -3.30119829e-01 -4.63717442e-03 1.24886943e+02] [ 4.92230739e-03 2.78195027e-05 9.99987885e-01 1.01833909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.07028169299997 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:179.18, Y:124.88, Z:1.02 [[-3.31091700e-01 -9.43597140e-01 1.65053499e-03 1.79183726e+02] [ 9.43585744e-01 -3.31095813e-01 -4.63741497e-03 1.24876556e+02] [ 4.92233673e-03 2.20116869e-05 9.99987885e-01 1.01920277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10028169299994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:179.18, Y:124.89, Z:1.02 [[-3.31608472e-01 -9.43415658e-01 1.64875273e-03 1.79181931e+02] [ 9.43404257e-01 -3.31612570e-01 -4.63804854e-03 1.24886802e+02] [ 4.92235474e-03 1.74241584e-05 9.99987885e-01 1.02080803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.130281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:179.18, Y:124.89, Z:1.02 [[-3.30877722e-01 -9.43672198e-01 1.64830732e-03 1.79182469e+02] [ 9.43660799e-01 -3.30881827e-01 -4.63820683e-03 1.24888433e+02] [ 4.92234177e-03 2.07636897e-05 9.99987885e-01 1.02043620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16028169299994 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:179.18, Y:124.89, Z:1.02 [[-3.30740848e-01 -9.43720179e-01 1.64763417e-03 1.79181661e+02] [ 9.43708780e-01 -3.30744951e-01 -4.63844594e-03 1.24890813e+02] [ 4.92234172e-03 2.07632885e-05 9.99987885e-01 1.02044854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.190281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:179.18, Y:124.90, Z:1.02 [[-3.29233473e-01 -9.44247112e-01 1.64696136e-03 1.79179675e+02] [ 9.44235718e-01 -3.29237591e-01 -4.63868482e-03 1.24901460e+02] [ 4.92230633e-03 2.79094335e-05 9.99987885e-01 1.02041401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.18, Y:124.92, Z:1.02 [[-3.24828865e-01 -9.45771377e-01 1.64651342e-03 1.79178544e+02] [ 9.45760002e-01 -3.24833034e-01 -4.63884381e-03 1.24915438e+02] [ 4.92212765e-03 5.03761655e-05 9.99987885e-01 1.02152914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.250281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:179.18, Y:124.91, Z:1.02 [[-3.17655222e-01 -9.48204857e-01 1.64628855e-03 1.79179526e+02] [ 9.48193513e-01 -3.17659476e-01 -4.63892362e-03 1.24914802e+02] [ 4.92160906e-03 8.74218121e-05 9.99987885e-01 1.02021637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28028169299995 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:179.18, Y:124.92, Z:1.02 [[-3.13338671e-01 -9.49640021e-01 1.64560558e-03 1.79177727e+02] [ 9.49628695e-01 -3.13342974e-01 -4.63916588e-03 1.24917674e+02] [ 4.92117653e-03 1.09084213e-04 9.99987885e-01 1.01768801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.310281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:179.18, Y:124.90, Z:1.01 [[-3.08922407e-01 -9.51085822e-01 1.64492270e-03 1.79183457e+02] [ 9.51074515e-01 -3.08926758e-01 -4.63940800e-03 1.24897585e+02] [ 4.92063581e-03 1.31226974e-04 9.99987885e-01 1.01383224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.19, Y:124.88, Z:1.01 [[-3.01366363e-01 -9.53507009e-01 1.64312920e-03 1.79186109e+02] [ 9.53495734e-01 -3.01370795e-01 -4.64004311e-03 1.24883345e+02] [ 4.91950478e-03 1.68363764e-04 9.99987885e-01 1.01273561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.370281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:179.19, Y:124.87, Z:1.02 [[-2.98233090e-01 -9.54491661e-01 1.64136155e-03 1.79188009e+02] [ 9.54480397e-01 -2.98237550e-01 -4.64066831e-03 1.24873536e+02] [ 4.91899485e-03 1.82646579e-04 9.99987885e-01 1.01537266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40028169299995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.19, Y:124.87, Z:1.02 [[-2.94391467e-01 -9.55683512e-01 1.63961218e-03 1.79188627e+02] [ 9.55672263e-01 -2.94395965e-01 -4.64128631e-03 1.24865203e+02] [ 4.91829601e-03 2.00576799e-04 9.99987885e-01 1.02261806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.430281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.19, Y:124.86, Z:1.02 [[-2.93150203e-01 -9.56064996e-01 1.63787705e-03 1.79190781e+02] [ 9.56053749e-01 -2.93154706e-01 -4.64189854e-03 1.24856470e+02] [ 4.91810807e-03 2.05124998e-04 9.99987885e-01 1.02374038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.19, Y:124.86, Z:1.02 [[-2.92893712e-01 -9.56143607e-01 1.63615511e-03 1.79187821e+02] [ 9.56132358e-01 -2.92898211e-01 -4.64250540e-03 1.24857881e+02] [ 4.91812876e-03 2.04620203e-04 9.99987885e-01 1.02261251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.490281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.18, Y:124.88, Z:1.02 [[-2.93689149e-01 -9.55899581e-01 1.63550836e-03 1.79179909e+02] [ 9.55888327e-01 -2.93693635e-01 -4.64273324e-03 1.24876439e+02] [ 4.91832515e-03 1.99842978e-04 9.99987885e-01 1.02219684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52028169299996 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:179.17, Y:124.89, Z:1.02 [[-2.94729592e-01 -9.55579298e-01 1.63507604e-03 1.79174991e+02] [ 9.55568038e-01 -2.94734063e-01 -4.64288549e-03 1.24888513e+02] [ 4.91855786e-03 1.94030656e-04 9.99987885e-01 1.02262450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.550281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:179.18, Y:124.88, Z:1.02 [[-2.96797039e-01 -9.54939185e-01 1.63441802e-03 1.79176827e+02] [ 9.54927914e-01 -2.96801483e-01 -4.64311711e-03 1.24879194e+02] [ 4.91899216e-03 1.82687974e-04 9.99987885e-01 1.02227672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.17, Y:124.89, Z:1.02 [[-2.97274930e-01 -9.54790527e-01 1.63267457e-03 1.79171639e+02] [ 9.54779251e-01 -2.97279360e-01 -4.64373009e-03 1.24891195e+02] [ 4.91914995e-03 1.78379271e-04 9.99987885e-01 1.02039754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.610281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:179.17, Y:124.90, Z:1.02 [[-2.97881383e-01 -9.54601497e-01 1.63201690e-03 1.79167676e+02] [ 9.54590217e-01 -2.97885802e-01 -4.64396121e-03 1.24898298e+02] [ 4.91928699e-03 1.74557779e-04 9.99987885e-01 1.01891697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64028169299996 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:179.16, Y:124.90, Z:1.02 [[-2.97962923e-01 -9.54576050e-01 1.63135587e-03 1.79164306e+02] [ 9.54564768e-01 -2.97967339e-01 -4.64419341e-03 1.24904907e+02] [ 4.91932657e-03 1.73437397e-04 9.99987885e-01 1.01939030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.670281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:179.16, Y:124.92, Z:1.02 [[-2.99283728e-01 -9.54162772e-01 1.62959625e-03 1.79158531e+02] [ 9.54151481e-01 -2.99288119e-01 -4.64481076e-03 1.24916608e+02] [ 4.91962430e-03 1.64765401e-04 9.99987885e-01 1.01856772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70028169299997 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:179.15, Y:124.94, Z:1.02 [[-2.99901553e-01 -9.53968765e-01 1.62892869e-03 1.79151271e+02] [ 9.53957470e-01 -2.99905934e-01 -4.64504486e-03 1.24935242e+02] [ 4.91975309e-03 1.60872524e-04 9.99987885e-01 1.01752408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.73028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.15, Y:124.95, Z:1.02 [[-3.00201929e-01 -9.53874285e-01 1.62825379e-03 1.79147901e+02] [ 9.53862987e-01 -3.00206302e-01 -4.64528142e-03 1.24945482e+02] [ 4.91982654e-03 1.58608584e-04 9.99987885e-01 1.01647978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.15, Y:124.93, Z:1.02 [[-3.00317009e-01 -9.53838060e-01 1.62757256e-03 1.79152622e+02] [ 9.53826761e-01 -3.00321378e-01 -4.64552009e-03 1.24930388e+02] [ 4.91986871e-03 1.57293563e-04 9.99987885e-01 1.01729767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.79028169299994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:179.16, Y:124.91, Z:1.02 [[-2.99843345e-01 -9.53987068e-01 1.62577488e-03 1.79156790e+02] [ 9.53975767e-01 -2.99847711e-01 -4.64614914e-03 1.24914379e+02] [ 4.91985107e-03 1.57832938e-04 9.99987885e-01 1.01836096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.15, Y:124.93, Z:1.02 [[-2.98526301e-01 -9.54400026e-01 1.62400109e-03 1.79149262e+02] [ 9.54388728e-01 -2.98530674e-01 -4.64676906e-03 1.24926311e+02] [ 4.91969065e-03 1.62745563e-04 9.99987885e-01 1.01900880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.85028169299994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:179.15, Y:124.91, Z:1.02 [[-2.97528538e-01 -9.54711547e-01 1.62223234e-03 1.79154293e+02] [ 9.54700250e-01 -2.97532914e-01 -4.64738646e-03 1.24906603e+02] [ 4.91958104e-03 1.66015522e-04 9.99987885e-01 1.01761370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.880281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.15, Y:124.93, Z:1.02 [[-2.96623470e-01 -9.54993137e-01 1.62047035e-03 1.79145994e+02] [ 9.54981840e-01 -2.96627848e-01 -4.64800076e-03 1.24925692e+02] [ 4.91948546e-03 1.68813640e-04 9.99987885e-01 1.01818303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.91028169299994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:179.14, Y:124.93, Z:1.02 [[-2.96052547e-01 -9.55170283e-01 1.61871130e-03 1.79143061e+02] [ 9.55158986e-01 -2.96056923e-01 -4.64861329e-03 1.24928176e+02] [ 4.91944796e-03 1.69892847e-04 9.99987885e-01 1.01916099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.940281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:179.14, Y:124.93, Z:1.02 [[-2.96843399e-01 -9.54924805e-01 1.61693981e-03 1.79140010e+02] [ 9.54913501e-01 -2.96847757e-01 -4.64922939e-03 1.24925522e+02] [ 4.91964942e-03 1.63944602e-04 9.99987885e-01 1.02063125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.97028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.14, Y:124.93, Z:1.02 [[-2.97790014e-01 -9.54630032e-01 1.61517012e-03 1.79136698e+02] [ 9.54618721e-01 -2.97794353e-01 -4.64984411e-03 1.24934431e+02] [ 4.91986937e-03 1.57194495e-04 9.99987885e-01 1.01962211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.000281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.13, Y:124.96, Z:1.02 [[-3.01772733e-01 -9.53378526e-01 1.61339816e-03 1.79127626e+02] [ 9.53367194e-01 -3.01777016e-01 -4.65045886e-03 1.24961335e+02] [ 4.92053410e-03 1.34779195e-04 9.99987885e-01 1.01627803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.03028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.13, Y:124.96, Z:1.02 [[-3.03390839e-01 -9.52864837e-01 1.61272123e-03 1.79125361e+02] [ 9.52853496e-01 -3.03395100e-01 -4.65069360e-03 1.24964239e+02] [ 4.92077412e-03 1.25709223e-04 9.99987885e-01 1.01706856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.060281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:179.12, Y:124.96, Z:1.02 [[-3.04682098e-01 -9.52452741e-01 1.61090999e-03 1.79124378e+02] [ 9.52441391e-01 -3.04686334e-01 -4.65132089e-03 1.24960389e+02] [ 4.92098559e-03 1.17123147e-04 9.99987885e-01 1.01741657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.09028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.12, Y:124.97, Z:1.02 [[-3.05049700e-01 -9.52335073e-01 1.60910188e-03 1.79115537e+02] [ 9.52323718e-01 -3.05053923e-01 -4.65194631e-03 1.24974680e+02] [ 4.92107447e-03 1.13311057e-04 9.99987885e-01 1.02051263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.120281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.12, Y:124.97, Z:1.02 [[-3.04331320e-01 -9.52564887e-01 1.60728831e-03 1.79115351e+02] [ 9.52553532e-01 -3.04335543e-01 -4.65257283e-03 1.24972780e+02] [ 4.92103248e-03 1.15104524e-04 9.99987885e-01 1.02109711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.15028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.11, Y:124.98, Z:1.02 [[-3.05024121e-01 -9.52343272e-01 1.60546772e-03 1.79111842e+02] [ 9.52331911e-01 -3.05028326e-01 -4.65320098e-03 1.24977516e+02] [ 4.92115778e-03 1.09599603e-04 9.99987885e-01 1.01859239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.180281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.11, Y:124.97, Z:1.02 [[-3.06188529e-01 -9.51969544e-01 1.60364750e-03 1.79113496e+02] [ 9.51958174e-01 -3.06192712e-01 -4.65382821e-03 1.24969610e+02] [ 4.92132789e-03 1.01656537e-04 9.99987885e-01 1.01636447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.21028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.11, Y:124.97, Z:1.02 [[-3.10503018e-01 -9.50571044e-01 1.60183230e-03 1.79111972e+02] [ 9.50559652e-01 -3.10507140e-01 -4.65445291e-03 1.24973608e+02] [ 4.92176853e-03 7.74154762e-05 9.99987885e-01 1.01729038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.240281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.12, Y:124.96, Z:1.02 [[-3.12684466e-01 -9.49855707e-01 1.60002297e-03 1.79116023e+02] [ 9.49844303e-01 -3.12688553e-01 -4.65507481e-03 1.24963261e+02] [ 4.92195824e-03 6.42031212e-05 9.99987885e-01 1.01975620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.27028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.12, Y:124.97, Z:1.02 [[-3.14366710e-01 -9.49300278e-01 1.59822159e-03 1.79115536e+02] [ 9.49288863e-01 -3.14370768e-01 -4.65569319e-03 1.24966002e+02] [ 4.92208499e-03 5.35790067e-05 9.99987885e-01 1.02250967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.300281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.13, Y:124.93, Z:1.03 [[-3.16718151e-01 -9.48518352e-01 1.59642842e-03 1.79129854e+02] [ 9.48506924e-01 -3.16722172e-01 -4.65630798e-03 1.24930998e+02] [ 4.92221785e-03 3.94861592e-05 9.99987885e-01 1.02502992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.33028169299996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:179.13, Y:124.95, Z:1.02 [[-3.16964689e-01 -9.48435998e-01 1.59466102e-03 1.79125176e+02] [ 9.48424566e-01 -3.16968698e-01 -4.65691319e-03 1.24950705e+02] [ 4.92224174e-03 3.63386463e-05 9.99987885e-01 1.02437635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.360281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.13, Y:124.94, Z:1.02 [[-3.18901801e-01 -9.47786423e-01 1.59290811e-03 1.79134748e+02] [ 9.47774980e-01 -3.18905778e-01 -4.65751270e-03 1.24935873e+02] [ 4.92231490e-03 2.44292663e-05 9.99987885e-01 1.02443103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.39028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.13, Y:124.95, Z:1.03 [[-3.19887538e-01 -9.47454184e-01 1.59115613e-03 1.79132658e+02] [ 9.47442734e-01 -3.19891495e-01 -4.65811116e-03 1.24950288e+02] [ 4.92234422e-03 1.74576029e-05 9.99987885e-01 1.02516462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.420281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:179.14, Y:124.96, Z:1.02 [[-3.21287872e-01 -9.46980241e-01 1.58940905e-03 1.79137896e+02] [ 9.46968782e-01 -3.21291804e-01 -4.65870721e-03 1.24958939e+02] [ 4.92236777e-03 8.33462343e-06 9.99987885e-01 1.02446672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.45028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.14, Y:124.96, Z:1.02 [[-3.21288386e-01 -9.46980070e-01 1.58765173e-03 1.79140734e+02] [ 9.46968607e-01 -3.21292308e-01 -4.65930601e-03 1.24963423e+02] [ 4.92237022e-03 6.47543886e-06 9.99987885e-01 1.02290548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.14, Y:124.98, Z:1.02 [[-3.21199153e-01 -9.47010343e-01 1.58589101e-03 1.79140557e+02] [ 9.46998878e-01 -3.21203068e-01 -4.65990523e-03 1.24975447e+02] [ 4.92237151e-03 5.07939286e-06 9.99987885e-01 1.02155988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.51028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.14, Y:124.99, Z:1.02 [[-3.19707763e-01 -9.47514872e-01 1.58522420e-03 1.79143341e+02] [ 9.47503413e-01 -3.19711693e-01 -4.66013206e-03 1.24988846e+02] [ 4.92235914e-03 1.21249412e-05 9.99987885e-01 1.01942562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54028169299994 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:179.15, Y:124.99, Z:1.02 [[-3.18402309e-01 -9.47954354e-01 1.58477861e-03 1.79147608e+02] [ 9.47942899e-01 -3.18406253e-01 -4.66028358e-03 1.24990305e+02] [ 4.92233954e-03 1.84345751e-05 9.99987885e-01 1.01878967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.57028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.15, Y:125.00, Z:1.02 [[-3.16447776e-01 -9.48608610e-01 1.58410550e-03 1.79152307e+02] [ 9.48597162e-01 -3.16451739e-01 -4.66051237e-03 1.25004533e+02] [ 4.92229511e-03 2.78692114e-05 9.99987885e-01 1.01849826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.16, Y:125.01, Z:1.02 [[-3.15213518e-01 -9.49019453e-01 1.58589904e-03 1.79156017e+02] [ 9.49008013e-01 -3.15217506e-01 -4.65990198e-03 1.25006025e+02] [ 4.92224077e-03 3.61668042e-05 9.99987885e-01 1.01869865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.630281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:179.16, Y:125.01, Z:1.02 [[-3.14289012e-01 -9.49326026e-01 1.58567453e-03 1.79157474e+02] [ 9.49314589e-01 -3.14293009e-01 -4.65997838e-03 1.25012603e+02] [ 4.92220517e-03 4.07239637e-05 9.99987885e-01 1.01905660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.16, Y:125.02, Z:1.02 [[-3.11588850e-01 -9.50215696e-01 1.58748237e-03 1.79160710e+02] [ 9.50204274e-01 -3.11592889e-01 -4.65936243e-03 1.25017099e+02] [ 4.92204753e-03 5.66271466e-05 9.99987885e-01 1.02132760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.690281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.17, Y:125.00, Z:1.02 [[-3.09322476e-01 -9.50955877e-01 1.58929945e-03 1.79166516e+02] [ 9.50944468e-01 -3.09326551e-01 -4.65874255e-03 1.25004287e+02] [ 4.92187112e-03 7.02817403e-05 9.99987885e-01 1.02285009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72028169299995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:179.17, Y:125.00, Z:1.02 [[-3.04331997e-01 -9.52564702e-01 1.58884629e-03 1.79169056e+02] [ 9.52553313e-01 -3.04336130e-01 -4.65889709e-03 1.24999994e+02] [ 4.92144425e-03 9.56093433e-05 9.99987885e-01 1.02329786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.750281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.18, Y:124.98, Z:1.02 [[-3.01010988e-01 -9.53619345e-01 1.59064461e-03 1.79176371e+02] [ 9.53607974e-01 -3.01015169e-01 -4.65828302e-03 1.24979515e+02] [ 4.92103696e-03 1.14657008e-04 9.99987885e-01 1.02251350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78028169299995 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:179.18, Y:124.98, Z:1.02 [[-2.97793920e-01 -9.54628856e-01 1.58997314e-03 1.79177194e+02] [ 9.54617499e-01 -2.97798136e-01 -4.65851220e-03 1.24976778e+02] [ 4.92064121e-03 1.30539568e-04 9.99987885e-01 1.02238976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.810281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:179.18, Y:124.97, Z:1.02 [[-2.92011795e-01 -9.56413393e-01 1.59173732e-03 1.79177670e+02] [ 9.56402064e-01 -2.92016089e-01 -4.65790933e-03 1.24971636e+02] [ 4.91969977e-03 1.62176395e-04 9.99987885e-01 1.02089105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.18, Y:124.97, Z:1.02 [[-2.90118381e-01 -9.56989439e-01 1.59350012e-03 1.79179035e+02] [ 9.56978122e-01 -2.90122705e-01 -4.65730619e-03 1.24965091e+02] [ 4.91930340e-03 1.73774617e-04 9.99987885e-01 1.01913150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.870281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.18, Y:124.94, Z:1.02 [[-2.87499361e-01 -9.57779504e-01 1.59371909e-03 1.79183800e+02] [ 9.57768199e-01 -2.87503717e-01 -4.65723126e-03 1.24943934e+02] [ 4.91880080e-03 1.87462450e-04 9.99987885e-01 1.01662364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90028169299995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:179.18, Y:124.95, Z:1.02 [[-2.86940125e-01 -9.57947194e-01 1.59306377e-03 1.79178130e+02] [ 9.57935891e-01 -2.86944484e-01 -4.65745541e-03 1.24954475e+02] [ 4.91871720e-03 1.89642124e-04 9.99987885e-01 1.01739170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.930281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:179.18, Y:124.94, Z:1.02 [[-2.84898017e-01 -9.58556507e-01 1.59479623e-03 1.79180051e+02] [ 9.58545216e-01 -2.84902409e-01 -4.65686211e-03 1.24935216e+02] [ 4.91822676e-03 2.01953511e-04 9.99987885e-01 1.01786038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.17, Y:124.94, Z:1.02 [[-2.84317438e-01 -9.58728874e-01 1.59414481e-03 1.79174559e+02] [ 9.58717584e-01 -2.84321834e-01 -4.65708509e-03 1.24943175e+02] [ 4.91813212e-03 2.04244163e-04 9.99987885e-01 1.01821101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.990281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.17, Y:124.94, Z:1.02 [[-2.83919089e-01 -9.58846917e-01 1.59414481e-03 1.79172170e+02] [ 9.58835629e-01 -2.83923489e-01 -4.65708509e-03 1.24939999e+02] [ 4.91804684e-03 2.06287489e-04 9.99987885e-01 1.01846406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:179.16, Y:124.94, Z:1.02 [[-2.85122004e-01 -9.58489908e-01 1.59349498e-03 1.79163613e+02] [ 9.58478614e-01 -2.85126387e-01 -4.65730743e-03 1.24940313e+02] [ 4.91832963e-03 1.99430029e-04 9.99987885e-01 1.01742012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.050281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.15, Y:124.96, Z:1.02 [[-2.86730865e-01 -9.58009851e-01 1.59284591e-03 1.79153995e+02] [ 9.57998548e-01 -2.86735226e-01 -4.65752940e-03 1.24956724e+02] [ 4.91868408e-03 1.90486639e-04 9.99987885e-01 1.01503043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.15, Y:124.96, Z:1.02 [[-2.86595752e-01 -9.58050280e-01 1.59241268e-03 1.79153214e+02] [ 9.58038977e-01 -2.86600113e-01 -4.65767752e-03 1.24959113e+02] [ 4.91867491e-03 1.90722828e-04 9.99987885e-01 1.01504278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.110281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.14, Y:124.97, Z:1.01 [[-2.91018308e-01 -9.56716160e-01 1.59175577e-03 1.79140902e+02] [ 9.56704836e-01 -2.91022613e-01 -4.65790201e-03 1.24974270e+02] [ 4.91952705e-03 1.67305677e-04 9.99987885e-01 1.01156678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14028169299996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.13, Y:124.98, Z:1.01 [[-2.93895780e-01 -9.55836146e-01 1.59131729e-03 1.79134643e+02] [ 9.55824808e-01 -2.93900049e-01 -4.65805181e-03 1.24981906e+02] [ 4.92002252e-03 1.52038771e-04 9.99987885e-01 1.01370616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.170281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.12, Y:125.01, Z:1.02 [[-2.97484330e-01 -9.54725378e-01 1.58955125e-03 1.79122474e+02] [ 9.54714021e-01 -2.97488548e-01 -4.65865439e-03 1.25007373e+02] [ 4.92060886e-03 1.31690189e-04 9.99987885e-01 1.01561627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.12, Y:125.01, Z:1.02 [[-3.01039491e-01 -9.53610350e-01 1.58887677e-03 1.79120074e+02] [ 9.53598976e-01 -3.01043663e-01 -4.65888441e-03 1.25005257e+02] [ 4.92108168e-03 1.12643064e-04 9.99987885e-01 1.01808017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.23028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.12, Y:125.01, Z:1.02 [[-3.08073597e-01 -9.51361204e-01 1.58707514e-03 1.79117319e+02] [ 9.51349796e-01 -3.08077676e-01 -4.65949807e-03 1.25005042e+02] [ 4.92180811e-03 7.43952765e-05 9.99987885e-01 1.01957372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.11, Y:125.02, Z:1.02 [[-3.10649041e-01 -9.50523361e-01 1.58527659e-03 1.79112902e+02] [ 9.50511939e-01 -3.10653080e-01 -4.66010990e-03 1.25016262e+02] [ 4.92201438e-03 5.91656558e-05 9.99987885e-01 1.02022395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.29028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.12, Y:124.99, Z:1.02 [[-3.14626262e-01 -9.49214311e-01 1.58347327e-03 1.79120295e+02] [ 9.49202869e-01 -3.14630244e-01 -4.66072257e-03 1.24991236e+02] [ 4.92223315e-03 3.66516510e-05 9.99987885e-01 1.01965537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.11, Y:125.01, Z:1.02 [[-3.15947306e-01 -9.48775420e-01 1.58168206e-03 1.79113650e+02] [ 9.48763970e-01 -3.15951264e-01 -4.66133037e-03 1.25010384e+02] [ 4.92229012e-03 2.79081833e-05 9.99987885e-01 1.01892579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.35028169299994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.12, Y:124.98, Z:1.02 [[-3.16604121e-01 -9.48556446e-01 1.58100854e-03 1.79123880e+02] [ 9.48544992e-01 -3.16608067e-01 -4.66155880e-03 1.24980844e+02] [ 4.92231170e-03 2.37890075e-05 9.99987885e-01 1.01849268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.380281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.12, Y:125.01, Z:1.02 [[-3.17651774e-01 -9.48206126e-01 1.57923475e-03 1.79116269e+02] [ 9.48194664e-01 -3.17655699e-01 -4.66215964e-03 1.25006196e+02] [ 4.92234125e-03 1.64786890e-05 9.99987885e-01 1.01773220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.41028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.12, Y:125.00, Z:1.02 [[-3.17459941e-01 -9.48270370e-01 1.57856725e-03 1.79118403e+02] [ 9.48258908e-01 -3.17463865e-01 -4.66238564e-03 1.25001455e+02] [ 4.92234021e-03 1.67697859e-05 9.99987885e-01 1.01653973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.440281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.12, Y:125.00, Z:1.02 [[-3.16982699e-01 -9.48430009e-01 1.57678846e-03 1.79121838e+02] [ 9.48418546e-01 -3.16986620e-01 -4.66298714e-03 1.24998164e+02] [ 4.92233778e-03 1.73691730e-05 9.99987885e-01 1.01526824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.47028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.12, Y:125.01, Z:1.02 [[-3.16380212e-01 -9.48631162e-01 1.57501911e-03 1.79118225e+02] [ 9.48619698e-01 -3.16384132e-01 -4.66358469e-03 1.25010362e+02] [ 4.92233282e-03 1.86282402e-05 9.99987885e-01 1.01663261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.500281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.12, Y:125.00, Z:1.02 [[-3.15691210e-01 -9.48860677e-01 1.57324719e-03 1.79121360e+02] [ 9.48849214e-01 -3.15695129e-01 -4.66418237e-03 1.25000501e+02] [ 4.92232572e-03 2.03329831e-05 9.99987885e-01 1.01827499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.53028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.12, Y:125.01, Z:1.02 [[-3.14106206e-01 -9.49386550e-01 1.57147680e-03 1.79119732e+02] [ 9.49375091e-01 -3.14110136e-01 -4.66477878e-03 1.25006538e+02] [ 4.92229503e-03 2.66849674e-05 9.99987885e-01 1.01664565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.560281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.12, Y:125.02, Z:1.01 [[-3.13512448e-01 -9.49582793e-01 1.56971200e-03 1.79116571e+02] [ 9.49571333e-01 -3.13516376e-01 -4.66537257e-03 1.25019422e+02] [ 4.92228793e-03 2.79011413e-05 9.99987885e-01 1.01350003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.59028169299995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:179.11, Y:125.04, Z:1.01 [[-3.12721290e-01 -9.49843638e-01 1.56793795e-03 1.79111306e+02] [ 9.49832178e-01 -3.12725220e-01 -4.66596871e-03 1.25040752e+02] [ 4.92227444e-03 3.01301560e-05 9.99987885e-01 1.01110738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.620281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:179.12, Y:125.03, Z:1.01 [[-3.11564570e-01 -9.50223691e-01 1.56726115e-03 1.79116712e+02] [ 9.50212235e-01 -3.11568509e-01 -4.66619603e-03 1.25026339e+02] [ 4.92223924e-03 3.54093621e-05 9.99987885e-01 1.01179298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.65028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.11, Y:125.05, Z:1.01 [[-3.10527976e-01 -9.50562952e-01 1.56546604e-03 1.79110637e+02] [ 9.50551497e-01 -3.10531919e-01 -4.66679820e-03 1.25046259e+02] [ 4.92221265e-03 3.88846847e-05 9.99987885e-01 1.01285795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.680281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.10, Y:125.07, Z:1.02 [[-3.07812104e-01 -9.51445879e-01 1.56478836e-03 1.79103869e+02] [ 9.51434434e-01 -3.07816076e-01 -4.66702542e-03 1.25069641e+02] [ 4.92208911e-03 5.22266172e-05 9.99987885e-01 1.01524633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.71028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.11, Y:125.05, Z:1.02 [[-3.06362925e-01 -9.51913500e-01 1.56410048e-03 1.79108419e+02] [ 9.51902060e-01 -3.06366912e-01 -4.66725594e-03 1.25052414e+02] [ 4.92201257e-03 5.89962858e-05 9.99987885e-01 1.01607222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.740281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.11, Y:125.05, Z:1.02 [[-3.04023235e-01 -9.52663336e-01 1.56227664e-03 1.79105475e+02] [ 9.52651903e-01 -3.04027241e-01 -4.66786636e-03 1.25049908e+02] [ 4.92187979e-03 6.91659874e-05 9.99987885e-01 1.01517217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.77028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.10, Y:125.06, Z:1.01 [[-3.03096995e-01 -9.52958434e-01 1.56046943e-03 1.79100550e+02] [ 9.52947001e-01 -3.03101003e-01 -4.66847043e-03 1.25060040e+02] [ 4.92183812e-03 7.20453033e-05 9.99987885e-01 1.01429223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.800281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.10, Y:125.06, Z:1.01 [[-3.02584224e-01 -9.53121376e-01 1.55865863e-03 1.79099137e+02] [ 9.53109943e-01 -3.02588229e-01 -4.66907492e-03 1.25060774e+02] [ 4.92182687e-03 7.27846287e-05 9.99987885e-01 1.01462586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.83028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.10, Y:125.06, Z:1.02 [[-3.03752553e-01 -9.52749685e-01 1.55684301e-03 1.79097541e+02] [ 9.52738244e-01 -3.03756535e-01 -4.66968024e-03 1.25056380e+02] [ 4.92193762e-03 6.48365826e-05 9.99987885e-01 1.01718028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.860281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.09, Y:125.07, Z:1.02 [[-3.04865450e-01 -9.52394162e-01 1.55503175e-03 1.79091649e+02] [ 9.52382712e-01 -3.04869410e-01 -4.67028332e-03 1.25069604e+02] [ 4.92203218e-03 5.71773250e-05 9.99987885e-01 1.01769751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.89028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.10, Y:125.04, Z:1.02 [[-3.07856986e-01 -9.51431376e-01 1.55321689e-03 1.79098227e+02] [ 9.51419912e-01 -3.07860901e-01 -4.67088682e-03 1.25043996e+02] [ 4.92220303e-03 3.97963361e-05 9.99987885e-01 1.01809739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.920281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.10, Y:125.03, Z:1.02 [[-3.08951510e-01 -9.51076526e-01 1.55141334e-03 1.79100592e+02] [ 9.51065053e-01 -3.08955404e-01 -4.67148578e-03 1.25034004e+02] [ 4.92225800e-03 3.22324274e-05 9.99987885e-01 1.01926739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.95028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.10, Y:125.04, Z:1.02 [[-3.10505800e-01 -9.50570222e-01 1.54963697e-03 1.79097156e+02] [ 9.50558741e-01 -3.10509666e-01 -4.67207497e-03 1.25039567e+02] [ 4.92231260e-03 2.23145887e-05 9.99987885e-01 1.01754845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.10, Y:125.04, Z:1.02 [[-3.10180624e-01 -9.50676383e-01 1.54786562e-03 1.79095219e+02] [ 9.50664900e-01 -3.10184485e-01 -4.67266175e-03 1.25043622e+02] [ 4.92231307e-03 2.21323805e-05 9.99987885e-01 1.01507969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.01028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.09, Y:125.05, Z:1.02 [[-3.09694655e-01 -9.50834807e-01 1.54609084e-03 1.79092881e+02] [ 9.50823323e-01 -3.09698514e-01 -4.67324891e-03 1.25047294e+02] [ 4.92230976e-03 2.27790222e-05 9.99987885e-01 1.01546847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.10, Y:125.03, Z:1.02 [[-3.09661465e-01 -9.50845620e-01 1.54431321e-03 1.79099627e+02] [ 9.50834133e-01 -3.09665315e-01 -4.67383627e-03 1.25027280e+02] [ 4.92231698e-03 2.10787245e-05 9.99987885e-01 1.01781841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.07028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.10, Y:125.04, Z:1.02 [[-3.10051703e-01 -9.50718445e-01 1.54254934e-03 1.79096503e+02] [ 9.50706954e-01 -3.10055540e-01 -4.67441835e-03 1.25040067e+02] [ 4.92233171e-03 1.72010105e-05 9.99987885e-01 1.01941187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.10, Y:125.04, Z:1.02 [[-3.13516892e-01 -9.49581373e-01 1.54079358e-03 1.79099040e+02] [ 9.49569865e-01 -3.13520678e-01 -4.67499701e-03 1.25038346e+02] [ 4.92236073e-03 -2.59938289e-06 9.99987885e-01 1.01701160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.130281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.10, Y:125.03, Z:1.02 [[-3.15016750e-01 -9.49084864e-01 1.53903445e-03 1.79102836e+02] [ 9.49073347e-01 -3.15020509e-01 -4.67557606e-03 1.25030427e+02] [ 4.92234588e-03 -1.22281987e-05 9.99987885e-01 1.01535798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.10, Y:125.03, Z:1.02 [[-3.16423665e-01 -9.48616730e-01 1.53728511e-03 1.79103977e+02] [ 9.48605205e-01 -3.16427399e-01 -4.67615115e-03 1.25030646e+02] [ 4.92231434e-03 -2.13682352e-05 9.99987885e-01 1.01550969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.190281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.10, Y:125.04, Z:1.01 [[-3.19258666e-01 -9.47666369e-01 1.53554431e-03 1.79102304e+02] [ 9.47654830e-01 -3.19262356e-01 -4.67672272e-03 1.25040787e+02] [ 4.92221433e-03 -3.79182764e-05 9.99987885e-01 1.01455290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.11, Y:125.03, Z:1.01 [[-3.20078399e-01 -9.47389817e-01 1.53380020e-03 1.79105224e+02] [ 9.47378272e-01 -3.20082071e-01 -4.67729466e-03 1.25034012e+02] [ 4.92216328e-03 -4.40120044e-05 9.99987885e-01 1.01326434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.250281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.11, Y:125.03, Z:1.01 [[-3.20788207e-01 -9.47149713e-01 1.53205701e-03 1.79109679e+02] [ 9.47138163e-01 -3.20791862e-01 -4.67786557e-03 1.25025871e+02] [ 4.92211046e-03 -4.95344464e-05 9.99987885e-01 1.01223510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.11, Y:125.03, Z:1.01 [[-3.20678138e-01 -9.47186988e-01 1.53032731e-03 1.79109433e+02] [ 9.47175435e-01 -3.20681785e-01 -4.67843136e-03 1.25027102e+02] [ 4.92209740e-03 -5.07822182e-05 9.99987885e-01 1.01378792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.310281693 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:179.11, Y:125.04, Z:1.01 [[-3.20032219e-01 -9.47405427e-01 1.52860516e-03 1.79105016e+02] [ 9.47393874e-01 -3.20035865e-01 -4.67899398e-03 1.25040632e+02] [ 4.92211276e-03 -4.92376651e-05 9.99987885e-01 1.01488151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34028169299995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:179.10, Y:125.06, Z:1.01 [[-3.18423944e-01 -9.47947182e-01 1.52687616e-03 1.79100235e+02] [ 9.47935633e-01 -3.18427602e-01 -4.67955813e-03 1.25061079e+02] [ 4.92217346e-03 -4.27030386e-05 9.99987885e-01 1.01374570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.370281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.11, Y:125.05, Z:1.01 [[-3.17185755e-01 -9.48362203e-01 1.52621687e-03 1.79106463e+02] [ 9.48350657e-01 -3.17189425e-01 -4.67977314e-03 1.25047711e+02] [ 4.92221982e-03 -3.69686049e-05 9.99987885e-01 1.01285377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.10, Y:125.07, Z:1.01 [[-3.16342742e-01 -9.48643740e-01 1.52446851e-03 1.79101401e+02] [ 9.48632195e-01 -3.16346413e-01 -4.68034261e-03 1.25070631e+02] [ 4.92223787e-03 -3.44325037e-05 9.99987885e-01 1.01459051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.430281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.10, Y:125.08, Z:1.02 [[-3.15660536e-01 -9.48870963e-01 1.52380793e-03 1.79098768e+02] [ 9.48859419e-01 -3.15664213e-01 -4.68055767e-03 1.25082628e+02] [ 4.92225690e-03 -3.15878349e-05 9.99987885e-01 1.01547385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.10, Y:125.07, Z:1.01 [[-3.14536298e-01 -9.49244224e-01 1.52314012e-03 1.79104832e+02] [ 9.49232684e-01 -3.14539984e-01 -4.68077498e-03 1.25069105e+02] [ 4.92228709e-03 -2.64592445e-05 9.99987885e-01 1.01366866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.490281693 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:179.10, Y:125.08, Z:1.01 [[-3.11787796e-01 -9.50150544e-01 1.52137449e-03 1.79104325e+02] [ 9.50139011e-01 -3.11791507e-01 -4.68134879e-03 1.25083401e+02] [ 4.92233774e-03 -1.40701651e-05 9.99987885e-01 1.01483110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.10, Y:125.10, Z:1.02 [[-3.09692079e-01 -9.50835687e-01 1.52070946e-03 1.79099826e+02] [ 9.50824162e-01 -3.09695812e-01 -4.68156481e-03 1.25101360e+02] [ 4.92235624e-03 -3.91624289e-06 9.99987885e-01 1.01660205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.550281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.10, Y:125.09, Z:1.02 [[-3.07266726e-01 -9.51622220e-01 1.52003822e-03 1.79104188e+02] [ 9.51610703e-01 -3.07270485e-01 -4.68178274e-03 1.25092271e+02] [ 4.92235137e-03 7.92858093e-06 9.99987885e-01 1.01857177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.10, Y:125.10, Z:1.02 [[-3.04247182e-01 -9.52591910e-01 1.51825675e-03 1.79103470e+02] [ 9.52580402e-01 -3.04250970e-01 -4.68236038e-03 1.25103743e+02] [ 4.92230971e-03 2.16666693e-05 9.99987885e-01 1.01965805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.610281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.10, Y:125.12, Z:1.02 [[-3.03155653e-01 -9.52939844e-01 1.51758513e-03 1.79098869e+02] [ 9.52928340e-01 -3.03159450e-01 -4.68257805e-03 1.25122582e+02] [ 4.92228547e-03 2.65998695e-05 9.99987885e-01 1.02073133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.10, Y:125.12, Z:1.02 [[-3.01743385e-01 -9.53387974e-01 1.51713518e-03 1.79100610e+02] [ 9.53376474e-01 -3.01747197e-01 -4.68272383e-03 1.25120054e+02] [ 4.92224387e-03 3.34200521e-05 9.99987885e-01 1.02171606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.670281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.10, Y:125.13, Z:1.02 [[-3.00993186e-01 -9.53625085e-01 1.51645393e-03 1.79096909e+02] [ 9.53613587e-01 -3.00997004e-01 -4.68294443e-03 1.25130889e+02] [ 4.92222137e-03 3.65767101e-05 9.99987885e-01 1.02144879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70028169299997 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.09, Y:125.15, Z:1.02 [[-3.00874490e-01 -9.53662541e-01 1.51600120e-03 1.79091083e+02] [ 9.53651044e-01 -3.00878308e-01 -4.68309099e-03 1.25146650e+02] [ 4.92222033e-03 3.67135159e-05 9.99987885e-01 1.02162051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.73028169299994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:179.10, Y:125.13, Z:1.02 [[-3.01130669e-01 -9.53581682e-01 1.51554424e-03 1.79095121e+02] [ 9.53570182e-01 -3.01134481e-01 -4.68323887e-03 1.25131340e+02] [ 4.92223342e-03 3.49109480e-05 9.99987885e-01 1.02351422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76028169299997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.10, Y:125.12, Z:1.02 [[-3.00959693e-01 -9.53635660e-01 1.51372188e-03 1.79097230e+02] [ 9.53624158e-01 -3.00963498e-01 -4.68382782e-03 1.25121601e+02] [ 4.92224026e-03 3.38783718e-05 9.99987885e-01 1.02296957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.79028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.09, Y:125.13, Z:1.02 [[-3.01021023e-01 -9.53616305e-01 1.51191999e-03 1.79092841e+02] [ 9.53604800e-01 -3.01024818e-01 -4.68440939e-03 1.25126406e+02] [ 4.92225461e-03 3.16684560e-05 9.99987885e-01 1.01985008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.09, Y:125.12, Z:1.02 [[-3.00483026e-01 -9.53785965e-01 1.51124189e-03 1.79092651e+02] [ 9.53774461e-01 -3.00486824e-01 -4.68462814e-03 1.25121901e+02] [ 4.92224085e-03 3.37326790e-05 9.99987885e-01 1.01864741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.85028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.09, Y:125.13, Z:1.02 [[-2.99687013e-01 -9.54036381e-01 1.50944749e-03 1.79089045e+02] [ 9.54024877e-01 -2.99690813e-01 -4.68520625e-03 1.25127541e+02] [ 4.92222476e-03 3.59549865e-05 9.99987885e-01 1.01772343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.880281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.08, Y:125.14, Z:1.02 [[-2.97972332e-01 -9.54573315e-01 1.50877089e-03 1.79080601e+02] [ 9.54561817e-01 -2.97976149e-01 -4.68542412e-03 1.25137803e+02] [ 4.92215857e-03 4.40883328e-05 9.99987885e-01 1.01704451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.91028169299994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:179.08, Y:125.14, Z:1.02 [[-2.97023392e-01 -9.54869012e-01 1.50809090e-03 1.79076821e+02] [ 9.54857517e-01 -2.97027216e-01 -4.68564298e-03 1.25139778e+02] [ 4.92211933e-03 4.82663582e-05 9.99987885e-01 1.01838245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.940281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.07, Y:125.14, Z:1.02 [[-2.95913318e-01 -9.55213609e-01 1.50628227e-03 1.79072595e+02] [ 9.55202115e-01 -2.95917147e-01 -4.68622432e-03 1.25137244e+02] [ 4.92208000e-03 5.20878253e-05 9.99987885e-01 1.01616327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.97028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.07, Y:125.14, Z:1.02 [[-2.95545566e-01 -9.55327459e-01 1.50447554e-03 1.79071747e+02] [ 9.55315964e-01 -2.95549391e-01 -4.68680429e-03 1.25139643e+02] [ 4.92207966e-03 5.20852692e-05 9.99987885e-01 1.01617567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.000281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.06, Y:125.16, Z:1.01 [[-2.94851315e-01 -9.55541964e-01 1.50267101e-03 1.79063942e+02] [ 9.55530468e-01 -2.94855139e-01 -4.68738278e-03 1.25156654e+02] [ 4.92206122e-03 5.37669532e-05 9.99987885e-01 1.01448877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.03028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.07, Y:125.14, Z:1.01 [[-2.94411408e-01 -9.55677598e-01 1.50085563e-03 1.79065093e+02] [ 9.55666101e-01 -2.94415228e-01 -4.68796398e-03 1.25143267e+02] [ 4.92205690e-03 5.41267765e-05 9.99987885e-01 1.01261275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.060281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.05, Y:125.16, Z:1.01 [[-2.93213150e-01 -9.56045920e-01 1.49903942e-03 1.79053853e+02] [ 9.56034425e-01 -2.93216976e-01 -4.68854466e-03 1.25156111e+02] [ 4.92200780e-03 5.83903384e-05 9.99987885e-01 1.01287268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.09028169299995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.06, Y:125.14, Z:1.01 [[-2.92907667e-01 -9.56139559e-01 1.49722511e-03 1.79055900e+02] [ 9.56128063e-01 -2.92911488e-01 -4.68912397e-03 1.25138885e+02] [ 4.92201136e-03 5.80585820e-05 9.99987885e-01 1.01343692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.120281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.05, Y:125.14, Z:1.01 [[-2.92774213e-01 -9.56180435e-01 1.49541453e-03 1.79049111e+02] [ 9.56168936e-01 -2.92778027e-01 -4.68970131e-03 1.25142430e+02] [ 4.92202515e-03 5.68453116e-05 9.99987885e-01 1.01365001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.15028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.04, Y:125.16, Z:1.01 [[-2.92499465e-01 -9.56264520e-01 1.49361490e-03 1.79041092e+02] [ 9.56253019e-01 -2.92503273e-01 -4.69027440e-03 1.25158152e+02] [ 4.92203025e-03 5.63710073e-05 9.99987885e-01 1.01369144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.180281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.04, Y:125.15, Z:1.02 [[-2.92122108e-01 -9.56379866e-01 1.49180327e-03 1.79042086e+02] [ 9.56368364e-01 -2.92125912e-01 -4.69085054e-03 1.25147796e+02] [ 4.92202940e-03 5.64123040e-05 9.99987885e-01 1.01502996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.21028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.04, Y:125.15, Z:1.02 [[-2.92459201e-01 -9.56276841e-01 1.48998991e-03 1.79041294e+02] [ 9.56265334e-01 -2.92462991e-01 -4.69142646e-03 1.25148863e+02] [ 4.92206938e-03 5.27748648e-05 9.99987885e-01 1.01724085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.240281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.05, Y:125.13, Z:1.02 [[-2.93361394e-01 -9.56000459e-01 1.48818571e-03 1.79046611e+02] [ 9.55988946e-01 -2.93365165e-01 -4.69199871e-03 1.25133761e+02] [ 4.92213477e-03 4.62378043e-05 9.99987885e-01 1.01751313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.27028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.05, Y:125.14, Z:1.02 [[-2.95857990e-01 -9.55230779e-01 1.48639444e-03 1.79047208e+02] [ 9.55219253e-01 -2.95861722e-01 -4.69256610e-03 1.25136243e+02] [ 4.92225079e-03 3.14994131e-05 9.99987885e-01 1.01771478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.300281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.04, Y:125.15, Z:1.02 [[-2.96666218e-01 -9.54980079e-01 1.48461534e-03 1.79044071e+02] [ 9.54968547e-01 -2.96669932e-01 -4.69312890e-03 1.25148386e+02] [ 4.92228534e-03 2.54681485e-05 9.99987885e-01 1.01866870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.33028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.04, Y:125.15, Z:1.02 [[-2.96692716e-01 -9.54971850e-01 1.48282956e-03 1.79044375e+02] [ 9.54960315e-01 -2.96696420e-01 -4.69369307e-03 1.25151733e+02] [ 4.92229497e-03 2.34588385e-05 9.99987885e-01 1.01968566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.360281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.02, Y:125.23, Z:1.02 [[-2.96057514e-01 -9.55168967e-01 1.48103705e-03 1.79021334e+02] [ 9.55157432e-01 -2.96061217e-01 -4.69425860e-03 1.25233285e+02] [ 4.92228777e-03 2.48530096e-05 9.99987885e-01 1.02117876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.39028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.05, Y:125.16, Z:1.02 [[-2.93402355e-01 -9.55987891e-01 1.48678799e-03 1.79045985e+02] [ 9.55976376e-01 -2.93406118e-01 -4.69244222e-03 1.25156850e+02] [ 4.92215064e-03 4.45605926e-05 9.99987885e-01 1.01844775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.420281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.04, Y:125.17, Z:1.01 [[-2.87886274e-01 -9.57663458e-01 1.48102094e-03 1.79043422e+02] [ 9.57651956e-01 -2.87890076e-01 -4.69426171e-03 1.25166521e+02] [ 4.92189413e-03 6.68890818e-05 9.99987885e-01 1.01493858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.45028169299997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.02, Y:125.23, Z:1.02 [[-2.85542321e-01 -9.58364959e-01 1.47921686e-03 1.79024957e+02] [ 9.58353463e-01 -2.85546142e-01 -4.69483012e-03 1.25226688e+02] [ 4.92174535e-03 7.70399069e-05 9.99987885e-01 1.01733611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.03, Y:125.21, Z:1.01 [[-2.80289602e-01 -9.59914338e-01 1.48392857e-03 1.79031640e+02] [ 9.59902871e-01 -2.80293509e-01 -4.69334538e-03 1.25206152e+02] [ 4.92114507e-03 1.08931392e-04 9.99987885e-01 1.01352291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.51028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.03, Y:125.19, Z:1.02 [[-2.78969552e-01 -9.60298810e-01 1.47817726e-03 1.79034818e+02] [ 9.60287338e-01 -2.78973446e-01 -4.69515607e-03 1.25194869e+02] [ 4.92112499e-03 1.09669321e-04 9.99987885e-01 1.01696080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.04, Y:125.19, Z:1.02 [[-2.78164193e-01 -9.60532406e-01 1.47632619e-03 1.79035991e+02] [ 9.60520934e-01 -2.78168088e-01 -4.69573804e-03 1.25189910e+02] [ 4.92107539e-03 1.11856030e-04 9.99987885e-01 1.01884216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.57028169299997 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.03, Y:125.20, Z:1.02 [[-2.78697025e-01 -9.60377943e-01 1.47448999e-03 1.79032626e+02] [ 9.60366467e-01 -2.78700905e-01 -4.69631454e-03 1.25196587e+02] [ 4.92117860e-03 1.07201843e-04 9.99987885e-01 1.01936880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60028169299994 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:179.03, Y:125.20, Z:1.02 [[-2.79503871e-01 -9.60143436e-01 1.47265573e-03 1.79030245e+02] [ 9.60131953e-01 -2.79507732e-01 -4.69688966e-03 1.25200583e+02] [ 4.92130643e-03 1.01144982e-04 9.99987885e-01 1.01738043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.630281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.03, Y:125.18, Z:1.01 [[-2.81212991e-01 -9.59644252e-01 1.47081627e-03 1.79034946e+02] [ 9.59632759e-01 -2.81216823e-01 -4.69746561e-03 1.25183679e+02] [ 4.92151415e-03 9.04551190e-05 9.99987885e-01 1.01423715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.04, Y:125.19, Z:1.01 [[-2.81647829e-01 -9.59516724e-01 1.46898900e-03 1.79035134e+02] [ 9.59505226e-01 -2.81651646e-01 -4.69803696e-03 1.25185177e+02] [ 4.92158820e-03 8.63107119e-05 9.99987885e-01 1.01441825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.690281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.04, Y:125.19, Z:1.02 [[-2.83289754e-01 -9.59033244e-01 1.46717560e-03 1.79035574e+02] [ 9.59021737e-01 -2.83293543e-01 -4.69860321e-03 1.25188565e+02] [ 4.92175805e-03 7.59871407e-05 9.99987885e-01 1.01560580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.04, Y:125.19, Z:1.02 [[-2.84485344e-01 -9.58679269e-01 1.46536259e-03 1.79035499e+02] [ 9.58667755e-01 -2.84489110e-01 -4.69916857e-03 1.25191233e+02] [ 4.92187519e-03 6.79512756e-05 9.99987885e-01 1.01608224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.750281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.03, Y:125.20, Z:1.02 [[-2.86255253e-01 -9.58152278e-01 1.46354875e-03 1.79033382e+02] [ 9.58140754e-01 -2.86258988e-01 -4.69973342e-03 1.25201022e+02] [ 4.92201426e-03 5.69623266e-05 9.99987885e-01 1.01667105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.04, Y:125.18, Z:1.02 [[-2.89995427e-01 -9.57026915e-01 1.46173012e-03 1.79043857e+02] [ 9.57015373e-01 -2.89999109e-01 -4.70029899e-03 1.25179040e+02] [ 4.92221307e-03 3.58329798e-05 9.99987885e-01 1.01850069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.810281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.05, Y:125.17, Z:1.02 [[-2.91196801e-01 -9.56662057e-01 1.45992372e-03 1.79048599e+02] [ 9.56650508e-01 -2.91200459e-01 -4.70085999e-03 1.25171080e+02] [ 4.92226485e-03 2.77613765e-05 9.99987885e-01 1.02009966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.05, Y:125.18, Z:1.02 [[-2.92254092e-01 -9.56339594e-01 1.45814207e-03 1.79046505e+02] [ 9.56328038e-01 -2.92257729e-01 -4.70141257e-03 1.25183565e+02] [ 4.92230028e-03 2.04550817e-05 9.99987885e-01 1.02142196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.870281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:179.05, Y:125.20, Z:1.02 [[-2.93333303e-01 -9.56009128e-01 1.45636138e-03 1.79045974e+02] [ 9.55997565e-01 -2.93336918e-01 -4.70196411e-03 1.25195167e+02] [ 4.92232517e-03 1.30352747e-05 9.99987885e-01 1.02077361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.05, Y:125.19, Z:1.02 [[-2.93118870e-01 -9.56074899e-01 1.45456839e-03 1.79049264e+02] [ 9.56063334e-01 -2.93122478e-01 -4.70251871e-03 1.25189372e+02] [ 4.92232679e-03 1.22625363e-05 9.99987885e-01 1.01985605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.930281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.04, Y:125.21, Z:1.02 [[-2.90917262e-01 -9.56747112e-01 1.45277519e-03 1.79043165e+02] [ 9.56735553e-01 -2.90920888e-01 -4.70307263e-03 1.25213981e+02] [ 4.92229381e-03 2.17166602e-05 9.99987885e-01 1.01943225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.05, Y:125.20, Z:1.02 [[-2.89027184e-01 -9.57319789e-01 1.45209514e-03 1.79047509e+02] [ 9.57308236e-01 -2.89030830e-01 -4.70328259e-03 1.25197365e+02] [ 4.92224576e-03 3.07261174e-05 9.99987885e-01 1.01976330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.990281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.04, Y:125.21, Z:1.02 [[-2.86906340e-01 -9.57957540e-01 1.45029091e-03 1.79043364e+02] [ 9.57945992e-01 -2.86910003e-01 -4.70383887e-03 1.25209119e+02] [ 4.92218088e-03 3.97391725e-05 9.99987885e-01 1.01990155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.04, Y:125.22, Z:1.02 [[-2.85048723e-01 -9.58511934e-01 1.44849245e-03 1.79039021e+02] [ 9.58500390e-01 -2.85052399e-01 -4.70439262e-03 1.25222906e+02] [ 4.92211272e-03 4.73994759e-05 9.99987885e-01 1.01883958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.050281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.04, Y:125.22, Z:1.02 [[-2.82621554e-01 -9.59230402e-01 1.44667994e-03 1.79038380e+02] [ 9.59218865e-01 -2.82625250e-01 -4.70494993e-03 1.25220323e+02] [ 4.92199930e-03 5.79624350e-05 9.99987885e-01 1.01769935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08028169299996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.03, Y:125.22, Z:1.02 [[-2.82489550e-01 -9.59269288e-01 1.44486265e-03 1.79034392e+02] [ 9.59257749e-01 -2.82493239e-01 -4.70550794e-03 1.25218557e+02] [ 4.92201319e-03 5.67388740e-05 9.99987885e-01 1.01525677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.110281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:179.03, Y:125.23, Z:1.01 [[-2.82998329e-01 -9.59119317e-01 1.44304971e-03 1.79029384e+02] [ 9.59107772e-01 -2.83002003e-01 -4.70606386e-03 1.25227139e+02] [ 4.92206271e-03 5.22319864e-05 9.99987885e-01 1.01256469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14028169299996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:179.02, Y:125.24, Z:1.01 [[-2.84050697e-01 -9.58808179e-01 1.44123383e-03 1.79022790e+02] [ 9.58796628e-01 -2.84054350e-01 -4.70661991e-03 1.25241295e+02] [ 4.92213440e-03 4.49314694e-05 9.99987885e-01 1.00963025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.170281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.03, Y:125.21, Z:1.01 [[-2.86456348e-01 -9.58092211e-01 1.44066223e-03 1.79026801e+02] [ 9.58080650e-01 -2.86459969e-01 -4.70679486e-03 1.25213650e+02] [ 4.92223556e-03 3.19793354e-05 9.99987885e-01 1.00931379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.03, Y:125.21, Z:1.01 [[-2.88192087e-01 -9.57571538e-01 1.43884484e-03 1.79026887e+02] [ 9.57559968e-01 -2.88195678e-01 -4.70735037e-03 1.25206414e+02] [ 4.92229359e-03 2.11590908e-05 9.99987885e-01 1.01186660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.23028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.03, Y:125.20, Z:1.02 [[-2.90345560e-01 -9.56920786e-01 1.43705365e-03 1.79026917e+02] [ 9.56909205e-01 -2.90349116e-01 -4.70789711e-03 1.25201813e+02] [ 4.92233186e-03 8.21284382e-06 9.99987885e-01 1.01582877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26028169299997 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:179.04, Y:125.17, Z:1.02 [[-2.95684435e-01 -9.55284594e-01 1.43527256e-03 1.79035082e+02] [ 9.55272990e-01 -2.95687918e-01 -4.70844004e-03 1.25171086e+02] [ 4.92229299e-03 -2.11353255e-05 9.99987885e-01 1.01910551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.29028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.03, Y:125.20, Z:1.02 [[-2.98007678e-01 -9.54562397e-01 1.43351721e-03 1.79026715e+02] [ 9.54550782e-01 -2.98011123e-01 -4.70897441e-03 1.25196600e+02] [ 4.92221397e-03 -3.49455565e-05 9.99987885e-01 1.01884231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.03, Y:125.17, Z:1.02 [[-3.02146449e-01 -9.53260444e-01 1.43176789e-03 1.79032626e+02] [ 9.53248812e-01 -3.02149836e-01 -4.70950623e-03 1.25172577e+02] [ 4.92199443e-03 -5.81295522e-05 9.99987885e-01 1.01590544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.35028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.03, Y:125.19, Z:1.01 [[-3.03532926e-01 -9.52819877e-01 1.43002033e-03 1.79027374e+02] [ 9.52808238e-01 -3.03536287e-01 -4.71003681e-03 1.25188759e+02] [ 4.92187976e-03 -6.71161010e-05 9.99987885e-01 1.01495039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.380281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.03, Y:125.19, Z:1.02 [[-3.04682429e-01 -9.52452927e-01 1.42828044e-03 1.79027102e+02] [ 9.52441281e-01 -3.04685768e-01 -4.71056436e-03 1.25193305e+02] [ 4.92176753e-03 -7.48729411e-05 9.99987885e-01 1.01532652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.41028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.03, Y:125.18, Z:1.02 [[-3.07114991e-01 -9.51671344e-01 1.42653053e-03 1.79033978e+02] [ 9.51659688e-01 -3.07118291e-01 -4.71109424e-03 1.25184847e+02] [ 4.92152700e-03 -8.92760683e-05 9.99987885e-01 1.02019528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.440281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.04, Y:125.16, Z:1.02 [[-3.07769725e-01 -9.51459808e-01 1.42478660e-03 1.79042880e+02] [ 9.51448147e-01 -3.07773008e-01 -4.71162160e-03 1.25163958e+02] [ 4.92142944e-03 -9.44839072e-05 9.99987885e-01 1.02204069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.47028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.04, Y:125.19, Z:1.02 [[-3.08287834e-01 -9.51292062e-01 1.42306571e-03 1.79041015e+02] [ 9.51280396e-01 -3.08291103e-01 -4.71214131e-03 1.25186961e+02] [ 4.92134111e-03 -9.89613261e-05 9.99987885e-01 1.02083706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.500281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.04, Y:125.19, Z:1.02 [[-3.08626286e-01 -9.51182314e-01 1.42134762e-03 1.79043410e+02] [ 9.51170645e-01 -3.08629542e-01 -4.71265949e-03 1.25187268e+02] [ 4.92126822e-03 -1.02506464e-04 9.99987885e-01 1.01956522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.53028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.05, Y:125.20, Z:1.02 [[-3.10742768e-01 -9.50492986e-01 1.41961896e-03 1.79045875e+02] [ 9.50481308e-01 -3.10745990e-01 -4.71318016e-03 1.25203502e+02] [ 4.92098558e-03 -1.15265370e-04 9.99987885e-01 1.02108390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.560281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.06, Y:125.18, Z:1.02 [[-3.11863001e-01 -9.50126022e-01 1.41788484e-03 1.79056377e+02] [ 9.50114338e-01 -3.11866200e-01 -4.71370179e-03 1.25182661e+02] [ 4.92080109e-03 -1.22876468e-04 9.99987885e-01 1.02178901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.59028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.06, Y:125.18, Z:1.02 [[-3.13022936e-01 -9.49744511e-01 1.41615827e-03 1.79061127e+02] [ 9.49732820e-01 -3.13026112e-01 -4.71422045e-03 1.25182049e+02] [ 4.92059951e-03 -1.30687143e-04 9.99987885e-01 1.02040298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.620281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.07, Y:125.18, Z:1.02 [[-3.14916281e-01 -9.49118399e-01 1.41444943e-03 1.79072343e+02] [ 9.49106699e-01 -3.14919425e-01 -4.71473311e-03 1.25180010e+02] [ 4.92027755e-03 -1.42282785e-04 9.99987885e-01 1.01625452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.65028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.07, Y:125.19, Z:1.02 [[-3.15138925e-01 -9.49044499e-01 1.41296252e-03 1.79073998e+02] [ 9.49032797e-01 -3.15142059e-01 -4.71517868e-03 1.25192745e+02] [ 4.92019831e-03 -1.44988567e-04 9.99987885e-01 1.01624036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.680281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.08, Y:125.19, Z:1.02 [[-3.14659162e-01 -9.49203675e-01 1.41253560e-03 1.79079137e+02] [ 9.49191974e-01 -3.14662300e-01 -4.71530657e-03 1.25193396e+02] [ 4.92025803e-03 -1.42946959e-04 9.99987885e-01 1.01591684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.71028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.09, Y:125.21, Z:1.02 [[-3.12321256e-01 -9.49975494e-01 1.41189104e-03 1.79086562e+02] [ 9.49963800e-01 -3.12324420e-01 -4.71549956e-03 1.25205944e+02] [ 4.92057708e-03 -1.31505370e-04 9.99987885e-01 1.01903315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.740281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.09, Y:125.22, Z:1.02 [[-3.10890322e-01 -9.50444743e-01 1.41360553e-03 1.79088006e+02] [ 9.50433056e-01 -3.10893511e-01 -4.71498554e-03 1.25218064e+02] [ 4.92081401e-03 -1.22305946e-04 9.99987885e-01 1.01893576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.77028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.09, Y:125.25, Z:1.02 [[-3.05723014e-01 -9.52119444e-01 1.41533621e-03 1.79088881e+02] [ 9.52107777e-01 -3.05726276e-01 -4.71446597e-03 1.25247177e+02] [ 4.92144019e-03 -9.37681310e-05 9.99987885e-01 1.01719583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.800281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.10, Y:125.23, Z:1.02 [[-3.02510526e-01 -9.53144991e-01 1.41709303e-03 1.79098310e+02] [ 9.53133337e-01 -3.02513836e-01 -4.71393784e-03 1.25230174e+02] [ 4.92175649e-03 -7.53372112e-05 9.99987885e-01 1.01653607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.83028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.10, Y:125.26, Z:1.02 [[-2.99052821e-01 -9.54235504e-01 1.41885849e-03 1.79095184e+02] [ 9.54223865e-01 -2.99056181e-01 -4.71340639e-03 1.25255185e+02] [ 4.92201813e-03 -5.56488413e-05 9.99987885e-01 1.01680570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.860281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.10, Y:125.27, Z:1.02 [[-2.91647390e-01 -9.56524846e-01 1.42063068e-03 1.79097544e+02] [ 9.56513236e-01 -2.91650850e-01 -4.71287219e-03 1.25269135e+02] [ 4.92230749e-03 -1.56448282e-05 9.99987885e-01 1.01970134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.89028169299996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.10, Y:125.27, Z:1.02 [[-2.92014721e-01 -9.56412766e-01 1.42243056e-03 1.79098341e+02] [ 9.56401157e-01 -2.92018185e-01 -4.71232889e-03 1.25266748e+02] [ 4.92230710e-03 -1.56551700e-05 9.99987885e-01 1.01968895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.10, Y:125.27, Z:1.02 [[-2.89409346e-01 -9.57204368e-01 1.42424013e-03 1.79098762e+02] [ 9.57192771e-01 -2.89412850e-01 -4.71178191e-03 1.25272821e+02] [ 4.92233162e-03 -3.61358424e-07 9.99987885e-01 1.02016937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.95028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.10, Y:125.28, Z:1.02 [[-2.84954740e-01 -9.58539912e-01 1.42605465e-03 1.79100986e+02] [ 9.58528334e-01 -2.84958307e-01 -4.71123266e-03 1.25283227e+02] [ 4.92227066e-03 2.44257123e-05 9.99987885e-01 1.02160402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.11, Y:125.27, Z:1.02 [[-2.83442277e-01 -9.58988236e-01 1.42788240e-03 1.79105655e+02] [ 9.58976667e-01 -2.83445872e-01 -4.71067864e-03 1.25273927e+02] [ 4.92221278e-03 3.41004257e-05 9.99987885e-01 1.02211139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.01028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.11, Y:125.27, Z:1.02 [[-2.82019832e-01 -9.59407510e-01 1.42971271e-03 1.79106420e+02] [ 9.59395949e-01 -2.82023452e-01 -4.71012307e-03 1.25274520e+02] [ 4.92213996e-03 4.33124631e-05 9.99987885e-01 1.02261037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.10, Y:125.28, Z:1.02 [[-2.80674664e-01 -9.59801898e-01 1.43153941e-03 1.79103688e+02] [ 9.59790345e-01 -2.80678309e-01 -4.70956782e-03 1.25284450e+02] [ 4.92205420e-03 5.21213369e-05 9.99987885e-01 1.02014534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.07028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.11, Y:125.26, Z:1.02 [[-2.78061864e-01 -9.60562099e-01 1.43337672e-03 1.79111785e+02] [ 9.60550558e-01 -2.78065550e-01 -4.70900856e-03 1.25261130e+02] [ 4.92186783e-03 6.74351100e-05 9.99987885e-01 1.01945495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.12, Y:125.24, Z:1.02 [[-2.77342491e-01 -9.60770047e-01 1.43520791e-03 1.79118086e+02] [ 9.60758512e-01 -2.77346195e-01 -4.70845039e-03 1.25242285e+02] [ 4.92178755e-03 7.30348527e-05 9.99987885e-01 1.02184027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.130281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.11, Y:125.25, Z:1.02 [[-2.75860602e-01 -9.61196579e-01 1.43701208e-03 1.79114840e+02] [ 9.61185053e-01 -2.75864333e-01 -4.70789969e-03 1.25251646e+02] [ 4.92163746e-03 8.25104843e-05 9.99987885e-01 1.02065306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.12, Y:125.24, Z:1.02 [[-2.76169283e-01 -9.61107932e-01 1.43881274e-03 1.79117098e+02] [ 9.61096408e-01 -2.76173019e-01 -4.70734932e-03 1.25244021e+02] [ 4.92163202e-03 8.28124696e-05 9.99987885e-01 1.02025448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.190281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.11, Y:125.26, Z:1.02 [[-2.77107906e-01 -9.60837725e-01 1.44061770e-03 1.79114459e+02] [ 9.60826199e-01 -2.77111639e-01 -4.70679687e-03 1.25256107e+02] [ 4.92167993e-03 7.98925995e-05 9.99987885e-01 1.02042219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.12, Y:125.26, Z:1.02 [[-2.79922192e-01 -9.60021607e-01 1.44242846e-03 1.79116682e+02] [ 9.60010074e-01 -2.79925900e-01 -4.70624188e-03 1.25258518e+02] [ 4.92186698e-03 6.73643117e-05 9.99987885e-01 1.01933849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.250281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.12, Y:125.24, Z:1.02 [[-2.81502755e-01 -9.59559333e-01 1.44425180e-03 1.79124766e+02] [ 9.59547796e-01 -2.81506453e-01 -4.70568227e-03 1.25236992e+02] [ 4.92194754e-03 6.11661094e-05 9.99987885e-01 1.01901865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.12, Y:125.26, Z:1.02 [[-2.82233697e-01 -9.59344594e-01 1.44606397e-03 1.79119951e+02] [ 9.59333057e-01 -2.82237395e-01 -4.70512532e-03 1.25256287e+02] [ 4.92196987e-03 5.93120514e-05 9.99987885e-01 1.01856852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.310281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.12, Y:125.25, Z:1.02 [[-2.81737243e-01 -9.59490505e-01 1.44787742e-03 1.79123220e+02] [ 9.59478974e-01 -2.81740956e-01 -4.70456721e-03 1.25247143e+02] [ 4.92191394e-03 6.37561454e-05 9.99987885e-01 1.01724966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34028169299995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.13, Y:125.23, Z:1.02 [[-2.79680977e-01 -9.60091896e-01 1.44970073e-03 1.79128359e+02] [ 9.60080376e-01 -2.79684724e-01 -4.70400530e-03 1.25225038e+02] [ 4.92173652e-03 7.62084174e-05 9.99987885e-01 1.01853693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.370281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.13, Y:125.22, Z:1.02 [[-2.78240409e-01 -9.60510368e-01 1.45150561e-03 1.79127415e+02] [ 9.60498856e-01 -2.78244182e-01 -4.70344831e-03 1.25221759e+02] [ 4.92158386e-03 8.54800950e-05 9.99987885e-01 1.02036788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.13, Y:125.22, Z:1.02 [[-2.76813921e-01 -9.60922443e-01 1.45329655e-03 1.79126005e+02] [ 9.60910939e-01 -2.76817719e-01 -4.70289487e-03 1.25220452e+02] [ 4.92141546e-03 9.46617871e-05 9.99987885e-01 1.01998505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.430281693 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:179.13, Y:125.21, Z:1.02 [[-2.75284637e-01 -9.61361665e-01 1.45508875e-03 1.79126175e+02] [ 9.61350171e-01 -2.75288462e-01 -4.70234029e-03 1.25212183e+02] [ 4.92121884e-03 1.04367781e-04 9.99987885e-01 1.02275552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.12, Y:125.22, Z:1.02 [[-2.75759872e-01 -9.61225453e-01 1.45687808e-03 1.79121850e+02] [ 9.61213959e-01 -2.75763701e-01 -4.70178585e-03 1.25220432e+02] [ 4.92123033e-03 1.03807683e-04 9.99987885e-01 1.02190528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.490281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.12, Y:125.21, Z:1.02 [[-2.77503297e-01 -9.60723578e-01 1.45867105e-03 1.79119456e+02] [ 9.60712080e-01 -2.77507114e-01 -4.70122954e-03 1.25213516e+02] [ 4.92137366e-03 9.67562033e-05 9.99987885e-01 1.02074327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.11, Y:125.22, Z:1.02 [[-2.79133512e-01 -9.60251191e-01 1.46046976e-03 1.79114786e+02] [ 9.60239690e-01 -2.79137318e-01 -4.70067069e-03 1.25222844e+02] [ 4.92149624e-03 9.02863113e-05 9.99987885e-01 1.02079736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.550281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.11, Y:125.22, Z:1.02 [[-2.80944946e-01 -9.59722772e-01 1.46227425e-03 1.79113645e+02] [ 9.59711266e-01 -2.80948739e-01 -4.70010929e-03 1.25222971e+02] [ 4.92162602e-03 8.28891181e-05 9.99987885e-01 1.02216194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.11, Y:125.22, Z:1.02 [[-2.84701741e-01 -9.58615030e-01 1.46408911e-03 1.79110814e+02] [ 9.58603512e-01 -2.84705498e-01 -4.69954389e-03 1.25222476e+02] [ 4.92188763e-03 6.55126301e-05 9.99987885e-01 1.02349648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.610281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.11, Y:125.23, Z:1.02 [[-2.87404425e-01 -9.57808200e-01 1.46590771e-03 1.79108212e+02] [ 9.57796675e-01 -2.87408159e-01 -4.69897655e-03 1.25227908e+02] [ 4.92203211e-03 5.35348765e-05 9.99987885e-01 1.02363600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.11, Y:125.23, Z:1.02 [[-2.93060564e-01 -9.56092753e-01 1.46773346e-03 1.79111051e+02] [ 9.56081209e-01 -2.93064238e-01 -4.69840621e-03 1.25228454e+02] [ 4.92225231e-03 2.63548104e-05 9.99987885e-01 1.02236660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.67028169299994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:179.12, Y:125.22, Z:1.02 [[-2.95540089e-01 -9.55329208e-01 1.46956642e-03 1.79115155e+02] [ 9.55317657e-01 -2.95543743e-01 -4.69783283e-03 1.25223234e+02] [ 4.92229807e-03 1.55048133e-05 9.99987885e-01 1.02143591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.11, Y:125.23, Z:1.02 [[-2.97467402e-01 -9.54730841e-01 1.47139790e-03 1.79114587e+02] [ 9.54719286e-01 -2.97471041e-01 -4.69725912e-03 1.25230080e+02] [ 4.92231642e-03 7.49048170e-06 9.99987885e-01 1.02100064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.73028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.12, Y:125.23, Z:1.02 [[-2.98724234e-01 -9.54338337e-01 1.47323320e-03 1.79116982e+02] [ 9.54326780e-01 -2.98727867e-01 -4.69668344e-03 1.25226312e+02] [ 4.92232087e-03 2.93272815e-06 9.99987885e-01 1.02111656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.12, Y:125.21, Z:1.02 [[-2.97733454e-01 -9.54647901e-01 1.47507325e-03 1.79122248e+02] [ 9.54636350e-01 -2.97737108e-01 -4.69610546e-03 1.25211633e+02] [ 4.92231127e-03 9.97084264e-06 9.99987885e-01 1.02137570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.79028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.12, Y:125.22, Z:1.03 [[-2.93081258e-01 -9.56086395e-01 1.47690281e-03 1.79118379e+02] [ 9.56074865e-01 -2.93084977e-01 -4.69553001e-03 1.25220642e+02] [ 4.92219038e-03 3.58578130e-05 9.99987885e-01 1.02534035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.11, Y:125.23, Z:1.03 [[-2.90280346e-01 -9.56940507e-01 1.47873123e-03 1.79114401e+02] [ 9.56928991e-01 -2.90284108e-01 -4.69495412e-03 1.25226477e+02] [ 4.92204395e-03 5.21878787e-05 9.99987885e-01 1.02547161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.85028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.12, Y:125.21, Z:1.02 [[-2.87025327e-01 -9.57921849e-01 1.48057469e-03 1.79115979e+02] [ 9.57910349e-01 -2.87029137e-01 -4.69437271e-03 1.25213202e+02] [ 4.92181026e-03 7.08539534e-05 9.99987885e-01 1.02462968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.880281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.12, Y:125.19, Z:1.02 [[-2.81347849e-01 -9.59604705e-01 1.48241728e-03 1.79116771e+02] [ 9.59593231e-01 -2.81351736e-01 -4.69379077e-03 1.25193435e+02] [ 4.92126438e-03 1.01929652e-04 9.99987885e-01 1.02439843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.91028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.12, Y:125.18, Z:1.02 [[-2.79850532e-01 -9.60042435e-01 1.48424039e-03 1.79119691e+02] [ 9.60030970e-01 -2.79854446e-01 -4.69321421e-03 1.25176919e+02] [ 4.92105607e-03 1.11518252e-04 9.99987885e-01 1.02303721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.940281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.12, Y:125.16, Z:1.02 [[-2.78769090e-01 -9.60357010e-01 1.48604322e-03 1.79119170e+02] [ 9.60345552e-01 -2.78773026e-01 -4.69264330e-03 1.25157989e+02] [ 4.92088165e-03 1.18951097e-04 9.99987885e-01 1.02298109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.97028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.11, Y:125.17, Z:1.02 [[-2.79638696e-01 -9.60104157e-01 1.48582124e-03 1.79109931e+02] [ 9.60092695e-01 -2.79642620e-01 -4.69271358e-03 1.25174219e+02] [ 4.92099276e-03 1.14261816e-04 9.99987885e-01 1.02409507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.000281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.11, Y:125.17, Z:1.03 [[-2.80359608e-01 -9.59893889e-01 1.48760367e-03 1.79108520e+02] [ 9.59882427e-01 -2.80363532e-01 -4.69214848e-03 1.25166071e+02] [ 4.92103447e-03 1.12435710e-04 9.99987885e-01 1.02518807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.03028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.09, Y:125.19, Z:1.03 [[-2.82656253e-01 -9.59220116e-01 1.48738050e-03 1.79093054e+02] [ 9.59208644e-01 -2.82660149e-01 -4.69221922e-03 1.25193356e+02] [ 4.92129426e-03 1.00423132e-04 9.99987885e-01 1.02768099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.060281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.09, Y:125.18, Z:1.03 [[-2.83681324e-01 -9.58917457e-01 1.48918748e-03 1.79094208e+02] [ 9.58905984e-01 -2.83685216e-01 -4.69164566e-03 1.25179208e+02] [ 4.92136140e-03 9.70585301e-05 9.99987885e-01 1.02837469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.09028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.09, Y:125.19, Z:1.03 [[-2.86928463e-01 -9.57950855e-01 1.48850190e-03 1.79085594e+02] [ 9.57939369e-01 -2.86932313e-01 -4.69186316e-03 1.25188209e+02] [ 4.92167362e-03 7.96654790e-05 9.99987885e-01 1.02558672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.120281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.08, Y:125.19, Z:1.02 [[-2.89358130e-01 -9.57219755e-01 1.48804779e-03 1.79083581e+02] [ 9.57208257e-01 -2.89361948e-01 -4.69200718e-03 1.25192908e+02] [ 4.92186637e-03 6.67012106e-05 9.99987885e-01 1.02463886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.15028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.09, Y:125.19, Z:1.03 [[-2.92376577e-01 -9.56302109e-01 1.48759166e-03 1.79085174e+02] [ 9.56290600e-01 -2.92380357e-01 -4.69215179e-03 1.25190477e+02] [ 4.92205724e-03 5.06946416e-05 9.99987885e-01 1.02575687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.180281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.09, Y:125.18, Z:1.03 [[-2.99804530e-01 -9.53999493e-01 1.48690512e-03 1.79090360e+02] [ 9.53987953e-01 -2.99808217e-01 -4.69236934e-03 1.25180276e+02] [ 4.92230435e-03 1.16959824e-05 9.99987885e-01 1.02678099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.21028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.09, Y:125.17, Z:1.03 [[-3.02939757e-01 -9.53008549e-01 1.48622323e-03 1.79094411e+02] [ 9.52996996e-01 -3.02943403e-01 -4.69258531e-03 1.25171440e+02] [ 4.92231544e-03 -5.20437534e-06 9.99987885e-01 1.02630375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.240281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.10, Y:125.17, Z:1.03 [[-3.05352358e-01 -9.52238274e-01 1.48554795e-03 1.79095906e+02] [ 9.52226711e-01 -3.05355971e-01 -4.69279907e-03 1.25173462e+02] [ 4.92228383e-03 -1.83788250e-05 9.99987885e-01 1.02622043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.27028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.10, Y:125.17, Z:1.03 [[-3.06949182e-01 -9.51724747e-01 1.48510168e-03 1.79100354e+02] [ 9.51713177e-01 -3.06952774e-01 -4.69294030e-03 1.25171068e+02] [ 4.92224350e-03 -2.71033436e-05 9.99987885e-01 1.02820048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.300281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.10, Y:125.17, Z:1.03 [[-3.05684577e-01 -9.52131680e-01 1.48465622e-03 1.79100589e+02] [ 9.52120114e-01 -3.05688182e-01 -4.69308122e-03 1.25172980e+02] [ 4.92227316e-03 -2.10315035e-05 9.99987885e-01 1.02711985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.33028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.09, Y:125.20, Z:1.02 [[-3.01574177e-01 -9.53441562e-01 1.48443486e-03 1.79093590e+02] [ 9.53430011e-01 -3.01577830e-01 -4.69315123e-03 1.25195617e+02] [ 4.92231809e-03 -2.84716282e-08 9.99987885e-01 1.02258116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.360281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.09, Y:125.19, Z:1.02 [[-2.99395486e-01 -9.54127944e-01 1.48622988e-03 1.79094634e+02] [ 9.54116405e-01 -2.99399175e-01 -4.69258272e-03 1.25194388e+02] [ 4.92230030e-03 1.30982211e-05 9.99987885e-01 1.02198645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.39028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.09, Y:125.21, Z:1.02 [[-2.98400665e-01 -9.54439540e-01 1.48577680e-03 1.79090903e+02] [ 9.54428004e-01 -2.98404364e-01 -4.69272617e-03 1.25208742e+02] [ 4.92228569e-03 1.77543721e-05 9.99987885e-01 1.02464861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.10, Y:125.19, Z:1.03 [[-2.97354981e-01 -9.54765837e-01 1.48759612e-03 1.79097565e+02] [ 9.54754307e-01 -2.97358701e-01 -4.69214937e-03 1.25190165e+02] [ 4.92225357e-03 2.50548213e-05 9.99987885e-01 1.02887713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.45028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.10, Y:125.19, Z:1.03 [[-2.97579772e-01 -9.54695799e-01 1.48691136e-03 1.79097712e+02] [ 9.54684268e-01 -2.97583486e-01 -4.69236636e-03 1.25190839e+02] [ 4.92226272e-03 2.31775674e-05 9.99987885e-01 1.02871620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.10, Y:125.20, Z:1.03 [[-2.97444409e-01 -9.54737979e-01 1.48848689e-03 1.79095642e+02] [ 9.54726450e-01 -2.97448133e-01 -4.69186652e-03 1.25199987e+02] [ 4.92225081e-03 2.55283408e-05 9.99987885e-01 1.02681858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.51028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.09, Y:125.20, Z:1.03 [[-2.97531424e-01 -9.54710862e-01 1.49029856e-03 1.79094757e+02] [ 9.54699337e-01 -2.97535155e-01 -4.69129100e-03 1.25203792e+02] [ 4.92224269e-03 2.69805573e-05 9.99987885e-01 1.02598194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.10, Y:125.20, Z:1.03 [[-2.97636538e-01 -9.54678095e-01 1.49212194e-03 1.79095110e+02] [ 9.54666572e-01 -2.97640277e-01 -4.69071098e-03 1.25203139e+02] [ 4.92223461e-03 2.83519634e-05 9.99987885e-01 1.02613492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.57028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.10, Y:125.19, Z:1.03 [[-2.97463375e-01 -9.54732062e-01 1.49372036e-03 1.79100202e+02] [ 9.54720541e-01 -2.97467124e-01 -4.69020193e-03 1.25189540e+02] [ 4.92221885e-03 3.09222110e-05 9.99987885e-01 1.02652831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.10, Y:125.19, Z:1.03 [[-2.97993212e-01 -9.54566821e-01 1.49303498e-03 1.79099970e+02] [ 9.54555298e-01 -2.97996951e-01 -4.69042009e-03 1.25192441e+02] [ 4.92223927e-03 2.74711065e-05 9.99987885e-01 1.02694630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.630281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.10, Y:125.19, Z:1.03 [[-2.98904415e-01 -9.54281885e-01 1.49484459e-03 1.79101666e+02] [ 9.54270361e-01 -2.98908151e-01 -4.68984330e-03 1.25189974e+02] [ 4.92225374e-03 2.46710248e-05 9.99987885e-01 1.02716549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.10, Y:125.21, Z:1.03 [[-3.01033129e-01 -9.53612508e-01 1.49642847e-03 1.79097547e+02] [ 9.53600978e-01 -3.01036848e-01 -4.68933786e-03 1.25209801e+02] [ 4.92229135e-03 1.53496001e-05 9.99987885e-01 1.02827614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.690281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.11, Y:125.19, Z:1.03 [[-3.01974224e-01 -9.53314913e-01 1.49825539e-03 1.79106217e+02] [ 9.53303382e-01 -3.01977941e-01 -4.68875408e-03 1.25189001e+02] [ 4.92229927e-03 1.24090519e-05 9.99987885e-01 1.02836805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.11, Y:125.19, Z:1.03 [[-3.04334307e-01 -9.52564112e-01 1.49756728e-03 1.79109521e+02] [ 9.52552571e-01 -3.04337991e-01 -4.68897385e-03 1.25191700e+02] [ 4.92231483e-03 -5.04043961e-07 9.99987885e-01 1.02599917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.750281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:179.12, Y:125.17, Z:1.02 [[-3.04763121e-01 -9.52427001e-01 1.49937844e-03 1.79116031e+02] [ 9.52415461e-01 -3.04766809e-01 -4.68839463e-03 1.25174804e+02] [ 4.92231442e-03 -8.18568509e-07 9.99987885e-01 1.02340970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78028169299995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:179.12, Y:125.17, Z:1.02 [[-3.05126456e-01 -9.52310663e-01 1.49915408e-03 1.79116869e+02] [ 9.52299122e-01 -3.05130138e-01 -4.68846637e-03 1.25172426e+02] [ 4.92231361e-03 -2.93201482e-06 9.99987885e-01 1.02339730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.810281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.12, Y:125.18, Z:1.02 [[-3.05691893e-01 -9.52129305e-01 1.50094256e-03 1.79116688e+02] [ 9.52117765e-01 -3.05695577e-01 -4.68789375e-03 1.25176688e+02] [ 4.92231252e-03 -3.97703733e-06 9.99987885e-01 1.02243467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.12, Y:125.17, Z:1.02 [[-3.04413626e-01 -9.52538758e-01 1.50273468e-03 1.79119641e+02] [ 9.52527225e-01 -3.04417335e-01 -4.68731920e-03 1.25173535e+02] [ 4.92231170e-03 4.51186648e-06 9.99987885e-01 1.02437387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.870281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.11, Y:125.20, Z:1.03 [[-3.01120337e-01 -9.53584962e-01 1.50453075e-03 1.79111009e+02] [ 9.53573445e-01 -3.01124095e-01 -4.68674263e-03 1.25201698e+02] [ 4.92225775e-03 2.34070460e-05 9.99987885e-01 1.02937533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.12, Y:125.18, Z:1.03 [[-2.99588008e-01 -9.54067480e-01 1.50634652e-03 1.79117660e+02] [ 9.54055972e-01 -2.99591793e-01 -4.68615896e-03 1.25179051e+02] [ 4.92220092e-03 3.32218669e-05 9.99987885e-01 1.02897083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.930281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.11, Y:125.20, Z:1.03 [[-2.98831856e-01 -9.54304592e-01 1.50611964e-03 1.79112301e+02] [ 9.54293086e-01 -2.98835649e-01 -4.68623187e-03 1.25195026e+02] [ 4.92217483e-03 3.68841959e-05 9.99987885e-01 1.02661656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96028169299996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.11, Y:125.19, Z:1.02 [[-2.98673292e-01 -9.54354227e-01 1.50793706e-03 1.79114246e+02] [ 9.54342725e-01 -2.98677096e-01 -4.68564699e-03 1.25190279e+02] [ 4.92215327e-03 3.96111576e-05 9.99987885e-01 1.02317637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.990281693 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:179.12, Y:125.19, Z:1.02 [[-2.99539240e-01 -9.54082787e-01 1.50976595e-03 1.79116666e+02] [ 9.54071285e-01 -2.99543042e-01 -4.68505763e-03 1.25189840e+02] [ 4.92217272e-03 3.70657357e-05 9.99987885e-01 1.02257921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02028169299996 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:179.12, Y:125.19, Z:1.02 [[-3.00469980e-01 -9.53790074e-01 1.51159306e-03 1.79116783e+02] [ 9.53778571e-01 -3.00473781e-01 -4.68446805e-03 1.25191304e+02] [ 4.92219321e-03 3.41830470e-05 9.99987885e-01 1.02268407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.050281693 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:179.12, Y:125.18, Z:1.03 [[-3.01203143e-01 -9.53558795e-01 1.51342398e-03 1.79119129e+02] [ 9.53547292e-01 -3.01206943e-01 -4.68387646e-03 1.25179028e+02] [ 4.92220540e-03 3.23230296e-05 9.99987885e-01 1.02604661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08028169299996 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:179.11, Y:125.19, Z:1.03 [[-3.00631969e-01 -9.53739023e-01 1.51525063e-03 1.79113342e+02] [ 9.53727525e-01 -3.00635785e-01 -4.68328545e-03 1.25190499e+02] [ 4.92217066e-03 3.71909123e-05 9.99987885e-01 1.02800513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.110281693 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:179.12, Y:125.18, Z:1.03 [[-2.99460436e-01 -9.54107513e-01 1.51708047e-03 1.79116039e+02] [ 9.54096022e-01 -2.99464276e-01 -4.68269263e-03 1.25177208e+02] [ 4.92210362e-03 4.51592583e-05 9.99987885e-01 1.02765929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14028169299996 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:179.11, Y:125.17, Z:1.03 [[-2.97512199e-01 -9.54716809e-01 1.51891286e-03 1.79114183e+02] [ 9.54705329e-01 -2.97516071e-01 -4.68209819e-03 1.25171303e+02] [ 4.92197882e-03 5.71328729e-05 9.99987885e-01 1.02776532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.17028169299994 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:179.11, Y:125.18, Z:1.03 [[-2.97453396e-01 -9.54735128e-01 1.52073604e-03 1.79110491e+02] [ 9.54723652e-01 -2.97457277e-01 -4.68150595e-03 1.25176651e+02] [ 4.92195218e-03 5.93528273e-05 9.99987885e-01 1.02867096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20028169299997 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:179.11, Y:125.17, Z:1.03 [[-2.98892591e-01 -9.54285545e-01 1.52256331e-03 1.79111956e+02] [ 9.54274066e-01 -2.98896464e-01 -4.68091159e-03 1.25165514e+02] [ 4.92201506e-03 5.38528850e-05 9.99987885e-01 1.02913096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.23028169299994 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:179.11, Y:125.16, Z:1.03 [[-3.01407769e-01 -9.53494122e-01 1.52210682e-03 1.79113451e+02] [ 9.53482632e-01 -3.01411610e-01 -4.68106002e-03 1.25161168e+02] [ 4.92214388e-03 4.03945545e-05 9.99987885e-01 1.02865078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26028169299997 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:179.12, Y:125.16, Z:1.03 [[-3.04697253e-01 -9.52448037e-01 1.52369212e-03 1.79115346e+02] [ 9.52436536e-01 -3.04701061e-01 -4.68054395e-03 1.25156340e+02] [ 4.92224550e-03 2.50711595e-05 9.99987885e-01 1.02801005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.29028169299994 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:179.12, Y:125.15, Z:1.03 [[-3.11666138e-01 -9.50190450e-01 1.52527333e-03 1.79117991e+02] [ 9.50178925e-01 -3.11669870e-01 -4.68002862e-03 1.25152462e+02] [ 4.92230024e-03 -9.32387097e-06 9.99987885e-01 1.02870918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32028169299997 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:179.12, Y:125.14, Z:1.03 [[-3.14457549e-01 -9.49270308e-01 1.52707831e-03 1.79123471e+02] [ 9.49258775e-01 -3.14461256e-01 -4.67943958e-03 1.25138713e+02] [ 4.92226002e-03 -2.18926128e-05 9.99987885e-01 1.02946041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.35028169299994 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:179.13, Y:125.12, Z:1.03 [[-3.19395395e-01 -9.47620309e-01 1.52662975e-03 1.79133841e+02] [ 9.47608756e-01 -3.19399040e-01 -4.67958592e-03 1.25117454e+02] [ 4.92207473e-03 -4.79904804e-05 9.99987885e-01 1.02803125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.380281693 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:179.13, Y:125.12, Z:1.03 [[-3.21511619e-01 -9.46904404e-01 1.52596376e-03 1.79134360e+02] [ 9.46892842e-01 -3.21515234e-01 -4.67980308e-03 1.25123402e+02] [ 4.92194674e-03 -5.96869048e-05 9.99987885e-01 1.02690381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.41028169299994 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:179.14, Y:125.13, Z:1.03 [[-3.23797374e-01 -9.46125217e-01 1.52771841e-03 1.79136252e+02] [ 9.46113649e-01 -3.23800971e-01 -4.67923020e-03 1.25132748e+02] [ 4.92181440e-03 -6.97272139e-05 9.99987885e-01 1.02573810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.440281693 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:179.15, Y:125.11, Z:1.03 [[-3.24406247e-01 -9.45916618e-01 1.52948465e-03 1.79145245e+02] [ 9.45905050e-01 -3.24409845e-01 -4.67865281e-03 1.25112209e+02] [ 4.92179532e-03 -7.10369433e-05 9.99987885e-01 1.02640539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.47028169299995 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:179.14, Y:125.13, Z:1.03 [[-3.24625607e-01 -9.45841356e-01 1.53124518e-03 1.79140203e+02] [ 9.45829790e-01 -3.24629211e-01 -4.67807655e-03 1.25133514e+02] [ 4.92180518e-03 -7.03261361e-05 9.99987885e-01 1.02798345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.500281693 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:179.15, Y:125.11, Z:1.03 [[-3.24088078e-01 -9.46025670e-01 1.53300781e-03 1.79149492e+02] [ 9.46014108e-01 -3.24091697e-01 -4.67749886e-03 1.25110698e+02] [ 4.92186909e-03 -6.56746054e-05 9.99987885e-01 1.02837031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.53028169299995 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:179.15, Y:125.13, Z:1.03 [[-3.21011402e-01 -9.47074086e-01 1.53477165e-03 1.79145824e+02] [ 9.47062539e-01 -3.21015068e-01 -4.67692004e-03 1.25126836e+02] [ 4.92207460e-03 -4.78199298e-05 9.99987885e-01 1.02889609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.560281693 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:179.14, Y:125.13, Z:1.03 [[-3.16781106e-01 -9.48497428e-01 1.53653326e-03 1.79144139e+02] [ 9.48485900e-01 -3.16784831e-01 -4.67634122e-03 1.25127306e+02] [ 4.92224804e-03 -2.39964136e-05 9.99987885e-01 1.02606168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.59028169299995 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:179.14, Y:125.15, Z:1.02 [[-3.14624005e-01 -9.49215133e-01 1.53830945e-03 1.79136566e+02] [ 9.49203617e-01 -3.14627765e-01 -4.67575686e-03 1.25148378e+02] [ 4.92229403e-03 -1.09364510e-05 9.99987885e-01 1.02475371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.620281693 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:179.14, Y:125.14, Z:1.02 [[-3.12878643e-01 -9.49791863e-01 1.54010348e-03 1.79138880e+02] [ 9.49780357e-01 -3.12882433e-01 -4.67516586e-03 1.25139584e+02] [ 4.92230582e-03 4.84102561e-10 9.99987885e-01 1.02490181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.65028169299995 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:179.13, Y:125.16, Z:1.03 [[-3.11609482e-01 -9.50209005e-01 1.54190930e-03 1.79133374e+02] [ 9.50197507e-01 -3.11613297e-01 -4.67457021e-03 1.25156544e+02] [ 4.92229815e-03 8.47797566e-06 9.99987885e-01 1.02687271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.680281693 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:179.14, Y:125.15, Z:1.03 [[-3.10406506e-01 -9.50602661e-01 1.54372433e-03 1.79135904e+02] [ 9.50591170e-01 -3.10410344e-01 -4.67397074e-03 1.25145241e+02] [ 4.92227702e-03 1.66197894e-05 9.99987885e-01 1.03155844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.71028169299996 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:179.14, Y:125.13, Z:1.03 [[-3.10238745e-01 -9.50657421e-01 1.54554711e-03 1.79139387e+02] [ 9.50645934e-01 -3.10242594e-01 -4.67336792e-03 1.25131617e+02] [ 4.92226644e-03 1.94082806e-05 9.99987885e-01 1.03181747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.740281693 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:179.14, Y:125.14, Z:1.03 [[-3.09415896e-01 -9.50925554e-01 1.54735558e-03 1.79135830e+02] [ 9.50914073e-01 -3.09419764e-01 -4.67276906e-03 1.25140355e+02] [ 4.92223791e-03 2.55731692e-05 9.99987885e-01 1.03129323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.77028169299996 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:179.14, Y:125.13, Z:1.03 [[-3.09056473e-01 -9.51042426e-01 1.54916442e-03 1.79137653e+02] [ 9.51030950e-01 -3.09060354e-01 -4.67216930e-03 1.25134798e+02] [ 4.92221653e-03 2.93391471e-05 9.99987885e-01 1.03151692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.800281693 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:179.13, Y:125.14, Z:1.03 [[-3.08970687e-01 -9.51070297e-01 1.55097851e-03 1.79134841e+02] [ 9.51058824e-01 -3.08974578e-01 -4.67156701e-03 1.25139419e+02] [ 4.92220156e-03 3.16945285e-05 9.99987885e-01 1.03139311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.83028169299996 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:179.13, Y:125.14, Z:1.03 [[-3.08878701e-01 -9.51100172e-01 1.55279574e-03 1.79131209e+02] [ 9.51088703e-01 -3.08882602e-01 -4.67096290e-03 1.25136927e+02] [ 4.92218521e-03 3.40855297e-05 9.99987885e-01 1.03006101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.860281693 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:179.13, Y:125.13, Z:1.03 [[-3.09477523e-01 -9.50905487e-01 1.55461888e-03 1.79134049e+02] [ 9.50894019e-01 -3.09481426e-01 -4.67035603e-03 1.25125903e+02] [ 4.92219285e-03 3.29075744e-05 9.99987885e-01 1.02865598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.89028169299996 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:179.14, Y:125.12, Z:1.03 [[-3.12175489e-01 -9.50023179e-01 1.55643625e-03 1.79137183e+02] [ 9.50011703e-01 -3.12179369e-01 -4.66975030e-03 1.25115530e+02] [ 4.92225831e-03 2.08510662e-05 9.99987885e-01 1.02964060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92028169299994 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:179.14, Y:125.11, Z:1.03 [[-3.14092459e-01 -9.49391120e-01 1.55824209e-03 1.79137100e+02] [ 9.49379639e-01 -3.14096324e-01 -4.66914764e-03 1.25113914e+02] [ 4.92228542e-03 1.28192502e-05 9.99987885e-01 1.02969388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.95028169299997 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:179.14, Y:125.10, Z:1.03 [[-3.17766039e-01 -9.48167871e-01 1.56004287e-03 1.79139298e+02] [ 9.48156377e-01 -3.17769868e-01 -4.66854589e-03 1.25104740e+02] [ 4.92229983e-03 -4.34073509e-06 9.99987885e-01 1.02600655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98028169299994 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:179.14, Y:125.11, Z:1.02 [[-3.19843120e-01 -9.47469229e-01 1.56183951e-03 1.79137054e+02] [ 9.47457730e-01 -3.19846933e-01 -4.66794475e-03 1.25112519e+02] [ 4.92228359e-03 -1.32330984e-05 9.99987885e-01 1.02470598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.01028169299997 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:179.15, Y:125.09, Z:1.02 [[-3.21482343e-01 -9.46914282e-01 1.56363861e-03 1.79145520e+02] [ 9.46902780e-01 -3.21486145e-01 -4.66734202e-03 1.25090098e+02] [ 4.92226097e-03 -1.98542993e-05 9.99987885e-01 1.02391121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04028169299994 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:179.15, Y:125.09, Z:1.02 [[-3.23635419e-01 -9.46180571e-01 1.56296449e-03 1.79147588e+02] [ 9.46169059e-01 -3.23639191e-01 -4.66756776e-03 1.25087431e+02] [ 4.92219849e-03 -3.17616060e-05 9.99987885e-01 1.02284871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.07028169299997 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:179.15, Y:125.08, Z:1.02 [[-3.25271469e-01 -9.45619386e-01 1.56473531e-03 1.79151826e+02] [ 9.45607870e-01 -3.25275230e-01 -4.66697404e-03 1.25083774e+02] [ 4.92215076e-03 -3.84074724e-05 9.99987885e-01 1.02313212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10028169299994 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:179.15, Y:125.09, Z:1.03 [[-3.24037596e-01 -9.46042908e-01 1.56650415e-03 1.79150421e+02] [ 9.46031399e-01 -3.24041381e-01 -4.66638024e-03 1.25094917e+02] [ 4.92220810e-03 -3.01205187e-05 9.99987885e-01 1.02557123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.130281693 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:179.15, Y:125.09, Z:1.03 [[-3.23324821e-01 -9.46286744e-01 1.56827978e-03 1.79150986e+02] [ 9.46275241e-01 -3.23328623e-01 -4.66578341e-03 1.25093389e+02] [ 4.92223873e-03 -2.45392578e-05 9.99987885e-01 1.02551695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16028169299994 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:179.15, Y:125.09, Z:1.02 [[-3.22932159e-01 -9.46420813e-01 1.57006431e-03 1.79151493e+02] [ 9.46409315e-01 -3.22935975e-01 -4.66518282e-03 1.25091117e+02] [ 4.92225637e-03 -2.06140695e-05 9.99987885e-01 1.02499985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.190281693 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:179.14, Y:125.11, Z:1.02 [[-3.22041928e-01 -9.46724103e-01 1.57184921e-03 1.79144861e+02] [ 9.46712611e-01 -3.22045763e-01 -4.66458136e-03 1.25110696e+02] [ 4.92227898e-03 -1.41012992e-05 9.99987885e-01 1.02446473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22028169299995 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:179.15, Y:125.10, Z:1.03 [[-3.22244062e-01 -9.46655317e-01 1.57364973e-03 1.79148245e+02] [ 9.46643827e-01 -3.22247904e-01 -4.66397385e-03 1.25101425e+02] [ 4.92228097e-03 -1.32520779e-05 9.99987885e-01 1.02601845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.250281693 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:179.16, Y:125.08, Z:1.03 [[-3.22289612e-01 -9.46639807e-01 1.57546063e-03 1.79158048e+02] [ 9.46628320e-01 -3.22293463e-01 -4.66336206e-03 1.25077334e+02] [ 4.92228482e-03 -1.15775009e-05 9.99987885e-01 1.02831155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28028169299995 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:179.15, Y:125.09, Z:1.03 [[-3.22731639e-01 -9.46489200e-01 1.57568362e-03 1.79154034e+02] [ 9.46477712e-01 -3.22735486e-01 -4.66328672e-03 1.25091974e+02] [ 4.92227953e-03 -1.36407433e-05 9.99987885e-01 1.02864661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.310281693 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:179.16, Y:125.08, Z:1.03 [[-3.23144331e-01 -9.46348378e-01 1.57746779e-03 1.79159091e+02] [ 9.46336892e-01 -3.23148181e-01 -4.66268310e-03 1.25080694e+02] [ 4.92227844e-03 -1.39036447e-05 9.99987885e-01 1.02779638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34028169299995 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:179.16, Y:125.08, Z:1.03 [[-3.22898473e-01 -9.46432291e-01 1.57925680e-03 1.79159903e+02] [ 9.46420809e-01 -3.22902335e-01 -4.66207708e-03 1.25084702e+02] [ 4.92228600e-03 -1.07360770e-05 9.99987885e-01 1.02612438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.370281693 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:179.16, Y:125.08, Z:1.03 [[-3.22273340e-01 -9.46645337e-01 1.58104317e-03 1.79162534e+02] [ 9.46633860e-01 -3.22277218e-01 -4.66147119e-03 1.25082410e+02] [ 4.92229416e-03 -5.59888803e-06 9.99987885e-01 1.02552202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40028169299995 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:179.17, Y:125.08, Z:1.03 [[-3.20544233e-01 -9.47232226e-01 1.58283259e-03 1.79166387e+02] [ 9.47220759e-01 -3.20548141e-01 -4.66086350e-03 1.25083421e+02] [ 4.92229416e-03 5.27897203e-06 9.99987885e-01 1.02536104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.430281693 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:179.17, Y:125.09, Z:1.02 [[-3.20176636e-01 -9.47356538e-01 1.58462298e-03 1.79165199e+02] [ 9.47345076e-01 -3.20180557e-01 -4.66025472e-03 1.25093100e+02] [ 4.92228825e-03 9.08009476e-06 9.99987885e-01 1.02486124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46028169299996 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:179.17, Y:125.08, Z:1.02 [[-3.19574544e-01 -9.47559810e-01 1.58642243e-03 1.79170702e+02] [ 9.47548353e-01 -3.19578482e-01 -4.65964208e-03 1.25082068e+02] [ 4.92227604e-03 1.41089634e-05 9.99987885e-01 1.02451257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.490281693 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:179.17, Y:125.09, Z:1.02 [[-3.16974687e-01 -9.48432668e-01 1.58822346e-03 1.79170775e+02] [ 9.48421225e-01 -3.16978665e-01 -4.65902812e-03 1.25090556e+02] [ 4.92220742e-03 2.95108597e-05 9.99987885e-01 1.02490116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52028169299996 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:179.17, Y:125.10, Z:1.02 [[-3.15755933e-01 -9.48839113e-01 1.59002515e-03 1.79168600e+02] [ 9.48827678e-01 -3.15759935e-01 -4.65841316e-03 1.25099078e+02] [ 4.92215085e-03 3.77382758e-05 9.99987885e-01 1.02430085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.550281693 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:179.18, Y:125.08, Z:1.03 [[-3.12829685e-01 -9.49807904e-01 1.59184062e-03 1.79175251e+02] [ 9.49796485e-01 -3.12833731e-01 -4.65779271e-03 1.25075420e+02] [ 4.92198977e-03 5.48288014e-05 9.99987885e-01 1.02568026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58028169299996 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:179.18, Y:125.06, Z:1.03 [[-3.11880547e-01 -9.50119984e-01 1.59364912e-03 1.79177516e+02] [ 9.50108572e-01 -3.11884613e-01 -4.65717385e-03 1.25063720e+02] [ 4.92190859e-03 6.16577631e-05 9.99987885e-01 1.02696373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.610281693 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:179.17, Y:125.07, Z:1.03 [[-3.11025917e-01 -9.50400091e-01 1.59543601e-03 1.79172486e+02] [ 9.50388686e-01 -3.11030002e-01 -4.65656163e-03 1.25072232e+02] [ 4.92182506e-03 6.79729864e-05 9.99987885e-01 1.02801837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64028169299996 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:179.17, Y:125.08, Z:1.03 [[-3.08423668e-01 -9.51247754e-01 1.59722475e-03 1.79166122e+02] [ 9.51236363e-01 -3.08427793e-01 -4.65594800e-03 1.25075769e+02] [ 4.92158859e-03 8.33336964e-05 9.99987885e-01 1.02591499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.67028169299994 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:179.17, Y:125.06, Z:1.02 [[-3.07826897e-01 -9.51441036e-01 1.59902646e-03 1.79167300e+02] [ 9.51429651e-01 -3.07831038e-01 -4.65532915e-03 1.25062710e+02] [ 4.92150116e-03 8.83256590e-05 9.99987885e-01 1.02427219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70028169299997 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:179.17, Y:125.06, Z:1.02 [[-3.08193496e-01 -9.51322346e-01 1.60082672e-03 1.79168188e+02] [ 9.51310963e-01 -3.08197640e-01 -4.65471001e-03 1.25060354e+02] [ 4.92150066e-03 8.83326566e-05 9.99987885e-01 1.02425980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.73028169299994 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:179.16, Y:125.07, Z:1.02 [[-3.08938094e-01 -9.51080799e-01 1.60262011e-03 1.79158176e+02] [ 9.51069415e-01 -3.08942239e-01 -4.65409246e-03 1.25070154e+02] [ 4.92153502e-03 8.63765171e-05 9.99987885e-01 1.02304677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76028169299997 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:179.16, Y:125.05, Z:1.03 [[-3.10297333e-01 -9.50638202e-01 1.60442322e-03 1.79161924e+02] [ 9.50626816e-01 -3.10301470e-01 -4.65347079e-03 1.25050480e+02] [ 4.92162198e-03 8.12481614e-05 9.99987885e-01 1.02521868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.79028169299994 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:179.15, Y:125.07, Z:1.03 [[-3.12744743e-01 -9.49835856e-01 1.60397308e-03 1.79152789e+02] [ 9.49824458e-01 -3.12748848e-01 -4.65362593e-03 1.25070050e+02] [ 4.92182151e-03 6.80958203e-05 9.99987885e-01 1.02716184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82028169299997 meters Centerline goodness : 0.998589 Centerline is valid? [True, True] Translation: X:179.15, Y:125.07, Z:1.02 [[-3.18786232e-01 -9.47825279e-01 1.60577329e-03 1.79150867e+02] [ 9.47813859e-01 -3.18790274e-01 -4.65300468e-03 1.25065508e+02] [ 4.92214036e-03 3.86603472e-05 9.99987885e-01 1.02497488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.85028169299994 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:179.15, Y:125.06, Z:1.02 [[-3.22317936e-01 -9.46630109e-01 1.60758851e-03 1.79150831e+02] [ 9.46618677e-01 -3.22321945e-01 -4.65237744e-03 1.25062774e+02] [ 4.92224162e-03 2.22286092e-05 9.99987885e-01 1.02195766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.880281693 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:179.15, Y:125.05, Z:1.02 [[-3.25186227e-01 -9.45648628e-01 1.60940286e-03 1.79154033e+02] [ 9.45637187e-01 -3.25190209e-01 -4.65174972e-03 1.25053367e+02] [ 4.92228279e-03 9.22625553e-06 9.99987885e-01 1.01956445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.91028169299994 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:179.16, Y:125.04, Z:1.02 [[-3.29931868e-01 -9.44003376e-01 1.60895090e-03 1.79159701e+02] [ 9.43991914e-01 -3.29935791e-01 -4.65190604e-03 1.25036759e+02] [ 4.92226549e-03 -1.59754106e-05 9.99987885e-01 1.02103164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.940281693 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:179.16, Y:125.03, Z:1.02 [[-3.33539701e-01 -9.42734682e-01 1.60827750e-03 1.79160055e+02] [ 9.42723204e-01 -3.33543576e-01 -4.65213884e-03 1.25033653e+02] [ 4.92216326e-03 -3.55124800e-05 9.99987885e-01 1.02297983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.97028169299995 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:179.16, Y:125.03, Z:1.02 [[-3.35287314e-01 -9.42114550e-01 1.61004947e-03 1.79161038e+02] [ 9.42103068e-01 -3.35291177e-01 -4.65152550e-03 1.25032128e+02] [ 4.92210523e-03 -4.27649493e-05 9.99987885e-01 1.02305370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.000281693 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:179.17, Y:125.01, Z:1.02 [[-3.36625052e-01 -9.41637391e-01 1.61182120e-03 1.79167727e+02] [ 9.41625907e-01 -3.36628907e-01 -4.65091148e-03 1.25014525e+02] [ 4.92205777e-03 -4.78807158e-05 9.99987885e-01 1.02163236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.03028169299995 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:179.17, Y:125.01, Z:1.02 [[-3.38162534e-01 -9.41086343e-01 1.61115809e-03 1.79171075e+02] [ 9.41074851e-01 -3.38166367e-01 -4.65114119e-03 1.25006920e+02] [ 4.92196493e-03 -5.66213248e-05 9.99987885e-01 1.01901286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.060281693 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:179.17, Y:125.02, Z:1.02 [[-3.41072523e-01 -9.40035604e-01 1.61137498e-03 1.79169633e+02] [ 9.40024101e-01 -3.41076322e-01 -4.65106605e-03 1.25016281e+02] [ 4.92176953e-03 -7.16195157e-05 9.99987885e-01 1.01875223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.09028169299995 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:179.18, Y:125.00, Z:1.02 [[-3.42095750e-01 -9.39663714e-01 1.61311801e-03 1.79175713e+02] [ 9.39652209e-01 -3.42099545e-01 -4.65046144e-03 1.25003224e+02] [ 4.92171680e-03 -7.51331928e-05 9.99987885e-01 1.02094068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.120281693 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:179.18, Y:125.01, Z:1.02 [[-3.44540730e-01 -9.38769984e-01 1.61290113e-03 1.79175977e+02] [ 9.38758469e-01 -3.44544494e-01 -4.65053665e-03 1.25010577e+02] [ 4.92150043e-03 -8.81746990e-05 9.99987885e-01 1.02412951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.15028169299995 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:179.18, Y:125.00, Z:1.03 [[-3.45403776e-01 -9.38452782e-01 1.61463858e-03 1.79182005e+02] [ 9.38441266e-01 -3.45407538e-01 -4.64993334e-03 1.24996314e+02] [ 4.92145122e-03 -9.08610668e-05 9.99987885e-01 1.02515243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.180281693 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:179.18, Y:125.00, Z:1.03 [[-3.45260414e-01 -9.38505532e-01 1.61637327e-03 1.79182724e+02] [ 9.38494020e-01 -3.45264186e-01 -4.64933027e-03 1.24997989e+02] [ 4.92149798e-03 -8.82730472e-05 9.99987885e-01 1.02703263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.21028169299996 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:179.18, Y:125.01, Z:1.03 [[-3.42656978e-01 -9.39459194e-01 1.61810214e-03 1.79180399e+02] [ 9.39447695e-01 -3.42660791e-01 -4.64872849e-03 1.25007920e+02] [ 4.92175088e-03 -7.27969320e-05 9.99987885e-01 1.02919003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.240281693 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:179.17, Y:125.03, Z:1.03 [[-3.38004357e-01 -9.41143151e-01 1.61984118e-03 1.79172164e+02] [ 9.41131674e-01 -3.38008235e-01 -4.64812245e-03 1.25025668e+02] [ 4.92206826e-03 -4.66017977e-05 9.99987885e-01 1.02944797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.27028169299996 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:179.18, Y:125.01, Z:1.03 [[-3.35395192e-01 -9.42076130e-01 1.62160143e-03 1.79175724e+02] [ 9.42064667e-01 -3.35399111e-01 -4.64750826e-03 1.25011709e+02] [ 4.92219028e-03 -3.10985156e-05 9.99987885e-01 1.02841214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.300281693 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:179.17, Y:125.02, Z:1.03 [[-3.33400125e-01 -9.42784027e-01 1.62314538e-03 1.79172319e+02] [ 9.42772575e-01 -3.33404075e-01 -4.64696897e-03 1.25018343e+02] [ 4.92225141e-03 -1.90430837e-05 9.99987885e-01 1.02693835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.33028169299996 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:179.17, Y:125.02, Z:1.02 [[-3.32531764e-01 -9.43090656e-01 1.62490982e-03 1.79170193e+02] [ 9.43079210e-01 -3.32535734e-01 -4.64635192e-03 1.25021625e+02] [ 4.92227166e-03 -1.26409296e-05 9.99987885e-01 1.02478234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.360281693 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:179.17, Y:125.01, Z:1.02 [[-3.33482753e-01 -9.42754797e-01 1.62668427e-03 1.79173079e+02] [ 9.42743350e-01 -3.33486720e-01 -4.64573060e-03 1.25011005e+02] [ 4.92226241e-03 -1.57252553e-05 9.99987885e-01 1.02320799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.39028169299996 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:179.17, Y:125.02, Z:1.02 [[-3.36383579e-01 -9.41723652e-01 1.62823324e-03 1.79170870e+02] [ 9.41712196e-01 -3.36387518e-01 -4.64518765e-03 1.25024355e+02] [ 4.92220042e-03 -2.92377446e-05 9.99987885e-01 1.02371596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42028169299994 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:179.17, Y:125.02, Z:1.02 [[-3.37913390e-01 -9.41175799e-01 1.63000989e-03 1.79174078e+02] [ 9.41164339e-01 -3.37917319e-01 -4.64456414e-03 1.25021169e+02] [ 4.92215994e-03 -3.53532307e-05 9.99987885e-01 1.02402284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.45028169299997 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:179.18, Y:125.01, Z:1.02 [[-3.38658841e-01 -9.40907821e-01 1.63179521e-03 1.79179644e+02] [ 9.40896361e-01 -3.38662770e-01 -4.64393681e-03 1.25008612e+02] [ 4.92214475e-03 -3.73600867e-05 9.99987885e-01 1.02413761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48028169299994 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:179.18, Y:125.01, Z:1.02 [[-3.37618594e-01 -9.41281582e-01 1.63357197e-03 1.79178808e+02] [ 9.41270130e-01 -3.37622545e-01 -4.64331173e-03 1.25009673e+02] [ 4.92219453e-03 -3.00358783e-05 9.99987886e-01 1.02333331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.51028169299997 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:179.18, Y:125.01, Z:1.02 [[-3.36208894e-01 -9.41786019e-01 1.63534380e-03 1.79179931e+02] [ 9.41774576e-01 -3.36212870e-01 -4.64268762e-03 1.25005557e+02] [ 4.92224192e-03 -2.07876578e-05 9.99987886e-01 1.02250395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54028169299994 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:179.18, Y:125.02, Z:1.02 [[-3.31796914e-01 -9.43349420e-01 1.63711684e-03 1.79176813e+02] [ 9.43337998e-01 -3.31800953e-01 -4.64206232e-03 1.25015100e+02] [ 4.92228372e-03 4.13257100e-06 9.99987886e-01 1.01811597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.57028169299997 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:179.17, Y:125.02, Z:1.02 [[-3.29621608e-01 -9.44111704e-01 1.63889673e-03 1.79174161e+02] [ 9.44100295e-01 -3.29625682e-01 -4.64143384e-03 1.25023242e+02] [ 4.92225446e-03 1.73660026e-05 9.99987886e-01 1.01696684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60028169299994 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:179.17, Y:125.02, Z:1.02 [[-3.27525585e-01 -9.44840886e-01 1.64069161e-03 1.79173830e+02] [ 9.44829489e-01 -3.27529693e-01 -4.64079928e-03 1.25024462e+02] [ 4.92219212e-03 3.01933131e-05 9.99987886e-01 1.01780069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.630281693 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:179.17, Y:125.03, Z:1.02 [[-3.24523615e-01 -9.45876168e-01 1.64249623e-03 1.79170533e+02] [ 9.45864788e-01 -3.24527768e-01 -4.64016049e-03 1.25028013e+02] [ 4.92205286e-03 4.77376968e-05 9.99987886e-01 1.02043996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66028169299994 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:179.17, Y:125.02, Z:1.02 [[-3.23576260e-01 -9.46200666e-01 1.64430796e-03 1.79171383e+02] [ 9.46189293e-01 -3.23580434e-01 -4.63951839e-03 1.25021292e+02] [ 4.92198127e-03 5.45885714e-05 9.99987886e-01 1.02172812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.690281693 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:179.17, Y:125.01, Z:1.02 [[-3.20513374e-01 -9.47242560e-01 1.64612128e-03 1.79170886e+02] [ 9.47231204e-01 -3.20517593e-01 -4.63887493e-03 1.25009310e+02] [ 4.92175059e-03 7.24359902e-05 9.99987886e-01 1.02179339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72028169299995 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:179.17, Y:125.00, Z:1.02 [[-3.18908108e-01 -9.47784211e-01 1.64567032e-03 1.79169081e+02] [ 9.47772861e-01 -3.18912344e-01 -4.63903490e-03 1.25004383e+02] [ 4.92162861e-03 8.02958182e-05 9.99987886e-01 1.02143498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.750281693 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:179.16, Y:125.01, Z:1.02 [[-3.15552163e-01 -9.48906805e-01 1.64567032e-03 1.79159174e+02] [ 9.48895470e-01 -3.15556439e-01 -4.63903490e-03 1.25010075e+02] [ 4.92131365e-03 9.77116120e-05 9.99987886e-01 1.02037289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78028169299995 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:179.16, Y:125.01, Z:1.02 [[-3.14021379e-01 -9.49414485e-01 1.64589393e-03 1.79157387e+02] [ 9.49403158e-01 -3.14025674e-01 -4.63895557e-03 1.25006565e+02] [ 4.92114456e-03 1.05885670e-04 9.99987886e-01 1.01985432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.810281693 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:179.15, Y:125.01, Z:1.02 [[-3.13234374e-01 -9.49674429e-01 1.64521643e-03 1.79154242e+02] [ 9.49663104e-01 -3.13238675e-01 -4.63919583e-03 1.25008721e+02] [ 4.92107107e-03 1.09245737e-04 9.99987886e-01 1.02086182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84028169299995 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:179.15, Y:125.01, Z:1.02 [[-3.14440361e-01 -9.49275805e-01 1.64476735e-03 1.79149209e+02] [ 9.49264474e-01 -3.14444646e-01 -4.63935504e-03 1.25011729e+02] [ 4.92121578e-03 1.02518739e-04 9.99987886e-01 1.02414355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.870281693 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:179.15, Y:125.01, Z:1.02 [[-3.16011896e-01 -9.48753803e-01 1.64408979e-03 1.79148602e+02] [ 9.48742463e-01 -3.16016159e-01 -4.63959514e-03 1.25006308e+02] [ 4.92139248e-03 9.36505402e-05 9.99987886e-01 1.02465810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90028169299995 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:179.14, Y:125.02, Z:1.02 [[-3.17588876e-01 -9.48227085e-01 1.64341318e-03 1.79140220e+02] [ 9.48215737e-01 -3.17593117e-01 -4.63983479e-03 1.25023755e+02] [ 4.92155374e-03 8.47503232e-05 9.99987886e-01 1.02484897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.930281693 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:179.13, Y:125.03, Z:1.02 [[-3.20087315e-01 -9.47386621e-01 1.64318893e-03 1.79134401e+02] [ 9.47375262e-01 -3.20091525e-01 -4.63991421e-03 1.25028894e+02] [ 4.92176350e-03 7.15388616e-05 9.99987886e-01 1.02460693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96028169299996 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:179.14, Y:125.02, Z:1.02 [[-3.20704505e-01 -9.47177873e-01 1.64250376e-03 1.79137106e+02] [ 9.47166509e-01 -3.20708704e-01 -4.64015675e-03 1.25018382e+02] [ 4.92181905e-03 6.76053805e-05 9.99987886e-01 1.02470396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.990281693 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:179.14, Y:125.00, Z:1.02 [[-3.21693674e-01 -9.46842378e-01 1.64069478e-03 1.79141220e+02] [ 9.46831007e-01 -3.21697852e-01 -4.64079629e-03 1.25003358e+02] [ 4.92191058e-03 6.05458815e-05 9.99987886e-01 1.02327934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02028169299996 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:179.14, Y:125.01, Z:1.02 [[-3.22206048e-01 -9.46668145e-01 1.63890674e-03 1.79137273e+02] [ 9.46656768e-01 -3.22210211e-01 -4.64142765e-03 1.25014506e+02] [ 4.92196419e-03 5.59860953e-05 9.99987886e-01 1.02191099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.050281693 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:179.14, Y:125.01, Z:1.02 [[-3.22990774e-01 -9.46400695e-01 1.63823361e-03 1.79138022e+02] [ 9.46389314e-01 -3.22994925e-01 -4.64166523e-03 1.25012525e+02] [ 4.92201634e-03 5.11917382e-05 9.99987886e-01 1.02137803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08028169299996 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:179.14, Y:125.01, Z:1.02 [[-3.26588029e-01 -9.45165372e-01 1.63644792e-03 1.79139399e+02] [ 9.45153972e-01 -3.26592128e-01 -4.64229470e-03 1.25014770e+02] [ 4.92218720e-03 3.05773766e-05 9.99987886e-01 1.02099742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.110281693 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:179.15, Y:124.99, Z:1.02 [[-3.30932702e-01 -9.43652940e-01 1.63577505e-03 1.79150829e+02] [ 9.43641520e-01 -3.30936745e-01 -4.64253178e-03 1.24992552e+02] [ 4.92227683e-03 7.21966528e-06 9.99987886e-01 1.01921138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14028169299996 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:179.15, Y:124.99, Z:1.02 [[-3.33095137e-01 -9.42891807e-01 1.63401025e-03 1.79151664e+02] [ 9.42880375e-01 -3.33099145e-01 -4.64315284e-03 1.24994915e+02] [ 4.92227819e-03 -5.93543255e-06 9.99987886e-01 1.01868682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.17028169299994 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:179.15, Y:125.00, Z:1.02 [[-3.34855333e-01 -9.42268135e-01 1.63335101e-03 1.79151776e+02] [ 9.42256694e-01 -3.34859317e-01 -4.64338474e-03 1.25000283e+02] [ 4.92225628e-03 -1.58262256e-05 9.99987886e-01 1.02048471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20028169299997 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:179.16, Y:124.99, Z:1.02 [[-3.36182419e-01 -9.41795474e-01 1.63269100e-03 1.79158633e+02] [ 9.41784027e-01 -3.36186383e-01 -4.64361680e-03 1.24988160e+02] [ 4.92222577e-03 -2.34600227e-05 9.99987886e-01 1.02173111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.23028169299994 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:179.16, Y:124.99, Z:1.02 [[-3.39232123e-01 -9.40701283e-01 1.63203478e-03 1.79164886e+02] [ 9.40689821e-01 -3.39236046e-01 -4.64384742e-03 1.24989430e+02] [ 4.92211825e-03 -4.01037100e-05 9.99987886e-01 1.02173451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26028169299997 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:179.17, Y:124.99, Z:1.02 [[-3.40602393e-01 -9.40206014e-01 1.63138322e-03 1.79166276e+02] [ 9.40194546e-01 -3.40606296e-01 -4.64407630e-03 1.24994928e+02] [ 4.92204786e-03 -4.79658947e-05 9.99987886e-01 1.01995034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.29028169299994 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:179.17, Y:124.99, Z:1.02 [[-3.42207866e-01 -9.39622857e-01 1.63159898e-03 1.79173912e+02] [ 9.39611383e-01 -3.42211751e-01 -4.64400050e-03 1.24992912e+02] [ 4.92196136e-03 -5.61445306e-05 9.99987886e-01 1.01956893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32028169299997 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:179.17, Y:125.03, Z:1.02 [[-3.42669194e-01 -9.39454715e-01 1.63181476e-03 1.79166188e+02] [ 9.39443238e-01 -3.42673074e-01 -4.64392467e-03 1.25025450e+02] [ 4.92193591e-03 -5.83325825e-05 9.99987886e-01 1.02148637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.35028169299994 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:179.17, Y:125.01, Z:1.02 [[-3.42468272e-01 -9.39527974e-01 1.63356650e-03 1.79174737e+02] [ 9.39516502e-01 -3.42472163e-01 -4.64330839e-03 1.25010713e+02] [ 4.92196918e-03 -5.54231151e-05 9.99987886e-01 1.02486353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.380281693 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:179.18, Y:125.00, Z:1.03 [[-3.41597841e-01 -9.39844800e-01 1.63312525e-03 1.79183325e+02] [ 9.39833330e-01 -3.41601741e-01 -4.64346358e-03 1.25004882e+02] [ 4.92201353e-03 -5.13315919e-05 9.99987886e-01 1.02564544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.41028169299994 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:179.18, Y:125.02, Z:1.02 [[-3.40600808e-01 -9.40206582e-01 1.63487252e-03 1.79181403e+02] [ 9.40195120e-01 -3.40604729e-01 -4.64284832e-03 1.25020173e+02] [ 4.92208186e-03 -4.42587263e-05 9.99987886e-01 1.02442968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.440281693 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:179.19, Y:125.02, Z:1.02 [[-3.36336660e-01 -9.41740396e-01 1.63662701e-03 1.79186065e+02] [ 9.41728954e-01 -3.36340641e-01 -4.64222977e-03 1.25024108e+02] [ 4.92223948e-03 -2.00930088e-05 9.99987886e-01 1.02243540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.47028169299995 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:179.18, Y:125.05, Z:1.02 [[-3.33544221e-01 -9.42733031e-01 1.63839521e-03 1.79179412e+02] [ 9.42721605e-01 -3.33548245e-01 -4.64160563e-03 1.25049908e+02] [ 4.92227880e-03 -3.63017834e-06 9.99987886e-01 1.02250295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.500281693 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:179.18, Y:125.04, Z:1.02 [[-3.30170158e-01 -9.43920006e-01 1.64018535e-03 1.79182959e+02] [ 9.43908596e-01 -3.30174231e-01 -4.64097297e-03 1.25044912e+02] [ 4.92225417e-03 1.58742769e-05 9.99987886e-01 1.02270829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.53028169299995 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:179.18, Y:125.05, Z:1.02 [[-3.22431856e-01 -9.46591254e-01 1.64199189e-03 1.79183527e+02] [ 9.46579882e-01 -3.22436031e-01 -4.64033372e-03 1.25046246e+02] [ 4.92193667e-03 5.80850769e-05 9.99987886e-01 1.02324207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.560281693 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:179.19, Y:125.03, Z:1.02 [[-3.19025147e-01 -9.47744825e-01 1.64379818e-03 1.79188480e+02] [ 9.47733471e-01 -3.19029373e-01 -4.63969377e-03 1.25029207e+02] [ 4.92166567e-03 7.77035634e-05 9.99987886e-01 1.02352594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.59028169299995 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:179.19, Y:125.03, Z:1.02 [[-3.19390567e-01 -9.47621738e-01 1.64559692e-03 1.79189390e+02] [ 9.47610386e-01 -3.19394796e-01 -4.63905571e-03 1.25026862e+02] [ 4.92166513e-03 7.77140981e-05 9.99987886e-01 1.02351355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.620281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:179.19, Y:125.02, Z:1.02 [[-3.13470883e-01 -9.49596383e-01 1.64738548e-03 1.79187233e+02] [ 9.49585061e-01 -3.13475193e-01 -4.63842049e-03 1.25022884e+02] [ 4.92104180e-03 1.10322873e-04 9.99987886e-01 1.02469823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.65028169299995 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:179.19, Y:125.01, Z:1.03 [[-3.11862249e-01 -9.50125896e-01 1.64917319e-03 1.79187938e+02] [ 9.50114584e-01 -3.11866586e-01 -4.63778479e-03 1.25014264e+02] [ 4.92080144e-03 1.20553506e-04 9.99987886e-01 1.02526702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.680281693 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:179.19, Y:124.99, Z:1.03 [[-3.09510794e-01 -9.50894496e-01 1.65095677e-03 1.79191586e+02] [ 9.50883199e-01 -3.09515167e-01 -4.63714978e-03 1.24989899e+02] [ 4.92043637e-03 1.34619150e-04 9.99987886e-01 1.02506254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.71028169299996 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:179.19, Y:124.98, Z:1.02 [[-3.09349253e-01 -9.50947062e-01 1.65073702e-03 1.79190880e+02] [ 9.50935765e-01 -3.09353628e-01 -4.63722800e-03 1.24983820e+02] [ 4.92041983e-03 1.35221852e-04 9.99987886e-01 1.02482182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.740281693 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:179.19, Y:124.99, Z:1.02 [[-3.09793376e-01 -9.50802468e-01 1.65248252e-03 1.79185218e+02] [ 9.50791172e-01 -3.09797754e-01 -4.63660591e-03 1.24991783e+02] [ 4.92043172e-03 1.34775987e-04 9.99987886e-01 1.02447980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.77028169299996 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:179.18, Y:124.99, Z:1.02 [[-3.11296349e-01 -9.50311447e-01 1.65423349e-03 1.79180136e+02] [ 9.50300148e-01 -3.11300717e-01 -4.63598112e-03 1.24987347e+02] [ 4.92059000e-03 1.28854336e-04 9.99987886e-01 1.02227294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.800281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:179.18, Y:124.99, Z:1.02 [[-3.12648959e-01 -9.49867299e-01 1.65599173e-03 1.79177117e+02] [ 9.49855997e-01 -3.12653320e-01 -4.63535298e-03 1.24986755e+02] [ 4.92072153e-03 1.23715392e-04 9.99987886e-01 1.02235312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.83028169299996 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:179.17, Y:124.99, Z:1.02 [[-3.15614969e-01 -9.48885896e-01 1.65775176e-03 1.79172001e+02] [ 9.48874583e-01 -3.15619304e-01 -4.63472346e-03 1.24987116e+02] [ 4.92104217e-03 1.10210406e-04 9.99987886e-01 1.02337014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.860281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:179.17, Y:125.00, Z:1.02 [[-3.18104003e-01 -9.48054374e-01 1.65753212e-03 1.79167259e+02] [ 9.48043050e-01 -3.18108306e-01 -4.63480201e-03 1.24997207e+02] [ 4.92131905e-03 9.70627384e-05 9.99987886e-01 1.02312097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.89028169299996 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:179.16, Y:125.00, Z:1.02 [[-3.20910196e-01 -9.47108174e-01 1.65930392e-03 1.79163811e+02] [ 9.47096840e-01 -3.20914475e-01 -4.63416760e-03 1.25003407e+02] [ 4.92155266e-03 8.43698712e-05 9.99987886e-01 1.02174492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92028169299994 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:179.16, Y:125.01, Z:1.02 [[-3.24616373e-01 -9.45844306e-01 1.66086515e-03 1.79160531e+02] [ 9.45832959e-01 -3.24620615e-01 -4.63360799e-03 1.25011449e+02] [ 4.92182280e-03 6.67559752e-05 9.99987886e-01 1.01945763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.95028169299997 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:179.16, Y:125.01, Z:1.02 [[-3.25485791e-01 -9.45545470e-01 1.66266424e-03 1.79159475e+02] [ 9.45534122e-01 -3.25490032e-01 -4.63296234e-03 1.25013716e+02] [ 4.92185719e-03 6.41423628e-05 9.99987886e-01 1.01962418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98028169299994 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:179.16, Y:125.02, Z:1.02 [[-3.26362147e-01 -9.45243347e-01 1.66243898e-03 1.79156927e+02] [ 9.45231995e-01 -3.26366376e-01 -4.63304317e-03 1.25015993e+02] [ 4.92191742e-03 5.93406006e-05 9.99987886e-01 1.02041975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.01028169299997 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:179.15, Y:125.02, Z:1.02 [[-3.26318444e-01 -9.45258436e-01 1.66198606e-03 1.79152600e+02] [ 9.45247083e-01 -3.26322671e-01 -4.63320564e-03 1.25024058e+02] [ 4.92192044e-03 5.90870193e-05 9.99987886e-01 1.02079349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04028169299994 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:179.16, Y:125.01, Z:1.02 [[-3.25514855e-01 -9.45535466e-01 1.66198606e-03 1.79156888e+02] [ 9.45524116e-01 -3.25519091e-01 -4.63320564e-03 1.25010237e+02] [ 4.92186844e-03 6.32706407e-05 9.99987886e-01 1.02052638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.07028169299997 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:179.15, Y:125.02, Z:1.02 [[-3.23593610e-01 -9.46194703e-01 1.66130277e-03 1.79152450e+02] [ 9.46183361e-01 -3.23597866e-01 -4.63345063e-03 1.25018369e+02] [ 4.92174047e-03 7.25420229e-05 9.99987886e-01 1.01939098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10028169299994 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:179.15, Y:125.02, Z:1.02 [[-3.22923599e-01 -9.46423579e-01 1.66085117e-03 1.79149921e+02] [ 9.46412239e-01 -3.22927861e-01 -4.63361250e-03 1.25020243e+02] [ 4.92169524e-03 7.55470475e-05 9.99987886e-01 1.01860099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.130281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:179.15, Y:125.01, Z:1.02 [[-3.23460783e-01 -9.46240120e-01 1.66016821e-03 1.79148991e+02] [ 9.46228777e-01 -3.23465036e-01 -4.63385718e-03 1.25013829e+02] [ 4.92174794e-03 7.20278580e-05 9.99987886e-01 1.02164328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16028169299994 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:179.15, Y:125.01, Z:1.02 [[-3.24507020e-01 -9.45881832e-01 1.65948738e-03 1.79149170e+02] [ 9.45870482e-01 -3.24511257e-01 -4.63410099e-03 1.25013603e+02] [ 4.92183427e-03 6.58618218e-05 9.99987886e-01 1.02311036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.190281693 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:179.15, Y:125.03, Z:1.02 [[-3.26484455e-01 -9.45201116e-01 1.65880943e-03 1.79145573e+02] [ 9.45189756e-01 -3.26488664e-01 -4.63434365e-03 1.25026776e+02] [ 4.92196926e-03 5.48485252e-05 9.99987886e-01 1.02379691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22028169299995 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:179.16, Y:124.99, Z:1.02 [[-3.32560763e-01 -9.43080373e-01 1.65835781e-03 1.79161989e+02] [ 9.43068985e-01 -3.32564897e-01 -4.63450525e-03 1.24992278e+02] [ 4.92222253e-03 2.26912175e-05 9.99987886e-01 1.02185330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.250281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:179.16, Y:125.00, Z:1.02 [[-3.36422341e-01 -9.41709756e-01 1.65657427e-03 1.79160400e+02] [ 9.41698349e-01 -3.36426419e-01 -4.63514268e-03 1.25003606e+02] [ 4.92227443e-03 6.27707216e-07 9.99987886e-01 1.02073764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28028169299995 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:179.17, Y:124.99, Z:1.02 [[-3.41923830e-01 -9.39726208e-01 1.65811879e-03 1.79173674e+02] [ 9.39714779e-01 -3.41927849e-01 -4.63459010e-03 1.24986314e+02] [ 4.92220277e-03 -2.65180657e-05 9.99987886e-01 1.02042303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.310281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:179.17, Y:125.00, Z:1.02 [[-3.43963791e-01 -9.38981450e-01 1.65745512e-03 1.79174217e+02] [ 9.38970012e-01 -3.43967782e-01 -4.63482743e-03 1.24996208e+02] [ 4.92212814e-03 -3.79121591e-05 9.99987886e-01 1.02107568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34028169299995 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:179.18, Y:124.99, Z:1.02 [[-3.44677307e-01 -9.38719767e-01 1.65920774e-03 1.79179181e+02] [ 9.38708329e-01 -3.44681299e-01 -4.63419993e-03 1.24991432e+02] [ 4.92211296e-03 -3.97914305e-05 9.99987886e-01 1.02124665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.370281693 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:179.18, Y:124.99, Z:1.02 [[-3.43942836e-01 -9.38989122e-01 1.65942668e-03 1.79184223e+02] [ 9.38977688e-01 -3.43946837e-01 -4.63412153e-03 1.24993057e+02] [ 4.92214427e-03 -3.57082700e-05 9.99987886e-01 1.01981311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40028169299995 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:179.18, Y:125.00, Z:1.02 [[-3.42721016e-01 -9.39435759e-01 1.66118162e-03 1.79184158e+02] [ 9.39424333e-01 -3.42725041e-01 -4.63349236e-03 1.25001638e+02] [ 4.92219695e-03 -2.74407698e-05 9.99987886e-01 1.02002028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.430281693 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:179.19, Y:125.01, Z:1.02 [[-3.40499685e-01 -9.40243159e-01 1.66294472e-03 1.79187557e+02] [ 9.40231746e-01 -3.40503746e-01 -4.63285950e-03 1.25005575e+02] [ 4.92225336e-03 -1.39337835e-05 9.99987886e-01 1.02137126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46028169299996 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:179.19, Y:125.00, Z:1.02 [[-3.39751082e-01 -9.40513919e-01 1.66471724e-03 1.79190008e+02] [ 9.40502511e-01 -3.39755160e-01 -4.63222250e-03 1.25004214e+02] [ 4.92226600e-03 -8.13185984e-06 9.99987886e-01 1.01966920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.490281693 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:179.18, Y:125.03, Z:1.02 [[-3.39661836e-01 -9.40546150e-01 1.66649335e-03 1.79183389e+02] [ 9.40534746e-01 -3.39665924e-01 -4.63158343e-03 1.25027523e+02] [ 4.92226897e-03 -5.77722888e-06 9.99987886e-01 1.01703246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52028169299996 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:179.19, Y:125.01, Z:1.01 [[-3.40431807e-01 -9.40267729e-01 1.66828684e-03 1.79193380e+02] [ 9.40256325e-01 -3.40435895e-01 -4.63093733e-03 1.25007811e+02] [ 4.92226565e-03 -7.90111239e-06 9.99987886e-01 1.01357039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.550281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:179.20, Y:125.00, Z:1.01 [[-3.41462958e-01 -9.39893749e-01 1.67008490e-03 1.79197293e+02] [ 9.39882344e-01 -3.41467042e-01 -4.63028879e-03 1.24998317e+02] [ 4.92225844e-03 -1.13887970e-05 9.99987886e-01 1.01443897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58028169299996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:179.20, Y:125.00, Z:1.02 [[-3.43540613e-01 -9.39136333e-01 1.67186472e-03 1.79199445e+02] [ 9.39124922e-01 -3.43544680e-01 -4.62964606e-03 1.24995177e+02] [ 4.92222906e-03 -2.03816176e-05 9.99987886e-01 1.01610340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.610281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:179.20, Y:125.00, Z:1.02 [[-3.44786400e-01 -9.38679678e-01 1.67363866e-03 1.79200768e+02] [ 9.38668264e-01 -3.44790461e-01 -4.62900469e-03 1.24995978e+02] [ 4.92220727e-03 -2.50263697e-05 9.99987886e-01 1.01758980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64028169299996 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:179.21, Y:124.97, Z:1.02 [[-3.45488718e-01 -9.38421408e-01 1.67541354e-03 1.79210655e+02] [ 9.38409995e-01 -3.45492779e-01 -4.62836220e-03 1.24974078e+02] [ 4.92219745e-03 -2.68221145e-05 9.99987886e-01 1.01868013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.67028169299994 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:179.22, Y:124.97, Z:1.02 [[-3.46237412e-01 -9.38145429e-01 1.67607271e-03 1.79215243e+02] [ 9.38134013e-01 -3.46241467e-01 -4.62812348e-03 1.24969350e+02] [ 4.92217876e-03 -3.00486808e-05 9.99987886e-01 1.02022383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70028169299997 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:179.21, Y:124.98, Z:1.02 [[-3.46387400e-01 -9.38090057e-01 1.67781906e-03 1.79211495e+02] [ 9.38078644e-01 -3.46391462e-01 -4.62749030e-03 1.24982725e+02] [ 4.92218483e-03 -2.89781070e-05 9.99987886e-01 1.02107340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.73028169299994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:179.22, Y:124.97, Z:1.02 [[-3.44449642e-01 -9.38803293e-01 1.67957349e-03 1.79215450e+02] [ 9.38791892e-01 -3.44453736e-01 -4.62685343e-03 1.24973866e+02] [ 4.92224060e-03 -1.69480307e-05 9.99987886e-01 1.02137588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76028169299997 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:179.21, Y:124.98, Z:1.02 [[-3.43149106e-01 -9.39279439e-01 1.68133348e-03 1.79213104e+02] [ 9.39268046e-01 -3.43153225e-01 -4.62621379e-03 1.24979213e+02] [ 4.92226249e-03 -8.25831445e-06 9.99987886e-01 1.02020201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.79028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.21, Y:124.98, Z:1.02 [[-3.41388906e-01 -9.39920626e-01 1.68309380e-03 1.79211582e+02] [ 9.39909244e-01 -3.41393054e-01 -4.62557326e-03 1.24983286e+02] [ 4.92226825e-03 2.83602856e-06 9.99987886e-01 1.01933963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82028169299997 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:179.20, Y:125.00, Z:1.02 [[-3.37668452e-01 -9.41263607e-01 1.68486412e-03 1.79204461e+02] [ 9.41252245e-01 -3.37672655e-01 -4.62492833e-03 1.25000225e+02] [ 4.92220927e-03 2.41897436e-05 9.99987886e-01 1.02112659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.85028169299994 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:179.20, Y:125.00, Z:1.02 [[-3.36363133e-01 -9.41730852e-01 1.68665172e-03 1.79204223e+02] [ 9.41719499e-01 -3.36367360e-01 -4.62427633e-03 1.24999084e+02] [ 4.92215827e-03 3.29167438e-05 9.99987886e-01 1.02085993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.880281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:179.21, Y:124.99, Z:1.02 [[-3.33691768e-01 -9.42680727e-01 1.68845449e-03 1.79206535e+02] [ 9.42669390e-01 -3.33696036e-01 -4.62361799e-03 1.24991293e+02] [ 4.92202614e-03 4.87911034e-05 9.99987886e-01 1.02004635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.91028169299994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:179.21, Y:124.98, Z:1.02 [[-3.33016628e-01 -9.42919439e-01 1.69025426e-03 1.79208699e+02] [ 9.42908108e-01 -3.33020913e-01 -4.62295996e-03 1.24983052e+02] [ 4.92196883e-03 5.42319115e-05 9.99987886e-01 1.02045433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.940281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:179.21, Y:124.97, Z:1.02 [[-3.32854054e-01 -9.42976837e-01 1.69204590e-03 1.79210300e+02] [ 9.42965510e-01 -3.32858350e-01 -4.62230411e-03 1.24974587e+02] [ 4.92193731e-03 5.69882649e-05 9.99987886e-01 1.02131627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.97028169299995 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:179.21, Y:124.98, Z:1.02 [[-3.33118155e-01 -9.42883570e-01 1.69382920e-03 1.79208360e+02] [ 9.42872244e-01 -3.33122456e-01 -4.62165053e-03 1.24976955e+02] [ 4.92193089e-03 5.75088382e-05 9.99987886e-01 1.02320127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.000281693 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:179.21, Y:124.97, Z:1.02 [[-3.34419788e-01 -9.42422692e-01 1.69561224e-03 1.79209746e+02] [ 9.42411364e-01 -3.34424082e-01 -4.62099627e-03 1.24973709e+02] [ 4.92198531e-03 5.26116527e-05 9.99987886e-01 1.02395616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.03028169299995 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:179.20, Y:124.99, Z:1.02 [[-3.35317463e-01 -9.42103666e-01 1.69739772e-03 1.79203704e+02] [ 9.42092338e-01 -3.35321756e-01 -4.62034033e-03 1.24988670e+02] [ 4.92201394e-03 4.98245839e-05 9.99987886e-01 1.02342838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.060281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:179.21, Y:124.98, Z:1.02 [[-3.35668909e-01 -9.41978501e-01 1.69919499e-03 1.79206272e+02] [ 9.41967174e-01 -3.35673206e-01 -4.61967926e-03 1.24980350e+02] [ 4.92201278e-03 4.99032035e-05 9.99987886e-01 1.02278163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.09028169299995 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:179.21, Y:124.97, Z:1.02 [[-3.35692890e-01 -9.41969952e-01 1.70099994e-03 1.79210571e+02] [ 9.41958628e-01 -3.35697196e-01 -4.61901457e-03 1.24968191e+02] [ 4.92199384e-03 5.17012186e-05 9.99987886e-01 1.02136234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.120281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:179.21, Y:124.98, Z:1.02 [[-3.34550777e-01 -9.42376187e-01 1.70279397e-03 1.79207169e+02] [ 9.42364872e-01 -3.34555105e-01 -4.61835311e-03 1.24977704e+02] [ 4.92190441e-03 5.95796048e-05 9.99987886e-01 1.02095286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.15028169299995 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:179.22, Y:124.95, Z:1.02 [[-3.33643756e-01 -9.42697692e-01 1.70458897e-03 1.79215285e+02] [ 9.42686385e-01 -3.33648104e-01 -4.61769050e-03 1.24953564e+02] [ 4.92181905e-03 6.62292102e-05 9.99987886e-01 1.02397920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.180281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.21, Y:124.97, Z:1.03 [[-3.33991459e-01 -9.42574556e-01 1.70637646e-03 1.79210384e+02] [ 9.42563250e-01 -3.33995812e-01 -4.61702987e-03 1.24969906e+02] [ 4.92181747e-03 6.63192022e-05 9.99987886e-01 1.02525448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.21028169299996 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:179.22, Y:124.96, Z:1.03 [[-3.34428457e-01 -9.42419593e-01 1.70816189e-03 1.79217515e+02] [ 9.42408289e-01 -3.34432812e-01 -4.61636922e-03 1.24956329e+02] [ 4.92182219e-03 6.59406931e-05 9.99987886e-01 1.02554473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.240281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.22, Y:124.96, Z:1.02 [[-3.35537563e-01 -9.42025275e-01 1.70995158e-03 1.79219654e+02] [ 9.42013970e-01 -3.35541915e-01 -4.61570621e-03 1.24962903e+02] [ 4.92187234e-03 6.20554606e-05 9.99987886e-01 1.02415993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.27028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.22, Y:124.97, Z:1.02 [[-3.36490287e-01 -9.41685381e-01 1.71173770e-03 1.79218907e+02] [ 9.41674074e-01 -3.36494635e-01 -4.61504373e-03 1.24969054e+02] [ 4.92190976e-03 5.89816291e-05 9.99987886e-01 1.02404722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.300281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.23, Y:124.96, Z:1.02 [[-3.37296488e-01 -9.41396910e-01 1.71353474e-03 1.79226461e+02] [ 9.41385603e-01 -3.37300836e-01 -4.61437640e-03 1.24957966e+02] [ 4.92193639e-03 5.66839850e-05 9.99987886e-01 1.02497850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.33028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.23, Y:124.95, Z:1.03 [[-3.37900040e-01 -9.41180440e-01 1.71533031e-03 1.79229738e+02] [ 9.41169133e-01 -3.37904389e-01 -4.61370883e-03 1.24953079e+02] [ 4.92195014e-03 5.54435408e-05 9.99987886e-01 1.02503060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.360281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.23, Y:124.95, Z:1.02 [[-3.38357833e-01 -9.41015956e-01 1.71711626e-03 1.79232581e+02] [ 9.41004650e-01 -3.38362185e-01 -4.61304404e-03 1.24950287e+02] [ 4.92195526e-03 5.49548003e-05 9.99987886e-01 1.02416273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.39028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.23, Y:124.96, Z:1.02 [[-3.39031999e-01 -9.40773272e-01 1.71889926e-03 1.79233748e+02] [ 9.40761966e-01 -3.39036353e-01 -4.61237957e-03 1.24958996e+02] [ 4.92197275e-03 5.33307825e-05 9.99987886e-01 1.02233247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.24, Y:124.95, Z:1.02 [[-3.40861842e-01 -9.40111825e-01 1.72068801e-03 1.79241257e+02] [ 9.40100515e-01 -3.40866182e-01 -4.61171216e-03 1.24953902e+02] [ 4.92204949e-03 4.56629770e-05 9.99987886e-01 1.02289936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.45028169299997 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:179.25, Y:124.95, Z:1.02 [[-3.42538511e-01 -9.39502209e-01 1.72247981e-03 1.79246965e+02] [ 9.39490895e-01 -3.42542840e-01 -4.61104283e-03 1.24945700e+02] [ 4.92210805e-03 3.87943523e-05 9.99987886e-01 1.02260896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48028169299994 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:179.24, Y:124.96, Z:1.02 [[-3.43762953e-01 -9.39054875e-01 1.72426352e-03 1.79244868e+02] [ 9.39043558e-01 -3.43767276e-01 -4.61037572e-03 1.24959383e+02] [ 4.92214118e-03 3.42821781e-05 9.99987886e-01 1.02185244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.51028169299997 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:179.25, Y:124.96, Z:1.02 [[-3.44129622e-01 -9.38920563e-01 1.72605298e-03 1.79245815e+02] [ 9.38909248e-01 -3.44133949e-01 -4.60970568e-03 1.24957063e+02] [ 4.92214088e-03 3.42708352e-05 9.99987886e-01 1.02184006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54028169299994 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:179.25, Y:124.95, Z:1.02 [[-3.44146803e-01 -9.38914263e-01 1.72785280e-03 1.79252168e+02] [ 9.38902951e-01 -3.44151139e-01 -4.60903096e-03 1.24954461e+02] [ 4.92212741e-03 3.61028213e-05 9.99987886e-01 1.01935356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.57028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.26, Y:124.95, Z:1.02 [[-3.43554695e-01 -9.39131077e-01 1.72965084e-03 1.79256762e+02] [ 9.39119771e-01 -3.43559047e-01 -4.60835610e-03 1.24948334e+02] [ 4.92208762e-03 4.11269275e-05 9.99987886e-01 1.01848328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.26, Y:124.95, Z:1.02 [[-3.41533296e-01 -9.39868081e-01 1.73144406e-03 1.79258656e+02] [ 9.39856788e-01 -3.41537681e-01 -4.60768226e-03 1.24952504e+02] [ 4.92196687e-03 5.36325395e-05 9.99987886e-01 1.01686196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.630281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.27, Y:124.93, Z:1.02 [[-3.40403319e-01 -9.40277925e-01 1.73323762e-03 1.79267155e+02] [ 9.40266641e-01 -3.40407726e-01 -4.60700749e-03 1.24933387e+02] [ 4.92187492e-03 6.14648723e-05 9.99987886e-01 1.01744113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66028169299994 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:179.27, Y:124.93, Z:1.02 [[-3.38947833e-01 -9.40803569e-01 1.73502246e-03 1.79269466e+02] [ 9.40792295e-01 -3.38952266e-01 -4.60633521e-03 1.24930602e+02] [ 4.92174640e-03 7.09884267e-05 9.99987886e-01 1.01813439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.690281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.28, Y:124.91, Z:1.02 [[-3.35991086e-01 -9.41863564e-01 1.73679453e-03 1.79278143e+02] [ 9.41852308e-01 -3.35995563e-01 -4.60566696e-03 1.24908631e+02] [ 4.92146516e-03 8.83408948e-05 9.99987886e-01 1.01738072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.28, Y:124.91, Z:1.02 [[-3.34782642e-01 -9.42293776e-01 1.73855198e-03 1.79276228e+02] [ 9.42282528e-01 -3.34787143e-01 -4.60500346e-03 1.24911675e+02] [ 4.92131095e-03 9.65319247e-05 9.99987886e-01 1.01660294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.750281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:179.28, Y:124.89, Z:1.02 [[-3.33184241e-01 -9.42860135e-01 1.74029962e-03 1.79281131e+02] [ 9.42848898e-01 -3.33188768e-01 -4.60434291e-03 1.24889669e+02] [ 4.92109966e-03 1.06745079e-04 9.99987886e-01 1.01596119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78028169299995 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:179.28, Y:124.89, Z:1.02 [[-3.32982278e-01 -9.42931476e-01 1.74203839e-03 1.79280823e+02] [ 9.42920244e-01 -3.32986817e-01 -4.60368496e-03 1.24885460e+02] [ 4.92103527e-03 1.09657761e-04 9.99987886e-01 1.01659471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.810281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:179.27, Y:124.90, Z:1.02 [[-3.33494278e-01 -9.42750511e-01 1.74376365e-03 1.79272709e+02] [ 9.42739280e-01 -3.33498819e-01 -4.60303138e-03 1.24902617e+02] [ 4.92105330e-03 1.08829858e-04 9.99987886e-01 1.01777230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.27, Y:124.90, Z:1.02 [[-3.36528957e-01 -9.41671500e-01 1.74550109e-03 1.79270931e+02] [ 9.41660258e-01 -3.36533470e-01 -4.60237243e-03 1.24899636e+02] [ 4.92134249e-03 9.48374122e-05 9.99987886e-01 1.01982214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.870281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.27, Y:124.90, Z:1.02 [[-3.38306892e-01 -9.41034215e-01 1.74725233e-03 1.79270599e+02] [ 9.41022968e-01 -3.38311393e-01 -4.60170749e-03 1.24895490e+02] [ 4.92147957e-03 8.74152142e-05 9.99987886e-01 1.02165543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90028169299995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:179.27, Y:124.89, Z:1.02 [[-3.39725371e-01 -9.40523053e-01 1.74900274e-03 1.79268046e+02] [ 9.40511802e-01 -3.39729864e-01 -4.60104211e-03 1.24894460e+02] [ 4.92157463e-03 8.18669815e-05 9.99987886e-01 1.02241934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.930281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.27, Y:124.89, Z:1.02 [[-3.39242185e-01 -9.40697441e-01 1.75075348e-03 1.79268434e+02] [ 9.40686196e-01 -3.39246691e-01 -4.60037584e-03 1.24889454e+02] [ 4.92149910e-03 8.62680800e-05 9.99987886e-01 1.02198733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.27, Y:124.89, Z:1.02 [[-3.38038955e-01 -9.41130487e-01 1.75250396e-03 1.79265389e+02] [ 9.41119251e-01 -3.38043485e-01 -4.59970890e-03 1.24890911e+02] [ 4.92134882e-03 9.44344247e-05 9.99987886e-01 1.02209204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.990281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.27, Y:124.86, Z:1.02 [[-3.33852937e-01 -9.42623540e-01 1.75425594e-03 1.79269106e+02] [ 9.42612329e-01 -3.33857525e-01 -4.59904062e-03 1.24861652e+02] [ 4.92083550e-03 1.18180052e-04 9.99987886e-01 1.02217883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.26, Y:124.86, Z:1.02 [[-3.31411248e-01 -9.43484765e-01 1.75599386e-03 1.79263738e+02] [ 9.43473568e-01 -3.31415873e-01 -4.59837696e-03 1.24858400e+02] [ 4.92046284e-03 1.32779945e-04 9.99987886e-01 1.02139176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.050281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.26, Y:124.87, Z:1.02 [[-3.32029567e-01 -9.43267341e-01 1.75771655e-03 1.79258666e+02] [ 9.43256145e-01 -3.32034194e-01 -4.59771837e-03 1.24867440e+02] [ 4.92049958e-03 1.31398500e-04 9.99987886e-01 1.02049302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.26, Y:124.86, Z:1.02 [[-3.34252716e-01 -9.42481844e-01 1.75944773e-03 1.79261114e+02] [ 9.42470641e-01 -3.34257324e-01 -4.59705579e-03 1.24858330e+02] [ 4.92074991e-03 1.21649446e-04 9.99987886e-01 1.01904781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.110281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.26, Y:124.87, Z:1.02 [[-3.38133051e-01 -9.41096668e-01 1.76118234e-03 1.79257557e+02] [ 9.41085449e-01 -3.38137622e-01 -4.59639114e-03 1.24866439e+02] [ 4.92117040e-03 1.03231312e-04 9.99987886e-01 1.01846207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.24, Y:124.90, Z:1.02 [[-3.48207717e-01 -9.37415744e-01 1.76291926e-03 1.79244807e+02] [ 9.37404480e-01 -3.48212176e-01 -4.59572486e-03 1.24900748e+02] [ 4.92197479e-03 5.23015493e-05 9.99987886e-01 1.02266807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.17028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.25, Y:124.89, Z:1.02 [[-3.56552684e-01 -9.34273552e-01 1.76468843e-03 1.79247683e+02] [ 9.34262252e-01 -3.56557050e-01 -4.59504543e-03 1.24894154e+02] [ 4.92224151e-03 1.03060114e-05 9.99987886e-01 1.02129659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.24, Y:124.91, Z:1.02 [[-3.58691588e-01 -9.33454457e-01 1.76647979e-03 1.79243745e+02] [ 9.33443151e-01 -3.58695938e-01 -4.59435667e-03 1.24906232e+02] [ 4.92225184e-03 9.51371119e-07 9.99987886e-01 1.01814412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.23028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.26, Y:124.88, Z:1.01 [[-3.59415963e-01 -9.33175781e-01 1.76827819e-03 1.79256291e+02] [ 9.33164475e-01 -3.59420313e-01 -4.59366440e-03 1.24875956e+02] [ 4.92225146e-03 -9.41926704e-07 9.99987886e-01 1.01481593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.25, Y:124.90, Z:1.01 [[-3.58807592e-01 -9.33409869e-01 1.76872377e-03 1.79249449e+02] [ 9.33398566e-01 -3.58811952e-01 -4.59349283e-03 1.24899783e+02] [ 4.92225076e-03 2.74413034e-06 9.99987886e-01 1.01318405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.29028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.26, Y:124.89, Z:1.01 [[-3.58118154e-01 -9.33674597e-01 1.77050849e-03 1.79255067e+02] [ 9.33663301e-01 -3.58122531e-01 -4.59280482e-03 1.24887223e+02] [ 4.92224417e-03 8.29201122e-06 9.99987886e-01 1.01276147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.25, Y:124.90, Z:1.01 [[-3.55766850e-01 -9.34573062e-01 1.77230353e-03 1.79253272e+02] [ 9.34561780e-01 -3.55771264e-01 -4.59211203e-03 1.24896000e+02] [ 4.92219887e-03 2.26059118e-05 9.99987886e-01 1.01186610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.35028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.25, Y:124.89, Z:1.01 [[-3.55162470e-01 -9.34802906e-01 1.77409831e-03 1.79254508e+02] [ 9.34791630e-01 -3.55166900e-01 -4.59141854e-03 1.24894473e+02] [ 4.92217239e-03 2.77127011e-05 9.99987886e-01 1.01158506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.380281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.26, Y:124.89, Z:1.01 [[-3.54636501e-01 -9.35002566e-01 1.77590106e-03 1.79257398e+02] [ 9.34991297e-01 -3.54640946e-01 -4.59072116e-03 1.24889065e+02] [ 4.92214329e-03 3.24147486e-05 9.99987886e-01 1.01199872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.41028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.26, Y:124.88, Z:1.02 [[-3.53623553e-01 -9.35386135e-01 1.77770140e-03 1.79262023e+02] [ 9.35374874e-01 -3.53628019e-01 -4.59002389e-03 1.24881562e+02] [ 4.92208973e-03 3.96766660e-05 9.99987886e-01 1.01701149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.440281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.27, Y:124.87, Z:1.02 [[-3.53394419e-01 -9.35472724e-01 1.77949475e-03 1.79266002e+02] [ 9.35461468e-01 -3.53398897e-01 -4.58932853e-03 1.24873230e+02] [ 4.92206314e-03 4.28056784e-05 9.99987886e-01 1.01924275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.47028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.27, Y:124.88, Z:1.02 [[-3.53323037e-01 -9.35499684e-01 1.78127934e-03 1.79266517e+02] [ 9.35488431e-01 -3.53327525e-01 -4.58863576e-03 1.24876876e+02] [ 4.92204232e-03 4.50954876e-05 9.99987886e-01 1.01873765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.500281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.27, Y:124.88, Z:1.02 [[-3.53904102e-01 -9.35280016e-01 1.78306277e-03 1.79266705e+02] [ 9.35268764e-01 -3.53908591e-01 -4.58794265e-03 1.24878772e+02] [ 4.92205230e-03 4.39511899e-05 9.99987886e-01 1.01775560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.53028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.27, Y:124.86, Z:1.02 [[-3.54470441e-01 -9.35065517e-01 1.78485257e-03 1.79274807e+02] [ 9.35054266e-01 -3.54474932e-01 -4.58724625e-03 1.24860963e+02] [ 4.92206128e-03 4.28908111e-05 9.99987886e-01 1.01757499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.560281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.28, Y:124.86, Z:1.02 [[-3.54599797e-01 -9.35016466e-01 1.78663426e-03 1.79276845e+02] [ 9.35005218e-01 -3.54604295e-01 -4.58655222e-03 1.24861767e+02] [ 4.92205003e-03 4.41218670e-05 9.99987886e-01 1.01978307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.59028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.27, Y:124.88, Z:1.02 [[-3.53927143e-01 -9.35271286e-01 1.78840581e-03 1.79272553e+02] [ 9.35260045e-01 -3.53931658e-01 -4.58586134e-03 1.24877350e+02] [ 4.92199787e-03 4.95636963e-05 9.99987886e-01 1.02003991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.620281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.29, Y:124.85, Z:1.02 [[-3.50670564e-01 -9.36497171e-01 1.79019087e-03 1.79286298e+02] [ 9.36485949e-01 -3.50675127e-01 -4.58516440e-03 1.24848751e+02] [ 4.92176890e-03 6.86064093e-05 9.99987886e-01 1.01715262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.65028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.29, Y:124.84, Z:1.02 [[-3.48833377e-01 -9.37183047e-01 1.79196905e-03 1.79288174e+02] [ 9.37171837e-01 -3.48837971e-01 -4.58446935e-03 1.24844057e+02] [ 4.92159380e-03 8.01669987e-05 9.99987886e-01 1.01574010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.680281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.29, Y:124.83, Z:1.01 [[-3.46922580e-01 -9.37892055e-01 1.79372624e-03 1.79291739e+02] [ 9.37880858e-01 -3.46927205e-01 -4.58378172e-03 1.24834239e+02] [ 4.92138489e-03 9.20841235e-05 9.99987886e-01 1.01495189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.71028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.29, Y:124.83, Z:1.02 [[-3.45473162e-01 -9.38426913e-01 1.79547618e-03 1.79294124e+02] [ 9.38415727e-01 -3.45477813e-01 -4.58309617e-03 1.24827917e+02] [ 4.92119797e-03 1.01566357e-04 9.99987886e-01 1.01561317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.740281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.30, Y:124.82, Z:1.02 [[-3.43839116e-01 -9.39026854e-01 1.79721807e-03 1.79299396e+02] [ 9.39015680e-01 -3.43843795e-01 -4.58241300e-03 1.24816215e+02] [ 4.92097114e-03 1.12003114e-04 9.99987886e-01 1.01793159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.77028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.30, Y:124.81, Z:1.02 [[-3.44469244e-01 -9.38795880e-01 1.79895085e-03 1.79300840e+02] [ 9.38784706e-01 -3.44473923e-01 -4.58173265e-03 1.24812434e+02] [ 4.92100339e-03 1.10561561e-04 9.99987886e-01 1.01734423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.800281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.30, Y:124.82, Z:1.02 [[-3.47594329e-01 -9.37643290e-01 1.80067599e-03 1.79300055e+02] [ 9.37632104e-01 -3.47598980e-01 -4.58105455e-03 1.24816022e+02] [ 4.92130820e-03 9.60230398e-05 9.99987886e-01 1.01581313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.83028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.30, Y:124.83, Z:1.02 [[-3.49465184e-01 -9.36947617e-01 1.80240342e-03 1.79296978e+02] [ 9.36936425e-01 -3.49469821e-01 -4.58037479e-03 1.24825216e+02] [ 4.92145685e-03 8.80559004e-05 9.99987886e-01 1.01725004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.860281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.30, Y:124.82, Z:1.02 [[-3.51405734e-01 -9.36221531e-01 1.80414255e-03 1.79298790e+02] [ 9.36210333e-01 -3.51410356e-01 -4.57968967e-03 1.24822185e+02] [ 4.92159845e-03 7.97276842e-05 9.99987886e-01 1.01940079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.89028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.30, Y:124.81, Z:1.02 [[-3.52194972e-01 -9.35924912e-01 1.80588832e-03 1.79303956e+02] [ 9.35913714e-01 -3.52199593e-01 -4.57900117e-03 1.24809392e+02] [ 4.92163440e-03 7.74544576e-05 9.99987886e-01 1.01986467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92028169299994 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:179.30, Y:124.83, Z:1.02 [[-3.52828340e-01 -9.35686323e-01 1.80762608e-03 1.79296088e+02] [ 9.35675125e-01 -3.52832962e-01 -4.57831506e-03 1.24828625e+02] [ 4.92165685e-03 7.59914587e-05 9.99987886e-01 1.01993756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.95028169299997 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:179.30, Y:124.82, Z:1.02 [[-3.52727181e-01 -9.35724458e-01 1.80937133e-03 1.79297565e+02] [ 9.35713265e-01 -3.52731813e-01 -4.57762523e-03 1.24818834e+02] [ 4.92161871e-03 7.83999128e-05 9.99987886e-01 1.01806037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98028169299994 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:179.30, Y:124.82, Z:1.02 [[-3.52137894e-01 -9.35946379e-01 1.81112649e-03 1.79297030e+02] [ 9.35935191e-01 -3.52142541e-01 -4.57693070e-03 1.24819719e+02] [ 4.92153639e-03 8.33862790e-05 9.99987886e-01 1.01788051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.01028169299997 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:179.30, Y:124.81, Z:1.02 [[-3.51500776e-01 -9.36185835e-01 1.81287875e-03 1.79300747e+02] [ 9.36174655e-01 -3.51505440e-01 -4.57623654e-03 1.24809382e+02] [ 4.92144457e-03 8.86204494e-05 9.99987886e-01 1.01856993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04028169299994 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:179.30, Y:124.80, Z:1.02 [[-3.52443199e-01 -9.35831448e-01 1.81462756e-03 1.79303551e+02] [ 9.35820266e-01 -3.52447860e-01 -4.57554297e-03 1.24803598e+02] [ 4.92149860e-03 8.55462444e-05 9.99987886e-01 1.01714204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.07028169299997 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:179.31, Y:124.80, Z:1.02 [[-3.53959122e-01 -9.35259130e-01 1.81636858e-03 1.79305863e+02] [ 9.35247945e-01 -3.53963774e-01 -4.57485173e-03 1.24799700e+02] [ 4.92160052e-03 7.94444796e-05 9.99987886e-01 1.01518509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10028169299994 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:179.30, Y:124.81, Z:1.01 [[-3.57028633e-01 -9.34091671e-01 1.81810561e-03 1.79303388e+02] [ 9.34080474e-01 -3.57033256e-01 -4.57416131e-03 1.24810106e+02] [ 4.92181014e-03 6.51503883e-05 9.99987886e-01 1.01290960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.130281693 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:179.30, Y:124.81, Z:1.02 [[-3.58295803e-01 -9.33606344e-01 1.81984927e-03 1.79303154e+02] [ 9.33595144e-01 -3.58300419e-01 -4.57346748e-03 1.24812219e+02] [ 4.92187101e-03 6.03482411e-05 9.99987886e-01 1.01662261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16028169299994 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:179.30, Y:124.81, Z:1.02 [[-3.59758366e-01 -9.33043729e-01 1.82160401e-03 1.79304824e+02] [ 9.33032525e-01 -3.59762973e-01 -4.57276846e-03 1.24809181e+02] [ 4.92193861e-03 5.45240756e-05 9.99987886e-01 1.02192155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.190281693 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:179.31, Y:124.80, Z:1.02 [[-3.60456548e-01 -9.32774224e-01 1.82336051e-03 1.79306981e+02] [ 9.32763020e-01 -3.60461156e-01 -4.57206796e-03 1.24804917e+02] [ 4.92195778e-03 5.27314216e-05 9.99987886e-01 1.02216616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22028169299995 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:179.30, Y:124.82, Z:1.02 [[-3.61200149e-01 -9.32486526e-01 1.82511471e-03 1.79300710e+02] [ 9.32475322e-01 -3.61204756e-01 -4.57136760e-03 1.24822315e+02] [ 4.92197881e-03 5.06957714e-05 9.99987886e-01 1.02038069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.250281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:179.31, Y:124.81, Z:1.02 [[-3.62047726e-01 -9.32157769e-01 1.82688099e-03 1.79307779e+02] [ 9.32146565e-01 -3.62052332e-01 -4.57066162e-03 1.24807514e+02] [ 4.92200426e-03 4.81231936e-05 9.99987886e-01 1.01732066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28028169299995 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:179.31, Y:124.81, Z:1.02 [[-3.62521810e-01 -9.31973494e-01 1.82865173e-03 1.79305893e+02] [ 9.31962290e-01 -3.62526419e-01 -4.56995306e-03 1.24812926e+02] [ 4.92200969e-03 4.75268012e-05 9.99987886e-01 1.01982150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.310281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:179.29, Y:124.85, Z:1.02 [[-3.62962187e-01 -9.31802071e-01 1.83041806e-03 1.79290017e+02] [ 9.31790869e-01 -3.62966800e-01 -4.56924548e-03 1.24854325e+02] [ 4.92201339e-03 4.71035050e-05 9.99987886e-01 1.02125869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34028169299995 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:179.31, Y:124.80, Z:1.02 [[-3.62919870e-01 -9.31818549e-01 1.83317395e-03 1.79310986e+02] [ 9.31807352e-01 -3.62924496e-01 -4.56814029e-03 1.24802962e+02] [ 4.92198158e-03 5.02960832e-05 9.99987886e-01 1.01791930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.370281693 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:179.31, Y:124.81, Z:1.02 [[-3.63058246e-01 -9.31764644e-01 1.83256065e-03 1.79306821e+02] [ 9.31753446e-01 -3.63062867e-01 -4.56838630e-03 1.24813918e+02] [ 4.92199556e-03 4.89043876e-05 9.99987886e-01 1.01803866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40028169299995 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:179.31, Y:124.81, Z:1.02 [[-3.63421265e-01 -9.31623110e-01 1.83433112e-03 1.79307823e+02] [ 9.31611914e-01 -3.63425891e-01 -4.56767530e-03 1.24811622e+02] [ 4.92199529e-03 4.88943856e-05 9.99987886e-01 1.01802628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.430281693 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:179.32, Y:124.79, Z:1.02 [[-3.63581018e-01 -9.31560772e-01 1.83611058e-03 1.79315301e+02] [ 9.31549579e-01 -3.63585651e-01 -4.56695988e-03 1.24792356e+02] [ 4.92198414e-03 4.99681146e-05 9.99987886e-01 1.01806603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46028169299996 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:179.31, Y:124.80, Z:1.02 [[-3.63592246e-01 -9.31556386e-01 1.83787782e-03 1.79308736e+02] [ 9.31545196e-01 -3.63596888e-01 -4.56624859e-03 1.24803009e+02] [ 4.92196469e-03 5.18136719e-05 9.99987886e-01 1.02020243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.490281693 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:179.31, Y:124.81, Z:1.02 [[-3.64860423e-01 -9.31060410e-01 1.83964271e-03 1.79306358e+02] [ 9.31049218e-01 -3.64865058e-01 -4.56553744e-03 1.24805396e+02] [ 4.92201250e-03 4.70139900e-05 9.99987886e-01 1.01943996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52028169299996 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:179.31, Y:124.80, Z:1.02 [[-3.66185303e-01 -9.30540130e-01 1.84142046e-03 1.79307664e+02] [ 9.30528934e-01 -3.66189931e-01 -4.56482031e-03 1.24803045e+02] [ 4.92205811e-03 4.19249083e-05 9.99987886e-01 1.01794930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.550281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:179.31, Y:124.80, Z:1.02 [[-3.67838091e-01 -9.29888026e-01 1.84320212e-03 1.79308963e+02] [ 9.29876826e-01 -3.67842707e-01 -4.56410078e-03 1.24801094e+02] [ 4.92211113e-03 3.51008187e-05 9.99987886e-01 1.01697781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58028169299996 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:179.31, Y:124.81, Z:1.02 [[-3.69446686e-01 -9.29250097e-01 1.84498350e-03 1.79307683e+02] [ 9.29238892e-01 -3.69451291e-01 -4.56338057e-03 1.24805718e+02] [ 4.92215337e-03 2.85046018e-05 9.99987886e-01 1.01544393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.610281693 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:179.31, Y:124.79, Z:1.02 [[-3.69787583e-01 -9.29114489e-01 1.84676915e-03 1.79313787e+02] [ 9.29103286e-01 -3.69792193e-01 -4.56265781e-03 1.24790187e+02] [ 4.92215230e-03 2.86250815e-05 9.99987886e-01 1.01621401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64028169299996 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:179.32, Y:124.79, Z:1.02 [[-3.69534404e-01 -9.29215210e-01 1.84854997e-03 1.79315081e+02] [ 9.29204012e-01 -3.69539026e-01 -4.56193621e-03 1.24787779e+02] [ 4.92213187e-03 3.18876719e-05 9.99987886e-01 1.02040301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.67028169299994 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:179.32, Y:124.79, Z:1.02 [[-3.69523292e-01 -9.29219626e-01 1.85032121e-03 1.79316553e+02] [ 9.29208432e-01 -3.69527923e-01 -4.56121768e-03 1.24787127e+02] [ 4.92211834e-03 3.38578949e-05 9.99987886e-01 1.02086236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70028169299997 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:179.32, Y:124.79, Z:1.02 [[-3.69491645e-01 -9.29232207e-01 1.85209277e-03 1.79315634e+02] [ 9.29221016e-01 -3.69496285e-01 -4.56049822e-03 1.24791531e+02] [ 4.92210322e-03 3.59375346e-05 9.99987886e-01 1.01945724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.73028169299994 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:179.32, Y:124.79, Z:1.02 [[-3.69711660e-01 -9.29144688e-01 1.85386943e-03 1.79320045e+02] [ 9.29133500e-01 -3.69716306e-01 -4.55977588e-03 1.24785320e+02] [ 4.92209730e-03 3.66898855e-05 9.99987886e-01 1.01581603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76028169299997 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:179.32, Y:124.79, Z:1.02 [[-3.70578165e-01 -9.28799430e-01 1.85564703e-03 1.79321954e+02] [ 9.28788241e-01 -3.70582809e-01 -4.55905236e-03 1.24785163e+02] [ 4.92211612e-03 3.40178823e-05 9.99987886e-01 1.01768218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.79028169299994 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:179.33, Y:124.77, Z:1.02 [[-3.71857327e-01 -9.28288036e-01 1.85742224e-03 1.79331792e+02] [ 9.28276845e-01 -3.71861965e-01 -4.55832899e-03 1.24767363e+02] [ 4.92214695e-03 2.91540233e-05 9.99987886e-01 1.01949341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82028169299997 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:179.33, Y:124.79, Z:1.02 [[-3.74038784e-01 -9.27411199e-01 1.85918673e-03 1.79327134e+02] [ 9.27400000e-01 -3.74043404e-01 -4.55760920e-03 1.24785578e+02] [ 4.92219435e-03 1.94871732e-05 9.99987886e-01 1.02462985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.85028169299994 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:179.33, Y:124.77, Z:1.02 [[-3.74597768e-01 -9.27185553e-01 1.86095301e-03 1.79332973e+02] [ 9.27174355e-01 -3.74602390e-01 -4.55688789e-03 1.24772058e+02] [ 4.92219806e-03 1.84278809e-05 9.99987886e-01 1.02487664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.880281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:179.33, Y:124.77, Z:1.02 [[-3.73254051e-01 -9.27727300e-01 1.86272497e-03 1.79333707e+02] [ 9.27716113e-01 -3.73258698e-01 -4.55616344e-03 1.24769903e+02] [ 4.92215551e-03 2.74735094e-05 9.99987886e-01 1.02252902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.91028169299994 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:179.34, Y:124.76, Z:1.02 [[-3.72003620e-01 -9.28229406e-01 1.86448863e-03 1.79337088e+02] [ 9.28218229e-01 -3.72008290e-01 -4.55544160e-03 1.24760590e+02] [ 4.92210008e-03 3.60115648e-05 9.99987886e-01 1.02080303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.940281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:179.34, Y:124.75, Z:1.02 [[-3.70541045e-01 -9.28814218e-01 1.86624756e-03 1.79340401e+02] [ 9.28803051e-01 -3.70545742e-01 -4.55472090e-03 1.24750984e+02] [ 4.92201961e-03 4.56653833e-05 9.99987886e-01 1.01893286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.97028169299995 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:179.34, Y:124.75, Z:1.02 [[-3.67766283e-01 -9.29916379e-01 1.86799654e-03 1.79337125e+02] [ 9.29905230e-01 -3.67771022e-01 -4.55400349e-03 1.24753571e+02] [ 4.92183743e-03 6.22508130e-05 9.99987886e-01 1.01805425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.000281693 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:179.34, Y:124.74, Z:1.02 [[-3.67334940e-01 -9.30086849e-01 1.86974380e-03 1.79342599e+02] [ 9.30075705e-01 -3.67339693e-01 -4.55328600e-03 1.24736977e+02] [ 4.92178254e-03 6.64222388e-05 9.99987886e-01 1.01962632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.03028169299995 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:179.34, Y:124.74, Z:1.02 [[-3.68512826e-01 -9.29620780e-01 1.87148584e-03 1.79337054e+02] [ 9.29609635e-01 -3.68517573e-01 -4.55256988e-03 1.24744549e+02] [ 4.92183898e-03 6.20708719e-05 9.99987886e-01 1.02108087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.060281693 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:179.34, Y:124.74, Z:1.02 [[-3.70557360e-01 -9.28807695e-01 1.87322500e-03 1.79339082e+02] [ 9.28796542e-01 -3.70562091e-01 -4.55185416e-03 1.24738580e+02] [ 4.92194334e-03 5.31218471e-05 9.99987886e-01 1.01883083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.09028169299995 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:179.34, Y:124.74, Z:1.02 [[-3.73116032e-01 -9.27782793e-01 1.87496910e-03 1.79337727e+02] [ 9.27771632e-01 -3.73120740e-01 -4.55113563e-03 1.24742492e+02] [ 4.92205518e-03 4.14414752e-05 9.99987886e-01 1.01672667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.120281693 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:179.34, Y:124.75, Z:1.02 [[-3.78575750e-01 -9.25568409e-01 1.87671467e-03 1.79335754e+02] [ 9.25557223e-01 -3.78580401e-01 -4.55041571e-03 1.24750448e+02] [ 4.92220842e-03 1.43297821e-05 9.99987886e-01 1.01533057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.15028169299995 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:179.33, Y:124.76, Z:1.02 [[-3.81557992e-01 -9.24342994e-01 1.87847107e-03 1.79333509e+02] [ 9.24331797e-01 -3.81562616e-01 -4.54969053e-03 1.24759552e+02] [ 4.92222890e-03 3.59750996e-07 9.99987886e-01 1.01745774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.180281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:179.34, Y:124.76, Z:1.02 [[-3.84230049e-01 -9.23235471e-01 1.88024203e-03 1.79335911e+02] [ 9.23224264e-01 -3.84234649e-01 -4.54895853e-03 1.24758246e+02] [ 4.92221400e-03 -1.19614945e-05 9.99987886e-01 1.01795026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.21028169299996 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:179.35, Y:124.75, Z:1.02 [[-3.87931252e-01 -9.21686390e-01 1.88202081e-03 1.79346015e+02] [ 9.21675168e-01 -3.87935816e-01 -4.54822248e-03 1.24745148e+02] [ 4.92213804e-03 -2.97857944e-05 9.99987886e-01 1.01632083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.240281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:179.35, Y:124.75, Z:1.02 [[-3.89402526e-01 -9.21065754e-01 1.88379060e-03 1.79347177e+02] [ 9.21054529e-01 -3.89407081e-01 -4.54748935e-03 1.24749264e+02] [ 4.92209811e-03 -3.57299772e-05 9.99987886e-01 1.01557619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.27028169299996 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:179.36, Y:124.74, Z:1.02 [[-3.91255870e-01 -9.20280006e-01 1.88555475e-03 1.79360220e+02] [ 9.20268775e-01 -3.91260411e-01 -4.54675775e-03 1.24735774e+02] [ 4.92203318e-03 -4.37284993e-05 9.99987886e-01 1.01658988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.300281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:179.37, Y:124.72, Z:1.02 [[-3.92444451e-01 -9.19773772e-01 1.88731297e-03 1.79369522e+02] [ 9.19762539e-01 -3.92448986e-01 -4.54602781e-03 1.24724437e+02] [ 4.92199121e-03 -4.81836176e-05 9.99987886e-01 1.01866151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.33028169299996 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:179.37, Y:124.73, Z:1.02 [[-3.93398787e-01 -9.19365991e-01 1.88905398e-03 1.79371824e+02] [ 9.19354757e-01 -3.93403319e-01 -4.54530424e-03 1.24729407e+02] [ 4.92195824e-03 -5.14064140e-05 9.99987886e-01 1.01905540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.360281693 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:179.38, Y:124.74, Z:1.02 [[-3.94096370e-01 -9.19067177e-01 1.89079095e-03 1.79376242e+02] [ 9.19055943e-01 -3.94100902e-01 -4.54458157e-03 1.24738777e+02] [ 4.92193817e-03 -5.32604405e-05 9.99987886e-01 1.01757961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.39028169299996 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:179.37, Y:124.75, Z:1.02 [[-3.94020929e-01 -9.19099519e-01 1.89253779e-03 1.79374922e+02] [ 9.19088288e-01 -3.94025471e-01 -4.54385400e-03 1.24751476e+02] [ 4.92196212e-03 -5.09642591e-05 9.99987886e-01 1.01712345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42028169299994 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:179.38, Y:124.75, Z:1.02 [[-3.91952317e-01 -9.19983583e-01 1.89429993e-03 1.79382271e+02] [ 9.19972366e-01 -3.91956893e-01 -4.54311926e-03 1.24752432e+02] [ 4.92207905e-03 -3.79825326e-05 9.99987886e-01 1.01692295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.45028169299997 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:179.38, Y:124.75, Z:1.02 [[-3.90555537e-01 -9.20577415e-01 1.89607162e-03 1.79384366e+02] [ 9.20566209e-01 -3.90560138e-01 -4.54237972e-03 1.24754350e+02] [ 4.92214218e-03 -2.85920821e-05 9.99987886e-01 1.02185334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48028169299994 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:179.39, Y:124.75, Z:1.02 [[-3.88586524e-01 -9.21410284e-01 1.89784573e-03 1.79387534e+02] [ 9.21399091e-01 -3.88591158e-01 -4.54163836e-03 1.24754649e+02] [ 4.92219836e-03 -1.61461346e-05 9.99987886e-01 1.01660772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.51028169299997 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:179.40, Y:124.73, Z:1.02 [[-3.84060556e-01 -9.23305952e-01 1.89962286e-03 1.79403536e+02] [ 9.23294786e-01 -3.84065254e-01 -4.54089492e-03 1.24731384e+02] [ 4.92221445e-03 9.93325296e-06 9.99987886e-01 1.01642497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54028169299994 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:179.41, Y:124.73, Z:1.02 [[-3.81604245e-01 -9.24323853e-01 1.90138445e-03 1.79407706e+02] [ 9.24312703e-01 -3.81608981e-01 -4.54015718e-03 1.24730684e+02] [ 4.92216096e-03 2.49305458e-05 9.99987886e-01 1.01727199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.57028169299997 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:179.42, Y:124.72, Z:1.02 [[-3.78869116e-01 -9.25448308e-01 1.90312959e-03 1.79415593e+02] [ 9.25437176e-01 -3.78873893e-01 -4.53942554e-03 1.24720656e+02] [ 4.92204981e-03 4.13787270e-05 9.99987886e-01 1.01934674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60028169299994 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:179.42, Y:124.71, Z:1.02 [[-3.73264368e-01 -9.27723064e-01 1.90486806e-03 1.79424823e+02] [ 9.27711964e-01 -3.73269222e-01 -4.53869592e-03 1.24710252e+02] [ 4.92168150e-03 7.30354268e-05 9.99987886e-01 1.02041900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.630281693 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:179.43, Y:124.69, Z:1.02 [[-3.70932919e-01 -9.28657706e-01 1.90659363e-03 1.79434236e+02] [ 9.28646622e-01 -3.70937809e-01 -4.53797093e-03 1.24690722e+02] [ 4.92144934e-03 8.72689355e-05 9.99987886e-01 1.01954262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66028169299994 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:179.44, Y:124.68, Z:1.02 [[-3.66071345e-01 -9.30584831e-01 1.90830034e-03 1.79442783e+02] [ 9.30573777e-01 -3.66076301e-01 -4.53725311e-03 1.24675945e+02] [ 4.92088245e-03 1.14855905e-04 9.99987886e-01 1.01776683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.690281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:179.45, Y:124.67, Z:1.02 [[-3.63691434e-01 -9.31517522e-01 1.90998640e-03 1.79448667e+02] [ 9.31506484e-01 -3.63696426e-01 -4.53654325e-03 1.24665888e+02] [ 4.92052475e-03 1.29262793e-04 9.99987886e-01 1.01796449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72028169299995 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:179.45, Y:124.66, Z:1.02 [[-3.61818644e-01 -9.32246542e-01 1.91165844e-03 1.79453188e+02] [ 9.32235518e-01 -3.61823667e-01 -4.53583855e-03 1.24656243e+02] [ 4.92020307e-03 1.40964937e-04 9.99987886e-01 1.01987664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.750281693 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:179.45, Y:124.66, Z:1.02 [[-3.60148681e-01 -9.32892956e-01 1.91331960e-03 1.79452727e+02] [ 9.32881945e-01 -3.60153731e-01 -4.53513773e-03 1.24655873e+02] [ 4.91988723e-03 1.51577433e-04 9.99987886e-01 1.02197446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78028169299995 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:179.46, Y:124.64, Z:1.02 [[-3.57091712e-01 -9.34067365e-01 1.91497760e-03 1.79455961e+02] [ 9.34056374e-01 -3.57096806e-01 -4.53443753e-03 1.24641612e+02] [ 4.91930250e-03 1.69486972e-04 9.99987886e-01 1.02347118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.810281693 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:179.46, Y:124.62, Z:1.02 [[-3.55348030e-01 -9.34732103e-01 1.91662958e-03 1.79463219e+02] [ 9.34721125e-01 -3.55353153e-01 -4.53373916e-03 1.24618285e+02] [ 4.91891190e-03 1.80458876e-04 9.99987886e-01 1.02156153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84028169299995 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:179.46, Y:124.62, Z:1.02 [[-3.54754529e-01 -9.34957509e-01 1.91826218e-03 1.79460398e+02] [ 9.34946539e-01 -3.54759667e-01 -4.53304828e-03 1.24620362e+02] [ 4.91872958e-03 1.85353175e-04 9.99987886e-01 1.02189102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.870281693 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:179.45, Y:124.63, Z:1.02 [[-3.54798972e-01 -9.34940642e-01 1.91988541e-03 1.79453239e+02] [ 9.34929675e-01 -3.54804117e-01 -4.53236069e-03 1.24630379e+02] [ 4.91867146e-03 1.86880934e-04 9.99987886e-01 1.02297536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90028169299995 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:179.46, Y:124.61, Z:1.02 [[-3.54618832e-01 -9.35008979e-01 1.92151958e-03 1.79458813e+02] [ 9.34998017e-01 -3.54623987e-01 -4.53166777e-03 1.24610609e+02] [ 4.91856699e-03 1.89602262e-04 9.99987886e-01 1.02402043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.930281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:179.45, Y:124.63, Z:1.02 [[-3.55210749e-01 -9.34784267e-01 1.92315143e-03 1.79445482e+02] [ 9.34773304e-01 -3.55215906e-01 -4.53097514e-03 1.24628496e+02] [ 4.91861825e-03 1.88259548e-04 9.99987886e-01 1.02354693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96028169299996 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:179.45, Y:124.61, Z:1.02 [[-3.56200875e-01 -9.34407423e-01 1.92478688e-03 1.79452354e+02] [ 9.34396459e-01 -3.56206028e-01 -4.53028028e-03 1.24605529e+02] [ 4.91874821e-03 1.84824248e-04 9.99987886e-01 1.02170744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.990281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:179.44, Y:124.63, Z:1.02 [[-3.59290739e-01 -9.33223689e-01 1.92642387e-03 1.79436789e+02] [ 9.33212712e-01 -3.59295863e-01 -4.52958407e-03 1.24627362e+02] [ 4.91927129e-03 1.70325633e-04 9.99987886e-01 1.01871198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02028169299996 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:179.44, Y:124.62, Z:1.02 [[-3.61116213e-01 -9.32518827e-01 1.92806447e-03 1.79437089e+02] [ 9.32507844e-01 -3.61121324e-01 -4.52888563e-03 1.24618089e+02] [ 4.91953631e-03 1.62481214e-04 9.99987886e-01 1.01775923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.050281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:179.43, Y:124.63, Z:1.02 [[-3.62791616e-01 -9.31868295e-01 1.92971730e-03 1.79430168e+02] [ 9.31857306e-01 -3.62796715e-01 -4.52818126e-03 1.24627080e+02] [ 4.91976365e-03 1.55434967e-04 9.99987886e-01 1.01755730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08028169299996 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:179.42, Y:124.63, Z:1.02 [[-3.65986472e-01 -9.30618167e-01 1.93137459e-03 1.79420359e+02] [ 9.30607164e-01 -3.65991541e-01 -4.52747428e-03 1.24633943e+02] [ 4.92021657e-03 1.40356693e-04 9.99987886e-01 1.01842640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.110281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:179.42, Y:124.63, Z:1.02 [[-3.68363142e-01 -9.29679977e-01 1.93304677e-03 1.79418959e+02] [ 9.29668965e-01 -3.68368191e-01 -4.52676021e-03 1.24629261e+02] [ 4.92051127e-03 1.29601972e-04 9.99987886e-01 1.01913300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14028169299996 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:179.41, Y:124.63, Z:1.02 [[-3.73530107e-01 -9.27616039e-01 1.93472514e-03 1.79413209e+02] [ 9.27605003e-01 -3.73535103e-01 -4.52604277e-03 1.24629626e+02] [ 4.92111762e-03 1.04047485e-04 9.99987886e-01 1.01948969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.17028169299994 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:179.41, Y:124.64, Z:1.02 [[-3.76157065e-01 -9.26553891e-01 1.93640568e-03 1.79405270e+02] [ 9.26542845e-01 -3.76162038e-01 -4.52532366e-03 1.24643297e+02] [ 4.92135855e-03 9.19303650e-05 9.99987886e-01 1.01859201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20028169299997 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:179.39, Y:124.66, Z:1.02 [[-3.81166540e-01 -9.24504361e-01 1.93809987e-03 1.79394451e+02] [ 9.24493291e-01 -3.81171461e-01 -4.52459796e-03 1.24661363e+02] [ 4.92175890e-03 6.71349834e-05 9.99987886e-01 1.02034652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.23028169299994 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:179.39, Y:124.67, Z:1.02 [[-3.83678038e-01 -9.23464888e-01 1.93981951e-03 1.79388394e+02] [ 9.23453809e-01 -3.83682938e-01 -4.52386058e-03 1.24671440e+02] [ 4.92190205e-03 5.56277611e-05 9.99987886e-01 1.02190263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26028169299997 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:179.40, Y:124.65, Z:1.02 [[-3.86230042e-01 -9.22400447e-01 1.94156243e-03 1.79396501e+02] [ 9.22389358e-01 -3.86234919e-01 -4.52311242e-03 1.24648443e+02] [ 4.92202013e-03 4.39146239e-05 9.99987886e-01 1.02219126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.29028169299994 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:179.39, Y:124.66, Z:1.02 [[-3.89683843e-01 -9.20946647e-01 1.94330043e-03 1.79389735e+02] [ 9.20935543e-01 -3.89688687e-01 -4.52236559e-03 1.24658091e+02] [ 4.92213962e-03 2.73616313e-05 9.99987886e-01 1.02242938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32028169299997 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:179.39, Y:124.66, Z:1.02 [[-3.90038510e-01 -9.20796491e-01 1.94503321e-03 1.79390790e+02] [ 9.20785390e-01 -3.90043358e-01 -4.52162021e-03 1.24655824e+02] [ 4.92213931e-03 2.73521515e-05 9.99987886e-01 1.02241699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.35028169299994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:179.39, Y:124.66, Z:1.02 [[-3.91281872e-01 -9.20268823e-01 1.94677441e-03 1.79389294e+02] [ 9.20257719e-01 -3.91286715e-01 -4.52087042e-03 1.24657358e+02] [ 4.92216306e-03 2.25995346e-05 9.99987886e-01 1.02286113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.380281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:179.39, Y:124.66, Z:1.02 [[-3.92512311e-01 -9.19744687e-01 1.94851794e-03 1.79386028e+02] [ 9.19733580e-01 -3.92517147e-01 -4.52011882e-03 1.24660079e+02] [ 4.92218197e-03 1.79150948e-05 9.99987886e-01 1.02477208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.41028169299994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:179.38, Y:124.66, Z:1.03 [[-3.93516002e-01 -9.19315698e-01 1.95026822e-03 1.79383687e+02] [ 9.19304589e-01 -3.93520835e-01 -4.51936352e-03 1.24662423e+02] [ 4.92219300e-03 1.44486581e-05 9.99987886e-01 1.02537902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.440281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:179.39, Y:124.65, Z:1.02 [[-3.94153317e-01 -9.19042628e-01 1.95202617e-03 1.79389004e+02] [ 9.19031520e-01 -3.94158150e-01 -4.51860409e-03 1.24646571e+02] [ 4.92219680e-03 1.29507886e-05 9.99987886e-01 1.02432897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.47028169299995 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:179.38, Y:124.67, Z:1.02 [[-3.94575673e-01 -9.18861372e-01 1.95377850e-03 1.79379615e+02] [ 9.18850265e-01 -3.94580510e-01 -4.51784627e-03 1.24665181e+02] [ 4.92219734e-03 1.25976613e-05 9.99987886e-01 1.02397987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.500281693 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:179.38, Y:124.65, Z:1.02 [[-3.94321737e-01 -9.18970371e-01 1.95553646e-03 1.79382201e+02] [ 9.18959270e-01 -3.94326586e-01 -4.51708522e-03 1.24654419e+02] [ 4.92218750e-03 1.58734654e-05 9.99987886e-01 1.02261048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.53028169299995 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:179.38, Y:124.65, Z:1.02 [[-3.94088547e-01 -9.19070392e-01 1.95730397e-03 1.79381323e+02] [ 9.19059296e-01 -3.94093407e-01 -4.51631921e-03 1.24653535e+02] [ 4.92217586e-03 1.90487370e-05 9.99987886e-01 1.02202142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.560281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.38, Y:124.65, Z:1.02 [[-3.94957334e-01 -9.18697375e-01 1.95906669e-03 1.79378751e+02] [ 9.18686277e-01 -3.94962192e-01 -4.51555446e-03 1.24652387e+02] [ 4.92218530e-03 1.63163304e-05 9.99987886e-01 1.02138233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.59028169299995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:179.38, Y:124.64, Z:1.02 [[-3.96022345e-01 -9.18238780e-01 1.96083239e-03 1.79383796e+02] [ 9.18227681e-01 -3.96027199e-01 -4.51478759e-03 1.24637742e+02] [ 4.92219601e-03 1.25338136e-05 9.99987886e-01 1.02211239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.620281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:179.39, Y:124.62, Z:1.02 [[-3.96632303e-01 -9.17975471e-01 1.96259035e-03 1.79388360e+02] [ 9.17964372e-01 -3.96637158e-01 -4.51402327e-03 1.24624872e+02] [ 4.92219889e-03 1.11805766e-05 9.99987886e-01 1.02287880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.65028169299995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:179.38, Y:124.63, Z:1.02 [[-3.95265475e-01 -9.18564829e-01 1.96433269e-03 1.79384461e+02] [ 9.18553742e-01 -3.95270356e-01 -4.51326494e-03 1.24631283e+02] [ 4.92216892e-03 2.04073248e-05 9.99987886e-01 1.02166818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.680281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:179.38, Y:124.64, Z:1.02 [[-3.94245897e-01 -9.19002887e-01 1.96607387e-03 1.79378630e+02] [ 9.18991809e-01 -3.94250799e-01 -4.51250632e-03 1.24643080e+02] [ 4.92213253e-03 2.77686766e-05 9.99987886e-01 1.02103162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.71028169299996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:179.38, Y:124.63, Z:1.02 [[-3.91685157e-01 -9.20097204e-01 1.96783181e-03 1.79383156e+02] [ 9.20086144e-01 -3.91690098e-01 -4.51173958e-03 1.24625237e+02] [ 4.92201921e-03 4.33933611e-05 9.99987886e-01 1.01775648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.740281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:179.38, Y:124.63, Z:1.02 [[-3.91103635e-01 -9.20344538e-01 1.96958946e-03 1.79377964e+02] [ 9.20333484e-01 -3.91108591e-01 -4.51097215e-03 1.24633340e+02] [ 4.92197193e-03 4.84215282e-05 9.99987886e-01 1.01605552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.77028169299996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:179.38, Y:124.62, Z:1.02 [[-3.90558751e-01 -9.20575894e-01 1.97134414e-03 1.79384605e+02] [ 9.20564846e-01 -3.90563723e-01 -4.51020520e-03 1.24617098e+02] [ 4.92192169e-03 5.32500080e-05 9.99987886e-01 1.01501603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.800281693 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:179.38, Y:124.63, Z:1.02 [[-3.89264645e-01 -9.21123848e-01 1.97309646e-03 1.79379033e+02] [ 9.21112812e-01 -3.89269641e-01 -4.50943848e-03 1.24625784e+02] [ 4.92181787e-03 6.20794634e-05 9.99987886e-01 1.01575832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.83028169299996 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:179.39, Y:124.60, Z:1.02 [[-3.88399485e-01 -9.21488980e-01 1.97484730e-03 1.79388227e+02] [ 9.21477952e-01 -3.88404500e-01 -4.50867159e-03 1.24600474e+02] [ 4.92173076e-03 6.86125195e-05 9.99987886e-01 1.01661398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.860281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:179.38, Y:124.61, Z:1.01 [[-3.86434680e-01 -9.22314660e-01 1.97658992e-03 1.79381144e+02] [ 9.22303647e-01 -3.86439726e-01 -4.50790750e-03 1.24607929e+02] [ 4.92154204e-03 8.10042937e-05 9.99987886e-01 1.01264959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.89028169299996 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:179.38, Y:124.60, Z:1.01 [[-3.86211504e-01 -9.22408131e-01 1.97832466e-03 1.79384230e+02] [ 9.22397123e-01 -3.86216562e-01 -4.50714607e-03 1.24598194e+02] [ 4.92148993e-03 8.40893125e-05 9.99987886e-01 1.01060845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92028169299994 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:179.39, Y:124.58, Z:1.01 [[-3.86026020e-01 -9.22485767e-01 1.98006172e-03 1.79390936e+02] [ 9.22474765e-01 -3.86031089e-01 -4.50638282e-03 1.24580090e+02] [ 4.92143940e-03 8.69759451e-05 9.99987886e-01 1.01095828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.95028169299997 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:179.38, Y:124.59, Z:1.01 [[-3.85672384e-01 -9.22633668e-01 1.98178323e-03 1.79383493e+02] [ 9.22622671e-01 -3.85677465e-01 -4.50562562e-03 1.24593333e+02] [ 4.92137103e-03 9.07427625e-05 9.99987886e-01 1.01179343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98028169299994 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:179.39, Y:124.58, Z:1.01 [[-3.84043739e-01 -9.23312771e-01 1.98350502e-03 1.79386478e+02] [ 9.23301786e-01 -3.84048848e-01 -4.50486751e-03 1.24578925e+02] [ 4.92116452e-03 1.01307566e-04 9.99987886e-01 1.01425376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.01028169299997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:179.39, Y:124.57, Z:1.01 [[-3.83375180e-01 -9.23590564e-01 1.98522967e-03 1.79390275e+02] [ 9.23579588e-01 -3.83380305e-01 -4.50410736e-03 1.24567282e+02] [ 4.92104901e-03 1.06754634e-04 9.99987886e-01 1.01497271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04028169299994 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:179.39, Y:124.56, Z:1.02 [[-3.82224074e-01 -9.24067535e-01 1.98694094e-03 1.79391126e+02] [ 9.24056569e-01 -3.82229221e-01 -4.50335232e-03 1.24558963e+02] [ 4.92086857e-03 1.14756161e-04 9.99987886e-01 1.01550881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.07028169299997 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:179.39, Y:124.55, Z:1.02 [[-3.81962810e-01 -9.24175555e-01 1.98864267e-03 1.79392421e+02] [ 9.24164594e-01 -3.81967969e-01 -4.50260073e-03 1.24552326e+02] [ 4.92079133e-03 1.18007114e-04 9.99987886e-01 1.01697724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.39, Y:124.56, Z:1.02 [[-3.81436401e-01 -9.24392942e-01 1.99033799e-03 1.79388803e+02] [ 9.24381988e-01 -3.81441574e-01 -4.50185120e-03 1.24556619e+02] [ 4.92067713e-03 1.22662666e-04 9.99987886e-01 1.01733760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.130281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.39, Y:124.54, Z:1.02 [[-3.79424747e-01 -9.25220457e-01 1.99203552e-03 1.79392002e+02] [ 9.25209518e-01 -3.79429952e-01 -4.50109993e-03 1.24541342e+02] [ 4.92034768e-03 1.35221521e-04 9.99987886e-01 1.01753673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16028169299994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:179.39, Y:124.53, Z:1.02 [[-3.78725317e-01 -9.25506974e-01 1.99372972e-03 1.79393614e+02] [ 9.25496043e-01 -3.78730539e-01 -4.50034937e-03 1.24532903e+02] [ 4.92019106e-03 1.40792719e-04 9.99987886e-01 1.01737970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.190281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.38, Y:124.54, Z:1.02 [[-3.77709751e-01 -9.25921899e-01 1.99541264e-03 1.79383513e+02] [ 9.25910977e-01 -3.77714992e-01 -4.49960306e-03 1.24544379e+02] [ 4.91997828e-03 1.48030520e-04 9.99987886e-01 1.01668106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.39, Y:124.52, Z:1.02 [[-3.77314722e-01 -9.26082940e-01 1.99710187e-03 1.79390937e+02] [ 9.26072025e-01 -3.77319976e-01 -4.49885319e-03 1.24522970e+02] [ 4.91985762e-03 1.51976637e-04 9.99987886e-01 1.01684663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.250281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.38, Y:124.54, Z:1.02 [[-3.77407432e-01 -9.26045163e-01 1.99668017e-03 1.79380355e+02] [ 9.26034246e-01 -3.77412684e-01 -4.49904034e-03 1.24543704e+02] [ 4.91988696e-03 1.51022956e-04 9.99987886e-01 1.01872381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.38, Y:124.53, Z:1.02 [[-3.77094273e-01 -9.26172725e-01 1.99836561e-03 1.79379737e+02] [ 9.26161814e-01 -3.77099536e-01 -4.49829158e-03 1.24534612e+02] [ 4.91977771e-03 1.54529929e-04 9.99987886e-01 1.02013422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.310281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.38, Y:124.53, Z:1.02 [[-3.76772271e-01 -9.26303761e-01 1.99984919e-03 1.79377697e+02] [ 9.26292855e-01 -3.76777545e-01 -4.49763191e-03 1.24530628e+02] [ 4.91967162e-03 1.57863028e-04 9.99987886e-01 1.01856389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34028169299995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:179.37, Y:124.53, Z:1.02 [[-3.75845022e-01 -9.26680373e-01 2.00132857e-03 1.79370276e+02] [ 9.26669476e-01 -3.75850315e-01 -4.49697353e-03 1.24530116e+02] [ 4.91945708e-03 1.64404975e-04 9.99987886e-01 1.01500387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.370281693 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:179.37, Y:124.53, Z:1.01 [[-3.76168221e-01 -9.26549224e-01 2.00132857e-03 1.79365864e+02] [ 9.26538325e-01 -3.76173510e-01 -4.49697353e-03 1.24534970e+02] [ 4.91951413e-03 1.62689082e-04 9.99987886e-01 1.01392950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40028169299995 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:179.36, Y:124.54, Z:1.01 [[-3.77007797e-01 -9.26207922e-01 2.00154026e-03 1.79360192e+02] [ 9.26197019e-01 -3.77013076e-01 -4.49687931e-03 1.24544628e+02] [ 4.91965209e-03 1.58462064e-04 9.99987886e-01 1.01373233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.430281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:179.36, Y:124.52, Z:1.02 [[-3.78204921e-01 -9.25719733e-01 2.00325189e-03 1.79364801e+02] [ 9.25708827e-01 -3.78210195e-01 -4.49611669e-03 1.24523981e+02] [ 4.91979423e-03 1.53974498e-04 9.99987886e-01 1.01586913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46028169299996 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:179.36, Y:124.53, Z:1.01 [[-3.79105987e-01 -9.25351093e-01 2.00154775e-03 1.79357931e+02] [ 9.25340178e-01 -3.79111242e-01 -4.49687520e-03 1.24532056e+02] [ 4.91999763e-03 1.47320238e-04 9.99987886e-01 1.01477976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.490281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:179.35, Y:124.54, Z:1.01 [[-3.79905075e-01 -9.25023312e-01 2.00133629e-03 1.79351973e+02] [ 9.25012392e-01 -3.79910320e-01 -4.49696931e-03 1.24538519e+02] [ 4.92012975e-03 1.42839410e-04 9.99987886e-01 1.01440013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52028169299996 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:179.34, Y:124.55, Z:1.02 [[-3.82761335e-01 -9.23845094e-01 2.00090895e-03 1.79342240e+02] [ 9.23834156e-01 -3.82766544e-01 -4.49715944e-03 1.24552423e+02] [ 4.92055969e-03 1.27169276e-04 9.99987886e-01 1.01708598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.550281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.34, Y:124.56, Z:1.02 [[-3.84805630e-01 -9.22995463e-01 2.00047839e-03 1.79338500e+02] [ 9.22984514e-01 -3.84810812e-01 -4.49735096e-03 1.24558399e+02] [ 4.92084025e-03 1.15804607e-04 9.99987886e-01 1.01988647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58028169299996 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:179.33, Y:124.57, Z:1.02 [[-3.89819379e-01 -9.20889164e-01 1.99982484e-03 1.79330062e+02] [ 9.20878185e-01 -3.89824499e-01 -4.49764156e-03 1.24574450e+02] [ 4.92141009e-03 8.83272294e-05 9.99987886e-01 1.02223607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.610281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:179.33, Y:124.57, Z:1.02 [[-3.91621540e-01 -9.20124216e-01 1.99938785e-03 1.79332955e+02] [ 9.20113226e-01 -3.91626636e-01 -4.49783581e-03 1.24568261e+02] [ 4.92158118e-03 7.82138151e-05 9.99987886e-01 1.02100785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64028169299996 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:179.33, Y:124.57, Z:1.02 [[-3.93387718e-01 -9.19370498e-01 1.99763755e-03 1.79334667e+02] [ 9.19359494e-01 -3.93392785e-01 -4.49861304e-03 1.24567750e+02] [ 4.92174831e-03 6.68479247e-05 9.99987886e-01 1.02003021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.67028169299994 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:179.33, Y:124.58, Z:1.02 [[-3.95240445e-01 -9.18575529e-01 1.99698053e-03 1.79332808e+02] [ 9.18564514e-01 -3.95245486e-01 -4.49890468e-03 1.24577890e+02] [ 4.92188128e-03 5.62063656e-05 9.99987886e-01 1.02033494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70028169299997 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:179.33, Y:124.58, Z:1.02 [[-3.95256706e-01 -9.18568533e-01 1.99654367e-03 1.79333894e+02] [ 9.18557517e-01 -3.95261744e-01 -4.49909854e-03 1.24575896e+02] [ 4.92188768e-03 5.56413230e-05 9.99987886e-01 1.01995399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.73028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.34, Y:124.57, Z:1.02 [[-3.94629528e-01 -9.18838153e-01 1.99588386e-03 1.79337306e+02] [ 9.18827139e-01 -3.94634571e-01 -4.49939122e-03 1.24567938e+02] [ 4.92185710e-03 5.82796203e-05 9.99987886e-01 1.01931235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76028169299997 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:179.33, Y:124.59, Z:1.02 [[-3.93419250e-01 -9.19357013e-01 1.99414646e-03 1.79329912e+02] [ 9.19346001e-01 -3.93424299e-01 -4.50016111e-03 1.24586712e+02] [ 4.92180035e-03 6.28605649e-05 9.99987886e-01 1.01822104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.79028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:179.33, Y:124.59, Z:1.02 [[-3.92467534e-01 -9.19763696e-01 1.99436403e-03 1.79327456e+02] [ 9.19752690e-01 -3.92472596e-01 -4.50006469e-03 1.24591793e+02] [ 4.92172936e-03 6.81923843e-05 9.99987886e-01 1.01755678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.32, Y:124.59, Z:1.02 [[-3.89322831e-01 -9.21099212e-01 1.99369987e-03 1.79323048e+02] [ 9.21088222e-01 -3.89327927e-01 -4.50035892e-03 1.24594655e+02] [ 4.92148009e-03 8.42809979e-05 9.99987886e-01 1.01597673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.85028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.32, Y:124.59, Z:1.02 [[-3.87471604e-01 -9.21879485e-01 1.99303443e-03 1.79323919e+02] [ 9.21868503e-01 -3.87476718e-01 -4.50065360e-03 1.24586919e+02] [ 4.92131466e-03 9.34401981e-05 9.99987886e-01 1.01558764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.880281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.32, Y:124.60, Z:1.02 [[-3.86217861e-01 -9.22405442e-01 1.99127650e-03 1.79316437e+02] [ 9.22394463e-01 -3.86222982e-01 -4.50143125e-03 1.24597172e+02] [ 4.92122142e-03 9.82092716e-05 9.99987886e-01 1.01649112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.91028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.31, Y:124.59, Z:1.02 [[-3.85600449e-01 -9.22663715e-01 1.99061302e-03 1.79313673e+02] [ 9.22652739e-01 -3.85605574e-01 -4.50172463e-03 1.24590016e+02] [ 4.92116945e-03 1.00777514e-04 9.99987886e-01 1.01885520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.940281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.31, Y:124.60, Z:1.02 [[-3.86631477e-01 -9.22232154e-01 1.98885379e-03 1.79307718e+02] [ 9.22221167e-01 -3.86636581e-01 -4.50250172e-03 1.24598135e+02] [ 4.92131549e-03 9.33541738e-05 9.99987886e-01 1.01917360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.97028169299995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:179.31, Y:124.58, Z:1.02 [[-3.89749641e-01 -9.20918707e-01 1.98819004e-03 1.79310817e+02] [ 9.20907702e-01 -3.89754705e-01 -4.50279480e-03 1.24581845e+02] [ 4.92161438e-03 7.59768629e-05 9.99987886e-01 1.01615691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.000281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:179.30, Y:124.59, Z:1.01 [[-3.90666943e-01 -9.20529953e-01 1.98643841e-03 1.79304472e+02] [ 9.20518939e-01 -3.90671987e-01 -4.50356741e-03 1.24591934e+02] [ 4.92171453e-03 6.91592634e-05 9.99987886e-01 1.01447880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.03028169299995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:179.30, Y:124.60, Z:1.01 [[-3.91074050e-01 -9.20357077e-01 1.98469237e-03 1.79300589e+02] [ 9.20346057e-01 -3.91079081e-01 -4.50433674e-03 1.24595470e+02] [ 4.92176987e-03 6.50745834e-05 9.99987886e-01 1.01355679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.060281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:179.30, Y:124.58, Z:1.02 [[-3.91470665e-01 -9.20188452e-01 1.98293867e-03 1.79301272e+02] [ 9.20177425e-01 -3.91475682e-01 -4.50510864e-03 1.24581306e+02] [ 4.92182121e-03 6.10375237e-05 9.99987886e-01 1.01500055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.09028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.29, Y:124.60, Z:1.02 [[-3.91653443e-01 -9.20110676e-01 1.98119322e-03 1.79292324e+02] [ 9.20099645e-01 -3.91658449e-01 -4.50587610e-03 1.24595528e+02] [ 4.92185577e-03 5.81532875e-05 9.99987886e-01 1.01545316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.120281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:179.30, Y:124.57, Z:1.01 [[-3.95556982e-01 -9.18439304e-01 1.97944865e-03 1.79300716e+02] [ 9.18428248e-01 -3.95561934e-01 -4.50664237e-03 1.24567964e+02] [ 4.92207201e-03 3.53476995e-05 9.99987886e-01 1.01483331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.15028169299995 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:179.29, Y:124.59, Z:1.01 [[-3.98177013e-01 -9.17306467e-01 1.97771485e-03 1.79292521e+02] [ 9.17295393e-01 -3.98181924e-01 -4.50740311e-03 1.24586121e+02] [ 4.92216032e-03 1.94044095e-05 9.99987886e-01 1.01379539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.180281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:179.31, Y:124.56, Z:1.01 [[-4.04434108e-01 -9.14565005e-01 1.97598968e-03 1.79306007e+02] [ 9.14553894e-01 -4.04438935e-01 -4.50815927e-03 1.24558926e+02] [ 4.92217187e-03 -1.61043227e-05 9.99987886e-01 1.01499490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.21028169299996 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:179.30, Y:124.56, Z:1.02 [[-4.04090103e-01 -9.14717055e-01 1.97427363e-03 1.79304918e+02] [ 9.14705942e-01 -4.04094925e-01 -4.50891066e-03 1.24561230e+02] [ 4.92217144e-03 -1.61263535e-05 9.99987886e-01 1.01500729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.240281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:179.31, Y:124.55, Z:1.02 [[-4.07094454e-01 -9.13383936e-01 1.97257748e-03 1.79309002e+02] [ 9.13372804e-01 -4.07099232e-01 -4.50965258e-03 1.24554350e+02] [ 4.92207900e-03 -3.41559298e-05 9.99987886e-01 1.01699224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.27028169299996 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:179.32, Y:124.54, Z:1.02 [[-4.09740996e-01 -9.12199776e-01 1.97088768e-03 1.79316367e+02] [ 9.12188627e-01 -4.09745733e-01 -4.51039096e-03 1.24540708e+02] [ 4.92194045e-03 -5.02707537e-05 9.99987886e-01 1.01900955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.300281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:179.31, Y:124.55, Z:1.02 [[-4.12311583e-01 -9.11040768e-01 1.96921448e-03 1.79313698e+02] [ 9.11029602e-01 -4.12316280e-01 -4.51112136e-03 1.24549838e+02] [ 4.92175465e-03 -6.59749088e-05 9.99987886e-01 1.01981270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.33028169299996 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:179.32, Y:124.53, Z:1.01 [[-4.15912372e-01 -9.09402566e-01 1.96754744e-03 1.79323033e+02] [ 9.09391378e-01 -4.15917016e-01 -4.51184833e-03 1.24534728e+02] [ 4.92142291e-03 -8.72628570e-05 9.99987886e-01 1.01385566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.360281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:179.33, Y:124.53, Z:1.01 [[-4.16192407e-01 -9.09274445e-01 1.96588785e-03 1.79327421e+02] [ 9.09263252e-01 -4.16197040e-01 -4.51257132e-03 1.24532578e+02] [ 4.92136249e-03 -9.05883345e-05 9.99987886e-01 1.01276988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.39028169299996 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:179.32, Y:124.55, Z:1.01 [[-4.15824881e-01 -9.09442582e-01 1.96424350e-03 1.79323120e+02] [ 9.09431387e-01 -4.15829511e-01 -4.51328697e-03 1.24546952e+02] [ 4.92136577e-03 -9.03923267e-05 9.99987886e-01 1.01444964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42028169299994 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:179.32, Y:124.56, Z:1.02 [[-4.15157013e-01 -9.09747657e-01 1.96362179e-03 1.79317816e+02] [ 9.09736464e-01 -4.15161647e-01 -4.51355744e-03 1.24563925e+02] [ 4.92141876e-03 -8.74566813e-05 9.99987886e-01 1.01659987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.45028169299997 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:179.32, Y:124.56, Z:1.02 [[-4.14245548e-01 -9.10163047e-01 1.96299411e-03 1.79322738e+02] [ 9.10151858e-01 -4.14250191e-01 -4.51383041e-03 1.24557086e+02] [ 4.92149232e-03 -8.32114202e-05 9.99987886e-01 1.01728541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48028169299994 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:179.33, Y:124.56, Z:1.02 [[-4.14339193e-01 -9.10120424e-01 1.96132740e-03 1.79325753e+02] [ 9.10109231e-01 -4.14343826e-01 -4.51455450e-03 1.24559282e+02] [ 4.92145216e-03 -8.55346989e-05 9.99987886e-01 1.01654089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.51028169299997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:179.33, Y:124.55, Z:1.02 [[-4.14488370e-01 -9.10052499e-01 1.95966735e-03 1.79331976e+02] [ 9.10041302e-01 -4.14492993e-01 -4.51527498e-03 1.24550838e+02] [ 4.92140566e-03 -8.81507380e-05 9.99987886e-01 1.01733328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54028169299994 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:179.34, Y:124.55, Z:1.02 [[-4.15473429e-01 -9.09603208e-01 1.95801574e-03 1.79335929e+02] [ 9.09592003e-01 -4.15478032e-01 -4.51599108e-03 1.24553650e+02] [ 4.92127249e-03 -9.52788420e-05 9.99987886e-01 1.01855800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.57028169299997 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:179.33, Y:124.57, Z:1.02 [[-4.15227406e-01 -9.09715543e-01 1.95739550e-03 1.79332462e+02] [ 9.09704338e-01 -4.15232009e-01 -4.51625989e-03 1.24566927e+02] [ 4.92128509e-03 -9.46237072e-05 9.99987886e-01 1.01790433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:179.34, Y:124.56, Z:1.02 [[-4.15002638e-01 -9.09818103e-01 1.95698230e-03 1.79336962e+02] [ 9.09806898e-01 -4.15007242e-01 -4.51643893e-03 1.24562096e+02] [ 4.92129973e-03 -9.38580813e-05 9.99987886e-01 1.01686813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.630281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:179.34, Y:124.58, Z:1.01 [[-4.13784860e-01 -9.10372595e-01 1.95635906e-03 1.79336529e+02] [ 9.10361395e-01 -4.13789476e-01 -4.51670888e-03 1.24575028e+02] [ 4.92140878e-03 -8.79519916e-05 9.99987886e-01 1.01437725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.34, Y:124.57, Z:1.01 [[-4.12417935e-01 -9.10992657e-01 1.95615285e-03 1.79342353e+02] [ 9.10981463e-01 -4.12422566e-01 -4.51679819e-03 1.24566812e+02] [ 4.92153156e-03 -8.07895923e-05 9.99987886e-01 1.01480933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.690281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.33, Y:124.59, Z:1.02 [[-4.09531100e-01 -9.12294061e-01 1.95552923e-03 1.79333101e+02] [ 9.12282881e-01 -4.09535763e-01 -4.51706816e-03 1.24594925e+02] [ 4.92175362e-03 -6.58840499e-05 9.99987886e-01 1.01713282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.33, Y:124.60, Z:1.02 [[-4.07950914e-01 -9.13001764e-01 1.95719463e-03 1.79332448e+02] [ 9.12990595e-01 -4.07955605e-01 -4.51634645e-03 1.24599439e+02] [ 4.92188080e-03 -5.55473772e-05 9.99987886e-01 1.01721202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.750281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.34, Y:124.60, Z:1.02 [[-4.06603964e-01 -9.13602423e-01 1.95677280e-03 1.79337942e+02] [ 9.13591260e-01 -4.06608669e-01 -4.51652921e-03 1.24597537e+02] [ 4.92195281e-03 -4.87481499e-05 9.99987886e-01 1.01505276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.34, Y:124.61, Z:1.02 [[-4.06866960e-01 -9.13485331e-01 1.95635125e-03 1.79335152e+02] [ 9.13474166e-01 -4.06871660e-01 -4.51671180e-03 1.24609479e+02] [ 4.92193385e-03 -5.06244770e-05 9.99987886e-01 1.01538923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.810281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.34, Y:124.60, Z:1.02 [[-4.06434353e-01 -9.13677888e-01 1.95804029e-03 1.79339665e+02] [ 9.13666728e-01 -4.06439067e-01 -4.51597946e-03 1.24603610e+02] [ 4.92197465e-03 -4.64529216e-05 9.99987886e-01 1.01630982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.34, Y:124.61, Z:1.02 [[-4.04503781e-01 -9.14534231e-01 1.95761653e-03 1.79340699e+02] [ 9.14523080e-01 -4.04508516e-01 -4.51616315e-03 1.24610925e+02] [ 4.92205835e-03 -3.65195755e-05 9.99987886e-01 1.01867533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.870281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.33, Y:124.63, Z:1.02 [[-4.02979451e-01 -9.15206929e-01 1.95930894e-03 1.79334965e+02] [ 9.15195790e-01 -4.02984213e-01 -4.51542879e-03 1.24629172e+02] [ 4.92212229e-03 -2.64737156e-05 9.99987886e-01 1.01874374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.33, Y:124.64, Z:1.02 [[-4.00760025e-01 -9.16180963e-01 1.96101945e-03 1.79334248e+02] [ 9.16169839e-01 -4.00764823e-01 -4.51468580e-03 1.24635715e+02] [ 4.92217680e-03 -1.26787188e-05 9.99987886e-01 1.01763103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.930281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.33, Y:124.65, Z:1.02 [[-3.94167182e-01 -9.19036659e-01 1.96274929e-03 1.79329976e+02] [ 9.19025574e-01 -3.94172068e-01 -4.51393363e-03 1.24649764e+02] [ 4.92213143e-03 2.45722935e-05 9.99987886e-01 1.01643946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:179.33, Y:124.64, Z:1.02 [[-3.90651057e-01 -9.20536741e-01 1.96449540e-03 1.79332286e+02] [ 9.20525679e-01 -3.90655994e-01 -4.51317359e-03 1.24644891e+02] [ 4.92198401e-03 4.52924239e-05 9.99987886e-01 1.01604819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.990281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.33, Y:124.65, Z:1.02 [[-3.86960078e-01 -9.22094373e-01 1.96625034e-03 1.79330556e+02] [ 9.22083334e-01 -3.86965068e-01 -4.51240888e-03 1.24648921e+02] [ 4.92173703e-03 6.69245742e-05 9.99987886e-01 1.01624005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02028169299996 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:179.33, Y:124.64, Z:1.02 [[-3.80323138e-01 -9.24851576e-01 1.96800737e-03 1.79334828e+02] [ 9.24840577e-01 -3.80328216e-01 -4.51164246e-03 1.24636615e+02] [ 4.92108837e-03 1.04211058e-04 9.99987886e-01 1.01547197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.050281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.34, Y:124.63, Z:1.01 [[-3.78263457e-01 -9.25695892e-01 1.96778907e-03 1.79338047e+02] [ 9.25684905e-01 -3.78268558e-01 -4.51173767e-03 1.24627267e+02] [ 4.92084976e-03 1.14927151e-04 9.99987886e-01 1.01430309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.33, Y:124.63, Z:1.02 [[-3.78336900e-01 -9.25665878e-01 1.96778907e-03 1.79334420e+02] [ 9.25654890e-01 -3.78342000e-01 -4.51173767e-03 1.24633290e+02] [ 4.92085886e-03 1.14536733e-04 9.99987886e-01 1.01532586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.110281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:179.34, Y:124.63, Z:1.02 [[-3.80124672e-01 -9.24933162e-01 1.96952588e-03 1.79336593e+02] [ 9.24922168e-01 -3.80129759e-01 -4.51097937e-03 1.24628248e+02] [ 4.92102981e-03 1.06923594e-04 9.99987886e-01 1.01598921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14028169299996 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.34, Y:124.63, Z:1.02 [[-3.82500319e-01 -9.23953257e-01 1.97104695e-03 1.79337105e+02] [ 9.23942253e-01 -3.82505386e-01 -4.51031465e-03 1.24627337e+02] [ 4.92125598e-03 9.59367627e-05 9.99987886e-01 1.01678149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.17028169299994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:179.34, Y:124.62, Z:1.02 [[-3.86924082e-01 -9.22109464e-01 1.97278523e-03 1.79338565e+02] [ 9.22098440e-01 -3.86929104e-01 -4.50955420e-03 1.24622676e+02] [ 4.92163063e-03 7.42470603e-05 9.99987886e-01 1.01691856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.33, Y:124.63, Z:1.02 [[-3.88623097e-01 -9.21394698e-01 1.97452322e-03 1.79333379e+02] [ 9.21383669e-01 -3.88628108e-01 -4.50879309e-03 1.24632829e+02] [ 4.92173327e-03 6.70723122e-05 9.99987886e-01 1.01553980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.23028169299994 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:179.33, Y:124.63, Z:1.01 [[-3.91402940e-01 -9.20217275e-01 1.97626792e-03 1.79331139e+02] [ 9.20206234e-01 -3.91407925e-01 -4.50802823e-03 1.24631971e+02] [ 4.92189238e-03 5.41185627e-05 9.99987886e-01 1.01433826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26028169299997 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.33, Y:124.63, Z:1.01 [[-3.92178578e-01 -9.19886977e-01 1.97802325e-03 1.79333477e+02] [ 9.19875936e-01 -3.92183562e-01 -4.50725790e-03 1.24625138e+02] [ 4.92191605e-03 5.18859983e-05 9.99987886e-01 1.01398714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.29028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.33, Y:124.62, Z:1.01 [[-3.93343330e-01 -9.19389533e-01 1.97758507e-03 1.79334109e+02] [ 9.19378485e-01 -3.93348299e-01 -4.50745014e-03 1.24623496e+02] [ 4.92198221e-03 4.51737210e-05 9.99987886e-01 1.01430903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.33, Y:124.63, Z:1.02 [[-3.95793228e-01 -9.18337521e-01 1.97933044e-03 1.79333800e+02] [ 9.18326464e-01 -3.95798176e-01 -4.50668358e-03 1.24630825e+02] [ 4.92207201e-03 3.39566811e-05 9.99987886e-01 1.01696676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.35028169299994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:179.34, Y:124.61, Z:1.02 [[-3.97619430e-01 -9.17548290e-01 1.98108199e-03 1.79342973e+02] [ 9.17537226e-01 -3.97624365e-01 -4.50591349e-03 1.24614200e+02] [ 4.92211968e-03 2.60777158e-05 9.99987886e-01 1.01828473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.380281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.34, Y:124.62, Z:1.02 [[-4.00202319e-01 -9.16424673e-01 1.98042439e-03 1.79344153e+02] [ 9.16413595e-01 -4.00207219e-01 -4.50620250e-03 1.24615786e+02] [ 4.92217529e-03 1.14951413e-05 9.99987886e-01 1.01870697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.41028169299994 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:179.35, Y:124.61, Z:1.02 [[-4.03410106e-01 -9.15017135e-01 1.98215731e-03 1.79349304e+02] [ 9.15006043e-01 -4.03414975e-01 -4.50544010e-03 1.24612122e+02] [ 4.92218684e-03 -3.85415132e-06 9.99987886e-01 1.01835029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.440281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.36, Y:124.60, Z:1.02 [[-4.03398182e-01 -9.15022388e-01 1.98388994e-03 1.79355781e+02] [ 9.15011300e-01 -4.03403061e-01 -4.50467704e-03 1.24600202e+02] [ 4.92218762e-03 -1.89681711e-06 9.99987886e-01 1.01657178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.47028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.34, Y:124.64, Z:1.01 [[-4.02107168e-01 -9.15590459e-01 1.98410458e-03 1.79342581e+02] [ 9.15579378e-01 -4.02112063e-01 -4.50458250e-03 1.24636807e+02] [ 4.92218515e-03 5.28032708e-06 9.99987886e-01 1.01488107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.500281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.35, Y:124.62, Z:1.02 [[-4.02103807e-01 -9.15591932e-01 1.98584503e-03 1.79351108e+02] [ 9.15580854e-01 -4.02108710e-01 -4.50381509e-03 1.24620644e+02] [ 4.92218234e-03 7.20049555e-06 9.99987886e-01 1.01524394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.53028169299995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:179.36, Y:124.61, Z:1.02 [[-4.02635853e-01 -9.15358083e-01 1.98738016e-03 1.79355994e+02] [ 9.15347006e-01 -4.02640757e-01 -4.50313759e-03 1.24612825e+02] [ 4.92218365e-03 6.01783788e-06 9.99987886e-01 1.01662058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.560281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.36, Y:124.61, Z:1.02 [[-4.03577770e-01 -9.14943182e-01 1.98912150e-03 1.79362186e+02] [ 9.14932104e-01 -4.03582672e-01 -4.50236828e-03 1.24606023e+02] [ 4.92218613e-03 2.85537021e-06 9.99987886e-01 1.01739130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.59028169299995 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:179.36, Y:124.62, Z:1.02 [[-4.03766730e-01 -9.14859806e-01 1.99085411e-03 1.79359656e+02] [ 9.14848730e-01 -4.03771639e-01 -4.50160202e-03 1.24616537e+02] [ 4.92218518e-03 3.73322663e-06 9.99987886e-01 1.01690453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.620281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.37, Y:124.61, Z:1.02 [[-4.03573140e-01 -9.14945217e-01 1.99259079e-03 1.79368683e+02] [ 9.14934147e-01 -4.03578059e-01 -4.50083317e-03 1.24605906e+02] [ 4.92218170e-03 6.67397872e-06 9.99987886e-01 1.01823030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.65028169299995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:179.37, Y:124.61, Z:1.02 [[-4.03820816e-01 -9.14835926e-01 1.99432861e-03 1.79369632e+02] [ 9.14824858e-01 -4.03825740e-01 -4.50006300e-03 1.24607013e+02] [ 4.92218053e-03 7.24227785e-06 9.99987886e-01 1.02040520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.680281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.37, Y:124.60, Z:1.02 [[-4.03564253e-01 -9.14949129e-01 1.99606150e-03 1.79372044e+02] [ 9.14938067e-01 -4.03569190e-01 -4.49929422e-03 1.24602888e+02] [ 4.92217426e-03 1.05183377e-05 9.99987886e-01 1.02163714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.71028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.36, Y:124.62, Z:1.02 [[-4.00294019e-01 -9.16384585e-01 1.99779410e-03 1.79364109e+02] [ 9.16373544e-01 -4.00299003e-01 -4.49852478e-03 1.24620555e+02] [ 4.92209375e-03 2.99930942e-05 9.99987886e-01 1.01958774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.740281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.37, Y:124.62, Z:1.02 [[-3.98414742e-01 -9.17203192e-01 1.99953923e-03 1.79365940e+02] [ 9.17192165e-01 -3.98419758e-01 -4.49774895e-03 1.24617727e+02] [ 4.92200563e-03 4.19922248e-05 9.99987886e-01 1.01885538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.77028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.37, Y:124.60, Z:1.02 [[-3.96208929e-01 -9.18158199e-01 2.00129797e-03 1.79373609e+02] [ 9.18147188e-01 -3.96213980e-01 -4.49696626e-03 1.24599776e+02] [ 4.92186868e-03 5.57479126e-05 9.99987886e-01 1.02143285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.800281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.37, Y:124.60, Z:1.02 [[-3.96160966e-01 -9.18178892e-01 2.00304454e-03 1.79373643e+02] [ 9.18167885e-01 -3.96166025e-01 -4.49618816e-03 1.24596770e+02] [ 4.92184326e-03 5.79169284e-05 9.99987886e-01 1.02297739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.83028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.37, Y:124.59, Z:1.02 [[-3.96046300e-01 -9.18228353e-01 2.00477999e-03 1.79374535e+02] [ 9.18217351e-01 -3.96051370e-01 -4.49541422e-03 1.24587091e+02] [ 4.92181266e-03 6.04315968e-05 9.99987886e-01 1.02487968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.860281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.38, Y:124.58, Z:1.03 [[-3.96255672e-01 -9.18138016e-01 2.00651050e-03 1.79375542e+02] [ 9.18127016e-01 -3.96260747e-01 -4.49464168e-03 1.24580670e+02] [ 4.92180275e-03 6.12042420e-05 9.99987886e-01 1.02507280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.89028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.38, Y:124.58, Z:1.02 [[-3.96356010e-01 -9.18094701e-01 2.00823438e-03 1.79375379e+02] [ 9.18083705e-01 -3.96361093e-01 -4.49387131e-03 1.24577708e+02] [ 4.92178541e-03 6.25543610e-05 9.99987886e-01 1.02458204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.36, Y:124.60, Z:1.02 [[-3.97258183e-01 -9.17704689e-01 2.00995539e-03 1.79361875e+02] [ 9.17693692e-01 -3.97263264e-01 -4.49310143e-03 1.24601780e+02] [ 4.92182169e-03 5.96020755e-05 9.99987886e-01 1.02285224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.95028169299997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.37, Y:124.59, Z:1.02 [[-3.98404403e-01 -9.17207657e-01 2.01169520e-03 1.79367025e+02] [ 9.17196657e-01 -3.98409478e-01 -4.49232233e-03 1.24588778e+02] [ 4.92187087e-03 5.53591171e-05 9.99987886e-01 1.02357496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.37, Y:124.59, Z:1.02 [[-4.00300180e-01 -9.16381859e-01 2.01344647e-03 1.79365346e+02] [ 9.16370853e-01 -4.00305241e-01 -4.49153728e-03 1.24590114e+02] [ 4.92195645e-03 4.71004771e-05 9.99987886e-01 1.02337983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.01028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.36, Y:124.59, Z:1.02 [[-4.01112810e-01 -9.16026447e-01 2.01519299e-03 1.79363669e+02] [ 9.16015441e-01 -4.01117870e-01 -4.49075354e-03 1.24592778e+02] [ 4.92197893e-03 4.46491196e-05 9.99987886e-01 1.02104151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.37, Y:124.59, Z:1.02 [[-4.01809667e-01 -9.15720986e-01 2.01694571e-03 1.79365656e+02] [ 9.15709979e-01 -4.01814727e-01 -4.48996619e-03 1.24586317e+02] [ 4.92199476e-03 4.28254949e-05 9.99987886e-01 1.01844349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.07028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.36, Y:124.59, Z:1.02 [[-4.02333944e-01 -9.15490755e-01 2.01869933e-03 1.79363404e+02] [ 9.15479749e-01 -4.02339006e-01 -4.48917763e-03 1.24588713e+02] [ 4.92200210e-03 4.19298115e-05 9.99987886e-01 1.01685341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.37, Y:124.58, Z:1.02 [[-4.02050084e-01 -9.15615448e-01 2.02045323e-03 1.79365135e+02] [ 9.15604448e-01 -4.02055158e-01 -4.48838811e-03 1.24579933e+02] [ 4.92197113e-03 4.53791494e-05 9.99987886e-01 1.01802454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.130281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.37, Y:124.58, Z:1.02 [[-4.02406929e-01 -9.15458669e-01 2.02220682e-03 1.79366238e+02] [ 9.15447671e-01 -4.02412008e-01 -4.48759790e-03 1.24577664e+02] [ 4.92197071e-03 4.53840359e-05 9.99987886e-01 1.01801216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.37, Y:124.58, Z:1.02 [[-4.02317780e-01 -9.15497847e-01 2.02395565e-03 1.79365727e+02] [ 9.15486853e-01 -4.02322868e-01 -4.48680902e-03 1.24576318e+02] [ 4.92194764e-03 4.77817485e-05 9.99987886e-01 1.01870057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.190281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.36, Y:124.57, Z:1.02 [[-4.01837719e-01 -9.15708657e-01 2.02570537e-03 1.79363470e+02] [ 9.15697670e-01 -4.01842822e-01 -4.48601892e-03 1.24573719e+02] [ 4.92190152e-03 5.22820707e-05 9.99987886e-01 1.01714449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.36, Y:124.57, Z:1.02 [[-4.02072600e-01 -9.15605545e-01 2.02745684e-03 1.79362723e+02] [ 9.15594561e-01 -4.02077708e-01 -4.48522720e-03 1.24570885e+02] [ 4.92189409e-03 5.29414895e-05 9.99987886e-01 1.01576252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.250281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.36, Y:124.57, Z:1.01 [[-4.02872510e-01 -9.15253857e-01 2.02920860e-03 1.79361559e+02] [ 9.15242872e-01 -4.02877617e-01 -4.48443453e-03 1.24568471e+02] [ 4.92191872e-03 5.05633098e-05 9.99987886e-01 1.01478299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28028169299995 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:179.36, Y:124.56, Z:1.02 [[-4.03485025e-01 -9.14983995e-01 2.03096065e-03 1.79358680e+02] [ 9.14973010e-01 -4.03490133e-01 -4.48364090e-03 1.24564901e+02] [ 4.92193224e-03 4.91922168e-05 9.99987886e-01 1.01976138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.310281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:179.36, Y:124.57, Z:1.01 [[-4.03735475e-01 -9.14873512e-01 2.03074261e-03 1.79356131e+02] [ 9.14862525e-01 -4.03740580e-01 -4.48373965e-03 1.24565009e+02] [ 4.92194784e-03 4.76055573e-05 9.99987886e-01 1.01494558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34028169299995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.36, Y:124.54, Z:1.02 [[-4.03513466e-01 -9.14971453e-01 2.03052473e-03 1.79358929e+02] [ 9.14960468e-01 -4.03518572e-01 -4.48383832e-03 1.24544022e+02] [ 4.92193850e-03 4.85607174e-05 9.99987886e-01 1.01738952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.370281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.35, Y:124.55, Z:1.02 [[-4.03283699e-01 -9.15072753e-01 2.02879130e-03 1.79351691e+02] [ 9.15061765e-01 -4.03288799e-01 -4.48462250e-03 1.24551843e+02] [ 4.92194467e-03 4.78942014e-05 9.99987886e-01 1.01931526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.34, Y:124.56, Z:1.02 [[-4.03148686e-01 -9.15132243e-01 2.02835958e-03 1.79344228e+02] [ 9.15121255e-01 -4.03153786e-01 -4.48481776e-03 1.24556289e+02] [ 4.92194218e-03 4.81465808e-05 9.99987886e-01 1.01969270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.430281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.34, Y:124.55, Z:1.02 [[-4.03085551e-01 -9.15160056e-01 2.02770554e-03 1.79342785e+02] [ 9.15149066e-01 -4.03090648e-01 -4.48511345e-03 1.24554534e+02] [ 4.92194581e-03 4.77684013e-05 9.99987886e-01 1.01949434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.34, Y:124.54, Z:1.02 [[-4.02811636e-01 -9.15280655e-01 2.02705134e-03 1.79344291e+02] [ 9.15269666e-01 -4.02816733e-01 -4.48540910e-03 1.24544791e+02] [ 4.92193837e-03 4.85236254e-05 9.99987886e-01 1.01966403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.490281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.34, Y:124.55, Z:1.02 [[-4.03104172e-01 -9.15151859e-01 2.02532743e-03 1.79336968e+02] [ 9.15140864e-01 -4.03109258e-01 -4.48618737e-03 1.24554721e+02] [ 4.92197095e-03 4.50590516e-05 9.99987886e-01 1.01960723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.34, Y:124.54, Z:1.02 [[-4.04816612e-01 -9.14395654e-01 2.02467718e-03 1.79340046e+02] [ 9.14384648e-01 -4.04821673e-01 -4.48648082e-03 1.24537857e+02] [ 4.92205176e-03 3.51317636e-05 9.99987886e-01 1.01910810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.550281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.34, Y:124.53, Z:1.02 [[-4.09164562e-01 -9.12458366e-01 2.02296058e-03 1.79341370e+02] [ 9.12447332e-01 -4.09169563e-01 -4.48725470e-03 1.24532864e+02] [ 4.92216699e-03 9.81938071e-06 9.99987886e-01 1.02109118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.35, Y:124.52, Z:1.02 [[-4.12055097e-01 -9.11156689e-01 2.02126036e-03 1.79347826e+02] [ 9.11145636e-01 -4.12060054e-01 -4.48802043e-03 1.24519789e+02] [ 4.92217048e-03 -7.64913662e-06 9.99987886e-01 1.02243436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.610281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.35, Y:124.52, Z:1.02 [[-4.15626209e-01 -9.09533274e-01 2.01957509e-03 1.79350343e+02] [ 9.09522197e-01 -4.15631115e-01 -4.48877866e-03 1.24515492e+02] [ 4.92209179e-03 -2.88056805e-05 9.99987886e-01 1.02357940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.35, Y:124.52, Z:1.02 [[-4.19691417e-01 -9.07664609e-01 2.01790397e-03 1.79350479e+02] [ 9.07653507e-01 -4.19696265e-01 -4.48952977e-03 1.24519073e+02] [ 4.92189405e-03 -5.26594935e-05 9.99987886e-01 1.02287607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.67028169299994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:179.36, Y:124.50, Z:1.02 [[-4.28432754e-01 -9.03571417e-01 2.01727518e-03 1.79362575e+02] [ 9.03560268e-01 -4.28437492e-01 -4.48981229e-03 1.24504054e+02] [ 4.92114237e-03 -1.00852948e-04 9.99987886e-01 1.01755806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.38, Y:124.48, Z:1.02 [[-4.32294981e-01 -9.01729997e-01 2.01562025e-03 1.79376544e+02] [ 9.01718824e-01 -4.32299662e-01 -4.49055512e-03 1.24480615e+02] [ 4.92062020e-03 -1.23721719e-04 9.99987886e-01 1.01636790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.73028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.38, Y:124.49, Z:1.02 [[-4.38314904e-01 -8.98819219e-01 2.01399367e-03 1.79378209e+02] [ 8.98808012e-01 -4.38319502e-01 -4.49128451e-03 1.24491817e+02] [ 4.91962554e-03 -1.58403288e-04 9.99987886e-01 1.01649244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.39, Y:124.48, Z:1.02 [[-4.40104819e-01 -8.97944149e-01 2.01358933e-03 1.79385627e+02] [ 8.97932931e-01 -4.40109393e-01 -4.49146578e-03 1.24483979e+02] [ 4.91928500e-03 -1.68647563e-04 9.99987886e-01 1.01681609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.79028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.39, Y:124.49, Z:1.02 [[-4.40915648e-01 -8.97546288e-01 2.01298129e-03 1.79389475e+02] [ 8.97535066e-01 -4.40920209e-01 -4.49173828e-03 1.24486716e+02] [ 4.91910715e-03 -1.73756399e-04 9.99987886e-01 1.01696404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.40, Y:124.49, Z:1.02 [[-4.40164040e-01 -8.97915122e-01 2.01298129e-03 1.79399332e+02] [ 8.97903903e-01 -4.40168610e-01 -4.49173828e-03 1.24485882e+02] [ 4.91925090e-03 -1.69637909e-04 9.99987886e-01 1.01577193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.85028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.40, Y:124.51, Z:1.02 [[-4.36499662e-01 -8.99702166e-01 2.01438442e-03 1.79396253e+02] [ 8.99690969e-01 -4.36504285e-01 -4.49110894e-03 1.24506095e+02] [ 4.91994787e-03 -1.48044065e-04 9.99987886e-01 1.01637231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.880281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.40, Y:124.51, Z:1.02 [[-4.33801103e-01 -9.01006403e-01 2.01599989e-03 1.79398880e+02] [ 9.00995223e-01 -4.33805768e-01 -4.49038365e-03 1.24506180e+02] [ 4.92041681e-03 -1.31527107e-04 9.99987886e-01 1.01605297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.91028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.40, Y:124.52, Z:1.02 [[-4.31035173e-01 -9.02332871e-01 2.01762858e-03 1.79396888e+02] [ 9.02321708e-01 -4.31039879e-01 -4.48965173e-03 1.24516146e+02] [ 4.92083871e-03 -1.14647735e-04 9.99987886e-01 1.01653958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.940281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.39, Y:124.53, Z:1.02 [[-4.28209616e-01 -9.03677181e-01 2.01926499e-03 1.79392314e+02] [ 9.03666037e-01 -4.28214366e-01 -4.48891562e-03 1.24531037e+02] [ 4.92120889e-03 -9.74556379e-05 9.99987886e-01 1.01691508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.97028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.38, Y:124.55, Z:1.02 [[-4.23822680e-01 -9.05742928e-01 2.02091840e-03 1.79385000e+02] [ 9.05731811e-01 -4.23827493e-01 -4.48817113e-03 1.24548803e+02] [ 4.92165003e-03 -7.17786385e-05 9.99987886e-01 1.01713353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.000281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.39, Y:124.55, Z:1.02 [[-4.21216728e-01 -9.06957759e-01 2.02259512e-03 1.79387362e+02] [ 9.06946660e-01 -4.21221581e-01 -4.48741539e-03 1.24545205e+02] [ 4.92185691e-03 -5.57885409e-05 9.99987886e-01 1.01854042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.03028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.38, Y:124.56, Z:1.02 [[-4.20728410e-01 -9.07184384e-01 2.02428360e-03 1.79379944e+02] [ 9.07173291e-01 -4.20733277e-01 -4.48665358e-03 1.24564513e+02] [ 4.92190554e-03 -5.12866062e-05 9.99987886e-01 1.01902365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.060281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.39, Y:124.54, Z:1.02 [[-4.20242328e-01 -9.07409654e-01 2.02598459e-03 1.79393894e+02] [ 9.07398567e-01 -4.20247209e-01 -4.48588535e-03 1.24536576e+02] [ 4.92195005e-03 -4.67833931e-05 9.99987886e-01 1.01973036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.09028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.39, Y:124.55, Z:1.02 [[-4.21140865e-01 -9.06992982e-01 2.02534570e-03 1.79386904e+02] [ 9.06981889e-01 -4.21145732e-01 -4.48617379e-03 1.24554386e+02] [ 4.92189384e-03 -5.23592392e-05 9.99987886e-01 1.02086495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.120281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.40, Y:124.54, Z:1.02 [[-4.24615081e-01 -9.05371705e-01 2.02703291e-03 1.79397043e+02] [ 9.05360597e-01 -4.24619914e-01 -4.48541131e-03 1.24540491e+02] [ 4.92168302e-03 -6.93775619e-05 9.99987886e-01 1.02206177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.15028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.41, Y:124.53, Z:1.02 [[-4.28667709e-01 -9.03459949e-01 2.02872424e-03 1.79407723e+02] [ 9.03448823e-01 -4.28672500e-01 -4.48464620e-03 1.24533192e+02] [ 4.92135652e-03 -8.95744898e-05 9.99987886e-01 1.01970480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.180281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.41, Y:124.54, Z:1.02 [[-4.30084182e-01 -9.02786505e-01 2.03040128e-03 1.79409854e+02] [ 9.02775375e-01 -4.30088964e-01 -4.48388680e-03 1.24538357e+02] [ 4.92124568e-03 -9.54525055e-05 9.99987886e-01 1.01887364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.21028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.42, Y:124.53, Z:1.02 [[-4.30380797e-01 -9.02645135e-01 2.03207695e-03 1.79415662e+02] [ 9.02634007e-01 -4.30385584e-01 -4.48312727e-03 1.24534138e+02] [ 4.92124964e-03 -9.52301280e-05 9.99987886e-01 1.01734715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.240281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.42, Y:124.55, Z:1.02 [[-4.27183949e-01 -9.04162451e-01 2.03375397e-03 1.79415124e+02] [ 9.04151344e-01 -4.27188783e-01 -4.48236636e-03 1.24549409e+02] [ 4.92158424e-03 -7.59735727e-05 9.99987886e-01 1.01606981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.27028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.42, Y:124.55, Z:1.02 [[-4.24528661e-01 -9.05412212e-01 2.03543864e-03 1.79418521e+02] [ 9.05401122e-01 -4.24533536e-01 -4.48160122e-03 1.24546400e+02] [ 4.92180844e-03 -5.96797358e-05 9.99987886e-01 1.01647199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.300281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.41, Y:124.56, Z:1.02 [[-4.17031590e-01 -9.08889709e-01 2.03713214e-03 1.79411601e+02] [ 9.08878664e-01 -4.17036565e-01 -4.48083131e-03 1.24564373e+02] [ 4.92214005e-03 -1.71422714e-05 9.99987886e-01 1.01856986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.33028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.41, Y:124.57, Z:1.02 [[-4.12890901e-01 -9.10778210e-01 2.03883765e-03 1.79407613e+02] [ 9.10767191e-01 -4.12895935e-01 -4.48005514e-03 1.24571451e+02] [ 4.92216438e-03 7.13243622e-06 9.99987886e-01 1.01934649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.360281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.40, Y:124.59, Z:1.02 [[-4.08586003e-01 -9.12717543e-01 2.04056283e-03 1.79398441e+02] [ 9.12706553e-01 -4.08591097e-01 -4.47926922e-03 1.24587388e+02] [ 4.92206341e-03 3.22683544e-05 9.99987886e-01 1.02031592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.39028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.40, Y:124.57, Z:1.02 [[-4.04192803e-01 -9.14671529e-01 2.04230781e-03 1.79402624e+02] [ 9.14660567e-01 -4.04197959e-01 -4.47847346e-03 1.24572760e+02] [ 4.92182882e-03 5.78516798e-05 9.99987886e-01 1.02110431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.41, Y:124.54, Z:1.02 [[-3.97026203e-01 -9.17804999e-01 2.04405813e-03 1.79412670e+02] [ 9.17794082e-01 -3.97031452e-01 -4.47767444e-03 1.24538072e+02] [ 4.92118735e-03 9.82703717e-05 9.99987886e-01 1.02229821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.45028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.41, Y:124.54, Z:1.02 [[-3.93535343e-01 -9.19307214e-01 2.04448689e-03 1.79405344e+02] [ 9.19296318e-01 -3.93540636e-01 -4.47747866e-03 1.24540348e+02] [ 4.92076711e-03 1.17443174e-04 9.99987886e-01 1.02357656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.41, Y:124.52, Z:1.02 [[-3.93160249e-01 -9.19467689e-01 2.04619056e-03 1.79409002e+02] [ 9.19456799e-01 -3.93165555e-01 -4.47669995e-03 1.24523325e+02] [ 4.92067261e-03 1.21323356e-04 9.99987886e-01 1.02253017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.51028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.41, Y:124.52, Z:1.02 [[-3.92971399e-01 -9.19548414e-01 2.04788946e-03 1.79405993e+02] [ 9.19537529e-01 -3.92976716e-01 -4.47592265e-03 1.24521356e+02] [ 4.92060045e-03 1.24201625e-04 9.99987886e-01 1.02173666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.40, Y:124.52, Z:1.02 [[-3.93428051e-01 -9.19353125e-01 2.04958025e-03 1.79402141e+02] [ 9.19342241e-01 -3.93433370e-01 -4.47514828e-03 1.24520680e+02] [ 4.92061482e-03 1.23616833e-04 9.99987886e-01 1.02232006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.57028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.40, Y:124.52, Z:1.02 [[-3.95401705e-01 -9.18506007e-01 2.05127436e-03 1.79395255e+02] [ 9.18495116e-01 -3.95407009e-01 -4.47437162e-03 1.24521217e+02] [ 4.92082547e-03 1.14911314e-04 9.99987886e-01 1.02396313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.39, Y:124.53, Z:1.03 [[-3.97361735e-01 -9.17659761e-01 2.05297376e-03 1.79389904e+02] [ 9.17648863e-01 -3.97367024e-01 -4.47359175e-03 1.24527493e+02] [ 4.92101921e-03 1.06274856e-04 9.99987886e-01 1.02550670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.630281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.39, Y:124.53, Z:1.03 [[-4.01355259e-01 -9.15920157e-01 2.05468330e-03 1.79386258e+02] [ 9.15909240e-01 -4.01360509e-01 -4.47280643e-03 1.24526998e+02] [ 4.92140231e-03 8.67190325e-05 9.99987886e-01 1.02620438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.39, Y:124.53, Z:1.03 [[-4.03258621e-01 -9.15083743e-01 2.05640136e-03 1.79385709e+02] [ 9.15072818e-01 -4.03263857e-01 -4.47201640e-03 1.24525959e+02] [ 4.92154185e-03 7.83778245e-05 9.99987886e-01 1.02538655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.690281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.38, Y:124.54, Z:1.02 [[-4.06372524e-01 -9.13705169e-01 2.05812229e-03 1.79376272e+02] [ 9.13694231e-01 -4.06377731e-01 -4.47122426e-03 1.24539089e+02] [ 4.92175578e-03 6.35117708e-05 9.99987886e-01 1.02443410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.37, Y:124.54, Z:1.03 [[-4.07457819e-01 -9.13221705e-01 2.05985564e-03 1.79374790e+02] [ 9.13210765e-01 -4.07463022e-01 -4.47042557e-03 1.24537764e+02] [ 4.92180466e-03 5.95724909e-05 9.99987886e-01 1.02527270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.750281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.37, Y:124.54, Z:1.03 [[-4.09772089e-01 -9.12185613e-01 2.05985564e-03 1.79371260e+02] [ 9.12174660e-01 -4.09777263e-01 -4.47042557e-03 1.24539258e+02] [ 4.92193990e-03 4.70924938e-05 9.99987886e-01 1.02579237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.38, Y:124.52, Z:1.02 [[-4.10586770e-01 -9.11819201e-01 2.06138269e-03 1.79378412e+02] [ 9.11808246e-01 -4.10591943e-01 -4.46972131e-03 1.24521659e+02] [ 4.92196484e-03 4.43772995e-05 9.99987886e-01 1.02425272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.810281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.38, Y:124.52, Z:1.02 [[-4.11358578e-01 -9.11471269e-01 2.06072794e-03 1.79377824e+02] [ 9.11460309e-01 -4.11363738e-01 -4.47002316e-03 1.24520035e+02] [ 4.92200643e-03 3.94893507e-05 9.99987886e-01 1.02389143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.38, Y:124.51, Z:1.02 [[-4.12541072e-01 -9.10936671e-01 2.06029714e-03 1.79377749e+02] [ 9.10925703e-01 -4.12546215e-01 -4.47022172e-03 1.24514746e+02] [ 4.92205667e-03 3.26275584e-05 9.99987886e-01 1.02181318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.870281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.37, Y:124.52, Z:1.02 [[-4.13360877e-01 -9.10564958e-01 2.05965075e-03 1.79373983e+02] [ 9.10553984e-01 -4.13366007e-01 -4.47051952e-03 1.24519497e+02] [ 4.92208802e-03 2.74853249e-05 9.99987886e-01 1.01988318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.37, Y:124.52, Z:1.02 [[-4.15239322e-01 -9.09709879e-01 2.05943744e-03 1.79370957e+02] [ 9.09698894e-01 -4.15244429e-01 -4.47061778e-03 1.24516366e+02] [ 4.92213508e-03 1.70916600e-05 9.99987886e-01 1.01515536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.930281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.36, Y:124.53, Z:1.02 [[-4.16366969e-01 -9.09194318e-01 2.05900840e-03 1.79361841e+02] [ 9.09183326e-01 -4.16372060e-01 -4.47081537e-03 1.24531672e+02] [ 4.92215350e-03 1.05162561e-05 9.99987886e-01 1.01776087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.37, Y:124.51, Z:1.02 [[-4.16687744e-01 -9.09047346e-01 2.06073319e-03 1.79369193e+02] [ 9.09036356e-01 -4.16692839e-01 -4.47002023e-03 1.24510533e+02] [ 4.92215279e-03 1.06787431e-05 9.99987886e-01 1.01994045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.990281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.36, Y:124.51, Z:1.02 [[-4.18344306e-01 -9.08286189e-01 2.05901288e-03 1.79364990e+02] [ 9.08275186e-01 -4.18349373e-01 -4.47081250e-03 1.24509879e+02] [ 4.92216400e-03 -1.88648886e-07 9.99987886e-01 1.02159021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.36, Y:124.51, Z:1.02 [[-4.18213696e-01 -9.08346337e-01 2.05836960e-03 1.79363970e+02] [ 9.08335333e-01 -4.18218762e-01 -4.47110865e-03 1.24512176e+02] [ 4.92216395e-03 -1.89043062e-07 9.99987886e-01 1.02160255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.050281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.37, Y:124.50, Z:1.02 [[-4.19108460e-01 -9.07933844e-01 2.05772663e-03 1.79368858e+02] [ 9.07922833e-01 -4.19113512e-01 -4.47140454e-03 1.24496628e+02] [ 4.92216055e-03 -5.74647931e-06 9.99987886e-01 1.02073582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.37, Y:124.50, Z:1.02 [[-4.21942571e-01 -9.06620229e-01 2.05603435e-03 1.79368189e+02] [ 9.06609199e-01 -4.21947579e-01 -4.47218255e-03 1.24495134e+02] [ 4.92210989e-03 -2.29845463e-05 9.99987886e-01 1.01724637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.110281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.37, Y:124.50, Z:1.02 [[-4.23629267e-01 -9.05833329e-01 2.05540086e-03 1.79365823e+02] [ 9.05822288e-01 -4.23634252e-01 -4.47247368e-03 1.24501229e+02] [ 4.92205393e-03 -3.28428333e-05 9.99987886e-01 1.01672478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.36, Y:124.51, Z:1.02 [[-4.25727676e-01 -9.04849006e-01 2.05476733e-03 1.79363153e+02] [ 9.04837952e-01 -4.25732632e-01 -4.47276472e-03 1.24506956e+02] [ 4.92195822e-03 -4.49482648e-05 9.99987886e-01 1.01585777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.17028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.36, Y:124.51, Z:1.02 [[-4.29091769e-01 -9.03258564e-01 2.05413157e-03 1.79363176e+02] [ 9.03247491e-01 -4.29096681e-01 -4.47305668e-03 1.24506890e+02] [ 4.92174779e-03 -6.39626202e-05 9.99987886e-01 1.01932037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.37, Y:124.49, Z:1.02 [[-4.29359309e-01 -9.03131423e-01 2.05349601e-03 1.79372159e+02] [ 9.03120347e-01 -4.29364214e-01 -4.47334843e-03 1.24487864e+02] [ 4.92171924e-03 -6.61197593e-05 9.99987886e-01 1.02164234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.23028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.36, Y:124.51, Z:1.03 [[-4.29436464e-01 -9.03094742e-01 2.05182658e-03 1.79363931e+02] [ 9.03083662e-01 -4.29441360e-01 -4.47411403e-03 1.24507786e+02] [ 4.92168806e-03 -6.83766504e-05 9.99987886e-01 1.02535490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.38, Y:124.48, Z:1.02 [[-4.28748655e-01 -9.03421486e-01 2.05161866e-03 1.79376292e+02] [ 9.03410409e-01 -4.28753558e-01 -4.47420937e-03 1.24482104e+02] [ 4.92173568e-03 -6.48575904e-05 9.99987886e-01 1.02437750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.29028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.37, Y:124.49, Z:1.02 [[-4.28804315e-01 -9.03395073e-01 2.04995646e-03 1.79373321e+02] [ 9.03383992e-01 -4.28809210e-01 -4.47497082e-03 1.24491048e+02] [ 4.92170680e-03 -6.69889470e-05 9.99987886e-01 1.02322843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.38, Y:124.49, Z:1.02 [[-4.30348775e-01 -9.02660363e-01 2.04933457e-03 1.79376812e+02] [ 9.02649273e-01 -4.30353648e-01 -4.47525560e-03 1.24491988e+02] [ 4.92157445e-03 -7.60904039e-05 9.99987886e-01 1.02148030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.35028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:179.38, Y:124.50, Z:1.02 [[-4.31574472e-01 -9.02074985e-01 2.04871188e-03 1.79377355e+02] [ 9.02063886e-01 -4.31579326e-01 -4.47554064e-03 1.24496009e+02] [ 4.92145495e-03 -8.34600882e-05 9.99987886e-01 1.02086662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.380281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.39, Y:124.49, Z:1.02 [[-4.35205971e-01 -9.00328589e-01 2.04808958e-03 1.79387034e+02] [ 9.00317470e-01 -4.35210778e-01 -4.47582540e-03 1.24487295e+02] [ 4.92106422e-03 -1.03975111e-04 9.99987886e-01 1.02010321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.41028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.39, Y:124.50, Z:1.02 [[-4.37515846e-01 -8.99208370e-01 2.04747043e-03 1.79386261e+02] [ 8.99197237e-01 -4.37520621e-01 -4.47610861e-03 1.24496930e+02] [ 4.92076486e-03 -1.17288691e-04 9.99987886e-01 1.01983954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.440281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.39, Y:124.50, Z:1.02 [[-4.39203532e-01 -8.98385251e-01 2.04911151e-03 1.79390748e+02] [ 8.98374112e-01 -4.39208294e-01 -4.47535721e-03 1.24496366e+02] [ 4.92058168e-03 -1.24723962e-04 9.99987886e-01 1.01937133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.47028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.41, Y:124.48, Z:1.02 [[-4.42807936e-01 -8.96614150e-01 2.04890656e-03 1.79408664e+02] [ 8.96602992e-01 -4.42812653e-01 -4.47545104e-03 1.24479747e+02] [ 4.92003448e-03 -1.44709488e-04 9.99987886e-01 1.01827858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.500281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.41, Y:124.48, Z:1.02 [[-4.45022555e-01 -8.95517018e-01 2.04829222e-03 1.79414875e+02] [ 8.95505847e-01 -4.45027241e-01 -4.47573219e-03 1.24479123e+02] [ 4.91964018e-03 -1.57544120e-04 9.99987886e-01 1.01898621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.53028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.42, Y:124.47, Z:1.02 [[-4.46556334e-01 -8.94753172e-01 2.04990720e-03 1.79423263e+02] [ 8.94741997e-01 -4.46561008e-01 -4.47499240e-03 1.24474309e+02] [ 4.91942227e-03 -1.64198143e-04 9.99987886e-01 1.01928093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.560281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.43, Y:124.48, Z:1.02 [[-4.48670961e-01 -8.93694668e-01 2.05151862e-03 1.79432374e+02] [ 8.93683485e-01 -4.48675617e-01 -4.47425354e-03 1.24483481e+02] [ 4.91908291e-03 -1.74059318e-04 9.99987886e-01 1.02053023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.59028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.44, Y:124.49, Z:1.02 [[-4.49892956e-01 -8.93080127e-01 2.05313080e-03 1.79435993e+02] [ 8.93068940e-01 -4.49897606e-01 -4.47351362e-03 1.24491516e+02] [ 4.91890474e-03 -1.79014921e-04 9.99987886e-01 1.02067628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.620281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.45, Y:124.49, Z:1.02 [[-4.50904124e-01 -8.92570025e-01 2.05475107e-03 1.79449485e+02] [ 8.92558837e-01 -4.50908769e-01 -4.47276928e-03 1.24490984e+02] [ 4.91876507e-03 -1.82803889e-04 9.99987886e-01 1.02030661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.65028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.45, Y:124.50, Z:1.02 [[-4.50995420e-01 -8.92523895e-01 2.05637388e-03 1.79453275e+02] [ 8.92512709e-01 -4.51000072e-01 -4.47202307e-03 1.24496312e+02] [ 4.91881221e-03 -1.81522095e-04 9.99987886e-01 1.02075446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.680281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.46, Y:124.51, Z:1.02 [[-4.48933283e-01 -8.93562909e-01 2.05799745e-03 1.79460312e+02] [ 8.93551738e-01 -4.48937969e-01 -4.47127578e-03 1.24508208e+02] [ 4.91927939e-03 -1.68377318e-04 9.99987886e-01 1.02356053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.71028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.46, Y:124.52, Z:1.02 [[-4.47296627e-01 -8.94383299e-01 2.05963000e-03 1.79460376e+02] [ 8.94372140e-01 -4.47301341e-01 -4.47052365e-03 1.24520600e+02] [ 4.91963695e-03 -1.57574460e-04 9.99987886e-01 1.02479676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.740281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:179.47, Y:124.51, Z:1.02 [[-4.45104552e-01 -8.95476236e-01 2.06127662e-03 1.79470370e+02] [ 8.95465092e-01 -4.45109301e-01 -4.46976429e-03 1.24507860e+02] [ 4.92006110e-03 -1.43711174e-04 9.99987886e-01 1.02430596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.77028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.47, Y:124.52, Z:1.02 [[-4.42210141e-01 -8.96909101e-01 2.06292296e-03 1.79465114e+02] [ 8.96897976e-01 -4.42214935e-01 -4.46900433e-03 1.24524148e+02] [ 4.92054600e-03 -1.26007604e-04 9.99987886e-01 1.02286086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.800281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.46, Y:124.55, Z:1.02 [[-4.34039206e-01 -9.00891617e-01 2.06457246e-03 1.79455877e+02] [ 9.00880539e-01 -4.34044109e-01 -4.46824217e-03 1.24548132e+02] [ 4.92151743e-03 -7.94591350e-05 9.99987886e-01 1.01999512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.83028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:179.44, Y:124.57, Z:1.02 [[-4.25178591e-01 -9.05107119e-01 2.06624990e-03 1.79444962e+02] [ 9.05096094e-01 -4.25183610e-01 -4.46746634e-03 1.24571584e+02] [ 4.92207118e-03 -2.93163237e-05 9.99987886e-01 1.02252325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.860281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:179.44, Y:124.58, Z:1.02 [[-4.21650416e-01 -9.06756114e-01 2.06796163e-03 1.79441506e+02] [ 9.06745113e-01 -4.21655487e-01 -4.46667385e-03 1.24575821e+02] [ 4.92215119e-03 -8.26078377e-06 9.99987886e-01 1.02467018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.89028169299996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:179.44, Y:124.57, Z:1.03 [[-4.18894541e-01 -9.08032533e-01 2.06969643e-03 1.79440075e+02] [ 9.08021551e-01 -4.18899654e-01 -4.46586986e-03 1.24574180e+02] [ 4.92215024e-03 8.60045850e-06 9.99987886e-01 1.02631329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.44, Y:124.57, Z:1.03 [[-4.16904001e-01 -9.08948163e-01 2.07143678e-03 1.79438178e+02] [ 9.08937196e-01 -4.16909146e-01 -4.46506247e-03 1.24572179e+02] [ 4.92211127e-03 2.13035322e-05 9.99987886e-01 1.02620476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.95028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.44, Y:124.56, Z:1.02 [[-4.15440760e-01 -9.09617874e-01 2.07317860e-03 1.79441602e+02] [ 9.09606919e-01 -4.15445932e-01 -4.46425358e-03 1.24555917e+02] [ 4.92205847e-03 3.11446977e-05 9.99987886e-01 1.02438904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.44, Y:124.56, Z:1.02 [[-4.16244833e-01 -9.09250204e-01 2.07491246e-03 1.79438758e+02] [ 9.09239249e-01 -4.16250004e-01 -4.46344757e-03 1.24557410e+02] [ 4.92207293e-03 2.87048611e-05 9.99987886e-01 1.02196066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.01028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.44, Y:124.55, Z:1.02 [[-4.17081916e-01 -9.08866527e-01 2.07664019e-03 1.79438539e+02] [ 9.08855571e-01 -4.17087085e-01 -4.46264359e-03 1.24554785e+02] [ 4.92208718e-03 2.60780640e-05 9.99987886e-01 1.02254783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.43, Y:124.56, Z:1.02 [[-4.17395291e-01 -9.08722648e-01 2.07837080e-03 1.79434951e+02] [ 9.08711695e-01 -4.17400465e-01 -4.46183745e-03 1.24559755e+02] [ 4.92208568e-03 2.62899073e-05 9.99987886e-01 1.02201911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.07028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.43, Y:124.57, Z:1.02 [[-4.17194411e-01 -9.08814886e-01 2.08010694e-03 1.79429270e+02] [ 9.08803938e-01 -4.17199595e-01 -4.46102792e-03 1.24569452e+02] [ 4.92206835e-03 2.92934634e-05 9.99987886e-01 1.02240735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.43, Y:124.56, Z:1.02 [[-4.15091804e-01 -9.09777149e-01 2.08185696e-03 1.79433032e+02] [ 9.09766216e-01 -4.15097023e-01 -4.46021107e-03 1.24558835e+02] [ 4.92197074e-03 4.26060689e-05 9.99987886e-01 1.02205823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.130281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:179.43, Y:124.55, Z:1.02 [[-4.12675390e-01 -9.10875777e-01 2.08360994e-03 1.79434926e+02] [ 9.10864863e-01 -4.12680646e-01 -4.45939201e-03 1.24549830e+02] [ 4.92181766e-03 5.76057506e-05 9.99987886e-01 1.01945573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.45, Y:124.52, Z:1.02 [[-4.11917885e-01 -9.11218584e-01 2.08535279e-03 1.79446845e+02] [ 9.11207678e-01 -4.11923158e-01 -4.45857685e-03 1.24521848e+02] [ 4.92174319e-03 6.36219347e-05 9.99987886e-01 1.01956564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.190281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:179.45, Y:124.51, Z:1.02 [[-4.11275725e-01 -9.11508597e-01 2.08707370e-03 1.79454171e+02] [ 9.11497699e-01 -4.11281014e-01 -4.45777114e-03 1.24505229e+02] [ 4.92167051e-03 6.89898244e-05 9.99987886e-01 1.02222487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.45, Y:124.52, Z:1.03 [[-4.10740980e-01 -9.11749683e-01 2.08876679e-03 1.79446350e+02] [ 9.11738792e-01 -4.10746284e-01 -4.45697767e-03 1.24522171e+02] [ 4.92160118e-03 7.37463375e-05 9.99987886e-01 1.02918487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.250281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.46, Y:124.50, Z:1.03 [[-4.11110828e-01 -9.11582973e-01 2.09046322e-03 1.79458456e+02] [ 9.11572084e-01 -4.11116136e-01 -4.45618185e-03 1.24495791e+02] [ 4.92160266e-03 7.36233011e-05 9.99987886e-01 1.03025580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.45, Y:124.51, Z:1.03 [[-4.12097036e-01 -9.11137562e-01 2.09215626e-03 1.79448933e+02] [ 9.11126671e-01 -4.12102340e-01 -4.45538683e-03 1.24514898e+02] [ 4.92165279e-03 7.01676638e-05 9.99987886e-01 1.02875873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.310281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.44, Y:124.53, Z:1.02 [[-4.14385742e-01 -9.10098936e-01 2.09384706e-03 1.79444648e+02] [ 9.10088036e-01 -4.14391028e-01 -4.45459209e-03 1.24525519e+02] [ 4.92179095e-03 5.96657121e-05 9.99987886e-01 1.02369247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.45, Y:124.52, Z:1.02 [[-4.16142176e-01 -9.09297145e-01 2.09556127e-03 1.79448827e+02] [ 9.09286239e-01 -4.16147449e-01 -4.45378553e-03 1.24520046e+02] [ 4.92187694e-03 5.20570261e-05 9.99987886e-01 1.02254576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.370281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:179.45, Y:124.52, Z:1.02 [[-4.19624066e-01 -9.07695568e-01 2.09728091e-03 1.79450601e+02] [ 9.07684646e-01 -4.19629305e-01 -4.45297561e-03 1.24519898e+02] [ 4.92202676e-03 3.50939511e-05 9.99987886e-01 1.02305234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.45, Y:124.52, Z:1.02 [[-4.21017626e-01 -9.07050028e-01 2.09899881e-03 1.79450025e+02] [ 9.07039102e-01 -4.21022857e-01 -4.45216569e-03 1.24522874e+02] [ 4.92206349e-03 2.94337616e-05 9.99987886e-01 1.02254046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.430281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.46, Y:124.51, Z:1.02 [[-4.22167885e-01 -9.06515231e-01 2.10072100e-03 1.79455124e+02] [ 9.06504302e-01 -4.22173111e-01 -4.45135294e-03 1.24514377e+02] [ 4.92208716e-03 2.50943618e-05 9.99987886e-01 1.02188486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.46, Y:124.51, Z:1.02 [[-4.22796987e-01 -9.06221986e-01 2.10244144e-03 1.79459038e+02] [ 9.06211058e-01 -4.22802214e-01 -4.45054020e-03 1.24513671e+02] [ 4.92209428e-03 2.35806888e-05 9.99987886e-01 1.02465729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.490281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.46, Y:124.52, Z:1.03 [[-4.23058742e-01 -9.06099814e-01 2.10415724e-03 1.79458347e+02] [ 9.06088888e-01 -4.23063974e-01 -4.44972885e-03 1.24516615e+02] [ 4.92209161e-03 2.40568014e-05 9.99987886e-01 1.02617969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.46, Y:124.51, Z:1.03 [[-4.23360956e-01 -9.05958645e-01 2.10587589e-03 1.79459359e+02] [ 9.05947721e-01 -4.23366193e-01 -4.44891533e-03 1.24513599e+02] [ 4.92208996e-03 2.43164138e-05 9.99987886e-01 1.02600351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.550281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.46, Y:124.51, Z:1.03 [[-4.23732355e-01 -9.05784991e-01 2.10759740e-03 1.79461860e+02] [ 9.05774069e-01 -4.23737596e-01 -4.44809965e-03 1.24509069e+02] [ 4.92209015e-03 2.42033338e-05 9.99987886e-01 1.02532741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.46, Y:124.51, Z:1.03 [[-4.24280324e-01 -9.05528441e-01 2.10931658e-03 1.79463212e+02] [ 9.05517520e-01 -4.24285567e-01 -4.44728425e-03 1.24507295e+02] [ 4.92209495e-03 2.31279194e-05 9.99987886e-01 1.02579207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.610281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:179.46, Y:124.51, Z:1.03 [[-4.25394991e-01 -9.05005329e-01 2.11103371e-03 1.79461464e+02] [ 9.04994406e-01 -4.25400228e-01 -4.44646902e-03 1.24508170e+02] [ 4.92211238e-03 1.89680523e-05 9.99987886e-01 1.02640001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64028169299996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:179.46, Y:124.51, Z:1.03 [[-4.25930994e-01 -9.04753185e-01 2.11275369e-03 1.79460552e+02] [ 9.04742263e-01 -4.25936233e-01 -4.44565161e-03 1.24510110e+02] [ 4.92211580e-03 1.79567489e-05 9.99987886e-01 1.02663718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.67028169299994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:179.46, Y:124.51, Z:1.03 [[-4.25716574e-01 -9.04854092e-01 2.11447915e-03 1.79462696e+02] [ 9.04843175e-01 -4.25721825e-01 -4.44483078e-03 1.24509894e+02] [ 4.92210324e-03 2.10338928e-05 9.99987886e-01 1.02664610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70028169299997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.47, Y:124.49, Z:1.03 [[-4.25851999e-01 -9.04790361e-01 2.11620808e-03 1.79472171e+02] [ 9.04779447e-01 -4.25857257e-01 -4.44400748e-03 1.24491800e+02] [ 4.92209769e-03 2.22121058e-05 9.99987886e-01 1.02703788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.73028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.47, Y:124.50, Z:1.03 [[-4.26076613e-01 -9.04684605e-01 2.11792568e-03 1.79465778e+02] [ 9.04673694e-01 -4.26081876e-01 -4.44318875e-03 1.24504492e+02] [ 4.92209421e-03 2.28928301e-05 9.99987886e-01 1.02786950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76028169299997 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:179.47, Y:124.49, Z:1.03 [[-4.26435597e-01 -9.04515444e-01 2.11964238e-03 1.79470966e+02] [ 9.04504536e-01 -4.26440864e-01 -4.44236964e-03 1.24489585e+02] [ 4.92209408e-03 2.28415966e-05 9.99987886e-01 1.02838054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.79028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.47, Y:124.49, Z:1.03 [[-4.27094180e-01 -9.04204657e-01 2.12136077e-03 1.79468256e+02] [ 9.04193748e-01 -4.27099448e-01 -4.44154891e-03 1.24494968e+02] [ 4.92210122e-03 2.11614610e-05 9.99987886e-01 1.02865816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.47, Y:124.50, Z:1.03 [[-4.28506162e-01 -9.03536365e-01 2.12307626e-03 1.79467337e+02] [ 9.03525452e-01 -4.28511421e-01 -4.44072874e-03 1.24495660e+02] [ 4.92212233e-03 1.53738111e-05 9.99987886e-01 1.02773791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.85028169299994 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:179.47, Y:124.50, Z:1.03 [[-4.29461533e-01 -9.03082652e-01 2.12479895e-03 1.79465369e+02] [ 9.03071738e-01 -4.29466789e-01 -4.43990432e-03 1.24497051e+02] [ 4.92213115e-03 1.20777685e-05 9.99987886e-01 1.02761896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.880281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:179.46, Y:124.50, Z:1.03 [[-4.30156260e-01 -9.02751943e-01 2.12652655e-03 1.79463909e+02] [ 9.02741029e-01 -4.30161516e-01 -4.43907672e-03 1.24498860e+02] [ 4.92213502e-03 1.02061270e-05 9.99987886e-01 1.02739998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.91028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.46, Y:124.51, Z:1.03 [[-4.31425808e-01 -9.02145910e-01 2.12825968e-03 1.79458879e+02] [ 9.02134992e-01 -4.31431058e-01 -4.43824564e-03 1.24508739e+02] [ 4.92214247e-03 5.20381454e-06 9.99987886e-01 1.02841159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.940281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.46, Y:124.51, Z:1.03 [[-4.31782288e-01 -9.01975343e-01 2.13000490e-03 1.79460028e+02] [ 9.01964427e-01 -4.31787542e-01 -4.43740791e-03 1.24506515e+02] [ 4.92214210e-03 5.19450242e-06 9.99987886e-01 1.02839921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.97028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.47, Y:124.48, Z:1.03 [[-4.32806756e-01 -9.01484203e-01 2.13175818e-03 1.79471388e+02] [ 9.01473286e-01 -4.32812005e-01 -4.43656547e-03 1.24482864e+02] [ 4.92214421e-03 1.54754257e-06 9.99987886e-01 1.02804479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.000281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.47, Y:124.48, Z:1.03 [[-4.33565531e-01 -9.01119514e-01 2.13349534e-03 1.79472902e+02] [ 9.01108597e-01 -4.33570780e-01 -4.43572993e-03 1.24476695e+02] [ 4.92214404e-03 -6.68611245e-07 9.99987886e-01 1.02567848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.03028169299995 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:179.47, Y:124.49, Z:1.03 [[-4.33729709e-01 -9.01040499e-01 2.13521492e-03 1.79466888e+02] [ 9.01029584e-01 -4.33734965e-01 -4.43490202e-03 1.24487215e+02] [ 4.92214370e-03 3.43046432e-07 9.99987886e-01 1.02514686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.060281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:179.47, Y:124.48, Z:1.02 [[-4.33455955e-01 -9.01172219e-01 2.13694116e-03 1.79468903e+02] [ 9.01161311e-01 -4.33461222e-01 -4.43407009e-03 1.24482371e+02] [ 4.92214191e-03 3.75461008e-06 9.99987886e-01 1.02484540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.09028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.47, Y:124.48, Z:1.02 [[-4.32043130e-01 -9.01850409e-01 2.13867497e-03 1.79470763e+02] [ 9.01839513e-01 -4.32048423e-01 -4.43323366e-03 1.24475290e+02] [ 4.92212474e-03 1.33934417e-05 9.99987886e-01 1.02444835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.120281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.47, Y:124.48, Z:1.03 [[-4.31327948e-01 -9.02192674e-01 2.14040318e-03 1.79466927e+02] [ 9.02181786e-01 -4.31333258e-01 -4.43239911e-03 1.24480071e+02] [ 4.92210508e-03 1.92151482e-05 9.99987886e-01 1.02509752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.15028169299995 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:179.47, Y:124.48, Z:1.02 [[-4.29996470e-01 -9.02828028e-01 2.14213369e-03 1.79466458e+02] [ 9.02817152e-01 -4.30001804e-01 -4.43156261e-03 1.24478130e+02] [ 4.92206029e-03 2.83987603e-05 9.99987886e-01 1.02452267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.180281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:179.48, Y:124.46, Z:1.02 [[-4.30097289e-01 -9.02779999e-01 2.14387036e-03 1.79476353e+02] [ 9.02769127e-01 -4.30102631e-01 -4.43072230e-03 1.24458660e+02] [ 4.92205176e-03 2.97783201e-05 9.99987886e-01 1.02447266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.21028169299996 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:179.47, Y:124.46, Z:1.02 [[-4.30705684e-01 -9.02489895e-01 2.14559438e-03 1.79474804e+02] [ 9.02479023e-01 -4.30711028e-01 -4.42988728e-03 1.24461608e+02] [ 4.92205967e-03 2.83762841e-05 9.99987886e-01 1.02477040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.240281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:179.47, Y:124.46, Z:1.02 [[-4.32869655e-01 -9.01453965e-01 2.14730968e-03 1.79474532e+02] [ 9.01443085e-01 -4.32874980e-01 -4.42905566e-03 1.24460195e+02] [ 4.92210642e-03 1.84736664e-05 9.99987886e-01 1.02299213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.27028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.48, Y:124.46, Z:1.02 [[-4.34232853e-01 -9.00798097e-01 2.14902927e-03 1.79475787e+02] [ 9.00787213e-01 -4.34238170e-01 -4.42822114e-03 1.24459499e+02] [ 4.92212371e-03 1.29389907e-05 9.99987886e-01 1.02177311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.300281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.47, Y:124.47, Z:1.03 [[-4.36269659e-01 -8.99813402e-01 2.15075029e-03 1.79472778e+02] [ 8.99802510e-01 -4.36274960e-01 -4.42738510e-03 1.24471155e+02] [ 4.92213895e-03 3.71672543e-06 9.99987886e-01 1.02545886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.33028169299996 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:179.48, Y:124.46, Z:1.03 [[-4.36792680e-01 -8.99559626e-01 2.15248062e-03 1.79478730e+02] [ 8.99548735e-01 -4.36797984e-01 -4.42654370e-03 1.24458905e+02] [ 4.92213919e-03 2.77933388e-06 9.99987886e-01 1.02783457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.360281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:179.48, Y:124.46, Z:1.03 [[-4.35208325e-01 -9.00327204e-01 2.15421267e-03 1.79478848e+02] [ 9.00316326e-01 -4.35213656e-01 -4.42570062e-03 1.24455116e+02] [ 4.92212143e-03 1.33710815e-05 9.99987886e-01 1.02757584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.39028169299996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.48, Y:124.45, Z:1.03 [[-4.34157038e-01 -9.00834623e-01 2.15593676e-03 1.79478999e+02] [ 9.00823756e-01 -4.34162390e-01 -4.42486058e-03 1.24454117e+02] [ 4.92209428e-03 2.10346898e-05 9.99987886e-01 1.02602270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.48, Y:124.45, Z:1.03 [[-4.33168160e-01 -9.01310540e-01 2.15766112e-03 1.79482896e+02] [ 9.01299683e-01 -4.33173533e-01 -4.42401959e-03 1.24445757e+02] [ 4.92205718e-03 2.83548562e-05 9.99987886e-01 1.02511201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.45028169299997 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:179.48, Y:124.45, Z:1.03 [[-4.32329600e-01 -9.01713066e-01 2.15938194e-03 1.79477426e+02] [ 9.01702219e-01 -4.32334991e-01 -4.42317949e-03 1.24454396e+02] [ 4.92201511e-03 3.48480707e-05 9.99987886e-01 1.02657419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48028169299994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:179.48, Y:124.44, Z:1.03 [[-4.32939486e-01 -9.01420397e-01 2.16110623e-03 1.79483234e+02] [ 9.01409549e-01 -4.32944878e-01 -4.42233687e-03 1.24441931e+02] [ 4.92202452e-03 3.34375449e-05 9.99987886e-01 1.02813728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.51028169299997 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.48, Y:124.44, Z:1.03 [[-4.34416870e-01 -9.00709335e-01 2.16283078e-03 1.79484779e+02] [ 9.00698483e-01 -4.34422253e-01 -4.42149328e-03 1.24438929e+02] [ 4.92206209e-03 2.72871284e-05 9.99987886e-01 1.03063473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54028169299994 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:179.48, Y:124.44, Z:1.03 [[-4.34821302e-01 -9.00514159e-01 2.16454743e-03 1.79482159e+02] [ 9.00503309e-01 -4.34826689e-01 -4.42065273e-03 1.24443307e+02] [ 4.92206337e-03 2.69881453e-05 9.99987886e-01 1.03034454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.57028169299997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.49, Y:124.43, Z:1.03 [[-4.34706901e-01 -9.00569385e-01 2.16626811e-03 1.79486018e+02] [ 9.00558540e-01 -4.34712298e-01 -4.41980938e-03 1.24433636e+02] [ 4.92204840e-03 2.95296111e-05 9.99987886e-01 1.02997795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60028169299994 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:179.48, Y:124.43, Z:1.03 [[-4.34318908e-01 -9.00756563e-01 2.16798788e-03 1.79484340e+02] [ 9.00745725e-01 -4.34324317e-01 -4.41896564e-03 1.24432946e+02] [ 4.92202216e-03 3.35654872e-05 9.99987886e-01 1.02689195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.630281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:179.48, Y:124.44, Z:1.03 [[-4.34941141e-01 -9.00456271e-01 2.16970414e-03 1.79481334e+02] [ 9.00445433e-01 -4.34946551e-01 -4.41812280e-03 1.24438591e+02] [ 4.92203172e-03 3.20768107e-05 9.99987886e-01 1.02580984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66028169299994 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:179.49, Y:124.43, Z:1.02 [[-4.37499441e-01 -8.99216061e-01 2.17142763e-03 1.79486680e+02] [ 8.99205211e-01 -4.37504830e-01 -4.41727558e-03 1.24430204e+02] [ 4.92209522e-03 2.00034392e-05 9.99987886e-01 1.02300696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.690281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.48, Y:124.44, Z:1.02 [[-4.39555328e-01 -8.98212887e-01 2.17315164e-03 1.79481678e+02] [ 8.98202030e-01 -4.39560700e-01 -4.41642726e-03 1.24443260e+02] [ 4.92212394e-03 1.06650860e-05 9.99987886e-01 1.02243611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72028169299995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:179.49, Y:124.43, Z:1.02 [[-4.41289136e-01 -8.97362340e-01 2.17488091e-03 1.79489577e+02] [ 8.97351476e-01 -4.41294495e-01 -4.41557551e-03 1.24431621e+02] [ 4.92213414e-03 3.08709588e-06 9.99987886e-01 1.02074614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.750281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:179.49, Y:124.44, Z:1.02 [[-4.42113316e-01 -8.96956564e-01 2.17661308e-03 1.79490228e+02] [ 8.96945700e-01 -4.42118674e-01 -4.41472149e-03 1.24440905e+02] [ 4.92213471e-03 4.96591907e-07 9.99987886e-01 1.02047140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78028169299995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:179.50, Y:124.43, Z:1.02 [[-4.41359611e-01 -8.97327671e-01 2.17834433e-03 1.79496757e+02] [ 8.97316815e-01 -4.41364986e-01 -4.41386708e-03 1.24429539e+02] [ 4.92212998e-03 6.56233872e-06 9.99987886e-01 1.02105448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.810281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:179.49, Y:124.43, Z:1.03 [[-4.37383013e-01 -8.99272677e-01 2.18007524e-03 1.79494233e+02] [ 8.99261849e-01 -4.37388445e-01 -4.41301199e-03 1.24431008e+02] [ 4.92204082e-03 3.02820087e-05 9.99987886e-01 1.02558294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84028169299995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:179.49, Y:124.43, Z:1.03 [[-4.35000289e-01 -9.00427670e-01 2.18180258e-03 1.79494596e+02] [ 9.00416861e-01 -4.35005758e-01 -4.41215783e-03 1.24426885e+02] [ 4.92192567e-03 4.52418976e-05 9.99987886e-01 1.02672239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.870281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:179.50, Y:124.41, Z:1.03 [[-4.32807058e-01 -9.01483934e-01 2.18353163e-03 1.79501069e+02] [ 9.01473143e-01 -4.32812562e-01 -4.41130197e-03 1.24410249e+02] [ 4.92177777e-03 5.91524911e-05 9.99987886e-01 1.02810147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90028169299995 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:179.51, Y:124.39, Z:1.03 [[-4.30099405e-01 -9.02778891e-01 2.18525011e-03 1.79507388e+02] [ 9.02768121e-01 -4.30104950e-01 -4.41045051e-03 1.24387407e+02] [ 4.92154851e-03 7.58419928e-05 9.99987886e-01 1.02844815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.930281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:179.51, Y:124.38, Z:1.03 [[-4.29987969e-01 -9.02831969e-01 2.18694534e-03 1.79507002e+02] [ 9.02821203e-01 -4.29993523e-01 -4.40960976e-03 1.24383795e+02] [ 4.92150900e-03 7.83414776e-05 9.99987886e-01 1.02826182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96028169299996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.50, Y:124.38, Z:1.03 [[-4.31239653e-01 -9.02234765e-01 2.18862677e-03 1.79503550e+02] [ 9.02223996e-01 -4.31245201e-01 -4.40877506e-03 1.24384214e+02] [ 4.92158492e-03 7.33929678e-05 9.99987886e-01 1.02746058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.990281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.50, Y:124.38, Z:1.03 [[-4.32409043e-01 -9.01674898e-01 2.19031039e-03 1.79502524e+02] [ 9.01664126e-01 -4.32414585e-01 -4.40793846e-03 1.24380909e+02] [ 4.92164963e-03 6.88918543e-05 9.99987886e-01 1.02829214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02028169299996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.49, Y:124.39, Z:1.03 [[-4.33270231e-01 -9.01261395e-01 2.19199677e-03 1.79488094e+02] [ 9.01250622e-01 -4.33275771e-01 -4.40709970e-03 1.24394754e+02] [ 4.92168791e-03 6.60733496e-05 9.99987886e-01 1.02995104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.050281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.48, Y:124.39, Z:1.03 [[-4.33352987e-01 -9.01221602e-01 2.19369581e-03 1.79484747e+02] [ 9.01210833e-01 -4.33358534e-01 -4.40625381e-03 1.24393794e+02] [ 4.92166792e-03 6.75191747e-05 9.99987886e-01 1.02951845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08028169299996 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:179.49, Y:124.38, Z:1.03 [[-4.33393269e-01 -9.01202228e-01 2.19540971e-03 1.79487135e+02] [ 9.01191463e-01 -4.33398824e-01 -4.40539970e-03 1.24382939e+02] [ 4.92164401e-03 6.92139177e-05 9.99987886e-01 1.02883654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.110281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.48, Y:124.38, Z:1.03 [[-4.33127244e-01 -9.01330108e-01 2.19712011e-03 1.79482712e+02] [ 9.01319349e-01 -4.33132811e-01 -4.40454650e-03 1.24379988e+02] [ 4.92159518e-03 7.25777820e-05 9.99987886e-01 1.02743470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14028169299996 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.49, Y:124.37, Z:1.03 [[-4.33314185e-01 -9.01240247e-01 2.19882644e-03 1.79486386e+02] [ 9.01229491e-01 -4.33319758e-01 -4.40369451e-03 1.24365494e+02] [ 4.92158166e-03 7.34639359e-05 9.99987886e-01 1.02751541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.17028169299994 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:179.47, Y:124.38, Z:1.03 [[-4.35102087e-01 -9.00378438e-01 2.20052614e-03 1.79469884e+02] [ 9.00367676e-01 -4.35107646e-01 -4.40284500e-03 1.24383702e+02] [ 4.92169246e-03 6.55955627e-05 9.99987886e-01 1.02926929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20028169299997 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:179.47, Y:124.37, Z:1.03 [[-4.36518820e-01 -8.99692431e-01 2.20223412e-03 1.79473885e+02] [ 8.99681664e-01 -4.36524371e-01 -4.40199053e-03 1.24370372e+02] [ 4.92176643e-03 5.97579488e-05 9.99987886e-01 1.02912052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.23028169299994 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:179.47, Y:124.38, Z:1.03 [[-4.38842482e-01 -8.98561309e-01 2.20223412e-03 1.79465465e+02] [ 8.98550528e-01 -4.38848005e-01 -4.40199053e-03 1.24383660e+02] [ 4.92190442e-03 4.70381824e-05 9.99987886e-01 1.02845541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26028169299997 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:179.47, Y:124.37, Z:1.03 [[-4.43466497e-01 -8.96288240e-01 2.20395276e-03 1.79466916e+02] [ 8.96277434e-01 -4.43471973e-01 -4.40112989e-03 1.24374550e+02] [ 4.92207224e-03 2.35994647e-05 9.99987886e-01 1.02910769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.29028169299994 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:179.47, Y:124.36, Z:1.03 [[-4.45458115e-01 -8.95300067e-01 2.20395276e-03 1.79472709e+02] [ 8.95289250e-01 -4.45463567e-01 -4.40112989e-03 1.24359362e+02] [ 4.92211254e-03 1.26561832e-05 9.99987886e-01 1.02883390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32028169299997 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:179.48, Y:124.35, Z:1.03 [[-4.48619203e-01 -8.93720290e-01 2.20330888e-03 1.79476677e+02] [ 8.93709451e-01 -4.48624613e-01 -4.40145221e-03 1.24347551e+02] [ 4.92212574e-03 -5.45800822e-06 9.99987886e-01 1.02624930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.35028169299994 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:179.47, Y:124.37, Z:1.03 [[-4.50123303e-01 -8.92963694e-01 2.20288695e-03 1.79466227e+02] [ 8.92952846e-01 -4.50128693e-01 -4.40166337e-03 1.24368962e+02] [ 4.92210821e-03 -1.42170814e-05 9.99987886e-01 1.02507186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.380281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:179.48, Y:124.35, Z:1.03 [[-4.51192358e-01 -8.92424000e-01 2.20458077e-03 1.79477408e+02] [ 8.92413150e-01 -4.51197743e-01 -4.40081485e-03 1.24346887e+02] [ 4.92209466e-03 -1.82171555e-05 9.99987886e-01 1.02673769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.41028169299994 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:179.48, Y:124.34, Z:1.03 [[-4.50758598e-01 -8.92643170e-01 2.20394242e-03 1.79479312e+02] [ 8.92632320e-01 -4.50763986e-01 -4.40113451e-03 1.24342183e+02] [ 4.92210054e-03 -1.65389825e-05 9.99987886e-01 1.02861780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.440281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:179.48, Y:124.35, Z:1.03 [[-4.50111959e-01 -8.92969411e-01 2.20373397e-03 1.79475525e+02] [ 8.92958564e-01 -4.50117353e-01 -4.40123889e-03 1.24348775e+02] [ 4.92211060e-03 -1.32071326e-05 9.99987886e-01 1.02952317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.47028169299995 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:179.47, Y:124.35, Z:1.03 [[-4.47024116e-01 -8.94519187e-01 2.20540916e-03 1.79474906e+02] [ 8.94508363e-01 -4.47029556e-01 -4.40039931e-03 1.24346936e+02] [ 4.92212469e-03 5.67232779e-06 9.99987886e-01 1.02889267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.500281693 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:179.47, Y:124.35, Z:1.03 [[-4.45285268e-01 -8.95386043e-01 2.20561869e-03 1.79470594e+02] [ 8.95375230e-01 -4.45290731e-01 -4.40029429e-03 1.24351991e+02] [ 4.92210364e-03 1.54701185e-05 9.99987886e-01 1.02812864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.53028169299995 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:179.47, Y:124.35, Z:1.03 [[-4.41282978e-01 -8.97365288e-01 2.20730465e-03 1.79466118e+02] [ 8.97354505e-01 -4.41288497e-01 -4.39944840e-03 1.24351982e+02] [ 4.92197043e-03 3.93330796e-05 9.99987886e-01 1.02833035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.560281693 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:179.46, Y:124.35, Z:1.03 [[-4.39772595e-01 -8.98106448e-01 2.20730465e-03 1.79464251e+02] [ 8.98095674e-01 -4.39778132e-01 -4.39944840e-03 1.24352778e+02] [ 4.92189729e-03 4.76139194e-05 9.99987886e-01 1.02762184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.59028169299995 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:179.45, Y:124.37, Z:1.03 [[-4.39499677e-01 -8.98240037e-01 2.20688065e-03 1.79452867e+02] [ 8.98229263e-01 -4.39505215e-01 -4.39966108e-03 1.24372616e+02] [ 4.92188728e-03 4.86351583e-05 9.99987886e-01 1.02653515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.620281693 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:179.45, Y:124.36, Z:1.03 [[-4.39878093e-01 -8.98054779e-01 2.20859056e-03 1.79454313e+02] [ 8.98044007e-01 -4.39883635e-01 -4.39880255e-03 1.24363123e+02] [ 4.92188850e-03 4.84746352e-05 9.99987886e-01 1.02559149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.65028169299995 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:179.44, Y:124.38, Z:1.03 [[-4.40942023e-01 -8.97532873e-01 2.20794256e-03 1.79444893e+02] [ 8.97522093e-01 -4.40947549e-01 -4.39912778e-03 1.24378577e+02] [ 4.92194866e-03 4.19169253e-05 9.99987886e-01 1.02607012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.680281693 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:179.45, Y:124.36, Z:1.03 [[-4.41187498e-01 -8.97412229e-01 2.20966651e-03 1.79452704e+02] [ 8.97401452e-01 -4.41193029e-01 -4.39826168e-03 1.24355531e+02] [ 4.92194328e-03 4.24998630e-05 9.99987886e-01 1.02747827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.71028169299996 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:179.45, Y:124.36, Z:1.03 [[-4.41098002e-01 -8.97456226e-01 2.20794767e-03 1.79449930e+02] [ 8.97445445e-01 -4.41103527e-01 -4.39912438e-03 1.24356471e+02] [ 4.92195507e-03 4.10676052e-05 9.99987886e-01 1.02762292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.740281693 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:179.45, Y:124.36, Z:1.03 [[-4.41067638e-01 -8.97471151e-01 2.20730529e-03 1.79446447e+02] [ 8.97460368e-01 -4.41073160e-01 -4.39944668e-03 1.24356990e+02] [ 4.92195959e-03 4.05154613e-05 9.99987886e-01 1.02684667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.77028169299996 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:179.43, Y:124.38, Z:1.03 [[-4.41113052e-01 -8.97448832e-01 2.20666322e-03 1.79429624e+02] [ 8.97438048e-01 -4.41118569e-01 -4.39976870e-03 1.24378741e+02] [ 4.92196740e-03 3.95481332e-05 9.99987886e-01 1.02617434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.800281693 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:179.44, Y:124.35, Z:1.03 [[-4.42087041e-01 -8.96969441e-01 2.20687764e-03 1.79440055e+02] [ 8.96958652e-01 -4.42092547e-01 -4.39966115e-03 1.24351559e+02] [ 4.92200576e-03 3.44448114e-05 9.99987886e-01 1.02637120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.83028169299996 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:179.44, Y:124.35, Z:1.03 [[-4.41956478e-01 -8.97033783e-01 2.20516087e-03 1.79438960e+02] [ 8.97022990e-01 -4.41961978e-01 -4.40052144e-03 1.24353823e+02] [ 4.92201366e-03 3.32410424e-05 9.99987886e-01 1.02638347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.860281693 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:179.44, Y:124.35, Z:1.03 [[-4.43211310e-01 -8.96414455e-01 2.20452031e-03 1.79439467e+02] [ 8.96403653e-01 -4.43216792e-01 -4.40084232e-03 1.24350577e+02] [ 4.92205909e-03 2.56369638e-05 9.99987886e-01 1.02670863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.89028169299996 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:179.44, Y:124.34, Z:1.03 [[-4.44969458e-01 -8.95543036e-01 2.20282660e-03 1.79444671e+02] [ 8.95532219e-01 -4.44974910e-01 -4.40168994e-03 1.24338627e+02] [ 4.92210534e-03 1.40846031e-05 9.99987886e-01 1.02667139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92028169299994 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:179.44, Y:124.34, Z:1.03 [[-4.47141000e-01 -8.94460777e-01 2.20114604e-03 1.79443361e+02] [ 8.94449942e-01 -4.47146418e-01 -4.40253017e-03 1.24341011e+02] [ 4.92212512e-03 2.63207458e-07 9.99987886e-01 1.02713889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.95028169299997 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:179.45, Y:124.33, Z:1.03 [[-4.52415745e-01 -8.91804438e-01 2.19947431e-03 1.79452317e+02] [ 8.91793568e-01 -4.52421091e-01 -4.40336520e-03 1.24328045e+02] [ 4.92202919e-03 -3.06747018e-05 9.99987886e-01 1.02620583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98028169299994 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:179.46, Y:124.32, Z:1.03 [[-4.56983884e-01 -8.89472259e-01 2.19781321e-03 1.79461916e+02] [ 8.89461357e-01 -4.56989166e-01 -4.40419413e-03 1.24315834e+02] [ 4.92178533e-03 -5.77758188e-05 9.99987886e-01 1.02597212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.01028169299997 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:179.46, Y:124.32, Z:1.03 [[-4.58227642e-01 -8.88832158e-01 2.19617302e-03 1.79464099e+02] [ 8.88821245e-01 -4.58232900e-01 -4.40501187e-03 1.24315188e+02] [ 4.92167494e-03 -6.64929670e-05 9.99987886e-01 1.02601122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04028169299994 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:179.46, Y:124.32, Z:1.03 [[-4.58585596e-01 -8.88647529e-01 2.19555901e-03 1.79461510e+02] [ 8.88636612e-01 -4.58590847e-01 -4.40531789e-03 1.24324739e+02] [ 4.92163812e-03 -6.91612108e-05 9.99987886e-01 1.02653076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.07028169299997 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:179.46, Y:124.33, Z:1.03 [[-4.57932954e-01 -8.88984022e-01 2.19515091e-03 1.79462182e+02] [ 8.88973108e-01 -4.57938211e-01 -4.40552123e-03 1.24331994e+02] [ 4.92168146e-03 -6.60032289e-05 9.99987886e-01 1.02702805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10028169299994 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:179.47, Y:124.33, Z:1.03 [[-4.57462038e-01 -8.89226443e-01 2.19474067e-03 1.79466321e+02] [ 8.89215531e-01 -4.57467299e-01 -4.40572560e-03 1.24326564e+02] [ 4.92170978e-03 -6.38547237e-05 9.99987886e-01 1.02607956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.130281693 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:179.46, Y:124.34, Z:1.02 [[-4.56401814e-01 -8.89771077e-01 2.19412370e-03 1.79464041e+02] [ 8.89760170e-01 -4.56407085e-01 -4.40603283e-03 1.24338800e+02] [ 4.92177418e-03 -5.86775037e-05 9.99987886e-01 1.02396212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16028169299994 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:179.46, Y:124.35, Z:1.03 [[-4.56161186e-01 -8.89894464e-01 2.19432792e-03 1.79461197e+02] [ 8.89883559e-01 -4.56166460e-01 -4.40593112e-03 1.24349283e+02] [ 4.92179252e-03 -5.71184230e-05 9.99987886e-01 1.02534589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.190281693 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:179.47, Y:124.33, Z:1.03 [[-4.55633807e-01 -8.90164599e-01 2.19577278e-03 1.79472986e+02] [ 8.90153700e-01 -4.55639095e-01 -4.40521094e-03 1.24330099e+02] [ 4.92184275e-03 -5.25877631e-05 9.99987886e-01 1.02724671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22028169299995 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:179.48, Y:124.33, Z:1.03 [[-4.56512132e-01 -8.89714482e-01 2.19412875e-03 1.79476519e+02] [ 8.89703574e-01 -4.56517401e-01 -4.40602963e-03 1.24331167e+02] [ 4.92176633e-03 -5.92817904e-05 9.99987886e-01 1.03018779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.250281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:179.48, Y:124.33, Z:1.03 [[-4.57179931e-01 -8.89371519e-01 2.19372086e-03 1.79477160e+02] [ 8.89360606e-01 -4.57185190e-01 -4.40623271e-03 1.24333811e+02] [ 4.92171456e-03 -6.34322499e-05 9.99987886e-01 1.03084203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28028169299995 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:179.48, Y:124.33, Z:1.03 [[-4.58576095e-01 -8.88652436e-01 2.19372086e-03 1.79481918e+02] [ 8.88641515e-01 -4.58581337e-01 -4.40623271e-03 1.24334154e+02] [ 4.92160888e-03 -7.11615584e-05 9.99987886e-01 1.03302399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.310281693 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:179.48, Y:124.33, Z:1.03 [[-4.59610478e-01 -8.88117892e-01 2.19535239e-03 1.79484134e+02] [ 8.88106968e-01 -4.59615714e-01 -4.40541967e-03 1.24334887e+02] [ 4.92155049e-03 -7.50692811e-05 9.99987886e-01 1.03348654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34028169299995 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:179.48, Y:124.35, Z:1.03 [[-4.60563442e-01 -8.87624070e-01 2.19698520e-03 1.79480568e+02] [ 8.87613145e-01 -4.60568675e-01 -4.40460523e-03 1.24347692e+02] [ 4.92149619e-03 -7.85271985e-05 9.99987886e-01 1.03359392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.370281693 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:179.49, Y:124.35, Z:1.03 [[-4.61515597e-01 -8.87129370e-01 2.19862775e-03 1.79486657e+02] [ 8.87118444e-01 -4.61520827e-01 -4.40378518e-03 1.24348506e+02] [ 4.92143967e-03 -8.19723226e-05 9.99987886e-01 1.03245271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40028169299995 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:179.49, Y:124.34, Z:1.03 [[-4.62138885e-01 -8.86804832e-01 2.20027934e-03 1.79494758e+02] [ 8.86793906e-01 -4.62144115e-01 -4.40295983e-03 1.24339696e+02] [ 4.92141220e-03 -8.35846343e-05 9.99987886e-01 1.03087208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.430281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:179.50, Y:124.35, Z:1.03 [[-4.63282265e-01 -8.86208043e-01 2.20192581e-03 1.79500458e+02] [ 8.86197113e-01 -4.63287489e-01 -4.40213628e-03 1.24346176e+02] [ 4.92133325e-03 -8.80913628e-05 9.99987886e-01 1.02921487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46028169299996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:179.51, Y:124.34, Z:1.03 [[-4.63908231e-01 -8.85880521e-01 2.20357036e-03 1.79506633e+02] [ 8.85869592e-01 -4.63913456e-01 -4.40131291e-03 1.24342833e+02] [ 4.92130332e-03 -8.97293086e-05 9.99987886e-01 1.02987449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.490281693 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:179.50, Y:124.36, Z:1.03 [[-4.64073058e-01 -8.85794183e-01 2.20521568e-03 1.79502222e+02] [ 8.85783257e-01 -4.64078289e-01 -4.40048840e-03 1.24359948e+02] [ 4.92131974e-03 -8.88049821e-05 9.99987886e-01 1.02967884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52028169299996 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:179.51, Y:124.36, Z:1.03 [[-4.62797185e-01 -8.86461446e-01 2.20687063e-03 1.79510701e+02] [ 8.86450531e-01 -4.62802440e-01 -4.39965827e-03 1.24357499e+02] [ 4.92147255e-03 -7.98678226e-05 9.99987886e-01 1.02725079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.550281693 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:179.51, Y:124.37, Z:1.03 [[-4.61401527e-01 -8.87188679e-01 2.20853503e-03 1.79509472e+02] [ 8.87177777e-01 -4.61406808e-01 -4.39882262e-03 1.24365747e+02] [ 4.92161873e-03 -7.02602722e-05 9.99987886e-01 1.02603231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58028169299996 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:179.51, Y:124.37, Z:1.03 [[-4.58046374e-01 -8.88925551e-01 2.21020324e-03 1.79510352e+02] [ 8.88914672e-01 -4.58051703e-01 -4.39798426e-03 1.24370263e+02] [ 4.92186794e-03 -4.97986538e-05 9.99987886e-01 1.02835600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.610281693 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:179.51, Y:124.38, Z:1.03 [[-4.56420730e-01 -8.89761330e-01 2.21188136e-03 1.79506453e+02] [ 8.89750466e-01 -4.56426088e-01 -4.39714012e-03 1.24379776e+02] [ 4.92196560e-03 -3.89234410e-05 9.99987886e-01 1.02981982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64028169299996 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:179.51, Y:124.37, Z:1.03 [[-4.54871489e-01 -8.90554338e-01 2.21357090e-03 1.79513239e+02] [ 8.90543487e-01 -4.54876874e-01 -4.39628942e-03 1.24369062e+02] [ 4.92203683e-03 -2.84655680e-05 9.99987886e-01 1.03058906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.67028169299994 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:179.51, Y:124.38, Z:1.03 [[-4.51368376e-01 -8.92334960e-01 2.21526151e-03 1.79511830e+02] [ 8.92324135e-01 -4.51373812e-01 -4.39543737e-03 1.24376144e+02] [ 4.92211347e-03 -7.23011668e-06 9.99987886e-01 1.02915965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70028169299997 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:179.51, Y:124.38, Z:1.03 [[-4.49810979e-01 -8.93121027e-01 2.21695180e-03 1.79507232e+02] [ 8.93110215e-01 -4.49816442e-01 -4.39458467e-03 1.24384762e+02] [ 4.92211734e-03 3.24986555e-06 9.99987886e-01 1.02832220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.73028169299994 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:179.50, Y:124.38, Z:1.03 [[-4.47618143e-01 -8.94222051e-01 2.21865484e-03 1.79504680e+02] [ 8.94211257e-01 -4.47623641e-01 -4.39372470e-03 1.24383885e+02] [ 4.92208787e-03 1.72352409e-05 9.99987886e-01 1.02815639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76028169299997 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:179.51, Y:124.38, Z:1.03 [[-4.46867460e-01 -8.94597420e-01 2.22036705e-03 1.79505468e+02] [ 8.94586635e-01 -4.46872975e-01 -4.39285926e-03 1.24379680e+02] [ 4.92206259e-03 2.32848246e-05 9.99987886e-01 1.02874236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.79028169299994 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:179.50, Y:124.38, Z:1.03 [[-4.46593235e-01 -8.94734343e-01 2.22208009e-03 1.79503361e+02] [ 8.94723564e-01 -4.46598762e-01 -4.39199257e-03 1.24380616e+02] [ 4.92204480e-03 2.67132433e-05 9.99987886e-01 1.03048368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82028169299997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:179.51, Y:124.37, Z:1.03 [[-4.47554865e-01 -8.94253710e-01 2.22379423e-03 1.79507583e+02] [ 8.94242929e-01 -4.47560389e-01 -4.39112448e-03 1.24369976e+02] [ 4.92206157e-03 2.33431379e-05 9.99987886e-01 1.03062666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.85028169299994 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:179.51, Y:124.37, Z:1.03 [[-4.49084500e-01 -8.93486518e-01 2.22550542e-03 1.79507842e+02] [ 8.93475733e-01 -4.49090015e-01 -4.39025704e-03 1.24371004e+02] [ 4.92208774e-03 1.68386962e-05 9.99987886e-01 1.02835986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.880281693 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:179.52, Y:124.36, Z:1.03 [[-4.53163541e-01 -8.91424615e-01 2.22721252e-03 1.79519118e+02] [ 8.91413808e-01 -4.53169014e-01 -4.38939085e-03 1.24355198e+02] [ 4.92211475e-03 -3.74390438e-06 9.99987886e-01 1.02621533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.91028169299994 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:179.52, Y:124.36, Z:1.03 [[-4.54933859e-01 -8.90522440e-01 2.22891098e-03 1.79520327e+02] [ 8.90511627e-01 -4.54939319e-01 -4.38852821e-03 1.24357132e+02] [ 4.92210209e-03 -1.16189331e-05 9.99987886e-01 1.02622441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.940281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:179.53, Y:124.34, Z:1.03 [[-4.56653806e-01 -8.89641684e-01 2.23060088e-03 1.79530680e+02] [ 8.89630864e-01 -4.56659253e-01 -4.38766910e-03 1.24344562e+02] [ 4.92207786e-03 -1.92344087e-05 9.99987886e-01 1.02760696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.97028169299995 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:179.52, Y:124.37, Z:1.03 [[-4.56571062e-01 -8.89684148e-01 2.23228425e-03 1.79518666e+02] [ 8.89673333e-01 -4.56576518e-01 -4.38681249e-03 1.24370167e+02] [ 4.92208611e-03 -1.68878650e-05 9.99987886e-01 1.02881090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.000281693 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:179.52, Y:124.36, Z:1.03 [[-4.53654334e-01 -8.91174929e-01 2.23397858e-03 1.79523500e+02] [ 8.91164136e-01 -4.53659835e-01 -4.38594949e-03 1.24358208e+02] [ 4.92211458e-03 1.13659825e-06 9.99987886e-01 1.02846289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.03028169299995 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:179.52, Y:124.36, Z:1.03 [[-4.51585121e-01 -8.92225241e-01 2.23568516e-03 1.79521759e+02] [ 8.92214465e-01 -4.51590655e-01 -4.38507941e-03 1.24358628e+02] [ 4.92209306e-03 1.44740292e-05 9.99987886e-01 1.02843775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.060281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:179.52, Y:124.36, Z:1.03 [[-4.49271956e-01 -8.93392245e-01 2.23738709e-03 1.79520007e+02] [ 8.93381488e-01 -4.49277526e-01 -4.38421087e-03 1.24358724e+02] [ 4.92202772e-03 2.91372175e-05 9.99987886e-01 1.02748773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.09028169299995 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:179.52, Y:124.34, Z:1.03 [[-4.45752713e-01 -8.95153342e-01 2.23909299e-03 1.79522565e+02] [ 8.95142611e-01 -4.45758334e-01 -4.38333946e-03 1.24344368e+02] [ 4.92185532e-03 5.04220943e-05 9.99987886e-01 1.02650773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.120281693 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:179.51, Y:124.36, Z:1.03 [[-4.45295406e-01 -8.95380913e-01 2.24079340e-03 1.79514323e+02] [ 8.95370190e-01 -4.45301041e-01 -4.38247003e-03 1.24356240e+02] [ 4.92180765e-03 5.48458398e-05 9.99987886e-01 1.02758809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.15028169299995 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:179.51, Y:124.35, Z:1.03 [[-4.46949507e-01 -8.94556376e-01 2.24249747e-03 1.79513106e+02] [ 8.94545647e-01 -4.46955130e-01 -4.38159788e-03 1.24351017e+02] [ 4.92188207e-03 4.76633340e-05 9.99987886e-01 1.02938628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.180281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:179.51, Y:124.34, Z:1.03 [[-4.49036493e-01 -8.93510600e-01 2.24421074e-03 1.79513933e+02] [ 8.93499862e-01 -4.49042099e-01 -4.38072019e-03 1.24344111e+02] [ 4.92196502e-03 3.80987553e-05 9.99987886e-01 1.02901452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.21028169299996 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:179.52, Y:124.33, Z:1.03 [[-4.53466535e-01 -8.91270474e-01 2.24591962e-03 1.79515241e+02] [ 8.91259713e-01 -4.53472096e-01 -4.37984390e-03 1.24331971e+02] [ 4.92208743e-03 1.55850427e-05 9.99987886e-01 1.02830007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.240281693 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:179.52, Y:124.32, Z:1.03 [[-4.55224981e-01 -8.90373610e-01 2.24762009e-03 1.79520749e+02] [ 8.90362841e-01 -4.55230530e-01 -4.37897109e-03 1.24319544e+02] [ 4.92210558e-03 7.78037627e-06 9.99987886e-01 1.02944738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.27028169299996 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:179.52, Y:124.33, Z:1.03 [[-4.56536792e-01 -8.89701690e-01 2.24930827e-03 1.79516640e+02] [ 8.89690918e-01 -4.56542333e-01 -4.37810376e-03 1.24327447e+02] [ 4.92211077e-03 2.42369437e-06 9.99987886e-01 1.03012690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.300281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:179.52, Y:124.32, Z:1.03 [[-4.57238843e-01 -8.89341089e-01 2.25099612e-03 1.79517801e+02] [ 8.89330317e-01 -4.57244384e-01 -4.37723579e-03 1.24324756e+02] [ 4.92211098e-03 4.36865717e-07 9.99987886e-01 1.02997261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.33028169299996 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:179.51, Y:124.33, Z:1.03 [[-4.56597727e-01 -8.89670411e-01 2.25269044e-03 1.79514538e+02] [ 8.89659648e-01 -4.56603284e-01 -4.37636365e-03 1.24329560e+02] [ 4.92210710e-03 5.89008804e-06 9.99987886e-01 1.02820720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.360281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:179.52, Y:124.32, Z:1.02 [[-4.54689171e-01 -8.90647335e-01 2.25438956e-03 1.79517653e+02] [ 8.90636587e-01 -4.54694760e-01 -4.37548821e-03 1.24319682e+02] [ 4.92207603e-03 1.83547110e-05 9.99987886e-01 1.02478806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.39028169299996 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:179.51, Y:124.32, Z:1.02 [[-4.53967277e-01 -8.91015500e-01 2.25608833e-03 1.79514624e+02] [ 8.91004762e-01 -4.53972882e-01 -4.37461212e-03 1.24324448e+02] [ 4.92205012e-03 2.42546964e-05 9.99987886e-01 1.02430699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42028169299994 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:179.52, Y:124.31, Z:1.03 [[-4.53046740e-01 -8.91483905e-01 2.25778734e-03 1.79520838e+02] [ 8.91473177e-01 -4.53052365e-01 -4.37373506e-03 1.24311530e+02] [ 4.92201031e-03 3.12504419e-05 9.99987886e-01 1.02546236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.45028169299997 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:179.51, Y:124.33, Z:1.03 [[-4.53851266e-01 -8.91074589e-01 2.25948344e-03 1.79511296e+02] [ 8.91063860e-01 -4.53856889e-01 -4.37285868e-03 1.24330316e+02] [ 4.92202537e-03 2.87165906e-05 9.99987886e-01 1.02768422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48028169299994 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:179.52, Y:124.31, Z:1.03 [[-4.55197336e-01 -8.90387709e-01 2.26118693e-03 1.79522143e+02] [ 8.90376976e-01 -4.55202951e-01 -4.37197763e-03 1.24311717e+02] [ 4.92205411e-03 2.31962122e-05 9.99987886e-01 1.02929044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.51028169299997 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:179.52, Y:124.32, Z:1.03 [[-4.59039735e-01 -8.88412855e-01 2.26289325e-03 1.79523109e+02] [ 8.88402102e-01 -4.59045312e-01 -4.37109428e-03 1.24317098e+02] [ 4.92210689e-03 3.85316578e-06 9.99987886e-01 1.02975454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54028169299994 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:179.54, Y:124.30, Z:1.03 [[-4.61373649e-01 -8.87203036e-01 2.26459090e-03 1.79536071e+02] [ 8.87192273e-01 -4.61379207e-01 -4.37021458e-03 1.24295708e+02] [ 4.92210280e-03 -7.17430354e-06 9.99987886e-01 1.02805710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.57028169299997 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:179.54, Y:124.30, Z:1.03 [[-4.65427757e-01 -8.85082975e-01 2.26522209e-03 1.79538043e+02] [ 8.85072187e-01 -4.65433268e-01 -4.36988739e-03 1.24298527e+02] [ 4.92202265e-03 -2.89818117e-05 9.99987886e-01 1.02521620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60028169299994 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:179.54, Y:124.30, Z:1.03 [[-4.66891969e-01 -8.84311456e-01 2.26689808e-03 1.79541296e+02] [ 8.84300664e-01 -4.66897471e-01 -4.36901779e-03 1.24296032e+02] [ 4.92198146e-03 -3.52398412e-05 9.99987886e-01 1.02620023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.630281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:179.55, Y:124.29, Z:1.03 [[-4.68752807e-01 -8.83326474e-01 2.26857568e-03 1.79547229e+02] [ 8.83315675e-01 -4.68758294e-01 -4.36814653e-03 1.24293584e+02] [ 4.92191314e-03 -4.37124931e-05 9.99987886e-01 1.02776822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66028169299994 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:179.56, Y:124.28, Z:1.03 [[-4.69751437e-01 -8.82795805e-01 2.27025100e-03 1.79556398e+02] [ 8.82785004e-01 -4.69756920e-01 -4.36727565e-03 1.24281114e+02] [ 4.92187874e-03 -4.73904760e-05 9.99987886e-01 1.02717820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.690281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:179.56, Y:124.27, Z:1.03 [[-4.71015710e-01 -8.82121896e-01 2.27191683e-03 1.79562468e+02] [ 8.82111091e-01 -4.71021187e-01 -4.36640889e-03 1.24274417e+02] [ 4.92182585e-03 -5.25641534e-05 9.99987886e-01 1.02518679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72028169299995 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:179.56, Y:124.29, Z:1.03 [[-4.73844012e-01 -8.80605861e-01 2.27357083e-03 1.79558594e+02] [ 8.80595043e-01 -4.73849462e-01 -4.36554749e-03 1.24290587e+02] [ 4.92165702e-03 -6.64933345e-05 9.99987886e-01 1.02535028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.750281693 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:179.56, Y:124.29, Z:1.03 [[-4.74181441e-01 -8.80424207e-01 2.27523187e-03 1.79559819e+02] [ 8.80413391e-01 -4.74186895e-01 -4.36468162e-03 1.24288397e+02] [ 4.92165649e-03 -6.65064113e-05 9.99987886e-01 1.02533790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78028169299995 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:179.57, Y:124.28, Z:1.03 [[-4.76072233e-01 -8.79403232e-01 2.27690418e-03 1.79567970e+02] [ 8.79392408e-01 -4.76077672e-01 -4.36380906e-03 1.24279050e+02] [ 4.92153103e-03 -7.51960751e-05 9.99987886e-01 1.02597937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.810281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:179.59, Y:124.26, Z:1.03 [[-4.80140896e-01 -8.77188422e-01 2.27857005e-03 1.79585648e+02] [ 8.77177577e-01 -4.80146293e-01 -4.36293904e-03 1.24260791e+02] [ 4.92116658e-03 -9.61149024e-05 9.99987886e-01 1.02824071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84028169299995 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:179.59, Y:124.25, Z:1.03 [[-4.81972757e-01 -8.76183236e-01 2.28021678e-03 1.79594337e+02] [ 8.76172383e-01 -4.81978139e-01 -4.36207824e-03 1.24251370e+02] [ 4.92099447e-03 -1.04539900e-04 9.99987886e-01 1.03014931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.870281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:179.59, Y:124.26, Z:1.03 [[-4.83150023e-01 -8.75534607e-01 2.28184451e-03 1.79593866e+02] [ 8.75523752e-01 -4.83155399e-01 -4.36122659e-03 1.24257698e+02] [ 4.92089031e-03 -1.09317659e-04 9.99987886e-01 1.03174186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90028169299995 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:179.60, Y:124.25, Z:1.03 [[-4.83477835e-01 -8.75353625e-01 2.28347086e-03 1.79601230e+02] [ 8.75342772e-01 -4.83483215e-01 -4.36037489e-03 1.24253237e+02] [ 4.92088980e-03 -1.09324895e-04 9.99987886e-01 1.02994645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.930281693 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:179.61, Y:124.25, Z:1.03 [[-4.83069904e-01 -8.75578806e-01 2.28509902e-03 1.79605971e+02] [ 8.75567960e-01 -4.83075297e-01 -4.35952147e-03 1.24249783e+02] [ 4.92097950e-03 -1.05194132e-04 9.99987886e-01 1.02642574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96028169299996 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:179.60, Y:124.27, Z:1.02 [[-4.80606890e-01 -8.76933172e-01 2.28672237e-03 1.79601742e+02] [ 8.76922345e-01 -4.80612321e-01 -4.35866980e-03 1.24267202e+02] [ 4.92128908e-03 -8.95287908e-05 9.99987886e-01 1.02362351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.990281693 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:179.60, Y:124.28, Z:1.02 [[-4.78513348e-01 -8.78077297e-01 2.28835518e-03 1.79599085e+02] [ 8.78066486e-01 -4.78518814e-01 -4.35781239e-03 1.24275008e+02] [ 4.92151713e-03 -7.59434051e-05 9.99987886e-01 1.02322040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02028169299996 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:179.60, Y:124.28, Z:1.02 [[-4.72884973e-01 -8.81121194e-01 2.29000592e-03 1.79597968e+02] [ 8.81110423e-01 -4.72890516e-01 -4.35694476e-03 1.24281424e+02] [ 4.92191845e-03 -4.25856173e-05 9.99987886e-01 1.02291707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.050281693 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:179.59, Y:124.30, Z:1.02 [[-4.70736601e-01 -8.82270821e-01 2.29166781e-03 1.79590922e+02] [ 8.82260067e-01 -4.70742178e-01 -4.35607046e-03 1.24298241e+02] [ 4.92201856e-03 -2.87148040e-05 9.99987886e-01 1.02493381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08028169299996 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:179.60, Y:124.29, Z:1.03 [[-4.68351383e-01 -8.83539316e-01 2.29334772e-03 1.79598760e+02] [ 8.83528582e-01 -4.68356997e-01 -4.35518586e-03 1.24292891e+02] [ 4.92208339e-03 -1.35190556e-05 9.99987886e-01 1.02798424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.110281693 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:179.60, Y:124.30, Z:1.03 [[-4.68369979e-01 -8.83529454e-01 2.29503605e-03 1.79599895e+02] [ 8.83518724e-01 -4.68375602e-01 -4.35429598e-03 1.24296150e+02] [ 4.92208764e-03 -1.17141964e-05 9.99987886e-01 1.02772386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14028169299996 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:179.60, Y:124.30, Z:1.03 [[-4.69008919e-01 -8.83190443e-01 2.29672346e-03 1.79598915e+02] [ 8.83179714e-01 -4.69014542e-01 -4.35340576e-03 1.24304113e+02] [ 4.92208306e-03 -1.33665561e-05 9.99987886e-01 1.02697846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.17028169299994 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:179.61, Y:124.31, Z:1.03 [[-4.70890865e-01 -8.82188478e-01 2.29841995e-03 1.79605356e+02] [ 8.82177741e-01 -4.70896474e-01 -4.35250990e-03 1.24306944e+02] [ 4.92205193e-03 -2.19422358e-05 9.99987886e-01 1.02896399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20028169299997 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:179.61, Y:124.31, Z:1.03 [[-4.72042190e-01 -8.81572958e-01 2.30012358e-03 1.79608938e+02] [ 8.81562218e-01 -4.72047793e-01 -4.35160941e-03 1.24308453e+02] [ 4.92202944e-03 -2.64411941e-05 9.99987886e-01 1.03041583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.23028169299994 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:179.62, Y:124.31, Z:1.03 [[-4.72641382e-01 -8.81251851e-01 2.30182947e-03 1.79617700e+02] [ 8.81241112e-01 -4.72646986e-01 -4.35070688e-03 1.24306835e+02] [ 4.92202125e-03 -2.78573553e-05 9.99987886e-01 1.02918786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26028169299997 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:179.62, Y:124.30, Z:1.03 [[-4.72382958e-01 -8.81390398e-01 2.30353441e-03 1.79623133e+02] [ 8.81379665e-01 -4.72388574e-01 -4.34980399e-03 1.24302374e+02] [ 4.92203881e-03 -2.44848862e-05 9.99987886e-01 1.02844943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.29028169299994 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:179.62, Y:124.31, Z:1.03 [[-4.71467143e-01 -8.81880615e-01 2.30523439e-03 1.79623219e+02] [ 8.81869892e-01 -4.71472779e-01 -4.34890287e-03 1.24308100e+02] [ 4.92206840e-03 -1.74480129e-05 9.99987886e-01 1.02752403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32028169299997 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:179.63, Y:124.30, Z:1.03 [[-4.67766373e-01 -8.83849138e-01 2.30693661e-03 1.79634339e+02] [ 8.83838443e-01 -4.67772062e-01 -4.34799972e-03 1.24297323e+02] [ 4.92209630e-03 5.11120340e-06 9.99987886e-01 1.02718465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.35028169299994 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:179.65, Y:124.28, Z:1.03 [[-4.66028363e-01 -8.84766769e-01 2.30863530e-03 1.79645236e+02] [ 8.84756090e-01 -4.66034081e-01 -4.34709759e-03 1.24282386e+02] [ 4.92207022e-03 1.67083725e-05 9.99987886e-01 1.02775158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.380281693 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:179.65, Y:124.27, Z:1.03 [[-4.63546615e-01 -8.86069522e-01 2.31031624e-03 1.79654854e+02] [ 8.86058864e-01 -4.63552371e-01 -4.34620405e-03 1.24273733e+02] [ 4.92199152e-03 3.24080106e-05 9.99987886e-01 1.02684707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.41028169299994 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:179.66, Y:124.27, Z:1.03 [[-4.63191363e-01 -8.86255277e-01 2.31198146e-03 1.79657955e+02] [ 8.86244625e-01 -4.63197132e-01 -4.34531805e-03 1.24271234e+02] [ 4.92196423e-03 3.62673543e-05 9.99987886e-01 1.02614480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.440281693 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:179.66, Y:124.26, Z:1.03 [[-4.62605795e-01 -8.86561067e-01 2.31363946e-03 1.79664051e+02] [ 8.86550423e-01 -4.62611579e-01 -4.34443507e-03 1.24263321e+02] [ 4.92192340e-03 4.13972051e-05 9.99987886e-01 1.02604211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.47028169299995 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:179.67, Y:124.26, Z:1.03 [[-4.61411513e-01 -8.87183214e-01 2.31529191e-03 1.79670238e+02] [ 8.87172583e-01 -4.61417319e-01 -4.34355425e-03 1.24260868e+02] [ 4.92184421e-03 4.98975686e-05 9.99987886e-01 1.02673179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.500281693 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:179.68, Y:124.24, Z:1.03 [[-4.60988258e-01 -8.87403211e-01 2.31693805e-03 1.79680970e+02] [ 8.87392586e-01 -4.60994077e-01 -4.34267599e-03 1.24244462e+02] [ 4.92179934e-03 5.41110079e-05 9.99987886e-01 1.02794989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.53028169299995 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:179.68, Y:124.25, Z:1.03 [[-4.59662647e-01 -8.88090581e-01 2.31765149e-03 1.79680452e+02] [ 8.88079967e-01 -4.59668485e-01 -4.34229520e-03 1.24249387e+02] [ 4.92170282e-03 6.22689571e-05 9.99987886e-01 1.02790410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.560281693 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:179.68, Y:124.24, Z:1.03 [[-4.59018980e-01 -8.88423433e-01 2.31928108e-03 1.79684558e+02] [ 8.88412828e-01 -4.59024835e-01 -4.34142464e-03 1.24243042e+02] [ 4.92163100e-03 6.76827487e-05 9.99987886e-01 1.02619234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.59028169299995 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:179.69, Y:124.24, Z:1.02 [[-4.57194781e-01 -8.89363562e-01 2.32091165e-03 1.79689023e+02] [ 8.89352974e-01 -4.57200665e-01 -4.34055277e-03 1.24237464e+02] [ 4.92145182e-03 7.96316068e-05 9.99987886e-01 1.02301114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.620281693 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:179.69, Y:124.24, Z:1.02 [[-4.56482847e-01 -8.89729182e-01 2.32253607e-03 1.79690155e+02] [ 8.89718602e-01 -4.56488747e-01 -4.33968340e-03 1.24236610e+02] [ 4.92135454e-03 8.54125117e-05 9.99987886e-01 1.02298540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.65028169299995 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:179.70, Y:124.22, Z:1.02 [[-4.55878350e-01 -8.90039060e-01 2.32415833e-03 1.79699456e+02] [ 8.90028489e-01 -4.55884265e-01 -4.33881441e-03 1.24219802e+02] [ 4.92126151e-03 9.05955680e-05 9.99987886e-01 1.02305663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.680281693 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:179.70, Y:124.22, Z:1.03 [[-4.54594054e-01 -8.90695704e-01 2.32577109e-03 1.79698891e+02] [ 8.90685146e-01 -4.54599993e-01 -4.33794974e-03 1.24220423e+02] [ 4.92108871e-03 9.95236083e-05 9.99987886e-01 1.02581987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.71028169299996 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:179.70, Y:124.21, Z:1.03 [[-4.54397810e-01 -8.90795832e-01 2.32737604e-03 1.79702398e+02] [ 8.90785279e-01 -4.54403758e-01 -4.33708849e-03 1.24213820e+02] [ 4.92102877e-03 1.02428804e-04 9.99987886e-01 1.02745963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.740281693 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:179.70, Y:124.23, Z:1.03 [[-4.55535869e-01 -8.90214383e-01 2.32897962e-03 1.79695614e+02] [ 8.90203828e-01 -4.55541812e-01 -4.33622720e-03 1.24226145e+02] [ 4.92111942e-03 9.79595488e-05 9.99987886e-01 1.02717809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.77028169299996 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:179.70, Y:124.22, Z:1.03 [[-4.56858898e-01 -8.89536124e-01 2.33058910e-03 1.79699633e+02] [ 8.89525564e-01 -4.56864833e-01 -4.33536199e-03 1.24218221e+02] [ 4.92122530e-03 9.24698790e-05 9.99987886e-01 1.02596350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.800281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:179.70, Y:124.22, Z:1.03 [[-4.58277326e-01 -8.88806196e-01 2.33220450e-03 1.79699054e+02] [ 8.88795631e-01 -4.58283252e-01 -4.33449281e-03 1.24219595e+02] [ 4.92133433e-03 8.64533923e-05 9.99987886e-01 1.02546272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.83028169299996 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:179.69, Y:124.23, Z:1.03 [[-4.60280035e-01 -8.87770715e-01 2.33381800e-03 1.79692397e+02] [ 8.87760141e-01 -4.60285946e-01 -4.33362388e-03 1.24234343e+02] [ 4.92148800e-03 7.71900387e-05 9.99987886e-01 1.02732153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.860281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:179.70, Y:124.23, Z:1.03 [[-4.60896899e-01 -8.87450615e-01 2.33544432e-03 1.79697950e+02] [ 8.87440041e-01 -4.60902810e-01 -4.33274726e-03 1.24226301e+02] [ 4.92151207e-03 7.56170294e-05 9.99987886e-01 1.02835626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.89028169299996 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:179.71, Y:124.21, Z:1.03 [[-4.61420589e-01 -8.87178436e-01 2.33707670e-03 1.79706534e+02] [ 8.87167864e-01 -4.61426502e-01 -4.33186657e-03 1.24212548e+02] [ 4.92152774e-03 7.45669198e-05 9.99987886e-01 1.02945271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92028169299994 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:179.70, Y:124.23, Z:1.03 [[-4.61527698e-01 -8.87122717e-01 2.33869657e-03 1.79699807e+02] [ 8.87112148e-01 -4.61533617e-01 -4.33099186e-03 1.24225530e+02] [ 4.92150835e-03 7.58134299e-05 9.99987886e-01 1.03130670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.95028169299997 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:179.70, Y:124.22, Z:1.03 [[-4.61915703e-01 -8.86920744e-01 2.34031846e-03 1.79704739e+02] [ 8.86910177e-01 -4.61921626e-01 -4.33011527e-03 1.24216749e+02] [ 4.92151277e-03 7.55040240e-05 9.99987886e-01 1.03031121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98028169299994 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:179.70, Y:124.23, Z:1.03 [[-4.63005404e-01 -8.86352363e-01 2.34194532e-03 1.79698833e+02] [ 8.86341793e-01 -4.63011321e-01 -4.32923520e-03 1.24230523e+02] [ 4.92157505e-03 7.13047206e-05 9.99987886e-01 1.02552697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.01028169299997 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:179.70, Y:124.22, Z:1.02 [[-4.63599590e-01 -8.86041719e-01 2.34357770e-03 1.79703837e+02] [ 8.86031150e-01 -4.63605508e-01 -4.32835135e-03 1.24223269e+02] [ 4.92159541e-03 6.98609342e-05 9.99987886e-01 1.02435546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04028169299994 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:179.71, Y:124.22, Z:1.03 [[-4.64274043e-01 -8.85688497e-01 2.34521619e-03 1.79707998e+02] [ 8.85677927e-01 -4.64279961e-01 -4.32746339e-03 1.24220016e+02] [ 4.92162143e-03 6.79772893e-05 9.99987886e-01 1.02632274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.07028169299997 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:179.71, Y:124.22, Z:1.03 [[-4.64479063e-01 -8.85580992e-01 2.34684898e-03 1.79708982e+02] [ 8.85570425e-01 -4.64484987e-01 -4.32657773e-03 1.24221377e+02] [ 4.92161111e-03 6.86952823e-05 9.99987886e-01 1.02738313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10028169299994 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:179.71, Y:124.22, Z:1.03 [[-4.64421883e-01 -8.85610975e-01 2.34848197e-03 1.79713190e+02] [ 8.85600413e-01 -4.64427816e-01 -4.32569115e-03 1.24216086e+02] [ 4.92157991e-03 7.08709767e-05 9.99987886e-01 1.02801130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.130281693 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:179.71, Y:124.22, Z:1.03 [[-4.63137142e-01 -8.86283513e-01 2.35011410e-03 1.79713618e+02] [ 8.86272965e-01 -4.63143097e-01 -4.32480425e-03 1.24219922e+02] [ 4.92144182e-03 7.98651083e-05 9.99987886e-01 1.02753189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.72, Y:124.21, Z:1.03 [[-4.62476888e-01 -8.86628218e-01 2.35174721e-03 1.79720061e+02] [ 8.86617679e-01 -4.62482859e-01 -4.32391601e-03 1.24209007e+02] [ 4.92134872e-03 8.53894289e-05 9.99987886e-01 1.02776283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.190281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:179.74, Y:124.18, Z:1.03 [[-4.61620959e-01 -8.87074152e-01 2.35337704e-03 1.79736870e+02] [ 8.87063623e-01 -4.61626949e-01 -4.32302876e-03 1.24179687e+02] [ 4.92122934e-03 9.19944856e-05 9.99987886e-01 1.02905833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22028169299995 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:179.74, Y:124.17, Z:1.03 [[-4.59287186e-01 -8.88284715e-01 2.35498213e-03 1.79742053e+02] [ 8.88274206e-01 -4.59293211e-01 -4.32215420e-03 1.24168295e+02] [ 4.92093082e-03 1.06759843e-04 9.99987886e-01 1.02997650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.250281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.73, Y:124.19, Z:1.03 [[-4.58387013e-01 -8.88749567e-01 2.35656395e-03 1.79732017e+02] [ 8.88739069e-01 -4.58393056e-01 -4.32129158e-03 1.24185170e+02] [ 4.92077857e-03 1.13546511e-04 9.99987886e-01 1.02894407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.74, Y:124.16, Z:1.03 [[-4.56774422e-01 -8.89579433e-01 2.35815202e-03 1.79742953e+02] [ 8.89568950e-01 -4.56780492e-01 -4.32042479e-03 1.24162462e+02] [ 4.92051887e-03 1.24279278e-04 9.99987886e-01 1.02900093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.310281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.74, Y:124.16, Z:1.03 [[-4.56657561e-01 -8.89639423e-01 2.35973977e-03 1.79742366e+02] [ 8.89628946e-01 -4.56663641e-01 -4.31955742e-03 1.24161555e+02] [ 4.92045592e-03 1.26734243e-04 9.99987886e-01 1.03051002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.74, Y:124.15, Z:1.03 [[-4.57009358e-01 -8.89458752e-01 2.36131563e-03 1.79744117e+02] [ 8.89448276e-01 -4.57015441e-01 -4.31869579e-03 1.24154968e+02] [ 4.92045947e-03 1.26583722e-04 9.99987886e-01 1.03277144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.370281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.74, Y:124.16, Z:1.04 [[-4.57232123e-01 -8.89344254e-01 2.36289017e-03 1.79736320e+02] [ 8.89333782e-01 -4.57238210e-01 -4.31783414e-03 1.24161710e+02] [ 4.92044465e-03 1.27145583e-04 9.99987886e-01 1.03529477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.74, Y:124.16, Z:1.03 [[-4.57668184e-01 -8.89119926e-01 2.36446866e-03 1.79737535e+02] [ 8.89109455e-01 -4.57674274e-01 -4.31696958e-03 1.24156031e+02] [ 4.92046015e-03 1.26531813e-04 9.99987886e-01 1.03407642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.430281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:179.74, Y:124.14, Z:1.03 [[-4.58071200e-01 -8.88912357e-01 2.36605185e-03 1.79739483e+02] [ 8.88901887e-01 -4.58077293e-01 -4.31610168e-03 1.24141256e+02] [ 4.92047074e-03 1.26106073e-04 9.99987886e-01 1.03084296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.73, Y:124.16, Z:1.03 [[-4.58198180e-01 -8.88846906e-01 2.36762645e-03 1.79726786e+02] [ 8.88836440e-01 -4.58204280e-01 -4.31523775e-03 1.24157317e+02] [ 4.92044230e-03 1.27198574e-04 9.99987886e-01 1.03065607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.490281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.74, Y:124.13, Z:1.03 [[-4.58168525e-01 -8.88862188e-01 2.36920748e-03 1.79736149e+02] [ 8.88851727e-01 -4.58174632e-01 -4.31436954e-03 1.24132876e+02] [ 4.92039072e-03 1.29165834e-04 9.99987886e-01 1.03172230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52028169299996 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:179.71, Y:124.16, Z:1.03 [[-4.58199840e-01 -8.88846042e-01 2.37078746e-03 1.79714691e+02] [ 8.88835585e-01 -4.58205954e-01 -4.31350115e-03 1.24155456e+02] [ 4.92034736e-03 1.30794720e-04 9.99987886e-01 1.03377728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.550281693 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:179.72, Y:124.14, Z:1.03 [[-4.59132221e-01 -8.88364776e-01 2.37237215e-03 1.79719584e+02] [ 8.88354317e-01 -4.59138333e-01 -4.31262942e-03 1.24139328e+02] [ 4.92043506e-03 1.27439917e-04 9.99987886e-01 1.03310428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58028169299996 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.71, Y:124.15, Z:1.03 [[-4.61397755e-01 -8.87190214e-01 2.37396720e-03 1.79705457e+02] [ 8.87179744e-01 -4.61403848e-01 -4.31175121e-03 1.24152040e+02] [ 4.92070108e-03 1.16703283e-04 9.99987886e-01 1.02999391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.610281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.71, Y:124.14, Z:1.03 [[-4.62373841e-01 -8.86681898e-01 2.37556527e-03 1.79709862e+02] [ 8.86671426e-01 -4.62379929e-01 -4.31087057e-03 1.24136497e+02] [ 4.92078460e-03 1.13112057e-04 9.99987886e-01 1.02859106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.71, Y:124.13, Z:1.03 [[-4.62701816e-01 -8.86510789e-01 2.37716712e-03 1.79711129e+02] [ 8.86500319e-01 -4.62707909e-01 -4.30998708e-03 1.24134354e+02] [ 4.92078407e-03 1.13120558e-04 9.99987886e-01 1.02857868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.67028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.71, Y:124.13, Z:1.03 [[-4.63081731e-01 -8.86312390e-01 2.37876119e-03 1.79710092e+02] [ 8.86301922e-01 -4.63087827e-01 -4.30910710e-03 1.24127012e+02] [ 4.92079036e-03 1.12831841e-04 9.99987886e-01 1.02786310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70028169299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:179.70, Y:124.13, Z:1.03 [[-4.62668618e-01 -8.86528107e-01 2.38035264e-03 1.79696174e+02] [ 8.86517646e-01 -4.62674726e-01 -4.30822780e-03 1.24132066e+02] [ 4.92069404e-03 1.16942820e-04 9.99987887e-01 1.02695100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.73028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.69, Y:124.13, Z:1.03 [[-4.62690151e-01 -8.86516864e-01 2.38194992e-03 1.79694154e+02] [ 8.86506408e-01 -4.62696266e-01 -4.30734451e-03 1.24126878e+02] [ 4.92065288e-03 1.18647986e-04 9.99987887e-01 1.02667745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76028169299997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.68, Y:124.14, Z:1.02 [[-4.63409854e-01 -8.86140861e-01 2.38355382e-03 1.79678864e+02] [ 8.86130404e-01 -4.63415970e-01 -4.30645677e-03 1.24139627e+02] [ 4.92070422e-03 1.16485009e-04 9.99987887e-01 1.02456069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.79028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.68, Y:124.14, Z:1.02 [[-4.65002237e-01 -8.85306292e-01 2.38516889e-03 1.79676217e+02] [ 8.85295829e-01 -4.65008341e-01 -4.30556207e-03 1.24137825e+02] [ 4.92086462e-03 1.09484072e-04 9.99987887e-01 1.02382716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.67, Y:124.13, Z:1.02 [[-4.69729148e-01 -8.82807358e-01 2.38679688e-03 1.79674286e+02] [ 8.82796867e-01 -4.69735204e-01 -4.30465940e-03 1.24129556e+02] [ 4.92134751e-03 8.50328084e-05 9.99987887e-01 1.02375804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.85028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.67, Y:124.14, Z:1.02 [[-4.73257771e-01 -8.80920755e-01 2.38842398e-03 1.79666349e+02] [ 8.80910245e-01 -4.73263793e-01 -4.30375642e-03 1.24139338e+02] [ 4.92162295e-03 6.72009861e-05 9.99987887e-01 1.02376026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.880281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.66, Y:124.14, Z:1.03 [[-4.77117416e-01 -8.78836309e-01 2.39005719e-03 1.79662987e+02] [ 8.78825777e-01 -4.77123400e-01 -4.30284924e-03 1.24143250e+02] [ 4.92185236e-03 4.74795511e-05 9.99987887e-01 1.02526716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.91028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.65, Y:124.17, Z:1.03 [[-4.83873942e-01 -8.75134440e-01 2.39170332e-03 1.79648336e+02] [ 8.75123866e-01 -4.83879853e-01 -4.30193406e-03 1.24169872e+02] [ 4.92206770e-03 1.14428669e-05 9.99987887e-01 1.02669195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.940281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.65, Y:124.16, Z:1.03 [[-4.86625031e-01 -8.73607664e-01 2.39337408e-03 1.79651192e+02] [ 8.73597077e-01 -4.86630916e-01 -4.30100433e-03 1.24164651e+02] [ 4.92208017e-03 -2.13176704e-06 9.99987887e-01 1.02674823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.97028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.65, Y:124.16, Z:1.03 [[-4.90129776e-01 -8.71646182e-01 2.39506269e-03 1.79651936e+02] [ 8.71635575e-01 -4.90135627e-01 -4.30006380e-03 1.24159158e+02] [ 4.92203975e-03 -1.99674636e-05 9.99987887e-01 1.02734398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.000281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.66, Y:124.14, Z:1.03 [[-4.91118865e-01 -8.71089270e-01 2.39674720e-03 1.79661754e+02] [ 8.71078661e-01 -4.91124713e-01 -4.29912470e-03 1.24140000e+02] [ 4.92202317e-03 -2.36259021e-05 9.99987887e-01 1.02810006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.03028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.66, Y:124.14, Z:1.03 [[-4.92032271e-01 -8.70573657e-01 2.39841800e-03 1.79661172e+02] [ 8.70563047e-01 -4.92038116e-01 -4.29819238e-03 1.24141166e+02] [ 4.92200613e-03 -2.68752811e-05 9.99987887e-01 1.02857130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.060281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.67, Y:124.12, Z:1.03 [[-4.93803619e-01 -8.69570138e-01 2.40007862e-03 1.79674092e+02] [ 8.69559521e-01 -4.93809451e-01 -4.29726490e-03 1.24120623e+02] [ 4.92195474e-03 -3.49937425e-05 9.99987887e-01 1.02651886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.09028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.68, Y:124.11, Z:1.03 [[-4.95160685e-01 -8.68798094e-01 2.40172809e-03 1.79678773e+02] [ 8.68787471e-01 -4.95166508e-01 -4.29634282e-03 1.24113282e+02] [ 4.92190976e-03 -4.07887748e-05 9.99987887e-01 1.02600241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.120281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:179.67, Y:124.14, Z:1.03 [[-4.96548666e-01 -8.68005557e-01 2.40336036e-03 1.79665278e+02] [ 8.67994930e-01 -4.96554480e-01 -4.29542954e-03 1.24137463e+02] [ 4.92185606e-03 -4.67852054e-05 9.99987887e-01 1.02722057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.15028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.68, Y:124.12, Z:1.03 [[-4.98433927e-01 -8.66924355e-01 2.40500666e-03 1.79675454e+02] [ 8.66913720e-01 -4.98439726e-01 -4.29450758e-03 1.24122071e+02] [ 4.92176407e-03 -5.55950110e-05 9.99987887e-01 1.02808014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.180281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.68, Y:124.11, Z:1.03 [[-4.99374952e-01 -8.66382632e-01 2.40666169e-03 1.79682045e+02] [ 8.66371995e-01 -4.99380747e-01 -4.29357989e-03 1.24113803e+02] [ 4.92172356e-03 -5.90419620e-05 9.99987887e-01 1.02730404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.21028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.69, Y:124.11, Z:1.03 [[-5.00052615e-01 -8.65991676e-01 2.40830183e-03 1.79687181e+02] [ 8.65981039e-01 -5.00058410e-01 -4.29265973e-03 1.24108756e+02] [ 4.92169918e-03 -6.10120065e-05 9.99987887e-01 1.02808854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.240281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.68, Y:124.12, Z:1.03 [[-5.00387566e-01 -8.65798173e-01 2.40993456e-03 1.79683036e+02] [ 8.65787538e-01 -5.00393366e-01 -4.29174290e-03 1.24119208e+02] [ 4.92169843e-03 -6.10434744e-05 9.99987887e-01 1.02784244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.27028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.69, Y:124.11, Z:1.03 [[-5.00527016e-01 -8.65717558e-01 2.41157210e-03 1.79692523e+02] [ 8.65706927e-01 -5.00532822e-01 -4.29082255e-03 1.24106329e+02] [ 4.92171142e-03 -5.99579351e-05 9.99987887e-01 1.02691770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.300281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.69, Y:124.12, Z:1.03 [[-5.00617071e-01 -8.65665481e-01 2.41320929e-03 1.79690105e+02] [ 8.65654853e-01 -5.00622884e-01 -4.28990158e-03 1.24115568e+02] [ 4.92172751e-03 -5.85916273e-05 9.99987887e-01 1.02552641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.33028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.70, Y:124.11, Z:1.02 [[-5.00860058e-01 -8.65524911e-01 2.41484504e-03 1.79696789e+02] [ 8.65514286e-01 -5.00865876e-01 -4.28898060e-03 1.24113895e+02] [ 4.92173303e-03 -5.80961889e-05 9.99987887e-01 1.02393657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.360281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.70, Y:124.11, Z:1.03 [[-5.01349421e-01 -8.65241538e-01 2.41648641e-03 1.79698911e+02] [ 8.65230914e-01 -5.01355241e-01 -4.28805562e-03 1.24114823e+02] [ 4.92172197e-03 -5.89954533e-05 9.99987887e-01 1.02510171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.39028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.70, Y:124.11, Z:1.03 [[-5.01501386e-01 -8.65153462e-01 2.41812743e-03 1.79702142e+02] [ 8.65142842e-01 -5.01507212e-01 -4.28713002e-03 1.24113399e+02] [ 4.92173372e-03 -5.79760085e-05 9.99987887e-01 1.02629778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.70, Y:124.13, Z:1.03 [[-5.00908948e-01 -8.65496604e-01 2.41976919e-03 1.79701601e+02] [ 8.65485992e-01 -5.00914789e-01 -4.28620316e-03 1.24127165e+02] [ 4.92179246e-03 -5.27211764e-05 9.99987887e-01 1.02644870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.45028169299997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.71, Y:124.12, Z:1.03 [[-5.00618910e-01 -8.65664395e-01 2.42141910e-03 1.79708338e+02] [ 8.65653789e-01 -5.00624763e-01 -4.28527087e-03 1.24122654e+02] [ 4.92182878e-03 -4.91770162e-05 9.99987887e-01 1.02534252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48028169299994 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:179.71, Y:124.13, Z:1.02 [[-4.99080738e-01 -8.66552102e-01 2.42307473e-03 1.79712658e+02] [ 8.66541512e-01 -4.99086619e-01 -4.28433451e-03 1.24127505e+02] [ 4.92192325e-03 -3.85339885e-05 9.99987887e-01 1.02449380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.51028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.70, Y:124.15, Z:1.03 [[-4.97737080e-01 -8.67324576e-01 2.42473000e-03 1.79699804e+02] [ 8.67313999e-01 -4.97742985e-01 -4.28339750e-03 1.24154229e+02] [ 4.92198826e-03 -2.90034881e-05 9.99987887e-01 1.02652611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.71, Y:124.14, Z:1.03 [[-4.95833496e-01 -8.68414220e-01 2.42640797e-03 1.79709207e+02] [ 8.68403661e-01 -4.95839432e-01 -4.28244677e-03 1.24140339e+02] [ 4.92204642e-03 -1.62789876e-05 9.99987887e-01 1.02816297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.57028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.73, Y:124.11, Z:1.03 [[-4.90378943e-01 -8.71505936e-01 2.42809678e-03 1.79726090e+02] [ 8.71495419e-01 -4.90384954e-01 -4.28148902e-03 1.24114269e+02] [ 4.92204522e-03 1.65231608e-05 9.99987887e-01 1.03173361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.73, Y:124.10, Z:1.03 [[-4.87727646e-01 -8.72992463e-01 2.42975846e-03 1.79733951e+02] [ 8.72981969e-01 -4.87733697e-01 -4.28054580e-03 1.24101245e+02] [ 4.92195930e-03 3.33947997e-05 9.99987887e-01 1.03148062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.630281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.73, Y:124.10, Z:1.03 [[-4.85328372e-01 -8.74328577e-01 2.43139471e-03 1.79734872e+02] [ 8.74318104e-01 -4.85334460e-01 -4.27961619e-03 1.24099381e+02] [ 4.92183037e-03 4.87932510e-05 9.99987887e-01 1.03051750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.74, Y:124.08, Z:1.03 [[-4.83527803e-01 -8.75325622e-01 2.43302302e-03 1.79744699e+02] [ 8.75315166e-01 -4.83533920e-01 -4.27869027e-03 1.24081187e+02] [ 4.92169639e-03 6.07962433e-05 9.99987887e-01 1.03007889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.690281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.74, Y:124.08, Z:1.03 [[-4.81291077e-01 -8.76557455e-01 2.43464084e-03 1.79744095e+02] [ 8.76547020e-01 -4.81297229e-01 -4.27776951e-03 1.24081210e+02] [ 4.92149665e-03 7.52248779e-05 9.99987887e-01 1.02974286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.75, Y:124.08, Z:1.03 [[-4.81121913e-01 -8.76650312e-01 2.43624907e-03 1.79745387e+02] [ 8.76639883e-01 -4.81128075e-01 -4.27685341e-03 1.24077432e+02] [ 4.92145270e-03 7.80252061e-05 9.99987887e-01 1.02906596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.750281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.75, Y:124.07, Z:1.03 [[-4.81266243e-01 -8.76571081e-01 2.43785826e-03 1.79747999e+02] [ 8.76560655e-01 -4.81272411e-01 -4.27593596e-03 1.24070844e+02] [ 4.92143572e-03 7.90669974e-05 9.99987887e-01 1.02758565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.75, Y:124.07, Z:1.03 [[-4.81560917e-01 -8.76409226e-01 2.43946344e-03 1.79745790e+02] [ 8.76398803e-01 -4.81567090e-01 -4.27501999e-03 1.24071811e+02] [ 4.92143227e-03 7.92602932e-05 9.99987887e-01 1.02578080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.810281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.74, Y:124.07, Z:1.03 [[-4.81907636e-01 -8.76218621e-01 2.44106775e-03 1.79743583e+02] [ 8.76208200e-01 -4.81913812e-01 -4.27410371e-03 1.24069774e+02] [ 4.92143353e-03 7.91603678e-05 9.99987887e-01 1.02620507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.75, Y:124.07, Z:1.03 [[-4.82187059e-01 -8.76064880e-01 2.44267590e-03 1.79745139e+02] [ 8.76054461e-01 -4.82193240e-01 -4.27318445e-03 1.24065037e+02] [ 4.92142863e-03 7.94428803e-05 9.99987887e-01 1.02741666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.870281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.74, Y:124.07, Z:1.03 [[-4.82698389e-01 -8.75783244e-01 2.44428294e-03 1.79740175e+02] [ 8.75772827e-01 -4.82704571e-01 -4.27226502e-03 1.24070860e+02] [ 4.92144467e-03 7.84211366e-05 9.99987887e-01 1.02781282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.74, Y:124.06, Z:1.03 [[-4.83453853e-01 -8.75366432e-01 2.44589435e-03 1.79743505e+02] [ 8.75356014e-01 -4.83460034e-01 -4.27134228e-03 1.24059392e+02] [ 4.92148181e-03 7.60314464e-05 9.99987887e-01 1.02936830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.930281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.74, Y:124.06, Z:1.03 [[-4.83430567e-01 -8.75379287e-01 2.44750594e-03 1.79739236e+02] [ 8.75368874e-01 -4.83436756e-01 -4.27041862e-03 1.24063876e+02] [ 4.92145035e-03 7.80196259e-05 9.99987887e-01 1.03073985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.73, Y:124.06, Z:1.03 [[-4.82228855e-01 -8.76041856e-01 2.44911666e-03 1.79734561e+02] [ 8.76031456e-01 -4.82235066e-01 -4.26949467e-03 1.24062925e+02] [ 4.92130597e-03 8.66297104e-05 9.99987887e-01 1.02978381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.990281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.73, Y:124.06, Z:1.03 [[-4.81551472e-01 -8.76414385e-01 2.45073470e-03 1.79734880e+02] [ 8.76403995e-01 -4.81557699e-01 -4.26856569e-03 1.24055073e+02] [ 4.92120254e-03 9.22995918e-05 9.99987887e-01 1.02781238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.74, Y:124.04, Z:1.03 [[-4.80728707e-01 -8.76865951e-01 2.45235161e-03 1.79737437e+02] [ 8.76855572e-01 -4.80734952e-01 -4.26763655e-03 1.24043114e+02] [ 4.92107632e-03 9.87827708e-05 9.99987887e-01 1.02611920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.050281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:179.73, Y:124.04, Z:1.02 [[-4.80230053e-01 -8.77139142e-01 2.45396021e-03 1.79729511e+02] [ 8.77128770e-01 -4.80236312e-01 -4.26671138e-03 1.24042655e+02] [ 4.92098036e-03 1.03436072e-04 9.99987887e-01 1.02482754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.73, Y:124.04, Z:1.03 [[-4.80859259e-01 -8.76794357e-01 2.45556664e-03 1.79727564e+02] [ 8.76783985e-01 -4.80865518e-01 -4.26578665e-03 1.24041003e+02] [ 4.92101499e-03 1.01758495e-04 9.99987887e-01 1.02522188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.110281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.73, Y:124.04, Z:1.03 [[-4.82167915e-01 -8.76075376e-01 2.45717744e-03 1.79725223e+02] [ 8.76065000e-01 -4.82174167e-01 -4.26485860e-03 1.24039957e+02] [ 4.92112508e-03 9.62691783e-05 9.99987887e-01 1.02791126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.72, Y:124.04, Z:1.03 [[-4.85050387e-01 -8.74482748e-01 2.45879081e-03 1.79717168e+02] [ 8.74472356e-01 -4.85056612e-01 -4.26392825e-03 1.24044202e+02] [ 4.92138443e-03 8.19245427e-05 9.99987887e-01 1.02974967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.17028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.72, Y:124.04, Z:1.03 [[-4.86438880e-01 -8.73711144e-01 2.46041128e-03 1.79717699e+02] [ 8.73700747e-01 -4.86445096e-01 -4.26299299e-03 1.24038900e+02] [ 4.92147948e-03 7.59776434e-05 9.99987887e-01 1.02965743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20028169299997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.71, Y:124.04, Z:1.03 [[-4.87671312e-01 -8.73023843e-01 2.46203622e-03 1.79712123e+02] [ 8.73013442e-01 -4.87677521e-01 -4.26205432e-03 1.24043694e+02] [ 4.92155476e-03 7.09090935e-05 9.99987887e-01 1.02846736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.23028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.70, Y:124.05, Z:1.03 [[-4.88700190e-01 -8.72448311e-01 2.46366485e-03 1.79702647e+02] [ 8.72437907e-01 -4.88706395e-01 -4.26111269e-03 1.24051491e+02] [ 4.92160933e-03 6.69880227e-05 9.99987887e-01 1.02901160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.71, Y:124.04, Z:1.03 [[-4.88844861e-01 -8.72367253e-01 2.46530755e-03 1.79705034e+02] [ 8.72356854e-01 -4.88851072e-01 -4.26016207e-03 1.24043603e+02] [ 4.92159413e-03 6.80696018e-05 9.99987887e-01 1.02840921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.29028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.70, Y:124.05, Z:1.03 [[-4.88997377e-01 -8.72281766e-01 2.46695484e-03 1.79701112e+02] [ 8.72271371e-01 -4.89003594e-01 -4.25920795e-03 1.24046403e+02] [ 4.92157922e-03 6.91125652e-05 9.99987887e-01 1.02841854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.70, Y:124.04, Z:1.03 [[-4.88637644e-01 -8.72483329e-01 2.46860232e-03 1.79701801e+02] [ 8.72472940e-01 -4.88643874e-01 -4.25825287e-03 1.24036442e+02] [ 4.92152204e-03 7.30460736e-05 9.99987887e-01 1.02776392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.35028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.70, Y:124.04, Z:1.03 [[-4.88974741e-01 -8.72294446e-01 2.47024999e-03 1.79696300e+02] [ 8.72284060e-01 -4.88980976e-01 -4.25729683e-03 1.24042195e+02] [ 4.92152163e-03 7.30490708e-05 9.99987887e-01 1.02697321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.380281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:179.69, Y:124.05, Z:1.03 [[-4.89643620e-01 -8.71919156e-01 2.47189978e-03 1.79691384e+02] [ 8.71908770e-01 -4.89649855e-01 -4.25633871e-03 1.24047132e+02] [ 4.92154862e-03 7.11819997e-05 9.99987887e-01 1.02507956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.41028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.70, Y:124.03, Z:1.03 [[-4.91461891e-01 -8.70895569e-01 2.47356092e-03 1.79699289e+02] [ 8.70885174e-01 -4.91468112e-01 -4.25537312e-03 1.24027688e+02] [ 4.92166191e-03 6.28338175e-05 9.99987887e-01 1.02561345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.440281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.69, Y:124.04, Z:1.03 [[-4.92266316e-01 -8.70441123e-01 2.47521609e-03 1.79688629e+02] [ 8.70430728e-01 -4.92272535e-01 -4.25441014e-03 1.24042921e+02] [ 4.92169444e-03 6.02013363e-05 9.99987887e-01 1.02683439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.47028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.70, Y:124.02, Z:1.03 [[-4.92390295e-01 -8.70370991e-01 2.47687257e-03 1.79697526e+02] [ 8.70360600e-01 -4.92396521e-01 -4.25344554e-03 1.24023864e+02] [ 4.92167904e-03 6.14169941e-05 9.99987887e-01 1.02683202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.500281693 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:179.68, Y:124.04, Z:1.03 [[-4.90961367e-01 -8.71177820e-01 2.47853063e-03 1.79684473e+02] [ 8.71167444e-01 -4.90967617e-01 -4.25247915e-03 1.24037656e+02] [ 4.92154379e-03 7.14122184e-05 9.99987887e-01 1.02742022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.53028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.70, Y:124.01, Z:1.03 [[-4.90179602e-01 -8.71617925e-01 2.48018944e-03 1.79697652e+02] [ 8.71607559e-01 -4.90185870e-01 -4.25151145e-03 1.24010297e+02] [ 4.92144741e-03 7.77476747e-05 9.99987887e-01 1.02696737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.560281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.70, Y:124.01, Z:1.03 [[-4.90514534e-01 -8.71429482e-01 2.47998349e-03 1.79698985e+02] [ 8.71419113e-01 -4.90520797e-01 -4.25163158e-03 1.24008161e+02] [ 4.92148059e-03 7.56179279e-05 9.99987887e-01 1.02695498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.59028169299995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:179.69, Y:124.02, Z:1.03 [[-4.90356671e-01 -8.71518317e-01 2.48161707e-03 1.79690014e+02] [ 8.71507955e-01 -4.90362944e-01 -4.25067787e-03 1.24019902e+02] [ 4.92143668e-03 7.84007689e-05 9.99987887e-01 1.02666051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.620281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.69, Y:124.01, Z:1.03 [[-4.91145360e-01 -8.71074089e-01 2.48326069e-03 1.79693702e+02] [ 8.71063726e-01 -4.91151632e-01 -4.24971744e-03 1.24008741e+02] [ 4.92147629e-03 7.58493048e-05 9.99987887e-01 1.02805329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.65028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.69, Y:124.01, Z:1.03 [[-4.92438219e-01 -8.70343855e-01 2.48490866e-03 1.79693236e+02] [ 8.70333487e-01 -4.92444483e-01 -4.24875362e-03 1.24009804e+02] [ 4.92155617e-03 7.04505501e-05 9.99987887e-01 1.02820175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.680281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.70, Y:124.00, Z:1.03 [[-4.94404026e-01 -8.69228668e-01 2.48655320e-03 1.79698349e+02] [ 8.69218290e-01 -4.94410275e-01 -4.24779095e-03 1.24003099e+02] [ 4.92167912e-03 6.12325771e-05 9.99987887e-01 1.02762365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.71028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.69, Y:124.03, Z:1.03 [[-4.99248510e-01 -8.66455269e-01 2.48819626e-03 1.79687579e+02] [ 8.66444862e-01 -4.99254710e-01 -4.24682829e-03 1.24027200e+02] [ 4.92193045e-03 3.56621696e-05 9.99987887e-01 1.02666930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.740281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.70, Y:124.01, Z:1.03 [[-5.01836971e-01 -8.64958644e-01 2.48985287e-03 1.79702623e+02] [ 8.64948223e-01 -5.01843147e-01 -4.24585682e-03 1.24005475e+02] [ 4.92200616e-03 2.28658846e-05 9.99987887e-01 1.02647019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.77028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.71, Y:124.00, Z:1.03 [[-5.06264824e-01 -8.62374470e-01 2.49047365e-03 1.79709479e+02] [ 8.62364019e-01 -5.06270949e-01 -4.24549266e-03 1.24002563e+02] [ 4.92205894e-03 -1.64872742e-06 9.99987887e-01 1.02877968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.800281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.72, Y:124.00, Z:1.03 [[-5.07716688e-01 -8.61520490e-01 2.49211582e-03 1.79716367e+02] [ 8.61510034e-01 -5.07722804e-01 -4.24452848e-03 1.23995589e+02] [ 4.92205229e-03 -8.03516192e-06 9.99987887e-01 1.03014549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.83028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.72, Y:123.99, Z:1.03 [[-5.08599896e-01 -8.60999377e-01 2.49375157e-03 1.79722395e+02] [ 8.60988919e-01 -5.08606010e-01 -4.24356722e-03 1.23990209e+02] [ 4.92204577e-03 -1.11853777e-05 9.99987887e-01 1.03128495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.860281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.71, Y:124.01, Z:1.03 [[-5.08954074e-01 -8.60790058e-01 2.49537961e-03 1.79713720e+02] [ 8.60779602e-01 -5.08960192e-01 -4.24260966e-03 1.24009466e+02] [ 4.92204510e-03 -1.13216001e-05 9.99987887e-01 1.03241102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.89028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.73, Y:124.00, Z:1.03 [[-5.08131249e-01 -8.61276029e-01 2.49701820e-03 1.79726788e+02] [ 8.61265585e-01 -5.08137384e-01 -4.24164504e-03 1.23995781e+02] [ 4.92205549e-03 -4.71655654e-06 9.99987887e-01 1.03201625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.73, Y:123.99, Z:1.03 [[-5.07747894e-01 -8.61502079e-01 2.49866136e-03 1.79732303e+02] [ 8.61491642e-01 -5.07754042e-01 -4.24067687e-03 1.23989769e+02] [ 4.92205734e-03 -6.18877628e-07 9.99987887e-01 1.03176666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.95028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.73, Y:123.99, Z:1.03 [[-5.07969513e-01 -8.61371419e-01 2.50029072e-03 1.79733397e+02] [ 8.61360985e-01 -5.07975667e-01 -4.23971598e-03 1.23989919e+02] [ 4.92205702e-03 6.42003613e-09 9.99987887e-01 1.03161107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:179.73, Y:124.01, Z:1.03 [[-5.08100071e-01 -8.61294409e-01 2.50191809e-03 1.79725632e+02] [ 8.61283978e-01 -5.08106231e-01 -4.23875543e-03 1.24007942e+02] [ 4.92205652e-03 1.15002697e-06 9.99987887e-01 1.02932628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.01028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.73, Y:124.00, Z:1.03 [[-5.08150001e-01 -8.61264947e-01 2.50355931e-03 1.79733819e+02] [ 8.61254521e-01 -5.08156168e-01 -4.23778584e-03 1.23996732e+02] [ 4.92205551e-03 2.77089769e-06 9.99987887e-01 1.02746079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.73, Y:124.00, Z:1.03 [[-5.06753888e-01 -8.62087131e-01 2.50520707e-03 1.79732649e+02] [ 8.62076720e-01 -5.06760080e-01 -4.23681153e-03 1.23999475e+02] [ 4.92203963e-03 1.26599778e-05 9.99987887e-01 1.02631942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.07028169299997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.73, Y:124.01, Z:1.03 [[-5.05568525e-01 -8.62782813e-01 2.50685058e-03 1.79727184e+02] [ 8.62772415e-01 -5.05574740e-01 -4.23583887e-03 1.24007337e+02] [ 4.92200931e-03 2.13347214e-05 9.99987887e-01 1.02629799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.73, Y:124.00, Z:1.03 [[-5.04351618e-01 -8.63494733e-01 2.50850429e-03 1.79728662e+02] [ 8.63484349e-01 -5.04357855e-01 -4.23485930e-03 1.24002758e+02] [ 4.92196254e-03 3.01960491e-05 9.99987887e-01 1.02676295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.130281693 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:179.73, Y:123.99, Z:1.03 [[-5.00904902e-01 -8.65498688e-01 2.51016379e-03 1.79732057e+02] [ 8.65488333e-01 -5.00911189e-01 -4.23387542e-03 1.23991322e+02] [ 4.92178275e-03 5.17485242e-05 9.99987887e-01 1.02706992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.73, Y:123.99, Z:1.03 [[-4.99454194e-01 -8.66336654e-01 2.51181617e-03 1.79731174e+02] [ 8.66326316e-01 -4.99460506e-01 -4.23289490e-03 1.23987219e+02] [ 4.92166498e-03 6.19153360e-05 9.99987887e-01 1.02585483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.190281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.74, Y:123.97, Z:1.03 [[-4.98378219e-01 -8.66956074e-01 2.51346202e-03 1.79736504e+02] [ 8.66945748e-01 -4.98384552e-01 -4.23191738e-03 1.23972239e+02] [ 4.92155712e-03 6.99397684e-05 9.99987887e-01 1.02537454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22028169299995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:179.72, Y:123.98, Z:1.02 [[-4.97520049e-01 -8.67448831e-01 2.51509949e-03 1.79723876e+02] [ 8.67438516e-01 -4.97526401e-01 -4.23094398e-03 1.23983249e+02] [ 4.92145580e-03 7.67147148e-05 9.99987887e-01 1.02379245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.250281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:179.72, Y:123.98, Z:1.02 [[-4.98400925e-01 -8.66943011e-01 2.51673961e-03 1.79722712e+02] [ 8.66932694e-01 -4.98407274e-01 -4.22996814e-03 1.23981372e+02] [ 4.92150264e-03 7.36238175e-05 9.99987887e-01 1.02344946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.73, Y:123.96, Z:1.02 [[-5.01006735e-01 -8.65439720e-01 2.51839159e-03 1.79727604e+02] [ 8.65429390e-01 -5.01013061e-01 -4.22898438e-03 1.23963277e+02] [ 4.92167813e-03 6.07404378e-05 9.99987887e-01 1.02469058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.310281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.72, Y:123.98, Z:1.02 [[-5.02533097e-01 -8.64554299e-01 2.52003454e-03 1.79715808e+02] [ 8.64543962e-01 -5.02539413e-01 -4.22800512e-03 1.23978863e+02] [ 4.92175668e-03 5.39681423e-05 9.99987887e-01 1.02330035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.72, Y:123.97, Z:1.02 [[-5.04414563e-01 -8.63457926e-01 2.52168073e-03 1.79717620e+02] [ 8.63447580e-01 -5.04420865e-01 -4.22702306e-03 1.23971889e+02] [ 4.92184494e-03 4.51671347e-05 9.99987887e-01 1.02323620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.370281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.72, Y:123.96, Z:1.02 [[-5.06325561e-01 -8.62338715e-01 2.52333774e-03 1.79723699e+02] [ 8.62328360e-01 -5.06331847e-01 -4.22603368e-03 1.23958112e+02] [ 4.92191871e-03 3.61968193e-05 9.99987887e-01 1.02458952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.72, Y:123.96, Z:1.03 [[-5.09230860e-01 -8.60626258e-01 2.52498398e-03 1.79720653e+02] [ 8.60615887e-01 -5.09237120e-01 -4.22504985e-03 1.23956702e+02] [ 4.92200441e-03 2.15155562e-05 9.99987887e-01 1.02592420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.430281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.71, Y:123.97, Z:1.03 [[-5.10167855e-01 -8.60071146e-01 2.52662374e-03 1.79714193e+02] [ 8.60060773e-01 -5.10174111e-01 -4.22406903e-03 1.23965874e+02] [ 4.92201791e-03 1.80657319e-05 9.99987887e-01 1.02716206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.72, Y:123.95, Z:1.03 [[-5.10651902e-01 -8.59783835e-01 2.52827340e-03 1.79721777e+02] [ 8.59773464e-01 -5.10658160e-01 -4.22308140e-03 1.23952188e+02] [ 4.92202057e-03 1.72178307e-05 9.99987887e-01 1.02718954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.490281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.73, Y:123.94, Z:1.03 [[-5.10438223e-01 -8.59910705e-01 2.52992325e-03 1.79727280e+02] [ 8.59900340e-01 -5.10444492e-01 -4.22209280e-03 1.23939443e+02] [ 4.92200818e-03 2.03643162e-05 9.99987887e-01 1.02943158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.72, Y:123.94, Z:1.03 [[-5.10521099e-01 -8.59861504e-01 2.53012688e-03 1.79724297e+02] [ 8.59851139e-01 -5.10527368e-01 -4.22197077e-03 1.23941668e+02] [ 4.92200915e-03 2.01273192e-05 9.99987887e-01 1.03087804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.550281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.73, Y:123.93, Z:1.03 [[-5.10304464e-01 -8.59990084e-01 2.53175638e-03 1.79726883e+02] [ 8.59979725e-01 -5.10310744e-01 -4.22099339e-03 1.23934025e+02] [ 4.92199494e-03 2.32673845e-05 9.99987887e-01 1.03343049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.72, Y:123.95, Z:1.03 [[-5.10508551e-01 -8.59868944e-01 2.53338551e-03 1.79715117e+02] [ 8.59858589e-01 -5.10514837e-01 -4.22001539e-03 1.23953043e+02] [ 4.92199106e-03 2.39993443e-05 9.99987887e-01 1.03474363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.610281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.73, Y:123.94, Z:1.04 [[-5.10664089e-01 -8.59776577e-01 2.53502635e-03 1.79725470e+02] [ 8.59766226e-01 -5.10670380e-01 -4.21902948e-03 1.23935412e+02] [ 4.92198559e-03 2.50231928e-05 9.99987887e-01 1.03550664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.72, Y:123.94, Z:1.03 [[-5.13589253e-01 -8.58032433e-01 2.53440715e-03 1.79723309e+02] [ 8.58022058e-01 -5.13595506e-01 -4.21940140e-03 1.23938527e+02] [ 4.92204337e-03 7.53802479e-06 9.99987887e-01 1.03382440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.67028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.73, Y:123.92, Z:1.03 [[-5.15208913e-01 -8.57060875e-01 2.53603867e-03 1.79732589e+02] [ 8.57050494e-01 -5.15215155e-01 -4.21842056e-03 1.23923774e+02] [ 4.92204878e-03 1.45317712e-07 9.99987887e-01 1.03146170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.73, Y:123.93, Z:1.03 [[-5.17207521e-01 -8.55856268e-01 2.53563234e-03 1.79729461e+02] [ 8.55845870e-01 -5.17213736e-01 -4.21866479e-03 1.23930049e+02] [ 4.92203458e-03 -1.18146939e-05 9.99987887e-01 1.02940198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.73028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.73, Y:123.92, Z:1.03 [[-5.18966281e-01 -8.54790946e-01 2.53725027e-03 1.79733953e+02] [ 8.54780541e-01 -5.18972483e-01 -4.21769148e-03 1.23924243e+02] [ 4.92200757e-03 -2.00475036e-05 9.99987887e-01 1.02817961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.74, Y:123.92, Z:1.03 [[-5.22192264e-01 -8.52824011e-01 2.53887026e-03 1.79741378e+02] [ 8.52813587e-01 -5.22198435e-01 -4.21671609e-03 1.23917195e+02] [ 4.92191081e-03 -3.67534707e-05 9.99987887e-01 1.02860371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.79028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.73, Y:123.93, Z:1.03 [[-5.24028785e-01 -8.51696764e-01 2.54048287e-03 1.79734820e+02] [ 8.51686332e-01 -5.24034941e-01 -4.21574430e-03 1.23931887e+02] [ 4.92183758e-03 -4.54768276e-05 9.99987887e-01 1.02842612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.76, Y:123.91, Z:1.03 [[-5.27048747e-01 -8.49831252e-01 2.54210157e-03 1.79755151e+02] [ 8.49820802e-01 -5.27054874e-01 -4.21476800e-03 1.23905294e+02] [ 4.92166859e-03 -6.10574003e-05 9.99987887e-01 1.02792608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.85028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.76, Y:123.91, Z:1.03 [[-5.28717568e-01 -8.48794011e-01 2.54149478e-03 1.79755135e+02] [ 8.48783548e-01 -5.28723672e-01 -4.21513386e-03 1.23907366e+02] [ 4.92152883e-03 -7.14363725e-05 9.99987887e-01 1.02825693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.880281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.77, Y:123.89, Z:1.03 [[-5.29939588e-01 -8.48031583e-01 2.54308515e-03 1.79765652e+02] [ 8.48021116e-01 -5.29945684e-01 -4.21417414e-03 1.23892358e+02] [ 4.92144976e-03 -7.66678003e-05 9.99987887e-01 1.02836464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.91028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.77, Y:123.90, Z:1.03 [[-5.32001009e-01 -8.46739896e-01 2.54466841e-03 1.79767672e+02] [ 8.46729418e-01 -5.32007087e-01 -4.21321789e-03 1.23897373e+02] [ 4.92128131e-03 -8.67905701e-05 9.99987887e-01 1.02563241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.940281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.77, Y:123.90, Z:1.03 [[-5.33825546e-01 -8.45590801e-01 2.54624565e-03 1.79769956e+02] [ 8.45580315e-01 -5.33831610e-01 -4.21226448e-03 1.23899255e+02] [ 4.92111851e-03 -9.55591879e-05 9.99987887e-01 1.02759061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.97028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.77, Y:123.91, Z:1.03 [[-5.36602992e-01 -8.43830989e-01 2.54782767e-03 1.79772139e+02] [ 8.43820487e-01 -5.36609029e-01 -4.21130736e-03 1.23906798e+02] [ 4.92081898e-03 -1.09890945e-04 9.99987887e-01 1.03140014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.000281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.79, Y:123.88, Z:1.03 [[-5.37245909e-01 -8.43421801e-01 2.54941554e-03 1.79793364e+02] [ 8.43411299e-01 -5.37251946e-01 -4.21034588e-03 1.23877888e+02] [ 4.92077597e-03 -1.11785223e-04 9.99987887e-01 1.03288463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.03028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.79, Y:123.88, Z:1.03 [[-5.37766809e-01 -8.43089768e-01 2.55000351e-03 1.79794961e+02] [ 8.43079264e-01 -5.37772843e-01 -4.20998975e-03 1.23881750e+02] [ 4.92072192e-03 -1.14137670e-04 9.99987887e-01 1.03340918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.060281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.79, Y:123.89, Z:1.03 [[-5.38085388e-01 -8.42886472e-01 2.55156057e-03 1.79792524e+02] [ 8.42875971e-01 -5.38091425e-01 -4.20904585e-03 1.23892483e+02] [ 4.92072067e-03 -1.14176973e-04 9.99987887e-01 1.03314972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.09028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.80, Y:123.90, Z:1.03 [[-5.37706002e-01 -8.43128541e-01 2.55312733e-03 1.79795346e+02] [ 8.43118047e-01 -5.37712052e-01 -4.20809526e-03 1.23901337e+02] [ 4.92081256e-03 -1.10130348e-04 9.99987887e-01 1.03323341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.120281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.80, Y:123.90, Z:1.03 [[-5.37465333e-01 -8.43281975e-01 2.55470599e-03 1.79798361e+02] [ 8.43271487e-01 -5.37471393e-01 -4.20713665e-03 1.23904378e+02] [ 4.92088389e-03 -1.06879378e-04 9.99987887e-01 1.03271240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.15028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.80, Y:123.91, Z:1.03 [[-5.37492696e-01 -8.43264530e-01 2.55629101e-03 1.79802788e+02] [ 8.43254046e-01 -5.37498764e-01 -4.20617336e-03 1.23906080e+02] [ 4.92092006e-03 -1.05184720e-04 9.99987887e-01 1.03229642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.180281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.81, Y:123.91, Z:1.03 [[-5.37596166e-01 -8.43198565e-01 2.55787852e-03 1.79806162e+02] [ 8.43188085e-01 -5.37602241e-01 -4.20520773e-03 1.23910196e+02] [ 4.92094635e-03 -1.03930866e-04 9.99987887e-01 1.03135735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.21028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.81, Y:123.92, Z:1.03 [[-5.37531850e-01 -8.43239562e-01 2.55946930e-03 1.79811250e+02] [ 8.43229087e-01 -5.37537934e-01 -4.20423929e-03 1.23918114e+02] [ 4.92099274e-03 -1.01693566e-04 9.99987887e-01 1.02755694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.240281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.82, Y:123.91, Z:1.03 [[-5.37109229e-01 -8.43508813e-01 2.56106601e-03 1.79819443e+02] [ 8.43498346e-01 -5.37115326e-01 -4.20326641e-03 1.23911671e+02] [ 4.92108007e-03 -9.73582401e-05 9.99987887e-01 1.02617426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.27028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.81, Y:123.94, Z:1.03 [[-5.34592645e-01 -8.45105991e-01 2.56266182e-03 1.79811753e+02] [ 8.45095547e-01 -5.34598782e-01 -4.20229325e-03 1.23936415e+02] [ 4.92137909e-03 -8.08209754e-05 9.99987887e-01 1.02878337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.300281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:123.92, Z:1.03 [[-5.32752798e-01 -8.46267027e-01 2.56426891e-03 1.79825388e+02] [ 8.46256601e-01 -5.32758964e-01 -4.20131236e-03 1.23918609e+02] [ 4.92156937e-03 -6.82314219e-05 9.99987887e-01 1.03093344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.33028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.82, Y:123.93, Z:1.03 [[-5.30687751e-01 -8.47563524e-01 2.56588019e-03 1.79819233e+02] [ 8.47553117e-01 -5.30693952e-01 -4.20032807e-03 1.23932156e+02] [ 4.92174196e-03 -5.43429088e-05 9.99987887e-01 1.03128087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.360281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.81, Y:123.96, Z:1.03 [[-5.25749736e-01 -8.50635423e-01 2.56749000e-03 1.79807377e+02] [ 8.50625058e-01 -5.25756005e-01 -4.19934382e-03 1.23955819e+02] [ 4.92198390e-03 -2.38325737e-05 9.99987887e-01 1.02794876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.39028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.81, Y:123.96, Z:1.03 [[-5.23565610e-01 -8.51981486e-01 2.56912696e-03 1.79805085e+02] [ 8.51971142e-01 -5.23571913e-01 -4.19834211e-03 1.23961523e+02] [ 4.92203246e-03 -9.28552135e-06 9.99987887e-01 1.02529502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.82, Y:123.94, Z:1.02 [[-5.21819641e-01 -8.53051964e-01 2.57078626e-03 1.79821089e+02] [ 8.53041638e-01 -5.21825974e-01 -4.19732581e-03 1.23937305e+02] [ 4.92204007e-03 2.74067388e-06 9.99987887e-01 1.02465802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.45028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.82, Y:123.94, Z:1.02 [[-5.22151363e-01 -8.52848953e-01 2.57243414e-03 1.79822454e+02] [ 8.52838630e-01 -5.22157699e-01 -4.19631563e-03 1.23935219e+02] [ 4.92203968e-03 2.75927725e-06 9.99987887e-01 1.02464563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.82, Y:123.94, Z:1.03 [[-5.20998050e-01 -8.53553985e-01 2.57406576e-03 1.79822297e+02] [ 8.53543675e-01 -5.21004409e-01 -4.19531454e-03 1.23936607e+02] [ 4.92202705e-03 1.13268477e-05 9.99987887e-01 1.02596804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.51028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:123.93, Z:1.03 [[-5.20297192e-01 -8.53981380e-01 2.57569921e-03 1.79826927e+02] [ 8.53971080e-01 -5.20303567e-01 -4.19431145e-03 1.23928012e+02] [ 4.92200937e-03 1.72841655e-05 9.99987887e-01 1.02817309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.82, Y:123.93, Z:1.03 [[-5.20531143e-01 -8.53838794e-01 2.57733005e-03 1.79824489e+02] [ 8.53828497e-01 -5.20537523e-01 -4.19330909e-03 1.23931632e+02] [ 4.92200697e-03 1.78498693e-05 9.99987887e-01 1.02827707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.57028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:123.92, Z:1.03 [[-5.20732399e-01 -8.53716064e-01 2.57896050e-03 1.79831595e+02] [ 8.53705770e-01 -5.20738785e-01 -4.19230609e-03 1.23919957e+02] [ 4.92200381e-03 1.86038492e-05 9.99987887e-01 1.02874814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:123.92, Z:1.03 [[-5.19934382e-01 -8.54202306e-01 2.58058754e-03 1.79830623e+02] [ 8.54192023e-01 -5.19940786e-01 -4.19130432e-03 1.23919895e+02] [ 4.92197453e-03 2.51140654e-05 9.99987887e-01 1.03083639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.630281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:123.92, Z:1.03 [[-5.19215895e-01 -8.54639214e-01 2.58220928e-03 1.79826439e+02] [ 8.54628942e-01 -5.19222315e-01 -4.19030495e-03 1.23924527e+02] [ 4.92193961e-03 3.11578471e-05 9.99987887e-01 1.03190849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:123.91, Z:1.03 [[-5.16739549e-01 -8.56138752e-01 2.58383775e-03 1.79832861e+02] [ 8.56128503e-01 -5.16746007e-01 -4.18930056e-03 1.23909990e+02] [ 4.92181039e-03 4.73198613e-05 9.99987887e-01 1.03459621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.690281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:123.91, Z:1.04 [[-5.15535903e-01 -8.56864078e-01 2.58546281e-03 1.79832366e+02] [ 8.56853844e-01 -5.15542383e-01 -4.18829739e-03 1.23909141e+02] [ 4.92171724e-03 5.61460698e-05 9.99987887e-01 1.03508616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.85, Y:123.88, Z:1.04 [[-5.14282859e-01 -8.57616726e-01 2.58708095e-03 1.79846070e+02] [ 8.57606506e-01 -5.14289362e-01 -4.18729765e-03 1.23884988e+02] [ 4.92160471e-03 6.52420461e-05 9.99987887e-01 1.03561133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.750281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.85, Y:123.87, Z:1.03 [[-5.12391632e-01 -8.58747992e-01 2.58868523e-03 1.79854161e+02] [ 8.58737792e-01 -5.12398166e-01 -4.18630561e-03 1.23868142e+02] [ 4.92141910e-03 7.79738725e-05 9.99987887e-01 1.03420314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.85, Y:123.88, Z:1.03 [[-5.11960960e-01 -8.59004811e-01 2.59026471e-03 1.79847099e+02] [ 8.58994619e-01 -5.11967506e-01 -4.18532808e-03 1.23877974e+02] [ 4.92134832e-03 8.22988696e-05 9.99987887e-01 1.03248015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.810281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.85, Y:123.87, Z:1.03 [[-5.12093620e-01 -8.58925729e-01 2.59184331e-03 1.79848316e+02] [ 8.58915540e-01 -5.12100172e-01 -4.18435027e-03 1.23873596e+02] [ 4.92132951e-03 8.33954167e-05 9.99987887e-01 1.03069735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.85, Y:123.87, Z:1.03 [[-5.12349403e-01 -8.58773173e-01 2.59342905e-03 1.79846559e+02] [ 8.58762988e-01 -5.12355960e-01 -4.18336721e-03 1.23872298e+02] [ 4.92132237e-03 8.37951920e-05 9.99987887e-01 1.02896660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.870281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.84, Y:123.88, Z:1.03 [[-5.13113799e-01 -8.58316664e-01 2.59501443e-03 1.79840041e+02] [ 8.58306478e-01 -5.13120354e-01 -4.18238354e-03 1.23880671e+02] [ 4.92136421e-03 8.12789851e-05 9.99987887e-01 1.02971941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.85, Y:123.87, Z:1.03 [[-5.13800794e-01 -8.57905591e-01 2.59660808e-03 1.79846436e+02] [ 8.57895404e-01 -5.13807349e-01 -4.18139390e-03 1.23868474e+02] [ 4.92139752e-03 7.92146352e-05 9.99987887e-01 1.03098596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.930281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.84, Y:123.87, Z:1.03 [[-5.14640510e-01 -8.57402120e-01 2.59820242e-03 1.79841348e+02] [ 8.57391932e-01 -5.14647063e-01 -4.18040299e-03 1.23871098e+02] [ 4.92144363e-03 7.62730650e-05 9.99987887e-01 1.03051825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.84, Y:123.87, Z:1.03 [[-5.14820444e-01 -8.57294087e-01 2.59979401e-03 1.79840682e+02] [ 8.57283903e-01 -5.14827003e-01 -4.17941294e-03 1.23868660e+02] [ 4.92143016e-03 7.71143277e-05 9.99987887e-01 1.02931446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.990281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.84, Y:123.86, Z:1.03 [[-5.14543033e-01 -8.57460611e-01 2.60139050e-03 1.79843027e+02] [ 8.57450434e-01 -5.14549603e-01 -4.17841900e-03 1.23861318e+02] [ 4.92137416e-03 8.05870232e-05 9.99987887e-01 1.02842342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.84, Y:123.86, Z:1.03 [[-5.13438917e-01 -8.58122196e-01 2.60298370e-03 1.79837849e+02] [ 8.58112032e-01 -5.13445508e-01 -4.17742627e-03 1.23860368e+02] [ 4.92123249e-03 8.87984108e-05 9.99987887e-01 1.03068568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.050281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.85, Y:123.84, Z:1.03 [[-5.12809539e-01 -8.58498452e-01 2.60457652e-03 1.79845916e+02] [ 8.58488299e-01 -5.12816145e-01 -4.17643293e-03 1.23841783e+02] [ 4.92113009e-03 9.42838229e-05 9.99987887e-01 1.02994205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.84, Y:123.85, Z:1.03 [[-5.12171146e-01 -8.58879459e-01 2.60616137e-03 1.79835043e+02] [ 8.58869315e-01 -5.12177767e-01 -4.17544372e-03 1.23852866e+02] [ 4.92102075e-03 9.98102308e-05 9.99987887e-01 1.02830940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.110281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:123.84, Z:1.03 [[-5.11009414e-01 -8.59571160e-01 2.60774583e-03 1.79833572e+02] [ 8.59561030e-01 -5.11016056e-01 -4.17445392e-03 1.23843540e+02] [ 4.92084019e-03 1.08331443e-04 9.99987887e-01 1.02614831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.84, Y:123.83, Z:1.03 [[-5.11365098e-01 -8.59359603e-01 2.60933752e-03 1.79839875e+02] [ 8.59349476e-01 -5.11371744e-01 -4.17345876e-03 1.23827876e+02] [ 4.92084334e-03 1.08171684e-04 9.99987887e-01 1.02642979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.17028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:123.83, Z:1.03 [[-5.12506975e-01 -8.58679093e-01 2.61091785e-03 1.79831021e+02] [ 8.58668962e-01 -5.12513615e-01 -4.17246987e-03 1.23834816e+02] [ 4.92094359e-03 1.03494207e-04 9.99987887e-01 1.02802092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.82, Y:123.84, Z:1.03 [[-5.15792269e-01 -8.56709700e-01 2.61249728e-03 1.79822360e+02] [ 8.56699548e-01 -5.15798878e-01 -4.17148072e-03 1.23835729e+02] [ 4.92127116e-03 8.65077361e-05 9.99987887e-01 1.03106040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.23028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.81, Y:123.84, Z:1.03 [[-5.18086239e-01 -8.55324392e-01 2.61408836e-03 1.79814935e+02] [ 8.55314228e-01 -5.18092828e-01 -4.17048341e-03 1.23843607e+02] [ 4.92145662e-03 7.51969066e-05 9.99987887e-01 1.03089649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.81, Y:123.85, Z:1.03 [[-5.20713949e-01 -8.53727206e-01 2.61569128e-03 1.79810109e+02] [ 8.53717026e-01 -5.20720515e-01 -4.16947784e-03 1.23847980e+02] [ 4.92164077e-03 6.19549102e-05 9.99987887e-01 1.03045175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.29028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.81, Y:123.84, Z:1.03 [[-5.23064178e-01 -8.52289279e-01 2.61730700e-03 1.79811150e+02] [ 8.52279087e-01 -5.23070724e-01 -4.16846335e-03 1.23844108e+02] [ 4.92177329e-03 5.03021682e-05 9.99987887e-01 1.02929073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.80, Y:123.85, Z:1.03 [[-5.27483681e-01 -8.49561126e-01 2.61892643e-03 1.79802406e+02] [ 8.49550905e-01 -5.27490182e-01 -4.16744566e-03 1.23852353e+02] [ 4.92195781e-03 2.66517419e-05 9.99987887e-01 1.02850702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.35028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.81, Y:123.84, Z:1.03 [[-5.29866611e-01 -8.48076946e-01 2.62055341e-03 1.79810455e+02] [ 8.48066712e-01 -5.29873091e-01 -4.16642234e-03 1.23839030e+02] [ 4.92200747e-03 1.47560276e-05 9.99987887e-01 1.03032280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.380281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.81, Y:123.84, Z:1.03 [[-5.34182897e-01 -8.45364866e-01 2.62218054e-03 1.79814827e+02] [ 8.45354604e-01 -5.34189333e-01 -4.16539803e-03 1.23835528e+02] [ 4.92202203e-03 -8.41199389e-06 9.99987887e-01 1.03469873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.41028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.82, Y:123.82, Z:1.03 [[-5.36165356e-01 -8.44108895e-01 2.62379823e-03 1.79823605e+02] [ 8.44098623e-01 -5.36171776e-01 -4.16437880e-03 1.23823512e+02] [ 4.92199574e-03 -1.80511719e-05 9.99987887e-01 1.03414740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.440281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.82, Y:123.83, Z:1.03 [[-5.37599229e-01 -8.43196404e-01 2.62540657e-03 1.79819408e+02] [ 8.43186126e-01 -5.37605639e-01 -4.16336459e-03 1.23832777e+02] [ 4.92196742e-03 -2.45151968e-05 9.99987887e-01 1.03262334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.47028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:123.83, Z:1.03 [[-5.38687701e-01 -8.42501430e-01 2.62701452e-03 1.79825644e+02] [ 8.42491148e-01 -5.38694106e-01 -4.16234975e-03 1.23828563e+02] [ 4.92194285e-03 -2.89701388e-05 9.99987887e-01 1.02993989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.500281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.84, Y:123.82, Z:1.03 [[-5.38534043e-01 -8.42599653e-01 2.62862693e-03 1.79835262e+02] [ 8.42589377e-01 -5.38540458e-01 -4.16133122e-03 1.23815813e+02] [ 4.92195819e-03 -2.61653969e-05 9.99987887e-01 1.02900058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.53028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:123.82, Z:1.03 [[-5.38015641e-01 -8.42930752e-01 2.63022819e-03 1.79831327e+02] [ 8.42920485e-01 -5.38022070e-01 -4.16031888e-03 1.23823899e+02] [ 4.92198153e-03 -2.12434035e-05 9.99987887e-01 1.02797545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.560281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:123.83, Z:1.03 [[-5.35792578e-01 -8.44345537e-01 2.63182798e-03 1.79826419e+02] [ 8.44335293e-01 -5.35799042e-01 -4.15930660e-03 1.23831920e+02] [ 4.92202288e-03 -6.38035627e-06 9.99987887e-01 1.02669465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.59028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.82, Y:123.84, Z:1.03 [[-5.34622642e-01 -8.45086798e-01 2.63344140e-03 1.79824260e+02] [ 8.45076567e-01 -5.34629128e-01 -4.15828482e-03 1.23835068e+02] [ 4.92202608e-03 2.34640340e-06 9.99987887e-01 1.02669402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.620281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.83, Y:123.83, Z:1.03 [[-5.33830283e-01 -8.45587539e-01 2.63506536e-03 1.79826661e+02] [ 8.45577319e-01 -5.33836787e-01 -4.15725548e-03 1.23831359e+02] [ 4.92201825e-03 8.88262999e-06 9.99987887e-01 1.02557378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.65028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.82, Y:123.84, Z:1.03 [[-5.33378976e-01 -8.45872281e-01 2.63669138e-03 1.79821100e+02] [ 8.45862070e-01 -5.33385493e-01 -4.15622393e-03 1.23839747e+02] [ 4.92200755e-03 1.34347691e-05 9.99987887e-01 1.02608282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.680281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:123.82, Z:1.03 [[-5.32609896e-01 -8.46356744e-01 2.63832366e-03 1.79830950e+02] [ 8.46346544e-01 -5.32616431e-01 -4.15518752e-03 1.23822029e+02] [ 4.92198551e-03 1.98421189e-05 9.99987887e-01 1.02825757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.71028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:123.82, Z:1.03 [[-5.32242573e-01 -8.46587783e-01 2.63995248e-03 1.79829656e+02] [ 8.46577591e-01 -5.32249120e-01 -4.15415241e-03 1.23822501e+02] [ 4.92196707e-03 2.39078442e-05 9.99987887e-01 1.02841842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.740281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.82, Y:123.83, Z:1.03 [[-5.31371229e-01 -8.47134959e-01 2.64157235e-03 1.79822814e+02] [ 8.47124780e-01 -5.31377794e-01 -4.15312210e-03 1.23827528e+02] [ 4.92192781e-03 3.08918035e-05 9.99987887e-01 1.02933790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.77028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:123.81, Z:1.03 [[-5.31339842e-01 -8.47154641e-01 2.64320036e-03 1.79829708e+02] [ 8.47144467e-01 -5.31346415e-01 -4.15208572e-03 1.23814685e+02] [ 4.92191372e-03 3.30039903e-05 9.99987887e-01 1.02902457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.800281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:123.82, Z:1.03 [[-5.31766948e-01 -8.46886603e-01 2.64482685e-03 1.79826076e+02] [ 8.46876430e-01 -5.31773525e-01 -4.15104941e-03 1.23816943e+02] [ 4.92191703e-03 3.24506413e-05 9.99987887e-01 1.02766424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.83028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:123.81, Z:1.03 [[-5.32131378e-01 -8.46657660e-01 2.64644908e-03 1.79828482e+02] [ 8.46647490e-01 -5.32137957e-01 -4.15001492e-03 1.23811776e+02] [ 4.92191793e-03 3.22563162e-05 9.99987887e-01 1.02637433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.860281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:123.81, Z:1.03 [[-5.32766857e-01 -8.46257918e-01 2.64807339e-03 1.79828784e+02] [ 8.46247748e-01 -5.32773437e-01 -4.14897821e-03 1.23809569e+02] [ 4.92192882e-03 3.04880610e-05 9.99987887e-01 1.02617717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.89028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.82, Y:123.82, Z:1.03 [[-5.33751490e-01 -8.45637231e-01 2.64969562e-03 1.79821221e+02] [ 8.45627058e-01 -5.33758066e-01 -4.14794193e-03 1.23819939e+02] [ 4.92195054e-03 2.66841251e-05 9.99987887e-01 1.02734704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:123.80, Z:1.03 [[-5.35811667e-01 -8.44333363e-01 2.65132714e-03 1.79833823e+02] [ 8.44323179e-01 -5.35818227e-01 -4.14689881e-03 1.23799705e+02] [ 4.92199443e-03 1.66201971e-05 9.99987887e-01 1.02979746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.95028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:123.81, Z:1.03 [[-5.36637133e-01 -8.43808953e-01 2.65295464e-03 1.79829169e+02] [ 8.43798769e-01 -5.36643690e-01 -4.14585737e-03 1.23807598e+02] [ 4.92200294e-03 1.37388484e-05 9.99987887e-01 1.03057528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.84, Y:123.79, Z:1.03 [[-5.37196193e-01 -8.43453142e-01 2.65457565e-03 1.79838081e+02] [ 8.43442958e-01 -5.37202752e-01 -4.14481918e-03 1.23794051e+02] [ 4.92200611e-03 1.24020567e-05 9.99987887e-01 1.03085787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.01028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.84, Y:123.80, Z:1.03 [[-5.36700029e-01 -8.43768940e-01 2.65619490e-03 1.79837147e+02] [ 8.43758765e-01 -5.36706602e-01 -4.14378123e-03 1.23795330e+02] [ 4.92199123e-03 1.72202148e-05 9.99987887e-01 1.02892869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.84, Y:123.79, Z:1.03 [[-5.36777425e-01 -8.43719700e-01 2.65780827e-03 1.79840823e+02] [ 8.43709529e-01 -5.36784005e-01 -4.14274617e-03 1.23789716e+02] [ 4.92198552e-03 1.86855395e-05 9.99987887e-01 1.02732706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.07028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.84, Y:123.79, Z:1.03 [[-5.38004345e-01 -8.42937870e-01 2.65942123e-03 1.79841556e+02] [ 8.42927695e-01 -5.38010918e-01 -4.14171047e-03 1.23789276e+02] [ 4.92200226e-03 1.34415786e-05 9.99987887e-01 1.02775056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.84, Y:123.79, Z:1.03 [[-5.39530531e-01 -8.41961831e-01 2.66103215e-03 1.79842887e+02] [ 8.41951650e-01 -5.39537093e-01 -4.14067520e-03 1.23788377e+02] [ 4.92201603e-03 6.43971958e-06 9.99987887e-01 1.02803626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.130281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.85, Y:123.77, Z:1.03 [[-5.41359048e-01 -8.40787305e-01 2.66264431e-03 1.79853821e+02] [ 8.40777114e-01 -5.41365596e-01 -4.13963825e-03 1.23773686e+02] [ 4.92201931e-03 -2.34022334e-06 9.99987887e-01 1.02809077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.85, Y:123.78, Z:1.03 [[-5.43489218e-01 -8.39411920e-01 2.66424712e-03 1.79852753e+02] [ 8.39401718e-01 -5.43495748e-01 -4.13860643e-03 1.23778401e+02] [ 4.92200255e-03 -1.29143590e-05 9.99987887e-01 1.02775468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.190281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.86, Y:123.77, Z:1.03 [[-5.47814062e-01 -8.36595868e-01 2.66584443e-03 1.79864674e+02] [ 8.36585637e-01 -5.47820547e-01 -4.13757729e-03 1.23768541e+02] [ 4.92188442e-03 -3.64158643e-05 9.99987887e-01 1.02643467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.87, Y:123.77, Z:1.03 [[-5.50214908e-01 -8.35018826e-01 2.66743839e-03 1.79866118e+02] [ 8.35008581e-01 -5.50221372e-01 -4.13654943e-03 1.23771008e+02] [ 4.92177826e-03 -4.86572163e-05 9.99987887e-01 1.02601588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.250281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.87, Y:123.77, Z:1.03 [[-5.54162568e-01 -8.32404184e-01 2.66902718e-03 1.79872045e+02] [ 8.32393914e-01 -5.54168991e-01 -4.13552403e-03 1.23772251e+02] [ 4.92151961e-03 -7.00706325e-05 9.99987887e-01 1.02537594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.88, Y:123.76, Z:1.03 [[-5.55388864e-01 -8.31586483e-01 2.67061797e-03 1.79880818e+02] [ 8.31576208e-01 -5.55395279e-01 -4.13449649e-03 1.23763914e+02] [ 4.92144001e-03 -7.54309443e-05 9.99987887e-01 1.02545739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.310281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.89, Y:123.76, Z:1.03 [[-5.56422986e-01 -8.30894891e-01 2.67220307e-03 1.79885599e+02] [ 8.30884613e-01 -5.56429397e-01 -4.13347176e-03 1.23760719e+02] [ 4.92137291e-03 -7.96662877e-05 9.99987887e-01 1.02583736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.90, Y:123.75, Z:1.03 [[-5.57076188e-01 -8.30457086e-01 2.67378094e-03 1.79896566e+02] [ 8.30446809e-01 -5.57082598e-01 -4.13245084e-03 1.23753964e+02] [ 4.92133992e-03 -8.16571157e-05 9.99987887e-01 1.02732306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.370281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.90, Y:123.75, Z:1.03 [[-5.57390784e-01 -8.30245961e-01 2.67535140e-03 1.79897990e+02] [ 8.30235686e-01 -5.57397199e-01 -4.13143387e-03 1.23751900e+02] [ 4.92133966e-03 -8.16509609e-05 9.99987887e-01 1.02731068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.90, Y:123.75, Z:1.03 [[-5.57480860e-01 -8.30185476e-01 2.67691632e-03 1.79904284e+02] [ 8.30175205e-01 -5.57487281e-01 -4.13041965e-03 1.23747999e+02] [ 4.92136121e-03 -8.03203459e-05 9.99987887e-01 1.02816222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.430281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.91, Y:123.75, Z:1.03 [[-5.57477317e-01 -8.30187850e-01 2.67847878e-03 1.79908211e+02] [ 8.30177584e-01 -5.57483746e-01 -4.12940618e-03 1.23748492e+02] [ 4.92139123e-03 -7.84372357e-05 9.99987887e-01 1.02724459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.91, Y:123.75, Z:1.03 [[-5.57391695e-01 -8.30245334e-01 2.68003856e-03 1.79912423e+02] [ 8.30235074e-01 -5.57398133e-01 -4.12839362e-03 1.23753173e+02] [ 4.92142803e-03 -7.60703040e-05 9.99987887e-01 1.02562927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.490281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.91, Y:123.76, Z:1.03 [[-5.57331875e-01 -8.30285487e-01 2.68160078e-03 1.79914438e+02] [ 8.30275232e-01 -5.57338321e-01 -4.12737863e-03 1.23755665e+02] [ 4.92146145e-03 -7.38529646e-05 9.99987887e-01 1.02548387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.92, Y:123.76, Z:1.03 [[-5.57506227e-01 -8.30168421e-01 2.68316699e-03 1.79916328e+02] [ 8.30158170e-01 -5.57512679e-01 -4.12636020e-03 1.23757884e+02] [ 4.92147355e-03 -7.30185061e-05 9.99987887e-01 1.02647943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.550281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.92, Y:123.75, Z:1.03 [[-5.57580384e-01 -8.30118611e-01 2.68473694e-03 1.79922118e+02] [ 8.30108363e-01 -5.57586842e-01 -4.12533849e-03 1.23754596e+02] [ 4.92149425e-03 -7.15852240e-05 9.99987887e-01 1.02843729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.91, Y:123.78, Z:1.03 [[-5.56943774e-01 -8.30545854e-01 2.68630651e-03 1.79913077e+02] [ 8.30535617e-01 -5.56950249e-01 -4.12431618e-03 1.23778440e+02] [ 4.92157278e-03 -6.59389833e-05 9.99987887e-01 1.03101833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.610281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.93, Y:123.76, Z:1.03 [[-5.56442045e-01 -8.30882077e-01 2.68788954e-03 1.79926716e+02] [ 8.30871848e-01 -5.56448534e-01 -4.12328423e-03 1.23762213e+02] [ 4.92163516e-03 -6.10769626e-05 9.99987887e-01 1.02999448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.93, Y:123.76, Z:1.03 [[-5.55748589e-01 -8.31346061e-01 2.68947721e-03 1.79929285e+02] [ 8.31335843e-01 -5.55755093e-01 -4.12224838e-03 1.23764152e+02] [ 4.92170562e-03 -5.50749181e-05 9.99987887e-01 1.02869490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.67028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.93, Y:123.78, Z:1.03 [[-5.54907644e-01 -8.31907606e-01 2.69105525e-03 1.79930289e+02] [ 8.31897399e-01 -5.54914167e-01 -4.12121796e-03 1.23776094e+02] [ 4.92177725e-03 -4.82134852e-05 9.99987887e-01 1.02515919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.94, Y:123.77, Z:1.03 [[-5.54878614e-01 -8.31926964e-01 2.69264106e-03 1.79936829e+02] [ 8.31916762e-01 -5.54885146e-01 -4.12018160e-03 1.23772114e+02] [ 4.92179669e-03 -4.61474259e-05 9.99987887e-01 1.02510652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.73028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.93, Y:123.80, Z:1.03 [[-5.55145498e-01 -8.31748891e-01 2.69423124e-03 1.79925042e+02] [ 8.31738692e-01 -5.55152034e-01 -4.11914150e-03 1.23800838e+02] [ 4.92179933e-03 -4.58264905e-05 9.99987887e-01 1.02512103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.94, Y:123.78, Z:1.02 [[-5.55376542e-01 -8.31594630e-01 2.69583745e-03 1.79941439e+02] [ 8.31584435e-01 -5.55383083e-01 -4.11809002e-03 1.23781340e+02] [ 4.92180406e-03 -4.52741368e-05 9.99987887e-01 1.02460851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.79028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.94, Y:123.78, Z:1.02 [[-5.55511787e-01 -8.31504287e-01 2.69744980e-03 1.79944928e+02] [ 8.31494095e-01 -5.55518334e-01 -4.11703362e-03 1.23781905e+02] [ 4.92181392e-03 -4.41471221e-05 9.99987887e-01 1.02443481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.95, Y:123.79, Z:1.03 [[-5.54432039e-01 -8.32224627e-01 2.69904868e-03 1.79947880e+02] [ 8.32214449e-01 -5.54438607e-01 -4.11598516e-03 1.23790747e+02] [ 4.92188100e-03 -3.58467254e-05 9.99987887e-01 1.02538324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.85028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.95, Y:123.80, Z:1.03 [[-5.53766352e-01 -8.32667721e-01 2.70065257e-03 1.79945201e+02] [ 8.32657554e-01 -5.53772937e-01 -4.11493252e-03 1.23801649e+02] [ 4.92191979e-03 -2.99924110e-05 9.99987887e-01 1.02685816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.880281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.96, Y:123.79, Z:1.03 [[-5.53002682e-01 -8.33175090e-01 2.70226917e-03 1.79960248e+02] [ 8.33164934e-01 -5.53009284e-01 -4.11387062e-03 1.23785001e+02] [ 4.92195447e-03 -2.35455733e-05 9.99987887e-01 1.02896809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.91028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.97, Y:123.78, Z:1.03 [[-5.50999575e-01 -8.34501143e-01 2.70388123e-03 1.79970036e+02] [ 8.34491008e-01 -5.51006209e-01 -4.11281081e-03 1.23778109e+02] [ 4.92200067e-03 -9.79243835e-06 9.99987887e-01 1.03155272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.940281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.97, Y:123.78, Z:1.03 [[-5.50461110e-01 -8.34856423e-01 2.70547606e-03 1.79971773e+02] [ 8.34846297e-01 -5.50467758e-01 -4.11176144e-03 1.23779631e+02] [ 4.92200779e-03 -4.70809744e-06 9.99987887e-01 1.03111535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.97028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.97, Y:123.79, Z:1.03 [[-5.50163332e-01 -8.35052681e-01 2.70706699e-03 1.79968349e+02] [ 8.35042563e-01 -5.50169992e-01 -4.11071374e-03 1.23790233e+02] [ 4.92200956e-03 -1.04781468e-06 9.99987887e-01 1.02931968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.000281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.98, Y:123.78, Z:1.03 [[-5.49531440e-01 -8.35468647e-01 2.70866693e-03 1.79983569e+02] [ 8.35458539e-01 -5.49538115e-01 -4.10965923e-03 1.23779235e+02] [ 4.92200715e-03 4.59196484e-06 9.99987887e-01 1.02523115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.03028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.99, Y:123.77, Z:1.02 [[-5.49295831e-01 -8.35623566e-01 2.71026537e-03 1.79993822e+02] [ 8.35613465e-01 -5.49302517e-01 -4.10860481e-03 1.23768119e+02] [ 4.92200259e-03 7.89474633e-06 9.99987887e-01 1.02448428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.060281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.01, Y:123.76, Z:1.03 [[-5.47129443e-01 -8.37043618e-01 2.71184685e-03 1.80005065e+02] [ 8.37033540e-01 -5.47136163e-01 -4.10756070e-03 1.23755833e+02] [ 4.92195695e-03 2.25393764e-05 9.99987887e-01 1.02547393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.09028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.01, Y:123.76, Z:1.03 [[-5.45366155e-01 -8.38193531e-01 2.71341302e-03 1.80005452e+02] [ 8.38183472e-01 -5.45372904e-01 -4.10652585e-03 1.23756589e+02] [ 4.92188533e-03 3.47777312e-05 9.99987887e-01 1.02780591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.120281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.02, Y:123.74, Z:1.03 [[-5.42867283e-01 -8.39814112e-01 2.71497258e-03 1.80019123e+02] [ 8.39804078e-01 -5.42874069e-01 -4.10549450e-03 1.23736382e+02] [ 4.92174043e-03 5.13064036e-05 9.99987887e-01 1.02994925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.15028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.02, Y:123.74, Z:1.03 [[-5.40384608e-01 -8.41413748e-01 2.71652104e-03 1.80015191e+02] [ 8.41403740e-01 -5.40391432e-01 -4.10446966e-03 1.23741051e+02] [ 4.92154190e-03 6.76987335e-05 9.99987887e-01 1.03188262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.180281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.03, Y:123.71, Z:1.03 [[-5.35321733e-01 -8.44643862e-01 2.71806130e-03 1.80034963e+02] [ 8.44633900e-01 -5.35328624e-01 -4.10344942e-03 1.23706439e+02] [ 4.92100938e-03 9.91010616e-05 9.99987887e-01 1.03194132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.21028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:180.03, Y:123.72, Z:1.03 [[-5.33935035e-01 -8.45521131e-01 2.71958601e-03 1.80028033e+02] [ 8.45511185e-01 -5.33941949e-01 -4.10243866e-03 1.23715036e+02] [ 4.92079963e-03 1.09004668e-04 9.99987887e-01 1.03166673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.240281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.03, Y:123.71, Z:1.03 [[-5.32771372e-01 -8.46254844e-01 2.72109744e-03 1.80033320e+02] [ 8.46244913e-01 -5.32778308e-01 -4.10143591e-03 1.23705120e+02] [ 4.92060169e-03 1.17587227e-04 9.99987887e-01 1.03114054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.27028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.04, Y:123.70, Z:1.03 [[-5.33479183e-01 -8.45808813e-01 2.72261115e-03 1.80036488e+02] [ 8.45798882e-01 -5.33486118e-01 -4.10043083e-03 1.23697892e+02] [ 4.92065579e-03 1.15286979e-04 9.99987887e-01 1.03108607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.300281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.02, Y:123.72, Z:1.03 [[-5.34295987e-01 -8.45293072e-01 2.72411702e-03 1.80022953e+02] [ 8.45283139e-01 -5.34302919e-01 -4.09943016e-03 1.23715297e+02] [ 4.92072359e-03 1.12341099e-04 9.99987887e-01 1.03096754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.33028169299996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:180.03, Y:123.70, Z:1.03 [[-5.35067615e-01 -8.44804841e-01 2.72563266e-03 1.80033933e+02] [ 8.44794906e-01 -5.35074546e-01 -4.09842219e-03 1.23695084e+02] [ 4.92078356e-03 1.09667603e-04 9.99987887e-01 1.02970236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.360281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.03, Y:123.70, Z:1.03 [[-5.35777425e-01 -8.44354851e-01 2.72715012e-03 1.80028918e+02] [ 8.44344916e-01 -5.35784355e-01 -4.09741220e-03 1.23701494e+02] [ 4.92083424e-03 1.07354380e-04 9.99987887e-01 1.02883846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.39028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.02, Y:123.71, Z:1.03 [[-5.36253744e-01 -8.44052413e-01 2.72866186e-03 1.80024851e+02] [ 8.44042480e-01 -5.36260676e-01 -4.09640521e-03 1.23705475e+02] [ 4.92085476e-03 1.06393890e-04 9.99987887e-01 1.02892846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.03, Y:123.69, Z:1.03 [[-5.35372103e-01 -8.44611897e-01 2.73018323e-03 1.80029489e+02] [ 8.44601976e-01 -5.35379053e-01 -4.09539100e-03 1.23691957e+02] [ 4.92069887e-03 1.13360063e-04 9.99987887e-01 1.03336051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.45028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.03, Y:123.69, Z:1.03 [[-5.34823775e-01 -8.44959211e-01 2.73170226e-03 1.80029595e+02] [ 8.44949299e-01 -5.34830738e-01 -4.09437753e-03 1.23689505e+02] [ 4.92058034e-03 1.18379462e-04 9.99987887e-01 1.03443737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.04, Y:123.68, Z:1.03 [[-5.34704772e-01 -8.45034518e-01 2.73321483e-03 1.80037002e+02] [ 8.45024612e-01 -5.34711744e-01 -4.09336756e-03 1.23676840e+02] [ 4.92051895e-03 1.20890633e-04 9.99987887e-01 1.03487610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.51028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:180.03, Y:123.68, Z:1.03 [[-5.36014342e-01 -8.44204446e-01 2.73472122e-03 1.80034285e+02] [ 8.44194534e-01 -5.36021306e-01 -4.09236091e-03 1.23677286e+02] [ 4.92065811e-03 1.15072569e-04 9.99987887e-01 1.03281947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:180.03, Y:123.68, Z:1.03 [[-5.37234775e-01 -8.43428307e-01 2.73622316e-03 1.80033315e+02] [ 8.43418391e-01 -5.37241732e-01 -4.09135644e-03 1.23678645e+02] [ 4.92077911e-03 1.09761979e-04 9.99987887e-01 1.03133475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.57028169299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:180.03, Y:123.68, Z:1.03 [[-5.40011356e-01 -8.41653278e-01 2.73772882e-03 1.80030216e+02] [ 8.41643344e-01 -5.40018287e-01 -4.09034868e-03 1.23683759e+02] [ 4.92107900e-03 9.53564996e-05 9.99987887e-01 1.03396746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.02, Y:123.70, Z:1.04 [[-5.41375056e-01 -8.40776751e-01 2.73924110e-03 1.80020855e+02] [ 8.40766811e-01 -5.41381979e-01 -4.08933568e-03 1.23695104e+02] [ 4.92119413e-03 8.91986731e-05 9.99987887e-01 1.03567679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.630281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.03, Y:123.68, Z:1.04 [[-5.41976629e-01 -8.40389090e-01 2.74076647e-03 1.80029101e+02] [ 8.40379150e-01 -5.41983552e-01 -4.08831308e-03 1.23679066e+02] [ 4.92122406e-03 8.75128557e-05 9.99987887e-01 1.03564138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:180.02, Y:123.69, Z:1.03 [[-5.41499286e-01 -8.40696737e-01 2.74229246e-03 1.80021285e+02] [ 8.40686806e-01 -5.41506222e-01 -4.08728925e-03 1.23685422e+02] [ 4.92113917e-03 9.21448814e-05 9.99987887e-01 1.03413647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.690281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.02, Y:123.68, Z:1.03 [[-5.41119140e-01 -8.40941465e-01 2.74381657e-03 1.80020092e+02] [ 8.40931543e-01 -5.41126088e-01 -4.08626585e-03 1.23684693e+02] [ 4.92106112e-03 9.62052421e-05 9.99987887e-01 1.03309022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.03, Y:123.67, Z:1.03 [[-5.40835008e-01 -8.41124222e-01 2.74534775e-03 1.80028154e+02] [ 8.41114307e-01 -5.40841967e-01 -4.08523687e-03 1.23667562e+02] [ 4.92099096e-03 9.97121582e-05 9.99987887e-01 1.03309811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.750281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.02, Y:123.67, Z:1.03 [[-5.40915191e-01 -8.41072655e-01 2.74687160e-03 1.80018966e+02] [ 8.41062744e-01 -5.40922157e-01 -4.08421200e-03 1.23674516e+02] [ 4.92096274e-03 1.01079048e-04 9.99987887e-01 1.03284623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.02, Y:123.66, Z:1.03 [[-5.41740949e-01 -8.40541011e-01 2.74839334e-03 1.80018534e+02] [ 8.40531098e-01 -5.41747912e-01 -4.08318771e-03 1.23664890e+02] [ 4.92102308e-03 9.80800850e-05 9.99987887e-01 1.03308675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.810281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.01, Y:123.67, Z:1.03 [[-5.42765735e-01 -8.39879631e-01 2.74991914e-03 1.80013609e+02] [ 8.39869716e-01 -5.42772693e-01 -4.08215987e-03 1.23668375e+02] [ 4.92110394e-03 9.39173011e-05 9.99987887e-01 1.03224426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.00, Y:123.68, Z:1.03 [[-5.45397433e-01 -8.38173055e-01 2.75144604e-03 1.79998927e+02] [ 8.38163123e-01 -5.45404367e-01 -4.08113045e-03 1.23680958e+02] [ 4.92134426e-03 8.03225383e-05 9.99987887e-01 1.03058013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.870281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:180.00, Y:123.67, Z:1.03 [[-5.47186023e-01 -8.37006498e-01 2.75298859e-03 1.80004457e+02] [ 8.36996556e-01 -5.47192943e-01 -4.08008963e-03 1.23668041e+02] [ 4.92147747e-03 7.16739510e-05 9.99987887e-01 1.02974660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.00, Y:123.66, Z:1.03 [[-5.49048470e-01 -8.35785972e-01 2.75453633e-03 1.80004033e+02] [ 8.35776020e-01 -5.49055376e-01 -4.07904446e-03 1.23664901e+02] [ 4.92160112e-03 6.25822944e-05 9.99987887e-01 1.02956815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.930281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.99, Y:123.69, Z:1.03 [[-5.52261126e-01 -8.33666632e-01 2.75607758e-03 1.79986509e+02] [ 8.33656659e-01 -5.52268001e-01 -4.07800282e-03 1.23685259e+02] [ 4.92178833e-03 4.54999998e-05 9.99987887e-01 1.02964020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96028169299996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:179.99, Y:123.68, Z:1.03 [[-5.53739541e-01 -8.32685365e-01 2.75763478e-03 1.79991668e+02] [ 8.32675385e-01 -5.53746406e-01 -4.07694954e-03 1.23675645e+02] [ 4.92184656e-03 3.86464359e-05 9.99987887e-01 1.02957121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.990281693 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:179.99, Y:123.68, Z:1.03 [[-5.55157459e-01 -8.31740694e-01 2.75920354e-03 1.79987395e+02] [ 8.31730708e-01 -5.55164315e-01 -4.07588755e-03 1.23680705e+02] [ 4.92189289e-03 3.21549372e-05 9.99987887e-01 1.03015396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02028169299996 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:179.98, Y:123.69, Z:1.03 [[-5.57223167e-01 -8.30358188e-01 2.76077242e-03 1.79981773e+02] [ 8.30348190e-01 -5.57230006e-01 -4.07482461e-03 1.23688500e+02] [ 4.92194921e-03 2.18157060e-05 9.99987887e-01 1.03055238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.050281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.99, Y:123.68, Z:1.03 [[-5.58092047e-01 -8.29774449e-01 2.76235304e-03 1.79986021e+02] [ 8.29764449e-01 -5.58098883e-01 -4.07375281e-03 1.23681681e+02] [ 4.92196214e-03 1.85733034e-05 9.99987887e-01 1.03106769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.99, Y:123.67, Z:1.03 [[-5.58605839e-01 -8.29428645e-01 2.76393697e-03 1.79990482e+02] [ 8.29418646e-01 -5.58612677e-01 -4.07267788e-03 1.23674114e+02] [ 4.92196592e-03 1.74392141e-05 9.99987887e-01 1.03073986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.110281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:179.98, Y:123.68, Z:1.03 [[-5.58618755e-01 -8.29419941e-01 2.76551383e-03 1.79983394e+02] [ 8.29409948e-01 -5.58625600e-01 -4.07160684e-03 1.23681459e+02] [ 4.92195873e-03 1.92687431e-05 9.99987887e-01 1.03047351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.99, Y:123.68, Z:1.03 [[-5.58534856e-01 -8.29476436e-01 2.76709399e-03 1.79987156e+02] [ 8.29466449e-01 -5.58541710e-01 -4.07053267e-03 1.23675186e+02] [ 4.92194834e-03 2.16772502e-05 9.99987887e-01 1.03018248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.17028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.99, Y:123.67, Z:1.03 [[-5.58296801e-01 -8.29636678e-01 2.76867828e-03 1.79991728e+02] [ 8.29626697e-01 -5.58303665e-01 -4.06945479e-03 1.23667757e+02] [ 4.92193218e-03 2.50058265e-05 9.99987887e-01 1.03195694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.99, Y:123.67, Z:1.03 [[-5.58520419e-01 -8.29486147e-01 2.77025575e-03 1.79992117e+02] [ 8.29476170e-01 -5.58527289e-01 -4.06838065e-03 1.23667271e+02] [ 4.92192882e-03 2.55874577e-05 9.99987887e-01 1.03309566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.23028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.00, Y:123.66, Z:1.03 [[-5.58908089e-01 -8.29224979e-01 2.77182988e-03 1.79998010e+02] [ 8.29215004e-01 -5.58914961e-01 -4.06730789e-03 1.23659604e+02] [ 4.92193049e-03 2.51916468e-05 9.99987887e-01 1.03337852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.00, Y:123.66, Z:1.03 [[-5.59227574e-01 -8.29009547e-01 2.77340070e-03 1.79999478e+02] [ 8.28999575e-01 -5.59234451e-01 -4.06623651e-03 1.23657583e+02] [ 4.92193010e-03 2.51964242e-05 9.99987887e-01 1.03336613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.29028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.00, Y:123.66, Z:1.03 [[-5.60076041e-01 -8.28436556e-01 2.77496716e-03 1.79998384e+02] [ 8.28426582e-01 -5.60082915e-01 -4.06516721e-03 1.23661576e+02] [ 4.92194482e-03 2.20538042e-05 9.99987887e-01 1.02978707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.00, Y:123.66, Z:1.03 [[-5.60700819e-01 -8.28013818e-01 2.77653662e-03 1.79998520e+02] [ 8.28003844e-01 -5.60707694e-01 -4.06409497e-03 1.23662310e+02] [ 4.92195224e-03 2.02416153e-05 9.99987887e-01 1.02814434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.35028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:180.00, Y:123.66, Z:1.03 [[-5.60863464e-01 -8.27903652e-01 2.77811148e-03 1.80002627e+02] [ 8.27893682e-01 -5.60870344e-01 -4.06301816e-03 1.23657534e+02] [ 4.92194791e-03 2.11825032e-05 9.99987887e-01 1.02821830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.380281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.01, Y:123.66, Z:1.03 [[-5.60133903e-01 -8.28397419e-01 2.77968538e-03 1.80006855e+02] [ 8.28387461e-01 -5.60140799e-01 -4.06194110e-03 1.23655091e+02] [ 4.92191671e-03 2.74255959e-05 9.99987887e-01 1.02825587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.41028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.01, Y:123.65, Z:1.03 [[-5.59854669e-01 -8.28586154e-01 2.78125519e-03 1.80008776e+02] [ 8.28576203e-01 -5.59861577e-01 -4.06086595e-03 1.23654722e+02] [ 4.92189521e-03 3.09870984e-05 9.99987887e-01 1.02758909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.440281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:180.01, Y:123.65, Z:1.03 [[-5.59328255e-01 -8.28941590e-01 2.78282405e-03 1.80014372e+02] [ 8.28931649e-01 -5.59335177e-01 -4.05979056e-03 1.23648749e+02] [ 4.92186062e-03 3.60153541e-05 9.99987887e-01 1.02661691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.47028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.02, Y:123.65, Z:1.03 [[-5.57361661e-01 -8.30265154e-01 2.78439013e-03 1.80015336e+02] [ 8.30255235e-01 -5.57368614e-01 -4.05871618e-03 1.23649874e+02] [ 4.92174229e-03 4.95816852e-05 9.99987887e-01 1.02881752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.500281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.03, Y:123.63, Z:1.03 [[-5.56202135e-01 -8.31042372e-01 2.78595422e-03 1.80026565e+02] [ 8.31032468e-01 -5.56209109e-01 -4.05764229e-03 1.23633825e+02] [ 4.92164579e-03 5.83491048e-05 9.99987887e-01 1.03016174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.53028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.03, Y:123.62, Z:1.03 [[-5.55073523e-01 -8.31796618e-01 2.78750983e-03 1.80034176e+02] [ 8.31786729e-01 -5.55080518e-01 -4.05657334e-03 1.23623177e+02] [ 4.92153638e-03 6.69172227e-05 9.99987887e-01 1.03086275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.560281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:180.03, Y:123.63, Z:1.03 [[-5.52536553e-01 -8.33484000e-01 2.78904915e-03 1.80029091e+02] [ 8.33474138e-01 -5.52543586e-01 -4.05551472e-03 1.23632077e+02] [ 4.92127785e-03 8.37802113e-05 9.99987887e-01 1.02764277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.59028169299995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:180.03, Y:123.63, Z:1.03 [[-5.52023442e-01 -8.33823922e-01 2.79058933e-03 1.80033705e+02] [ 8.33814069e-01 -5.52030488e-01 -4.05445465e-03 1.23626711e+02] [ 4.92119167e-03 8.86786335e-05 9.99987887e-01 1.02798552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.620281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.05, Y:123.61, Z:1.03 [[-5.51238025e-01 -8.34343361e-01 2.79213420e-03 1.80050473e+02] [ 8.34333520e-01 -5.51245088e-01 -4.05339049e-03 1.23605234e+02] [ 4.92106970e-03 9.51881837e-05 9.99987887e-01 1.02767992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.65028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.04, Y:123.62, Z:1.03 [[-5.51402608e-01 -8.34234595e-01 2.79366198e-03 1.80038983e+02] [ 8.34224758e-01 -5.51409677e-01 -4.05233724e-03 1.23623694e+02] [ 4.92105216e-03 9.60726628e-05 9.99987887e-01 1.02896938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.680281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.04, Y:123.62, Z:1.03 [[-5.51855443e-01 -8.33935103e-01 2.79518936e-03 1.80044992e+02] [ 8.33925268e-01 -5.51862514e-01 -4.05128342e-03 1.23618358e+02] [ 4.92106769e-03 9.52562333e-05 9.99987887e-01 1.03015555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.71028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.05, Y:123.61, Z:1.03 [[-5.53123286e-01 -8.33094718e-01 2.79672668e-03 1.80051921e+02] [ 8.33084877e-01 -5.53130349e-01 -4.05022188e-03 1.23614700e+02] [ 4.92117286e-03 8.96386642e-05 9.99987887e-01 1.02897463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.740281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.05, Y:123.62, Z:1.03 [[-5.54121547e-01 -8.32431067e-01 2.79825804e-03 1.80051030e+02] [ 8.32421223e-01 -5.54128606e-01 -4.04916360e-03 1.23618671e+02] [ 4.92124441e-03 8.56005800e-05 9.99987887e-01 1.02839756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.77028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.07, Y:123.60, Z:1.03 [[-5.54994804e-01 -8.31849102e-01 2.79979025e-03 1.80065238e+02] [ 8.31839257e-01 -5.55001860e-01 -4.04810388e-03 1.23601870e+02] [ 4.92130038e-03 8.22988195e-05 9.99987887e-01 1.02931150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.800281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:180.07, Y:123.60, Z:1.03 [[-5.55595370e-01 -8.31448096e-01 2.80131480e-03 1.80071592e+02] [ 8.31438251e-01 -5.55602427e-01 -4.04704861e-03 1.23602311e+02] [ 4.92132816e-03 8.05988081e-05 9.99987887e-01 1.03456473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.83028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.08, Y:123.60, Z:1.04 [[-5.55460840e-01 -8.31537972e-01 2.80282807e-03 1.80076544e+02] [ 8.31528133e-01 -5.55467905e-01 -4.04600030e-03 1.23598974e+02] [ 4.92128393e-03 8.32356662e-05 9.99987887e-01 1.03729787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.860281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.08, Y:123.59, Z:1.04 [[-5.53608718e-01 -8.32772192e-01 2.80433874e-03 1.80081591e+02] [ 8.32762373e-01 -5.53615812e-01 -4.04495296e-03 1.23593714e+02] [ 4.92105062e-03 9.60265635e-05 9.99987887e-01 1.03588202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.89028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.09, Y:123.58, Z:1.03 [[-5.52200945e-01 -8.33706329e-01 2.80584487e-03 1.80092788e+02] [ 8.33696529e-01 -5.52208063e-01 -4.04390795e-03 1.23577710e+02] [ 4.92084181e-03 1.06173335e-04 9.99987887e-01 1.03301709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.09, Y:123.58, Z:1.03 [[-5.50810122e-01 -8.34625861e-01 2.80733878e-03 1.80089782e+02] [ 8.34616077e-01 -5.50817264e-01 -4.04287059e-03 1.23582946e+02] [ 4.92061501e-03 1.16196036e-04 9.99987887e-01 1.03055457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.95028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.10, Y:123.58, Z:1.03 [[-5.49212428e-01 -8.35678060e-01 2.80882824e-03 1.80095251e+02] [ 8.35668295e-01 -5.49219596e-01 -4.04183551e-03 1.23578381e+02] [ 4.92033676e-03 1.27422411e-04 9.99987887e-01 1.02744977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.09, Y:123.59, Z:1.03 [[-5.49936038e-01 -8.35202045e-01 2.81031946e-03 1.80092268e+02] [ 8.35192279e-01 -5.49943205e-01 -4.04079838e-03 1.23585135e+02] [ 4.92039916e-03 1.24976456e-04 9.99987887e-01 1.02706597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.01028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.09, Y:123.59, Z:1.03 [[-5.51125489e-01 -8.34417635e-01 2.81181292e-03 1.80089776e+02] [ 8.34407865e-01 -5.51132648e-01 -4.03975888e-03 1.23591585e+02] [ 4.92052795e-03 1.19784730e-04 9.99987887e-01 1.02773051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.11, Y:123.57, Z:1.03 [[-5.52514567e-01 -8.33498494e-01 2.81331590e-03 1.80106503e+02] [ 8.33488716e-01 -5.52521718e-01 -4.03871192e-03 1.23573506e+02] [ 4.92067844e-03 1.13419895e-04 9.99987887e-01 1.03016895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.07028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.11, Y:123.57, Z:1.03 [[-5.52688772e-01 -8.33382984e-01 2.81481172e-03 1.80107156e+02] [ 8.33373211e-01 -5.52695928e-01 -4.03766913e-03 1.23572950e+02] [ 4.92065972e-03 1.14214289e-04 9.99987887e-01 1.03144690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.10, Y:123.58, Z:1.03 [[-5.50965567e-01 -8.34523225e-01 2.81629665e-03 1.80102195e+02] [ 8.34513471e-01 -5.50972751e-01 -4.03663312e-03 1.23577610e+02] [ 4.92036680e-03 1.26191640e-04 9.99987887e-01 1.03369819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.130281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.11, Y:123.57, Z:1.03 [[-5.49920232e-01 -8.35212427e-01 2.81778691e-03 1.80108159e+02] [ 8.35202688e-01 -5.49927435e-01 -4.03559257e-03 1.23567048e+02] [ 4.92015539e-03 1.34169203e-04 9.99987887e-01 1.03409649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.10, Y:123.57, Z:1.03 [[-5.48755644e-01 -8.35978047e-01 2.81927630e-03 1.80103992e+02] [ 8.35968324e-01 -5.48762867e-01 -4.03455180e-03 1.23570899e+02] [ 4.91991089e-03 1.42842613e-04 9.99987887e-01 1.03366003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.190281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.11, Y:123.55, Z:1.03 [[-5.45638339e-01 -8.38016018e-01 2.82076483e-03 1.80112883e+02] [ 8.38006327e-01 -5.45645606e-01 -4.03351083e-03 1.23552342e+02] [ 4.91928462e-03 1.62980628e-04 9.99987887e-01 1.03084576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.12, Y:123.54, Z:1.03 [[-5.44498365e-01 -8.38757155e-01 2.82224776e-03 1.80117536e+02] [ 8.38747479e-01 -5.44505652e-01 -4.03247296e-03 1.23542678e+02] [ 4.91899540e-03 1.71478256e-04 9.99987887e-01 1.02911481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.250281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.12, Y:123.54, Z:1.03 [[-5.43824472e-01 -8.39194239e-01 2.82371671e-03 1.80118216e+02] [ 8.39184574e-01 -5.43831774e-01 -4.03144407e-03 1.23538540e+02] [ 4.91879151e-03 1.77221560e-04 9.99987887e-01 1.02710705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.12, Y:123.54, Z:1.03 [[-5.43632433e-01 -8.39318650e-01 2.82518088e-03 1.80118497e+02] [ 8.39308992e-01 -5.43639745e-01 -4.03041774e-03 1.23535183e+02] [ 4.91868539e-03 1.80133910e-04 9.99987887e-01 1.02599846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.310281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.11, Y:123.54, Z:1.03 [[-5.43959968e-01 -8.39106408e-01 2.82664353e-03 1.80107699e+02] [ 8.39096753e-01 -5.43967282e-01 -4.02939168e-03 1.23542689e+02] [ 4.91868998e-03 1.79999637e-04 9.99987887e-01 1.02848285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.11, Y:123.53, Z:1.03 [[-5.44956273e-01 -8.38459697e-01 2.82811298e-03 1.80110236e+02] [ 8.38450038e-01 -5.44963582e-01 -4.02836005e-03 1.23534930e+02] [ 4.91883613e-03 1.75951358e-04 9.99987887e-01 1.03053149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.370281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.11, Y:123.53, Z:1.03 [[-5.46180161e-01 -8.37662955e-01 2.82958719e-03 1.80111809e+02] [ 8.37653291e-01 -5.46187464e-01 -4.02732428e-03 1.23529703e+02] [ 4.91902540e-03 1.70568400e-04 9.99987887e-01 1.03208304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.10, Y:123.54, Z:1.03 [[-5.49840424e-01 -8.35264924e-01 2.83105682e-03 1.80098178e+02] [ 8.35255233e-01 -5.49847692e-01 -4.02629091e-03 1.23544698e+02] [ 4.91966963e-03 1.50837525e-04 9.99987887e-01 1.03285337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.430281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.10, Y:123.54, Z:1.03 [[-5.51879798e-01 -8.33918860e-01 2.83253639e-03 1.80097563e+02] [ 8.33909157e-01 -5.51887049e-01 -4.02524975e-03 1.23544428e+02] [ 4.91997184e-03 1.40624017e-04 9.99987887e-01 1.03214888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.09, Y:123.55, Z:1.03 [[-5.55542533e-01 -8.31483290e-01 2.83402867e-03 1.80093364e+02] [ 8.31473561e-01 -5.55549749e-01 -4.02419882e-03 1.23550899e+02] [ 4.92049799e-03 1.20806304e-04 9.99987887e-01 1.03103877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.490281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.10, Y:123.54, Z:1.03 [[-5.57431364e-01 -8.30218185e-01 2.83552755e-03 1.80098309e+02] [ 8.30208444e-01 -5.57438565e-01 -4.02314241e-03 1.23544269e+02] [ 4.92071839e-03 1.11453155e-04 9.99987887e-01 1.03086338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52028169299996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:180.10, Y:123.54, Z:1.03 [[-5.59089425e-01 -8.29102506e-01 2.83702821e-03 1.80099797e+02] [ 8.29092757e-01 -5.59096613e-01 -4.02208390e-03 1.23543241e+02] [ 4.92089270e-03 1.03454969e-04 9.99987887e-01 1.03016471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.550281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.09, Y:123.56, Z:1.03 [[-5.60748261e-01 -8.27981479e-01 2.83852581e-03 1.80088213e+02] [ 8.27971721e-01 -5.60755437e-01 -4.02102671e-03 1.23560135e+02] [ 4.92105443e-03 9.54353655e-05 9.99987887e-01 1.03004286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.09, Y:123.55, Z:1.03 [[-5.63032689e-01 -8.26429746e-01 2.84003595e-03 1.80094913e+02] [ 8.26419973e-01 -5.63039846e-01 -4.01995982e-03 1.23552654e+02] [ 4.92126778e-03 8.36936457e-05 9.99987887e-01 1.02999934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.610281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.10, Y:123.55, Z:1.03 [[-5.63926014e-01 -8.25820426e-01 2.84155436e-03 1.80096641e+02] [ 8.25810651e-01 -5.63933168e-01 -4.01888623e-03 1.23552109e+02] [ 4.92132509e-03 8.02313579e-05 9.99987887e-01 1.03012884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.09, Y:123.56, Z:1.03 [[-5.64381111e-01 -8.25509466e-01 2.84306839e-03 1.80094832e+02] [ 8.25499693e-01 -5.64388266e-01 -4.01781487e-03 1.23557600e+02] [ 4.92133865e-03 7.93732643e-05 9.99987887e-01 1.03079995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.67028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.11, Y:123.54, Z:1.03 [[-5.64351028e-01 -8.25530027e-01 2.84458699e-03 1.80106058e+02] [ 8.25520259e-01 -5.64358191e-01 -4.01673943e-03 1.23541333e+02] [ 4.92130498e-03 8.14131656e-05 9.99987887e-01 1.03111301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.10, Y:123.54, Z:1.03 [[-5.64261217e-01 -8.25591412e-01 2.84610022e-03 1.80104828e+02] [ 8.25581650e-01 -5.64268388e-01 -4.01566693e-03 1.23541714e+02] [ 4.92126451e-03 8.38030068e-05 9.99987887e-01 1.03180487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.73028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:180.10, Y:123.54, Z:1.03 [[-5.63827070e-01 -8.25887962e-01 2.84760565e-03 1.80102386e+02] [ 8.25878210e-01 -5.63834254e-01 -4.01459911e-03 1.23543055e+02] [ 4.92118669e-03 8.82357967e-05 9.99987887e-01 1.03177546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.10, Y:123.54, Z:1.03 [[-5.63392125e-01 -8.26184723e-01 2.84911535e-03 1.80104731e+02] [ 8.26174979e-01 -5.63399321e-01 -4.01352741e-03 1.23538666e+02] [ 4.92110468e-03 9.26780828e-05 9.99987887e-01 1.03153645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.79028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.11, Y:123.53, Z:1.03 [[-5.61505163e-01 -8.27468323e-01 2.85062588e-03 1.80105059e+02] [ 8.27458602e-01 -5.61512389e-01 -4.01245426e-03 1.23532857e+02] [ 4.92084055e-03 1.05761118e-04 9.99987887e-01 1.02931739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82028169299997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:180.10, Y:123.54, Z:1.03 [[-5.60819199e-01 -8.27933386e-01 2.85213329e-03 1.80100493e+02] [ 8.27923676e-01 -5.60826440e-01 -4.01138248e-03 1.23535649e+02] [ 4.92070923e-03 1.11688368e-04 9.99987887e-01 1.02919588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.85028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.10, Y:123.53, Z:1.03 [[-5.60866332e-01 -8.27901452e-01 2.85364301e-03 1.80103071e+02] [ 8.27891747e-01 -5.60873580e-01 -4.01030820e-03 1.23528225e+02] [ 4.92067295e-03 1.13260647e-04 9.99987887e-01 1.02790933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.880281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.10, Y:123.54, Z:1.03 [[-5.62447594e-01 -8.26828006e-01 2.85515381e-03 1.80096917e+02] [ 8.26818293e-01 -5.62454831e-01 -4.00923228e-03 1.23535587e+02] [ 4.92084059e-03 1.05710347e-04 9.99987887e-01 1.02875994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.91028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.11, Y:123.52, Z:1.03 [[-5.64249106e-01 -8.25599652e-01 2.85666816e-03 1.80110068e+02] [ 8.25589928e-01 -5.64256329e-01 -4.00815299e-03 1.23515531e+02] [ 4.92102280e-03 9.68397211e-05 9.99987887e-01 1.02872219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.940281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.10, Y:123.52, Z:1.03 [[-5.66129804e-01 -8.24311152e-01 2.85817666e-03 1.80103490e+02] [ 8.24301417e-01 -5.66137012e-01 -4.00707700e-03 1.23523406e+02] [ 4.92119785e-03 8.74733578e-05 9.99987887e-01 1.02935953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.97028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.10, Y:123.53, Z:1.03 [[-5.70023863e-01 -8.21623161e-01 2.85968034e-03 1.80100164e+02] [ 8.21613397e-01 -5.70031032e-01 -4.00600360e-03 1.23526457e+02] [ 4.92153187e-03 6.60340369e-05 9.99987887e-01 1.02838907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.000281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.10, Y:123.53, Z:1.03 [[-5.71560166e-01 -8.20555172e-01 2.86119397e-03 1.80098416e+02] [ 8.20545401e-01 -5.71567324e-01 -4.00492223e-03 1.23527950e+02] [ 4.92162463e-03 5.86855396e-05 9.99987887e-01 1.02689331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.03028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.10, Y:123.52, Z:1.03 [[-5.73141409e-01 -8.19451482e-01 2.86271368e-03 1.80097756e+02] [ 8.19441702e-01 -5.73148556e-01 -4.00383565e-03 1.23523678e+02] [ 4.92170927e-03 5.10629646e-05 9.99987887e-01 1.02711151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.060281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.09, Y:123.53, Z:1.03 [[-5.73510513e-01 -8.19193193e-01 2.86423523e-03 1.80094146e+02] [ 8.19183415e-01 -5.73517663e-01 -4.00274688e-03 1.23527075e+02] [ 4.92171249e-03 5.07165788e-05 9.99987887e-01 1.02863998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.09028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.09, Y:123.53, Z:1.03 [[-5.73743607e-01 -8.19029951e-01 2.86576038e-03 1.80093363e+02] [ 8.19020177e-01 -5.73750761e-01 -4.00165466e-03 1.23527609e+02] [ 4.92170722e-03 5.11917966e-05 9.99987887e-01 1.02942084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.120281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:180.09, Y:123.53, Z:1.03 [[-5.74478115e-01 -8.18514920e-01 2.86729068e-03 1.80094655e+02] [ 8.18505145e-01 -5.74485269e-01 -4.00055785e-03 1.23525220e+02] [ 4.92173255e-03 4.86592331e-05 9.99987887e-01 1.02844767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.15028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.09, Y:123.53, Z:1.03 [[-5.75827692e-01 -8.17566046e-01 2.86882261e-03 1.80092252e+02] [ 8.17556265e-01 -5.75834836e-01 -3.99945900e-03 1.23528685e+02] [ 4.92178987e-03 4.24246503e-05 9.99987887e-01 1.02767763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.180281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.09, Y:123.53, Z:1.03 [[-5.76142317e-01 -8.17344354e-01 2.87035767e-03 1.80093768e+02] [ 8.17334575e-01 -5.76149465e-01 -3.99835700e-03 1.23526699e+02] [ 4.92178955e-03 4.24199030e-05 9.99987887e-01 1.02766524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.21028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.09, Y:123.53, Z:1.03 [[-5.79829878e-01 -8.14732511e-01 2.87189617e-03 1.80092378e+02] [ 8.14722706e-01 -5.79836990e-01 -3.99725164e-03 1.23531134e+02] [ 4.92192249e-03 2.20730846e-05 9.99987887e-01 1.02996522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.240281693 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:180.10, Y:123.53, Z:1.03 [[-5.82004905e-01 -8.13180198e-01 2.87343810e-03 1.80096506e+02] [ 8.13170379e-01 -5.82011998e-01 -3.99614290e-03 1.23527489e+02] [ 4.92195973e-03 1.08199815e-05 9.99987887e-01 1.03173744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.27028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.10, Y:123.53, Z:1.03 [[-5.83431876e-01 -8.12156993e-01 2.87498194e-03 1.80095840e+02] [ 8.12147167e-01 -5.83438960e-01 -3.99503190e-03 1.23531541e+02] [ 4.92196956e-03 4.07947896e-06 9.99987887e-01 1.03267262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.300281693 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:180.10, Y:123.53, Z:1.03 [[-5.84219749e-01 -8.11590420e-01 2.87652715e-03 1.80098706e+02] [ 8.11580593e-01 -5.84226831e-01 -3.99391900e-03 1.23533740e+02] [ 4.92197074e-03 1.20725589e-06 9.99987887e-01 1.03097647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.33028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.10, Y:123.53, Z:1.03 [[-5.83969413e-01 -8.11770559e-01 2.87807713e-03 1.80100390e+02] [ 8.11760740e-01 -5.83976506e-01 -3.99280175e-03 1.23534664e+02] [ 4.92196833e-03 4.63592742e-06 9.99987887e-01 1.02987035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.360281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.11, Y:123.53, Z:1.03 [[-5.81550617e-01 -8.13505124e-01 2.87962956e-03 1.80110360e+02] [ 8.13495331e-01 -5.81557746e-01 -3.99168182e-03 1.23526515e+02] [ 4.92192449e-03 2.12001756e-05 9.99987887e-01 1.02977824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.39028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:180.12, Y:123.52, Z:1.03 [[-5.79995355e-01 -8.14614686e-01 2.88117685e-03 1.80117960e+02] [ 8.14604912e-01 -5.80002511e-01 -3.99056467e-03 1.23518144e+02] [ 4.92186239e-03 3.25118412e-05 9.99987887e-01 1.02922584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:180.12, Y:123.52, Z:1.03 [[-5.78348750e-01 -8.15784539e-01 2.88271286e-03 1.80120879e+02] [ 8.15774785e-01 -5.78355932e-01 -3.98945478e-03 1.23516251e+02] [ 4.92176961e-03 4.43482820e-05 9.99987887e-01 1.02908319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.45028169299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:180.13, Y:123.50, Z:1.03 [[-5.74021854e-01 -8.18834899e-01 2.88424333e-03 1.80130508e+02] [ 8.18825189e-01 -5.74029096e-01 -3.98834799e-03 1.23504246e+02] [ 4.92143812e-03 7.22921864e-05 9.99987887e-01 1.02900375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:180.15, Y:123.48, Z:1.03 [[-5.71750962e-01 -8.20422153e-01 2.88576576e-03 1.80145989e+02] [ 8.20412469e-01 -5.71758238e-01 -3.98724613e-03 1.23481807e+02] [ 4.92118541e-03 8.78064007e-05 9.99987887e-01 1.02967008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.51028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.14, Y:123.48, Z:1.03 [[-5.67981982e-01 -8.23035924e-01 2.88726738e-03 1.80143824e+02] [ 8.23026278e-01 -5.67989309e-01 -3.98615848e-03 1.23477806e+02] [ 4.92068863e-03 1.12230729e-04 9.99987887e-01 1.02852823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.14, Y:123.48, Z:1.03 [[-5.67373277e-01 -8.23455657e-01 2.88875520e-03 1.80141964e+02] [ 8.23446023e-01 -5.67380619e-01 -3.98507996e-03 1.23476921e+02] [ 4.92056036e-03 1.17706104e-04 9.99987887e-01 1.02746224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.57028169299997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:180.14, Y:123.47, Z:1.03 [[-5.67419362e-01 -8.23423897e-01 2.89024480e-03 1.80141744e+02] [ 8.23414268e-01 -5.67426710e-01 -3.98399932e-03 1.23474724e+02] [ 4.92052234e-03 1.19270451e-04 9.99987887e-01 1.02666143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.14, Y:123.47, Z:1.03 [[-5.67907639e-01 -8.23087208e-01 2.89173567e-03 1.80141511e+02] [ 8.23077580e-01 -5.67914989e-01 -3.98291689e-03 1.23473038e+02] [ 4.92054798e-03 1.18193869e-04 9.99987887e-01 1.02514087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.630281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.14, Y:123.46, Z:1.02 [[-5.70415035e-01 -8.21351518e-01 2.89322761e-03 1.80144951e+02] [ 8.21341873e-01 -5.70422363e-01 -3.98183284e-03 1.23463975e+02] [ 4.92084618e-03 1.05031659e-04 9.99987887e-01 1.02469467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.13, Y:123.48, Z:1.03 [[-5.72343505e-01 -8.20008861e-01 2.89471598e-03 1.80130636e+02] [ 8.19999204e-01 -5.72350818e-01 -3.98075053e-03 1.23482102e+02] [ 4.92104377e-03 9.53080930e-05 9.99987887e-01 1.02613576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.690281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.14, Y:123.47, Z:1.03 [[-5.74853782e-01 -8.18251026e-01 2.89621416e-03 1.80137299e+02] [ 8.18241352e-01 -5.74861071e-01 -3.97966022e-03 1.23469758e+02] [ 4.92128184e-03 8.20794672e-05 9.99987887e-01 1.02952577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.14, Y:123.47, Z:1.03 [[-5.75596231e-01 -8.17728917e-01 2.89771955e-03 1.80135629e+02] [ 8.17719243e-01 -5.75603519e-01 -3.97856379e-03 1.23469844e+02] [ 4.92132424e-03 7.94747125e-05 9.99987887e-01 1.03043484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.750281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.13, Y:123.47, Z:1.03 [[-5.75743364e-01 -8.17625325e-01 2.89922010e-03 1.80133817e+02] [ 8.17615655e-01 -5.75750658e-01 -3.97747003e-03 1.23469799e+02] [ 4.92130811e-03 8.04457621e-05 9.99987887e-01 1.03105719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.13, Y:123.48, Z:1.03 [[-5.75728659e-01 -8.17635675e-01 2.90072393e-03 1.80127033e+02] [ 8.17626010e-01 -5.75735961e-01 -3.97637300e-03 1.23476764e+02] [ 4.92127550e-03 8.23954389e-05 9.99987887e-01 1.03120987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.810281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.14, Y:123.46, Z:1.03 [[-5.74804061e-01 -8.18285933e-01 2.90223627e-03 1.80135387e+02] [ 8.18276282e-01 -5.74811381e-01 -3.97526888e-03 1.23462479e+02] [ 4.92114505e-03 8.98304086e-05 9.99987887e-01 1.02810795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.13, Y:123.47, Z:1.03 [[-5.74736627e-01 -8.18333293e-01 2.90374695e-03 1.80131690e+02] [ 8.18323648e-01 -5.74743955e-01 -3.97416509e-03 1.23466823e+02] [ 4.92110261e-03 9.21065589e-05 9.99987887e-01 1.02708198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.870281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:180.13, Y:123.46, Z:1.03 [[-5.76230755e-01 -8.17281883e-01 2.90525398e-03 1.80133463e+02] [ 8.17272231e-01 -5.76238072e-01 -3.97306310e-03 1.23461341e+02] [ 4.92123044e-03 8.49822566e-05 9.99987887e-01 1.02827083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:180.13, Y:123.46, Z:1.03 [[-5.77611304e-01 -8.16306763e-01 2.90676333e-03 1.80132703e+02] [ 8.16297104e-01 -5.77618613e-01 -3.97195853e-03 1.23461617e+02] [ 4.92133721e-03 7.85343374e-05 9.99987887e-01 1.02941075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.930281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:180.12, Y:123.48, Z:1.03 [[-5.80024454e-01 -8.14593871e-01 2.90827275e-03 1.80122415e+02] [ 8.14584196e-01 -5.80031741e-01 -3.97085302e-03 1.23475476e+02] [ 4.92152304e-03 6.58411652e-05 9.99987887e-01 1.02941417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.14, Y:123.45, Z:1.03 [[-5.80660791e-01 -8.14140393e-01 2.90979455e-03 1.80137260e+02] [ 8.14130717e-01 -5.80668078e-01 -3.96973755e-03 1.23453968e+02] [ 4.92154849e-03 6.38821766e-05 9.99987887e-01 1.02748653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.990281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:180.13, Y:123.46, Z:1.03 [[-5.80702485e-01 -8.14110648e-01 2.91131365e-03 1.80133233e+02] [ 8.14100978e-01 -5.80709780e-01 -3.96862316e-03 1.23457456e+02] [ 4.92152668e-03 6.55139538e-05 9.99987887e-01 1.02594364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.13, Y:123.45, Z:1.02 [[-5.80492953e-01 -8.14260061e-01 2.91282354e-03 1.80134311e+02] [ 8.14250398e-01 -5.80500257e-01 -3.96751465e-03 1.23450818e+02] [ 4.92148353e-03 6.86534345e-05 9.99987887e-01 1.02339615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.050281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.12, Y:123.46, Z:1.02 [[-5.81006889e-01 -8.13893422e-01 2.91433525e-03 1.80124884e+02] [ 8.13883760e-01 -5.81014194e-01 -3.96640391e-03 1.23463129e+02] [ 4.92150020e-03 6.74221397e-05 9.99987887e-01 1.02394667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08028169299996 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:180.12, Y:123.47, Z:1.03 [[-5.82998886e-01 -8.12467720e-01 2.91585409e-03 1.80121609e+02] [ 8.12458046e-01 -5.83006175e-01 -3.96528704e-03 1.23466245e+02] [ 4.92162866e-03 5.72511918e-05 9.99987887e-01 1.02915443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.110281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.12, Y:123.46, Z:1.03 [[-5.84299691e-01 -8.11532722e-01 2.91738652e-03 1.80121674e+02] [ 8.11523042e-01 -5.84306972e-01 -3.96415927e-03 1.23464868e+02] [ 4.92169424e-03 5.12693437e-05 9.99987887e-01 1.03133228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.12, Y:123.46, Z:1.03 [[-5.85537225e-01 -8.10640264e-01 2.91892365e-03 1.80122676e+02] [ 8.10630578e-01 -5.85544499e-01 -3.96302710e-03 1.23462693e+02] [ 4.92174903e-03 4.56688753e-05 9.99987887e-01 1.03115730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.17028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:180.11, Y:123.47, Z:1.03 [[-5.87355842e-01 -8.09323536e-01 2.92046087e-03 1.80113466e+02] [ 8.09313839e-01 -5.87363101e-01 -3.96189396e-03 1.23472573e+02] [ 4.92182499e-03 3.65278407e-05 9.99987887e-01 1.02875152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.12, Y:123.47, Z:1.03 [[-5.87989876e-01 -8.08863009e-01 2.92200701e-03 1.80116634e+02] [ 8.08853313e-01 -5.87997135e-01 -3.96075331e-03 1.23465908e+02] [ 4.92183860e-03 3.45922049e-05 9.99987887e-01 1.02820946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.23028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:180.12, Y:123.45, Z:1.03 [[-5.88852594e-01 -8.08235161e-01 2.92355902e-03 1.80124194e+02] [ 8.08225462e-01 -5.88859851e-01 -3.95960739e-03 1.23451773e+02] [ 4.92186045e-03 3.12697524e-05 9.99987887e-01 1.02869767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:180.12, Y:123.45, Z:1.03 [[-5.89686047e-01 -8.07627271e-01 2.92510010e-03 1.80121372e+02] [ 8.07617571e-01 -5.89693301e-01 -3.95846862e-03 1.23454371e+02] [ 4.92187914e-03 2.81085230e-05 9.99987887e-01 1.02842877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.29028169299994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:180.12, Y:123.46, Z:1.03 [[-5.90760112e-01 -8.06841946e-01 2.92663683e-03 1.80117917e+02] [ 8.06832241e-01 -5.90767361e-01 -3.95733213e-03 1.23458341e+02] [ 4.92190307e-03 2.34709827e-05 9.99987887e-01 1.02773905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.12, Y:123.45, Z:1.03 [[-5.93250658e-01 -8.05012474e-01 2.92818119e-03 1.80119037e+02] [ 8.05002752e-01 -5.93257884e-01 -3.95618907e-03 1.23454559e+02] [ 4.92194813e-03 1.01821468e-05 9.99987887e-01 1.02742628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.35028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.11, Y:123.47, Z:1.03 [[-5.94400521e-01 -8.04163813e-01 2.92972904e-03 1.80107912e+02] [ 8.04154087e-01 -5.94407741e-01 -3.95504249e-03 1.23468568e+02] [ 4.92195567e-03 5.07426342e-06 9.99987887e-01 1.02847189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.380281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.11, Y:123.46, Z:1.03 [[-5.95431521e-01 -8.03400717e-01 2.93128755e-03 1.80111997e+02] [ 8.03390987e-01 -5.95438736e-01 -3.95388706e-03 1.23462616e+02] [ 4.92195785e-03 7.01020828e-07 9.99987887e-01 1.03062881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.41028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.13, Y:123.44, Z:1.03 [[-5.96728822e-01 -8.02437606e-01 2.93285500e-03 1.80129550e+02] [ 8.02427870e-01 -5.96736029e-01 -3.95272404e-03 1.23439129e+02] [ 4.92195466e-03 -5.29976706e-06 9.99987887e-01 1.03458265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.440281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.13, Y:123.44, Z:1.03 [[-5.97410822e-01 -8.01929984e-01 2.93440333e-03 1.80132117e+02] [ 8.01920248e-01 -5.97418028e-01 -3.95157426e-03 1.23435466e+02] [ 4.92195134e-03 -7.55578378e-06 9.99987887e-01 1.03496010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.47028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.14, Y:123.43, Z:1.03 [[-5.98948527e-01 -8.00782144e-01 2.93593454e-03 1.80139581e+02] [ 8.00772400e-01 -5.98955723e-01 -3.95043627e-03 1.23425748e+02] [ 4.92193363e-03 -1.50926374e-05 9.99987887e-01 1.03127701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.500281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:180.13, Y:123.43, Z:1.03 [[-6.00337743e-01 -7.99741187e-01 2.93745916e-03 1.80134141e+02] [ 7.99731436e-01 -6.00344929e-01 -3.94930228e-03 1.23433782e+02] [ 4.92190840e-03 -2.17367821e-05 9.99987887e-01 1.02915428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.53028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.15, Y:123.42, Z:1.03 [[-6.02061447e-01 -7.98444348e-01 2.93898437e-03 1.80145789e+02] [ 7.98434587e-01 -6.02068620e-01 -3.94816692e-03 1.23419470e+02] [ 4.92186183e-03 -3.04523194e-05 9.99987887e-01 1.02762737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.560281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:180.16, Y:123.41, Z:1.03 [[-6.05318754e-01 -7.95977738e-01 2.94050685e-03 1.80159014e+02] [ 7.95967953e-01 -6.05325894e-01 -3.94703269e-03 1.23405999e+02] [ 4.92171509e-03 -4.86636947e-05 9.99987887e-01 1.02677038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.59028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.15, Y:123.42, Z:1.03 [[-6.07008504e-01 -7.94689890e-01 2.94201125e-03 1.80153664e+02] [ 7.94680096e-01 -6.07015630e-01 -3.94591103e-03 1.23416277e+02] [ 4.92162242e-03 -5.72437682e-05 9.99987887e-01 1.02785709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.620281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.16, Y:123.41, Z:1.03 [[-6.08679519e-01 -7.93410726e-01 2.94351399e-03 1.80160055e+02] [ 7.93400922e-01 -6.08686632e-01 -3.94478972e-03 1.23410050e+02] [ 4.92151609e-03 -6.57259903e-05 9.99987887e-01 1.02843008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.65028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.16, Y:123.41, Z:1.03 [[-6.10826782e-01 -7.91758782e-01 2.94502079e-03 1.80160177e+02] [ 7.91748964e-01 -6.10833877e-01 -3.94366448e-03 1.23413347e+02] [ 4.92134945e-03 -7.71787289e-05 9.99987887e-01 1.03232426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.680281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.17, Y:123.40, Z:1.03 [[-6.11912721e-01 -7.90919807e-01 2.94652614e-03 1.80173554e+02] [ 7.90909984e-01 -6.11919809e-01 -3.94253943e-03 1.23397228e+02] [ 4.92127024e-03 -8.20530817e-05 9.99987887e-01 1.03264850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.71028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.18, Y:123.40, Z:1.03 [[-6.13236640e-01 -7.89893748e-01 2.94802388e-03 1.80177959e+02] [ 7.89883919e-01 -6.13243719e-01 -3.94141918e-03 1.23398344e+02] [ 4.92115950e-03 -8.84259965e-05 9.99987887e-01 1.02746902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.740281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.18, Y:123.40, Z:1.02 [[-6.13491359e-01 -7.89695924e-01 2.94951139e-03 1.80183006e+02] [ 7.89686099e-01 -6.13498443e-01 -3.94030571e-03 1.23395842e+02] [ 4.92116400e-03 -8.81553654e-05 9.99987887e-01 1.02415459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.77028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.18, Y:123.40, Z:1.02 [[-6.13493079e-01 -7.89694583e-01 2.95099798e-03 1.80184480e+02] [ 7.89684763e-01 -6.13500170e-01 -3.93919204e-03 1.23397798e+02] [ 4.92119638e-03 -8.63089134e-05 9.99987887e-01 1.02226152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.800281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.18, Y:123.41, Z:1.02 [[-6.12826468e-01 -7.90211999e-01 2.95248416e-03 1.80175263e+02] [ 7.90202190e-01 -6.12833575e-01 -3.93807782e-03 1.23413403e+02] [ 4.92129777e-03 -8.02988736e-05 9.99987887e-01 1.02212186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.83028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.17, Y:123.42, Z:1.02 [[-6.10526015e-01 -7.91990694e-01 2.95398292e-03 1.80169911e+02] [ 7.91980911e-01 -6.10533158e-01 -3.93695327e-03 1.23424883e+02] [ 4.92153487e-03 -6.41143031e-05 9.99987887e-01 1.02446493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.860281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.18, Y:123.41, Z:1.03 [[-6.09305892e-01 -7.92929754e-01 2.95550056e-03 1.80182426e+02] [ 7.92919988e-01 -6.09313058e-01 -3.93581363e-03 1.23409664e+02] [ 4.92164882e-03 -5.46389721e-05 9.99987887e-01 1.02555925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.89028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.17, Y:123.43, Z:1.03 [[-6.07962287e-01 -7.93960398e-01 2.95701673e-03 1.80171624e+02] [ 7.93950650e-01 -6.07969476e-01 -3.93467419e-03 1.23425273e+02] [ 4.92175140e-03 -4.44081612e-05 9.99987887e-01 1.02793610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.17, Y:123.43, Z:1.03 [[-6.04787456e-01 -7.96381429e-01 2.95853451e-03 1.80167769e+02] [ 7.96371715e-01 -6.04794691e-01 -3.93353262e-03 1.23432716e+02] [ 4.92189829e-03 -2.28579787e-05 9.99987887e-01 1.02951832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.95028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.17, Y:123.43, Z:1.03 [[-6.03592008e-01 -7.97287856e-01 2.96007062e-03 1.80169984e+02] [ 7.97278158e-01 -6.03599266e-01 -3.93237632e-03 1.23430662e+02] [ 4.92193234e-03 -1.35512672e-05 9.99987887e-01 1.02982673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.18, Y:123.42, Z:1.03 [[-6.01646735e-01 -7.98756806e-01 2.96161203e-03 1.80175422e+02] [ 7.98747132e-01 -6.01654024e-01 -3.93121509e-03 1.23423358e+02] [ 4.92195060e-03 3.76390974e-07 9.99987887e-01 1.02859758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.01028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.16, Y:123.44, Z:1.03 [[-6.01403992e-01 -7.98939584e-01 2.96314905e-03 1.80164722e+02] [ 7.98929918e-01 -6.01411291e-01 -3.93005622e-03 1.23436503e+02] [ 4.92194878e-03 3.79692582e-06 9.99987887e-01 1.02725924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.10, Y:123.53, Z:1.03 [[-6.01547825e-01 -7.98831287e-01 2.96469296e-03 1.80095663e+02] [ 7.98821625e-01 -6.01555131e-01 -3.92889120e-03 1.23527191e+02] [ 4.92194748e-03 4.84488864e-06 9.99987887e-01 1.02644363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.07028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.10, Y:123.53, Z:1.03 [[-6.01894758e-01 -7.98569908e-01 2.96685777e-03 1.80097224e+02] [ 7.98560251e-01 -6.01902070e-01 -3.92725633e-03 1.23525244e+02] [ 4.92194656e-03 5.41968681e-06 9.99987887e-01 1.02643122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.17, Y:123.42, Z:1.03 [[-6.02525073e-01 -7.98094433e-01 2.96863343e-03 1.80173590e+02] [ 7.98084776e-01 -6.02532387e-01 -3.92591412e-03 1.23424688e+02] [ 4.92194799e-03 3.75945881e-06 9.99987887e-01 1.02686973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.130281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.18, Y:123.41, Z:1.03 [[-6.03837827e-01 -7.97101674e-01 2.96641118e-03 1.80184946e+02] [ 7.97091998e-01 -6.03845113e-01 -3.92759253e-03 1.23410439e+02] [ 4.92194347e-03 -7.12632861e-06 9.99987887e-01 1.02752764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.18, Y:123.42, Z:1.03 [[-6.05105535e-01 -7.96139738e-01 2.96794211e-03 1.80180166e+02] [ 7.96130056e-01 -6.05112814e-01 -3.92643532e-03 1.23417296e+02] [ 4.92193099e-03 -1.30398279e-05 9.99987887e-01 1.02735732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.190281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.19, Y:123.41, Z:1.03 [[-6.06205898e-01 -7.95302201e-01 2.96946975e-03 1.80185374e+02] [ 7.95292514e-01 -6.06213171e-01 -3.92527966e-03 1.23409422e+02] [ 4.92191523e-03 -1.79306226e-05 9.99987887e-01 1.02600791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.18, Y:123.42, Z:1.03 [[-6.06378353e-01 -7.95170715e-01 2.97099926e-03 1.80179565e+02] [ 7.95161032e-01 -6.06385631e-01 -3.92412165e-03 1.23415863e+02] [ 4.92191788e-03 -1.70795890e-05 9.99987887e-01 1.02584294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.250281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.18, Y:123.41, Z:1.03 [[-6.06615848e-01 -7.94989545e-01 2.97253064e-03 1.80181361e+02] [ 7.94979866e-01 -6.06623131e-01 -3.92296128e-03 1.23410082e+02] [ 4.92191905e-03 -1.66284745e-05 9.99987887e-01 1.02651626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.18, Y:123.40, Z:1.03 [[-6.07107174e-01 -7.94614393e-01 2.97406601e-03 1.80184292e+02] [ 7.94604715e-01 -6.07114459e-01 -3.92179695e-03 1.23404351e+02] [ 4.92191478e-03 -1.77441911e-05 9.99987887e-01 1.02753395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.310281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.19, Y:123.39, Z:1.03 [[-6.07797246e-01 -7.94086679e-01 2.97559701e-03 1.80192783e+02] [ 7.94077000e-01 -6.07804529e-01 -3.92063498e-03 1.23392121e+02] [ 4.92190535e-03 -2.00980005e-05 9.99987887e-01 1.02711767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.19, Y:123.40, Z:1.02 [[-6.10251210e-01 -7.92202372e-01 2.97711852e-03 1.80186869e+02] [ 7.92192676e-01 -6.10258471e-01 -3.91947928e-03 1.23401138e+02] [ 4.92183258e-03 -3.34154849e-05 9.99987887e-01 1.02295561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.370281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.20, Y:123.39, Z:1.02 [[-6.12478996e-01 -7.90481250e-01 2.97864011e-03 1.80196552e+02] [ 7.90471540e-01 -6.12486238e-01 -3.91832260e-03 1.23390005e+02] [ 4.92173662e-03 -4.53600603e-05 9.99987887e-01 1.02223351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.20, Y:123.38, Z:1.02 [[-6.14837310e-01 -7.88648338e-01 2.98016176e-03 1.80203526e+02] [ 7.88638612e-01 -6.14844530e-01 -3.91716494e-03 1.23382675e+02] [ 4.92160177e-03 -5.81485182e-05 9.99987887e-01 1.02220651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.430281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.22, Y:123.37, Z:1.03 [[-6.18580951e-01 -7.85715418e-01 2.98167176e-03 1.80215250e+02] [ 7.85705663e-01 -6.18588131e-01 -3.91601521e-03 1.23373341e+02] [ 4.92130029e-03 -7.96560222e-05 9.99987887e-01 1.02797003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.23, Y:123.36, Z:1.03 [[-6.20574385e-01 -7.84141913e-01 2.98213908e-03 1.80226714e+02] [ 7.84132141e-01 -6.20581544e-01 -3.91565931e-03 1.23364025e+02] [ 4.92109305e-03 -9.15667712e-05 9.99987887e-01 1.03008059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.490281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.22, Y:123.38, Z:1.03 [[-6.22615688e-01 -7.82522079e-01 2.98362489e-03 1.80222684e+02] [ 7.82512294e-01 -6.22622828e-01 -3.91452684e-03 1.23376379e+02] [ 4.92087664e-03 -1.02522665e-04 9.99987887e-01 1.03104464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.24, Y:123.37, Z:1.03 [[-6.26258778e-01 -7.79609539e-01 2.98511197e-03 1.80235466e+02] [ 7.79599726e-01 -6.26265880e-01 -3.91339250e-03 1.23372103e+02] [ 4.92039189e-03 -1.23603924e-04 9.99987887e-01 1.02567380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.550281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.23, Y:123.39, Z:1.02 [[-6.27713256e-01 -7.78438918e-01 2.98660183e-03 1.80226946e+02] [ 7.78429098e-01 -6.27720347e-01 -3.91225515e-03 1.23389867e+02] [ 4.92020240e-03 -1.30916653e-04 9.99987887e-01 1.02104950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.24, Y:123.38, Z:1.02 [[-6.28730338e-01 -7.77617665e-01 2.98809841e-03 1.80243001e+02] [ 7.77607841e-01 -6.28737424e-01 -3.91111175e-03 1.23376132e+02] [ 4.92007889e-03 -1.35465859e-04 9.99987887e-01 1.01893573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.610281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:180.25, Y:123.38, Z:1.02 [[-6.28405132e-01 -7.77880487e-01 2.98959606e-03 1.80254448e+02] [ 7.77870672e-01 -6.28412230e-01 -3.90996664e-03 1.23377349e+02] [ 4.92018548e-03 -1.31524003e-04 9.99987887e-01 1.01934516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.24, Y:123.40, Z:1.02 [[-6.27242596e-01 -7.78818194e-01 2.99108191e-03 1.80239323e+02] [ 7.78808394e-01 -6.27249716e-01 -3.90882965e-03 1.23404861e+02] [ 4.92042292e-03 -1.22304758e-04 9.99987887e-01 1.01990867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.67028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.26, Y:123.39, Z:1.02 [[-6.23368029e-01 -7.81922851e-01 2.99258367e-03 1.80255014e+02] [ 7.81913092e-01 -6.23375205e-01 -3.90767957e-03 1.23393930e+02] [ 4.92100641e-03 -9.59821559e-05 9.99987887e-01 1.02174243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.24, Y:123.42, Z:1.02 [[-6.21026726e-01 -7.83783670e-01 2.99409507e-03 1.80238522e+02] [ 7.83773938e-01 -6.21033938e-01 -3.90652118e-03 1.23418480e+02] [ 4.92130216e-03 -7.93603692e-05 9.99987887e-01 1.02176471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.73028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.24, Y:123.42, Z:1.02 [[-6.15498527e-01 -7.88132343e-01 2.99561496e-03 1.80242172e+02] [ 7.88122668e-01 -6.15505815e-01 -3.90535535e-03 1.23419023e+02] [ 4.92175528e-03 -4.28284111e-05 9.99987887e-01 1.02121491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.25, Y:123.41, Z:1.02 [[-6.12616346e-01 -7.90374740e-01 2.99715335e-03 1.80252015e+02] [ 7.90365098e-01 -6.12623677e-01 -3.90417436e-03 1.23407959e+02] [ 4.92188789e-03 -2.29156311e-05 9.99987887e-01 1.01978346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.79028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.26, Y:123.40, Z:1.02 [[-6.09857049e-01 -7.92505765e-01 2.99868421e-03 1.80258774e+02] [ 7.92496154e-01 -6.09864421e-01 -3.90299819e-03 1.23399646e+02] [ 4.92193938e-03 -3.82524935e-06 9.99987887e-01 1.02230127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.27, Y:123.38, Z:1.02 [[-6.07391481e-01 -7.94396996e-01 3.00020272e-03 1.80271093e+02] [ 7.94387414e-01 -6.07398891e-01 -3.90183057e-03 1.23382545e+02] [ 4.92192229e-03 1.33846336e-05 9.99987887e-01 1.02277799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.85028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.27, Y:123.38, Z:1.02 [[-6.03685894e-01 -7.97216615e-01 3.00170630e-03 1.80272848e+02] [ 7.97207073e-01 -6.03693356e-01 -3.90067351e-03 1.23376721e+02] [ 4.92179188e-03 3.81999197e-05 9.99987887e-01 1.02314473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.880281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.27, Y:123.38, Z:1.02 [[-6.02979495e-01 -7.97751033e-01 3.00319723e-03 1.80265282e+02] [ 7.97741503e-01 -6.02986972e-01 -3.89952528e-03 1.23384645e+02] [ 4.92173912e-03 4.44412855e-05 9.99987887e-01 1.02394840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.91028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.28, Y:123.37, Z:1.03 [[-6.02463580e-01 -7.98140718e-01 3.00469317e-03 1.80276328e+02] [ 7.98131200e-01 -6.02471071e-01 -3.89837228e-03 1.23366266e+02] [ 4.92169036e-03 4.95120484e-05 9.99987887e-01 1.02537659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.940281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.28, Y:123.36, Z:1.03 [[-6.02867875e-01 -7.97835376e-01 3.00618594e-03 1.80279294e+02] [ 7.97825859e-01 -6.02875368e-01 -3.89722080e-03 1.23359562e+02] [ 4.92169608e-03 4.89036568e-05 9.99987887e-01 1.02619351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.97028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.28, Y:123.36, Z:1.03 [[-6.03098841e-01 -7.97660794e-01 3.00766547e-03 1.80275335e+02] [ 7.97651280e-01 -6.03106339e-01 -3.89607865e-03 1.23361971e+02] [ 4.92169130e-03 4.93476897e-05 9.99987887e-01 1.02716059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.000281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.28, Y:123.36, Z:1.03 [[-6.03998077e-01 -7.96980093e-01 3.00914554e-03 1.80275978e+02] [ 7.96970577e-01 -6.04005571e-01 -3.89493518e-03 1.23357261e+02] [ 4.92172647e-03 4.56670997e-05 9.99987887e-01 1.03051677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.03028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.27, Y:123.36, Z:1.03 [[-6.05068555e-01 -7.96167683e-01 3.01062787e-03 1.80273348e+02] [ 7.96158163e-01 -6.05076044e-01 -3.89378906e-03 1.23359486e+02] [ 4.92176782e-03 4.09266311e-05 9.99987887e-01 1.03145234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.060281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.28, Y:123.36, Z:1.03 [[-6.06101296e-01 -7.95381761e-01 3.01211246e-03 1.80275777e+02] [ 7.95372237e-01 -6.06108779e-01 -3.89264029e-03 1.23355615e+02] [ 4.92180290e-03 3.64162985e-05 9.99987887e-01 1.03157608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.09028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.27, Y:123.35, Z:1.03 [[-6.06737937e-01 -7.94896216e-01 3.01359832e-03 1.80274947e+02] [ 7.94886691e-01 -6.06745421e-01 -3.89148963e-03 1.23353509e+02] [ 4.92181736e-03 3.43548088e-05 9.99987887e-01 1.03021819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.120281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.27, Y:123.35, Z:1.03 [[-6.06876358e-01 -7.94790536e-01 3.01508375e-03 1.80273263e+02] [ 7.94781015e-01 -6.06883846e-01 -3.89033839e-03 1.23353813e+02] [ 4.92180976e-03 3.53769284e-05 9.99987887e-01 1.02965928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.15028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.27, Y:123.36, Z:1.03 [[-6.06609869e-01 -7.94993941e-01 3.01657145e-03 1.80267849e+02] [ 7.94984429e-01 -6.06617369e-01 -3.88918449e-03 1.23357722e+02] [ 4.92178274e-03 3.89096332e-05 9.99987887e-01 1.02609800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.180281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.27, Y:123.35, Z:1.03 [[-6.06806733e-01 -7.94843683e-01 3.01806516e-03 1.80272584e+02] [ 7.94834175e-01 -6.06814237e-01 -3.88802500e-03 1.23350505e+02] [ 4.92177702e-03 3.95815779e-05 9.99987887e-01 1.02537342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.21028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.26, Y:123.37, Z:1.03 [[-6.07128587e-01 -7.94597861e-01 3.01956016e-03 1.80258801e+02] [ 7.94588356e-01 -6.07136095e-01 -3.88686359e-03 1.23367407e+02] [ 4.92177746e-03 3.94813382e-05 9.99987887e-01 1.02567378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.240281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.27, Y:123.36, Z:1.03 [[-6.08143884e-01 -7.93821069e-01 3.02106451e-03 1.80267923e+02] [ 7.93811560e-01 -6.08151386e-01 -3.88569398e-03 1.23356090e+02] [ 4.92181032e-03 3.50949087e-05 9.99987887e-01 1.02666512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.27028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.27, Y:123.35, Z:1.03 [[-6.08928915e-01 -7.93219037e-01 3.02257577e-03 1.80274641e+02] [ 7.93209526e-01 -6.08936416e-01 -3.88451805e-03 1.23348551e+02] [ 4.92183013e-03 3.21405345e-05 9.99987887e-01 1.02647424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.300281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.28, Y:123.34, Z:1.03 [[-6.09922023e-01 -7.92455665e-01 3.02407544e-03 1.80282019e+02] [ 7.92446150e-01 -6.09929519e-01 -3.88335022e-03 1.23340336e+02] [ 4.92185576e-03 2.78761137e-05 9.99987887e-01 1.02617088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.33028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.28, Y:123.34, Z:1.03 [[-6.10748347e-01 -7.91818984e-01 3.02556590e-03 1.80283009e+02] [ 7.91809467e-01 -6.10755841e-01 -3.88218864e-03 1.23339437e+02] [ 4.92187271e-03 2.46314337e-05 9.99987887e-01 1.02734486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.360281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.27, Y:123.36, Z:1.03 [[-6.11423094e-01 -7.91298071e-01 3.02705148e-03 1.80266468e+02] [ 7.91288554e-01 -6.11430586e-01 -3.88102995e-03 1.23359612e+02] [ 4.92188337e-03 2.23198483e-05 9.99987887e-01 1.02939129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.39028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.28, Y:123.34, Z:1.03 [[-6.11065049e-01 -7.91574592e-01 3.02855307e-03 1.80277997e+02] [ 7.91565084e-01 -6.11072553e-01 -3.87985783e-03 1.23343574e+02] [ 4.92186253e-03 2.64513450e-05 9.99987887e-01 1.02916599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.28, Y:123.35, Z:1.03 [[-6.10104954e-01 -7.92314813e-01 3.03006079e-03 1.80275795e+02] [ 7.92305320e-01 -6.10112478e-01 -3.87867998e-03 1.23345138e+02] [ 4.92181350e-03 3.43314135e-05 9.99987887e-01 1.02652792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.45028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.28, Y:123.34, Z:1.03 [[-6.10430520e-01 -7.92064006e-01 3.03156096e-03 1.80281647e+02] [ 7.92054516e-01 -6.10438047e-01 -3.87750710e-03 1.23338270e+02] [ 4.92181396e-03 3.42128773e-05 9.99987887e-01 1.02536368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.29, Y:123.33, Z:1.03 [[-6.11460243e-01 -7.91269342e-01 3.03306018e-03 1.80287972e+02] [ 7.91259848e-01 -6.11467765e-01 -3.87633403e-03 1.23330760e+02] [ 4.92184281e-03 2.97145848e-05 9.99987887e-01 1.02567619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.51028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.27, Y:123.35, Z:1.03 [[-6.14315829e-01 -7.89054405e-01 3.03455118e-03 1.80273345e+02] [ 7.89044889e-01 -6.14323324e-01 -3.87516646e-03 1.23351431e+02] [ 4.92191273e-03 1.38210010e-05 9.99987887e-01 1.02690932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.27, Y:123.35, Z:1.03 [[-6.15481823e-01 -7.88145233e-01 3.03605327e-03 1.80272607e+02] [ 7.88135712e-01 -6.15489311e-01 -3.87398927e-03 1.23353752e+02] [ 4.92192451e-03 8.45203491e-06 9.99987887e-01 1.02662614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.57028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.29, Y:123.34, Z:1.03 [[-6.16973060e-01 -7.86978409e-01 3.03757282e-03 1.80287936e+02] [ 7.86968880e-01 -6.16980538e-01 -3.87279744e-03 1.23337829e+02] [ 4.92193127e-03 1.06358970e-06 9.99987887e-01 1.02658096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.28, Y:123.35, Z:1.03 [[-6.17540582e-01 -7.86533148e-01 3.03908340e-03 1.80280659e+02] [ 7.86523619e-01 -6.17548060e-01 -3.87161168e-03 1.23347993e+02] [ 4.92193098e-03 -5.66450791e-07 9.99987887e-01 1.02578415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.630281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.29, Y:123.33, Z:1.03 [[-6.17025923e-01 -7.86936951e-01 3.04059147e-03 1.80293184e+02] [ 7.86927433e-01 -6.17033415e-01 -3.87042695e-03 1.23333528e+02] [ 4.92192852e-03 4.57107983e-06 9.99987887e-01 1.02626208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.30, Y:123.33, Z:1.03 [[-6.16383904e-01 -7.87439920e-01 3.04209781e-03 1.80299135e+02] [ 7.87430414e-01 -6.16391411e-01 -3.86924262e-03 1.23327645e+02] [ 4.92191906e-03 1.05014679e-05 9.99987887e-01 1.02635066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.690281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.30, Y:123.33, Z:1.03 [[-6.15534551e-01 -7.88104024e-01 3.04359157e-03 1.80299485e+02] [ 7.88094532e-01 -6.15542076e-01 -3.86806725e-03 1.23329339e+02] [ 4.92189804e-03 1.77088339e-05 9.99987887e-01 1.02517053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.31, Y:123.32, Z:1.03 [[-6.13560409e-01 -7.89641914e-01 3.04508314e-03 1.80308808e+02] [ 7.89632446e-01 -6.13567965e-01 -3.86689268e-03 1.23320200e+02] [ 4.92182600e-03 3.19241889e-05 9.99987887e-01 1.02767531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.750281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.31, Y:123.32, Z:1.03 [[-6.13036655e-01 -7.90048593e-01 3.04657101e-03 1.80308424e+02] [ 7.90039136e-01 -6.13044224e-01 -3.86572010e-03 1.23322010e+02] [ 4.92178948e-03 3.70822113e-05 9.99987887e-01 1.02891733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.32, Y:123.31, Z:1.03 [[-6.11624003e-01 -7.91142710e-01 3.04805470e-03 1.80324439e+02] [ 7.91133273e-01 -6.11631596e-01 -3.86454987e-03 1.23306094e+02] [ 4.92169702e-03 4.77660289e-05 9.99987887e-01 1.03145427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.810281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.32, Y:123.31, Z:1.03 [[-6.11119988e-01 -7.91532100e-01 3.04869845e-03 1.80322854e+02] [ 7.91522671e-01 -6.11127590e-01 -3.86404196e-03 1.23310258e+02] [ 4.92165699e-03 5.17206592e-05 9.99987887e-01 1.03250994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.33, Y:123.30, Z:1.03 [[-6.10407062e-01 -7.92082013e-01 3.05016683e-03 1.80333889e+02] [ 7.92072596e-01 -6.10414680e-01 -3.86288252e-03 1.23297409e+02] [ 4.92158637e-03 5.80227891e-05 9.99987887e-01 1.03348724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.870281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.33, Y:123.30, Z:1.03 [[-6.09573198e-01 -7.92723914e-01 3.05163114e-03 1.80334753e+02] [ 7.92714510e-01 -6.09580833e-01 -3.86172538e-03 1.23296353e+02] [ 4.92149791e-03 6.50679940e-05 9.99987887e-01 1.03284002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.34, Y:123.29, Z:1.03 [[-6.06802663e-01 -7.94846657e-01 3.05308758e-03 1.80342240e+02] [ 7.94837285e-01 -6.06810337e-01 -3.86057357e-03 1.23286572e+02] [ 4.92120910e-03 8.41015275e-05 9.99987887e-01 1.03022630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.930281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.35, Y:123.28, Z:1.03 [[-6.05572634e-01 -7.95784176e-01 3.05453932e-03 1.80345194e+02] [ 7.95774823e-01 -6.05580330e-01 -3.85942459e-03 1.23282711e+02] [ 4.92103795e-03 9.35635760e-05 9.99987887e-01 1.02864042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.34, Y:123.29, Z:1.03 [[-6.04263990e-01 -7.96778320e-01 3.05598402e-03 1.80338137e+02] [ 7.96768985e-01 -6.04271709e-01 -3.85828031e-03 1.23291103e+02] [ 4.92083879e-03 1.03493430e-04 9.99987887e-01 1.02862678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.990281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.34, Y:123.29, Z:1.03 [[-6.04564980e-01 -7.96549959e-01 3.05743394e-03 1.80339736e+02] [ 7.96540627e-01 -6.04572703e-01 -3.85713100e-03 1.23289204e+02] [ 4.92083864e-03 1.03484023e-04 9.99987887e-01 1.02861440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.36, Y:123.27, Z:1.03 [[-6.01990296e-01 -7.98497543e-01 3.05889080e-03 1.80356572e+02] [ 7.98488242e-01 -6.01998056e-01 -3.85597529e-03 1.23266355e+02] [ 4.92043311e-03 1.21228625e-04 9.99987887e-01 1.03245284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.050281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.36, Y:123.26, Z:1.03 [[-6.01315579e-01 -7.99005762e-01 3.06033373e-03 1.80358459e+02] [ 7.98996474e-01 -6.01323354e-01 -3.85482976e-03 1.23263460e+02] [ 4.92028133e-03 1.27226666e-04 9.99987887e-01 1.03339138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.36, Y:123.26, Z:1.03 [[-5.99903408e-01 -8.00066576e-01 3.06176231e-03 1.80357501e+02] [ 8.00057307e-01 -5.99911206e-01 -3.85369474e-03 1.23263500e+02] [ 4.91999788e-03 1.37740700e-04 9.99987887e-01 1.03224469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.110281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.37, Y:123.24, Z:1.03 [[-5.99415145e-01 -8.00432446e-01 3.06319162e-03 1.80372917e+02] [ 8.00423187e-01 -5.99422955e-01 -3.85255829e-03 1.23243209e+02] [ 4.91986003e-03 1.42567810e-04 9.99987887e-01 1.03022425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.37, Y:123.25, Z:1.03 [[-5.99112951e-01 -8.00658654e-01 3.06461046e-03 1.80366733e+02] [ 8.00649404e-01 -5.99120771e-01 -3.85142932e-03 1.23250180e+02] [ 4.91975199e-03 1.46237350e-04 9.99987887e-01 1.02896803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.17028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.37, Y:123.24, Z:1.03 [[-5.98491028e-01 -8.01123642e-01 3.06602324e-03 1.80374258e+02] [ 8.01114404e-01 -5.98498862e-01 -3.85030431e-03 1.23240914e+02] [ 4.91958123e-03 1.51862797e-04 9.99987887e-01 1.03257198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:180.37, Y:123.25, Z:1.03 [[-5.98285638e-01 -8.01277035e-01 3.06743718e-03 1.80370700e+02] [ 8.01267804e-01 -5.98293481e-01 -3.84917753e-03 1.23245990e+02] [ 4.91948522e-03 1.54931021e-04 9.99987887e-01 1.03347030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.23028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:180.38, Y:123.24, Z:1.03 [[-5.96944505e-01 -8.02276661e-01 3.06885025e-03 1.80377625e+02] [ 8.02267449e-01 -5.96952370e-01 -3.84805059e-03 1.23237086e+02] [ 4.91915861e-03 1.64966011e-04 9.99987887e-01 1.03250105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.39, Y:123.22, Z:1.03 [[-5.96151798e-01 -8.02865871e-01 3.07026291e-03 1.80390531e+02] [ 8.02856673e-01 -5.96159679e-01 -3.84692314e-03 1.23219421e+02] [ 4.91893025e-03 1.71630925e-04 9.99987887e-01 1.03075404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.29028169299994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:180.39, Y:123.22, Z:1.03 [[-5.95218754e-01 -8.03557838e-01 3.07166090e-03 1.80390447e+02] [ 8.03548655e-01 -5.95226653e-01 -3.84580656e-03 1.23216988e+02] [ 4.91866244e-03 1.79132801e-04 9.99987887e-01 1.03189732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:180.39, Y:123.21, Z:1.03 [[-5.93252381e-01 -8.05010664e-01 3.07304973e-03 1.80390309e+02] [ 8.05001506e-01 -5.93260309e-01 -3.84469647e-03 1.23211335e+02] [ 4.91814009e-03 1.92934325e-04 9.99987887e-01 1.03367331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.35028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:180.39, Y:123.21, Z:1.03 [[-5.92776337e-01 -8.05361262e-01 3.07443772e-03 1.80386978e+02] [ 8.05352114e-01 -5.92784277e-01 -3.84358624e-03 1.23211033e+02] [ 4.91795380e-03 1.97617945e-04 9.99987887e-01 1.03388129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.380281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:180.39, Y:123.20, Z:1.03 [[-5.92565209e-01 -8.05516612e-01 3.07582638e-03 1.80394399e+02] [ 8.05507472e-01 -5.92573158e-01 -3.84247464e-03 1.23196704e+02] [ 4.91782930e-03 2.00684349e-04 9.99987887e-01 1.03319580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.41028169299994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:180.38, Y:123.20, Z:1.03 [[-5.92932305e-01 -8.05246430e-01 3.07721031e-03 1.80384123e+02] [ 8.05237292e-01 -5.92940256e-01 -3.84136601e-03 1.23197112e+02] [ 4.91784814e-03 2.00214494e-04 9.99987887e-01 1.03214766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.440281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:180.39, Y:123.18, Z:1.03 [[-5.93768028e-01 -8.04630382e-01 3.07859189e-03 1.80390397e+02] [ 8.04621241e-01 -5.93775977e-01 -3.84025845e-03 1.23183532e+02] [ 4.91798253e-03 1.96877745e-04 9.99987887e-01 1.03227905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.47028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.38, Y:123.19, Z:1.03 [[-5.95045134e-01 -8.03686383e-01 3.07997158e-03 1.80378629e+02] [ 8.03677236e-01 -5.95053074e-01 -3.83915159e-03 1.23192749e+02] [ 4.91822041e-03 1.90834573e-04 9.99987887e-01 1.03292707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.500281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:180.38, Y:123.18, Z:1.03 [[-5.98311885e-01 -8.01257383e-01 3.08135324e-03 1.80378480e+02] [ 8.01248209e-01 -5.98319795e-01 -3.83804233e-03 1.23181831e+02] [ 4.91889439e-03 1.72582417e-04 9.99987887e-01 1.03335443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.53028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:180.36, Y:123.20, Z:1.03 [[-6.00191792e-01 -7.99850179e-01 3.08273990e-03 1.80363048e+02] [ 7.99840993e-01 -6.00199687e-01 -3.83692824e-03 1.23195340e+02] [ 4.91922726e-03 1.62808906e-04 9.99987887e-01 1.03253390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.560281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:180.35, Y:123.20, Z:1.03 [[-6.03259683e-01 -7.97538866e-01 3.08413425e-03 1.80349472e+02] [ 7.97529655e-01 -6.03267549e-01 -3.83580712e-03 1.23204118e+02] [ 4.91976337e-03 1.45700738e-04 9.99987887e-01 1.03171160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.59028169299995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:180.35, Y:123.20, Z:1.03 [[-6.04511015e-01 -7.96590806e-01 3.08554828e-03 1.80349443e+02] [ 7.96581588e-01 -6.04518874e-01 -3.83466933e-03 1.23201110e+02] [ 4.91993450e-03 1.39791097e-04 9.99987887e-01 1.03276445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.620281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.34, Y:123.20, Z:1.03 [[-6.05644290e-01 -7.95729518e-01 3.08697099e-03 1.80343428e+02] [ 7.95720295e-01 -6.05652142e-01 -3.83352369e-03 1.23203750e+02] [ 4.92007854e-03 1.34613732e-04 9.99987887e-01 1.03210887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.65028169299995 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:180.34, Y:123.20, Z:1.03 [[-6.06616687e-01 -7.94988463e-01 3.08839718e-03 1.80340685e+02] [ 7.94979237e-01 -6.06624535e-01 -3.83237436e-03 1.23197203e+02] [ 4.92019091e-03 1.30429395e-04 9.99987887e-01 1.03213201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.680281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.33, Y:123.20, Z:1.03 [[-6.07201661e-01 -7.94541753e-01 3.08982710e-03 1.80333336e+02] [ 7.94532526e-01 -6.07209508e-01 -3.83122115e-03 1.23202792e+02] [ 4.92023756e-03 1.28644284e-04 9.99987887e-01 1.03229365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.71028169299996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:180.33, Y:123.20, Z:1.03 [[-6.08095170e-01 -7.93858116e-01 3.09126170e-03 1.80334091e+02] [ 7.93848887e-01 -6.08103014e-01 -3.83006328e-03 1.23195669e+02] [ 4.92033238e-03 1.24951677e-04 9.99987887e-01 1.03192933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.740281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.33, Y:123.19, Z:1.03 [[-6.08769654e-01 -7.93341001e-01 3.09270006e-03 1.80333367e+02] [ 7.93331770e-01 -6.08777498e-01 -3.82890148e-03 1.23193402e+02] [ 4.92039073e-03 1.22618189e-04 9.99987887e-01 1.03240783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.77028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.33, Y:123.20, Z:1.03 [[-6.09517705e-01 -7.92766418e-01 3.09413683e-03 1.80326969e+02] [ 7.92757186e-01 -6.09525547e-01 -3.82774007e-03 1.23198585e+02] [ 4.92045923e-03 1.19823863e-04 9.99987887e-01 1.03318237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.800281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:180.32, Y:123.20, Z:1.03 [[-6.10583967e-01 -7.91945476e-01 3.09557950e-03 1.80324863e+02] [ 7.91936239e-01 -6.10591803e-01 -3.82657300e-03 1.23199185e+02] [ 4.92057264e-03 1.15057466e-04 9.99987887e-01 1.03451552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.83028169299996 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:180.31, Y:123.21, Z:1.04 [[-6.13371371e-01 -7.89788560e-01 3.09702885e-03 1.80312791e+02] [ 7.89779302e-01 -6.13379182e-01 -3.82539961e-03 1.23210557e+02] [ 4.92090987e-03 9.95786815e-05 9.99987887e-01 1.03751470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.860281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:180.32, Y:123.20, Z:1.04 [[-6.14744315e-01 -7.88720373e-01 3.09849049e-03 1.80319797e+02] [ 7.88711107e-01 -6.14752117e-01 -3.82421534e-03 1.23199617e+02] [ 4.92104014e-03 9.28992243e-05 9.99987887e-01 1.03782738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.89028169299996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:180.31, Y:123.21, Z:1.04 [[-6.17118885e-01 -7.86863821e-01 3.09995605e-03 1.80310156e+02] [ 7.86854538e-01 -6.17126665e-01 -3.82302697e-03 1.23206520e+02] [ 4.92126715e-03 7.99523438e-05 9.99987887e-01 1.03752023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.31, Y:123.21, Z:1.04 [[-6.18716326e-01 -7.85608356e-01 3.10142335e-03 1.80307699e+02] [ 7.85599063e-01 -6.18724095e-01 -3.82183626e-03 1.23208767e+02] [ 4.92139186e-03 7.18427823e-05 9.99987887e-01 1.03641616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.95028169299997 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:180.31, Y:123.20, Z:1.04 [[-6.20497263e-01 -7.84202473e-01 3.10290102e-03 1.80312344e+02] [ 7.84193169e-01 -6.20505018e-01 -3.82063618e-03 1.23202562e+02] [ 4.92151799e-03 6.25794871e-05 9.99987887e-01 1.03535878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.30, Y:123.22, Z:1.04 [[-6.24678147e-01 -7.80876159e-01 3.10437822e-03 1.80300969e+02] [ 7.80866819e-01 -6.24685860e-01 -3.81943553e-03 1.23216622e+02] [ 4.92176733e-03 3.81880331e-05 9.99987887e-01 1.03645293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.01028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.30, Y:123.22, Z:1.04 [[-6.26985600e-01 -7.79024654e-01 3.10586319e-03 1.80300216e+02] [ 7.79015297e-01 -6.26993292e-01 -3.81822762e-03 1.23217475e+02] [ 4.92184883e-03 2.55412011e-05 9.99987887e-01 1.03677586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04028169299994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:180.32, Y:123.20, Z:1.03 [[-6.30404414e-01 -7.76260665e-01 3.10736159e-03 1.80317646e+02] [ 7.76251280e-01 -6.30412072e-01 -3.81700779e-03 1.23196863e+02] [ 4.92191126e-03 5.83485538e-06 9.99987887e-01 1.03413049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.07028169299997 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:180.31, Y:123.21, Z:1.03 [[-6.31877375e-01 -7.75062142e-01 3.10791758e-03 1.80311158e+02] [ 7.75052746e-01 -6.31885018e-01 -3.81655503e-03 1.23205473e+02] [ 4.92191388e-03 -2.79471704e-06 9.99987887e-01 1.03241276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10028169299994 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:180.31, Y:123.21, Z:1.03 [[-6.33058707e-01 -7.74097543e-01 3.10939744e-03 1.80309866e+02] [ 7.74088140e-01 -6.33066343e-01 -3.81534899e-03 1.23208572e+02] [ 4.92190715e-03 -8.39221517e-06 9.99987887e-01 1.02974502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.130281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:180.32, Y:123.20, Z:1.03 [[-6.34595648e-01 -7.72838073e-01 3.11088736e-03 1.80322496e+02] [ 7.72828661e-01 -6.34603272e-01 -3.81413378e-03 1.23197888e+02] [ 4.92188710e-03 -1.62497820e-05 9.99987887e-01 1.02840474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:180.32, Y:123.20, Z:1.03 [[-6.35429586e-01 -7.72152546e-01 3.11237228e-03 1.80324300e+02] [ 7.72143132e-01 -6.35437208e-01 -3.81292169e-03 1.23197260e+02] [ 4.92187434e-03 -1.96463658e-05 9.99987887e-01 1.02968888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.190281693 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:180.32, Y:123.20, Z:1.03 [[-6.36225926e-01 -7.71496516e-01 3.11384973e-03 1.80320987e+02] [ 7.71487100e-01 -6.36233546e-01 -3.81171474e-03 1.23203652e+02] [ 4.92186030e-03 -2.28168375e-05 9.99987887e-01 1.03164661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22028169299995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:180.34, Y:123.18, Z:1.03 [[-6.37067281e-01 -7.70801903e-01 3.11533220e-03 1.80341137e+02] [ 7.70792485e-01 -6.37074897e-01 -3.81050272e-03 1.23184630e+02] [ 4.92184269e-03 -2.62719633e-05 9.99987887e-01 1.03063058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.250281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:180.34, Y:123.19, Z:1.03 [[-6.37622644e-01 -7.70342553e-01 3.11680598e-03 1.80338580e+02] [ 7.70333135e-01 -6.37630261e-01 -3.80929686e-03 1.23190619e+02] [ 4.92183328e-03 -2.79150151e-05 9.99987887e-01 1.02897697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28028169299995 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:180.34, Y:123.19, Z:1.03 [[-6.38009567e-01 -7.70022123e-01 3.11826997e-03 1.80343064e+02] [ 7.70012707e-01 -6.38017186e-01 -3.80809807e-03 1.23188619e+02] [ 4.92182959e-03 -2.84955030e-05 9.99987887e-01 1.02795509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.310281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:180.34, Y:123.19, Z:1.03 [[-6.38283083e-01 -7.69795410e-01 3.11973740e-03 1.80342643e+02] [ 7.69785997e-01 -6.38290707e-01 -3.80689552e-03 1.23189793e+02] [ 4.92183008e-03 -2.83468435e-05 9.99987887e-01 1.02836894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:180.34, Y:123.20, Z:1.03 [[-6.38561278e-01 -7.69564651e-01 3.12120535e-03 1.80338930e+02] [ 7.69555241e-01 -6.38568906e-01 -3.80569158e-03 1.23196237e+02] [ 4.92183040e-03 -2.82273426e-05 9.99987887e-01 1.02873592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.370281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.35, Y:123.19, Z:1.03 [[-6.38724666e-01 -7.69429042e-01 3.12268050e-03 1.80351688e+02] [ 7.69419636e-01 -6.38732299e-01 -3.80448080e-03 1.23186500e+02] [ 4.92183491e-03 -2.73640361e-05 9.99987887e-01 1.02822278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:180.36, Y:123.18, Z:1.03 [[-6.38900986e-01 -7.69282633e-01 3.12415295e-03 1.80355825e+02] [ 7.69273232e-01 -6.38908624e-01 -3.80327128e-03 1.23184520e+02] [ 4.92183880e-03 -2.65865364e-05 9.99987887e-01 1.02870359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.430281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.36, Y:123.18, Z:1.03 [[-6.38940940e-01 -7.69249443e-01 3.12561730e-03 1.80357501e+02] [ 7.69240047e-01 -6.38948585e-01 -3.80206745e-03 1.23184880e+02] [ 4.92184702e-03 -2.49465543e-05 9.99987887e-01 1.02982444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.36, Y:123.18, Z:1.03 [[-6.38543550e-01 -7.69579337e-01 3.12708119e-03 1.80364701e+02] [ 7.69569951e-01 -6.38551207e-01 -3.80086307e-03 1.23179678e+02] [ 4.92186715e-03 -2.05088757e-05 9.99987887e-01 1.03160705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.490281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.36, Y:123.18, Z:1.03 [[-6.38451830e-01 -7.69655425e-01 3.12854194e-03 1.80364994e+02] [ 7.69646046e-01 -6.38459495e-01 -3.79966033e-03 1.23182016e+02] [ 4.92187649e-03 -1.80301613e-05 9.99987887e-01 1.03162339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.36, Y:123.20, Z:1.03 [[-6.37940373e-01 -7.70079401e-01 3.13000123e-03 1.80356105e+02] [ 7.70070033e-01 -6.37948052e-01 -3.79845784e-03 1.23197135e+02] [ 4.92189233e-03 -1.28694592e-05 9.99987887e-01 1.03088098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.550281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:180.36, Y:123.20, Z:1.03 [[-6.38067620e-01 -7.69973964e-01 3.13147307e-03 1.80356745e+02] [ 7.69964601e-01 -6.38075304e-01 -3.79724406e-03 1.23197583e+02] [ 4.92189470e-03 -1.17750646e-05 9.99987887e-01 1.02945201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.37, Y:123.18, Z:1.03 [[-6.38630512e-01 -7.69507150e-01 3.13295693e-03 1.80370850e+02] [ 7.69497787e-01 -6.38638196e-01 -3.79601939e-03 1.23181830e+02] [ 4.92189003e-03 -1.34503818e-05 9.99987887e-01 1.02746319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.610281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.36, Y:123.20, Z:1.03 [[-6.40846463e-01 -7.67662677e-01 3.13443105e-03 1.80358778e+02] [ 7.67653298e-01 -6.40854128e-01 -3.79480180e-03 1.23201070e+02] [ 4.92184078e-03 -2.57289755e-05 9.99987887e-01 1.02825271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.37, Y:123.19, Z:1.03 [[-6.41994912e-01 -7.66702484e-01 3.13590844e-03 1.80371468e+02] [ 7.66693100e-01 -6.42002570e-01 -3.79358054e-03 1.23190098e+02] [ 4.92180890e-03 -3.11800386e-05 9.99987887e-01 1.03061404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.67028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:180.38, Y:123.19, Z:1.03 [[-6.42822857e-01 -7.66008441e-01 3.13739160e-03 1.80380775e+02] [ 7.65999054e-01 -6.42830512e-01 -3.79235352e-03 1.23186923e+02] [ 4.92178586e-03 -3.45725239e-05 9.99987887e-01 1.03492889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70028169299997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:180.38, Y:123.19, Z:1.03 [[-6.43092333e-01 -7.65782214e-01 3.13886330e-03 1.80377241e+02] [ 7.65772830e-01 -6.43099992e-01 -3.79113503e-03 1.23193141e+02] [ 4.92178674e-03 -3.43936395e-05 9.99987887e-01 1.03448742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.73028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.39, Y:123.18, Z:1.03 [[-6.42486407e-01 -7.66290647e-01 3.14033602e-03 1.80388691e+02] [ 7.66281275e-01 -6.42494081e-01 -3.78991473e-03 1.23181683e+02] [ 4.92182352e-03 -2.85880072e-05 9.99987887e-01 1.03081799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76028169299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:180.38, Y:123.19, Z:1.03 [[-6.41348293e-01 -7.67243440e-01 3.14180604e-03 1.80383489e+02] [ 7.67234086e-01 -6.41355988e-01 -3.78869571e-03 1.23189884e+02] [ 4.92186804e-03 -1.93728371e-05 9.99987887e-01 1.02922473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.79028169299994 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:180.39, Y:123.19, Z:1.03 [[-6.39659817e-01 -7.68651701e-01 3.14327509e-03 1.80386233e+02] [ 7.68642370e-01 -6.39667540e-01 -3.78747652e-03 1.23187653e+02] [ 4.92190132e-03 -6.64212723e-06 9.99987887e-01 1.02901502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.38, Y:123.19, Z:1.03 [[-6.37206612e-01 -7.70686606e-01 3.14474962e-03 1.80382945e+02] [ 7.70677305e-01 -6.37214372e-01 -3.78625182e-03 1.23192356e+02] [ 4.92189322e-03 1.09624705e-05 9.99987887e-01 1.02931374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.85028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.39, Y:123.17, Z:1.03 [[-6.32750430e-01 -7.74349401e-01 3.14622767e-03 1.80394656e+02] [ 7.74340151e-01 -6.32758250e-01 -3.78502322e-03 1.23174529e+02] [ 4.92173198e-03 4.12753362e-05 9.99987887e-01 1.03134141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.880281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.40, Y:123.17, Z:1.03 [[-6.33049516e-01 -7.74104904e-01 3.14769974e-03 1.80396307e+02] [ 7.74095657e-01 -6.33057341e-01 -3.78379862e-03 1.23172660e+02] [ 4.92173149e-03 4.12888141e-05 9.99987887e-01 1.03132902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.91028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.39, Y:123.18, Z:1.03 [[-6.31493659e-01 -7.75374646e-01 3.14916098e-03 1.80391066e+02] [ 7.75365422e-01 -6.31501509e-01 -3.78258207e-03 1.23175603e+02] [ 4.92161815e-03 5.30739409e-05 9.99987887e-01 1.03175661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.940281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.40, Y:123.15, Z:1.03 [[-6.28836480e-01 -7.77531193e-01 3.15062617e-03 1.80401926e+02] [ 7.77522001e-01 -6.28844368e-01 -3.78136128e-03 1.23153695e+02] [ 4.92137987e-03 7.18232476e-05 9.99987887e-01 1.03322433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.97028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.41, Y:123.13, Z:1.03 [[-6.27601382e-01 -7.78528464e-01 3.15208378e-03 1.80414299e+02] [ 7.78519291e-01 -6.27609292e-01 -3.78014585e-03 1.23133971e+02] [ 4.92122821e-03 8.15332714e-05 9.99987887e-01 1.03378193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.000281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.41, Y:123.14, Z:1.03 [[-6.26305223e-01 -7.79571564e-01 3.15351883e-03 1.80407615e+02] [ 7.79562410e-01 -6.26313156e-01 -3.77894831e-03 1.23136357e+02] [ 4.92105097e-03 9.15896716e-05 9.99987887e-01 1.03455584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.03028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.42, Y:123.12, Z:1.03 [[-6.25137942e-01 -7.80507911e-01 3.15494707e-03 1.80420209e+02] [ 7.80498775e-01 -6.25145895e-01 -3.77775553e-03 1.23115493e+02] [ 4.92087029e-03 1.00814010e-04 9.99987887e-01 1.03400747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.060281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.40, Y:123.12, Z:1.03 [[-6.24531847e-01 -7.80992963e-01 3.15636833e-03 1.80402507e+02] [ 7.80983840e-01 -6.24539814e-01 -3.77656767e-03 1.23124077e+02] [ 4.92075047e-03 1.06485870e-04 9.99987887e-01 1.03390613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.09028169299995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:180.40, Y:123.12, Z:1.03 [[-6.24992768e-01 -7.80624153e-01 3.15778845e-03 1.80403050e+02] [ 7.80615031e-01 -6.25000737e-01 -3.77537986e-03 1.23118282e+02] [ 4.92077281e-03 1.05432023e-04 9.99987887e-01 1.03361626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.120281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.40, Y:123.11, Z:1.03 [[-6.25838025e-01 -7.79946656e-01 3.15921746e-03 1.80397069e+02] [ 7.79937531e-01 -6.25845990e-01 -3.77418370e-03 1.23114734e+02] [ 4.92084553e-03 1.01964593e-04 9.99987887e-01 1.03163323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.15028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.39, Y:123.12, Z:1.03 [[-6.26469525e-01 -7.79439507e-01 3.16064695e-03 1.80385997e+02] [ 7.79430381e-01 -6.26477490e-01 -3.77298620e-03 1.23123160e+02] [ 4.92088868e-03 9.98433859e-05 9.99987887e-01 1.03006020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.180281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.40, Y:123.10, Z:1.03 [[-6.26914805e-01 -7.79081401e-01 3.16208593e-03 1.80400530e+02] [ 7.79072277e-01 -6.26922772e-01 -3.77177983e-03 1.23100486e+02] [ 4.92090719e-03 9.89088644e-05 9.99987887e-01 1.03026938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.21028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.39, Y:123.10, Z:1.03 [[-6.28172463e-01 -7.78067706e-01 3.16262217e-03 1.80392980e+02] [ 7.78058571e-01 -6.28180417e-01 -3.77133015e-03 1.23100442e+02] [ 4.92104751e-03 9.16595389e-05 9.99987887e-01 1.03419298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.240281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.39, Y:123.11, Z:1.04 [[-6.28920140e-01 -7.77463470e-01 3.16404753e-03 1.80385780e+02] [ 7.77454334e-01 -6.28928092e-01 -3.77013392e-03 1.23105957e+02] [ 4.92109978e-03 8.87893117e-05 9.99987887e-01 1.03503596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.27028169299996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:180.39, Y:123.10, Z:1.03 [[-6.29579150e-01 -7.76929902e-01 3.16548233e-03 1.80385348e+02] [ 7.76920765e-01 -6.29587102e-01 -3.76892885e-03 1.23104270e+02] [ 4.92114037e-03 8.64899256e-05 9.99987887e-01 1.03399920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.300281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.39, Y:123.09, Z:1.03 [[-6.30633651e-01 -7.76074203e-01 3.16692356e-03 1.80389049e+02] [ 7.76065061e-01 -6.30641598e-01 -3.76771744e-03 1.23094387e+02] [ 4.92122204e-03 8.16893222e-05 9.99987887e-01 1.03088938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.33028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:180.37, Y:123.11, Z:1.03 [[-6.31461590e-01 -7.75400685e-01 3.16836100e-03 1.80373774e+02] [ 7.75391541e-01 -6.31469534e-01 -3.76650827e-03 1.23110646e+02] [ 4.92127654e-03 7.83150185e-05 9.99987887e-01 1.02969479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.360281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.37, Y:123.11, Z:1.03 [[-6.34253132e-01 -7.73118954e-01 3.16980707e-03 1.80374054e+02] [ 7.73109787e-01 -6.34261050e-01 -3.76529090e-03 1.23107581e+02] [ 4.92150292e-03 6.24613279e-05 9.99987887e-01 1.03052768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.39028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.38, Y:123.11, Z:1.03 [[-6.36730850e-01 -7.71079612e-01 3.17126605e-03 1.80375292e+02] [ 7.71070426e-01 -6.36738745e-01 -3.76406169e-03 1.23105319e+02] [ 4.92165919e-03 4.85752658e-05 9.99987887e-01 1.03015367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.39, Y:123.09, Z:1.03 [[-6.42483467e-01 -7.66292979e-01 3.17272455e-03 1.80387456e+02] [ 7.66283740e-01 -6.42491300e-01 -3.76283192e-03 1.23091108e+02] [ 4.92187960e-03 1.36499384e-05 9.99987887e-01 1.02945262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.45028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.38, Y:123.10, Z:1.03 [[-6.45873904e-01 -7.63437509e-01 3.17326638e-03 1.80379764e+02] [ 7.63428238e-01 -6.45881700e-01 -3.76237493e-03 1.23101814e+02] [ 4.92189283e-03 -7.45861925e-06 9.99987887e-01 1.02894132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.40, Y:123.08, Z:1.03 [[-6.49514549e-01 -7.60342536e-01 3.17471498e-03 1.80396153e+02] [ 7.60333234e-01 -6.49522307e-01 -3.76115219e-03 1.23084079e+02] [ 4.92181220e-03 -2.90817628e-05 9.99987887e-01 1.02955166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.51028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.41, Y:123.07, Z:1.03 [[-6.56398314e-01 -7.54407828e-01 3.17525551e-03 1.80410136e+02] [ 7.54398458e-01 -6.56405990e-01 -3.76069581e-03 1.23072338e+02] [ 4.92135510e-03 -7.31065340e-05 9.99987887e-01 1.03179468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:180.43, Y:123.06, Z:1.03 [[-6.59635340e-01 -7.51579094e-01 3.17561066e-03 1.80426211e+02] [ 7.51569692e-01 -6.59642977e-01 -3.76039589e-03 1.23057064e+02] [ 4.92100421e-03 -9.37972963e-05 9.99987887e-01 1.03465727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.57028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.45, Y:123.04, Z:1.04 [[-6.65132007e-01 -7.46719042e-01 3.17596150e-03 1.80451956e+02] [ 7.46709586e-01 -6.65139577e-01 -3.76009956e-03 1.23035615e+02] [ 4.92019562e-03 -1.29441667e-04 9.99987887e-01 1.03633568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.45, Y:123.04, Z:1.03 [[-6.67253188e-01 -7.44824203e-01 3.17630580e-03 1.80454151e+02] [ 7.44814728e-01 -6.67260733e-01 -3.75980869e-03 1.23039503e+02] [ 4.91982065e-03 -1.42984997e-04 9.99987887e-01 1.03343916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.630281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.46, Y:123.04, Z:1.03 [[-6.68936271e-01 -7.43312967e-01 3.17767361e-03 1.80456566e+02] [ 7.43303480e-01 -6.68943801e-01 -3.75865230e-03 1.23043782e+02] [ 4.91954006e-03 -1.52323000e-04 9.99987887e-01 1.03340660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.47, Y:123.04, Z:1.03 [[-6.70188205e-01 -7.42184386e-01 3.17904470e-03 1.80468490e+02] [ 7.42174892e-01 -6.70195726e-01 -3.75749229e-03 1.23036923e+02] [ 4.91933428e-03 -1.58819860e-04 9.99987887e-01 1.03046293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.690281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.47, Y:123.05, Z:1.03 [[-6.70833476e-01 -7.41601195e-01 3.18041254e-03 1.80468523e+02] [ 7.41591699e-01 -6.70840996e-01 -3.75633417e-03 1.23050180e+02] [ 4.91925302e-03 -1.61307168e-04 9.99987887e-01 1.02853379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.48, Y:123.05, Z:1.03 [[-6.70648318e-01 -7.41768636e-01 3.18178083e-03 1.80476613e+02] [ 7.41759148e-01 -6.70655847e-01 -3.75517481e-03 1.23046412e+02] [ 4.91935081e-03 -1.58286636e-04 9.99987887e-01 1.02901456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.750281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.48, Y:123.06, Z:1.03 [[-6.68244902e-01 -7.43934552e-01 3.18315215e-03 1.80476176e+02] [ 7.43925094e-01 -6.68252469e-01 -3.75401201e-03 1.23059321e+02] [ 4.91988853e-03 -1.40572628e-04 9.99987887e-01 1.03182682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.46, Y:123.08, Z:1.03 [[-6.66807200e-01 -7.45223468e-01 3.18452633e-03 1.80462700e+02] [ 7.45214030e-01 -6.66814791e-01 -3.75284594e-03 1.23080626e+02] [ 4.92019812e-03 -1.29270993e-04 9.99987887e-01 1.03209804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.810281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.47, Y:123.08, Z:1.03 [[-6.65337977e-01 -7.46535482e-01 3.18591956e-03 1.80466900e+02] [ 7.46526064e-01 -6.65345595e-01 -3.75166280e-03 1.23080783e+02] [ 4.92048694e-03 -1.17751753e-04 9.99987887e-01 1.03122006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.47, Y:123.09, Z:1.03 [[-6.62469685e-01 -7.49081943e-01 3.18732594e-03 1.80468287e+02] [ 7.49072561e-01 -6.62477345e-01 -3.75046760e-03 1.23090018e+02] [ 4.92093878e-03 -9.70326855e-05 9.99987887e-01 1.02706552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.870281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.47, Y:123.10, Z:1.03 [[-6.61023295e-01 -7.50358605e-01 3.18873624e-03 1.80466749e+02] [ 7.50349243e-01 -6.61030980e-01 -3.74926814e-03 1.23096977e+02] [ 4.92114905e-03 -8.56877552e-05 9.99987887e-01 1.02623850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.46, Y:123.11, Z:1.03 [[-6.55819349e-01 -7.54911124e-01 3.19015488e-03 1.80461523e+02] [ 7.54901821e-01 -6.55827106e-01 -3.74806067e-03 1.23109619e+02] [ 4.92164273e-03 -4.97969759e-05 9.99987887e-01 1.02907705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.930281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.45, Y:123.12, Z:1.03 [[-6.52842286e-01 -7.57487137e-01 3.19158600e-03 1.80452053e+02] [ 7.57477871e-01 -6.52850087e-01 -3.74684163e-03 1.23121045e+02] [ 4.92181154e-03 -2.85408938e-05 9.99987887e-01 1.02965609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.46, Y:123.11, Z:1.03 [[-6.46301220e-01 -7.63075709e-01 3.19303344e-03 1.80464030e+02] [ 7.63066516e-01 -6.46309108e-01 -3.74560772e-03 1.23106593e+02] [ 4.92186886e-03 1.57060636e-05 9.99987887e-01 1.02932075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.990281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.44, Y:123.14, Z:1.03 [[-6.43438636e-01 -7.65491030e-01 3.19448090e-03 1.80436335e+02] [ 7.65481873e-01 -6.43446565e-01 -3.74437283e-03 1.23138352e+02] [ 4.92176158e-03 3.60430727e-05 9.99987887e-01 1.03070627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:180.47, Y:123.09, Z:1.03 [[-6.40648417e-01 -7.67827705e-01 3.19700428e-03 1.80474819e+02] [ 7.67818588e-01 -6.40656391e-01 -3.74221844e-03 1.23091612e+02] [ 4.92156022e-03 5.72729995e-05 9.99987887e-01 1.03110834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.050281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.48, Y:123.08, Z:1.03 [[-6.38517297e-01 -7.69600835e-01 3.19631501e-03 1.80481426e+02] [ 7.69591737e-01 -6.38525294e-01 -3.74280707e-03 1.23082475e+02] [ 4.92139542e-03 7.00105634e-05 9.99987887e-01 1.03164953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.50, Y:123.06, Z:1.03 [[-6.35852396e-01 -7.71804059e-01 3.19773377e-03 1.80499114e+02] [ 7.71794995e-01 -6.35860430e-01 -3.74159454e-03 1.23058804e+02] [ 4.92109022e-03 8.88930677e-05 9.99987887e-01 1.03132168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.110281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.50, Y:123.06, Z:1.03 [[-6.35486834e-01 -7.72105077e-01 3.19913386e-03 1.80500567e+02] [ 7.72096022e-01 -6.35494880e-01 -3.74039704e-03 1.23055335e+02] [ 4.92101274e-03 9.30654553e-05 9.99987887e-01 1.03090933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.50, Y:123.05, Z:1.03 [[-6.35992021e-01 -7.71688995e-01 3.20051956e-03 1.80496058e+02] [ 7.71679942e-01 -6.36000068e-01 -3.73921098e-03 1.23054263e+02] [ 4.92103862e-03 9.16684006e-05 9.99987887e-01 1.02988056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.17028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.49, Y:123.06, Z:1.03 [[-6.36648790e-01 -7.71147240e-01 3.20190683e-03 1.80491908e+02] [ 7.71138185e-01 -6.36656836e-01 -3.73802268e-03 1.23056463e+02] [ 4.92108174e-03 8.93050035e-05 9.99987887e-01 1.02918912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.49, Y:123.05, Z:1.03 [[-6.37382187e-01 -7.70541165e-01 3.20329903e-03 1.80494950e+02] [ 7.70532109e-01 -6.37390230e-01 -3.73682925e-03 1.23052036e+02] [ 4.92113227e-03 8.64563629e-05 9.99987887e-01 1.02875413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.23028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.48, Y:123.07, Z:1.03 [[-6.39863887e-01 -7.68481578e-01 3.20469282e-03 1.80483861e+02] [ 7.68472502e-01 -6.39871908e-01 -3.73563356e-03 1.23065715e+02] [ 4.92135848e-03 7.24213011e-05 9.99987887e-01 1.03006807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.49, Y:123.06, Z:1.03 [[-6.41551350e-01 -7.67073391e-01 3.20609456e-03 1.80486953e+02] [ 7.67064303e-01 -6.41559358e-01 -3.73443013e-03 1.23062703e+02] [ 4.92148195e-03 6.34520032e-05 9.99987887e-01 1.03136806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.29028169299994 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:180.48, Y:123.07, Z:1.03 [[-6.43661821e-01 -7.65303320e-01 3.20750550e-03 1.80479065e+02] [ 7.65294216e-01 -6.43669811e-01 -3.73321787e-03 1.23072159e+02] [ 4.92161850e-03 5.17555941e-05 9.99987887e-01 1.03091962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.49, Y:123.07, Z:1.03 [[-6.47484794e-01 -7.62071613e-01 3.20892272e-03 1.80485966e+02] [ 7.62062476e-01 -6.47492745e-01 -3.73199929e-03 1.23068980e+02] [ 4.92180491e-03 2.89867960e-05 9.99987887e-01 1.03015320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.35028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.49, Y:123.07, Z:1.03 [[-6.49001844e-01 -7.60780060e-01 3.21034463e-03 1.80489350e+02] [ 7.60770913e-01 -6.49009784e-01 -3.73077574e-03 1.23069072e+02] [ 4.92184486e-03 2.10564787e-05 9.99987887e-01 1.02973537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.380281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.48, Y:123.08, Z:1.03 [[-6.51068050e-01 -7.59012568e-01 3.21176396e-03 1.80481990e+02] [ 7.59003405e-01 -6.51075972e-01 -3.72955346e-03 1.23084800e+02] [ 4.92188029e-03 9.54668622e-06 9.99987887e-01 1.02910155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.41028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.48, Y:123.09, Z:1.03 [[-6.52104305e-01 -7.58122451e-01 3.21319321e-03 1.80484357e+02] [ 7.58113284e-01 -6.52112221e-01 -3.72832168e-03 1.23086902e+02] [ 4.92188693e-03 4.70984068e-06 9.99987887e-01 1.02824591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.440281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.49, Y:123.08, Z:1.03 [[-6.53283712e-01 -7.57106371e-01 3.21463301e-03 1.80493425e+02] [ 7.57097198e-01 -6.53291621e-01 -3.72707984e-03 1.23082565e+02] [ 4.92188871e-03 -1.05090728e-06 9.99987887e-01 1.02758082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.47028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.50, Y:123.08, Z:1.03 [[-6.54452141e-01 -7.56096589e-01 3.21607017e-03 1.80500945e+02] [ 7.56087409e-01 -6.54460043e-01 -3.72583932e-03 1.23080427e+02] [ 4.92188382e-03 -6.75335381e-06 9.99987887e-01 1.02655252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.500281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.50, Y:123.10, Z:1.02 [[-6.55871529e-01 -7.54865673e-01 3.21750110e-03 1.80495202e+02] [ 7.54856485e-01 -6.55879421e-01 -3.72460321e-03 1.23098748e+02] [ 4.92186787e-03 -1.41096362e-05 9.99987887e-01 1.02493085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.53028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.50, Y:123.09, Z:1.02 [[-6.55973214e-01 -7.54777305e-01 3.21893995e-03 1.80504047e+02] [ 7.54768122e-01 -6.55981112e-01 -3.72335929e-03 1.23094638e+02] [ 4.92187089e-03 -1.28707043e-05 9.99987887e-01 1.02344872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.560281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.52, Y:123.09, Z:1.02 [[-6.55521104e-01 -7.55169988e-01 3.22038583e-03 1.80518443e+02] [ 7.55160815e-01 -6.55529015e-01 -3.72210830e-03 1.23091355e+02] [ 4.92188083e-03 -8.01136047e-06 9.99987887e-01 1.02285516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.59028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.52, Y:123.10, Z:1.02 [[-6.55652786e-01 -7.55055656e-01 3.22182274e-03 1.80518630e+02] [ 7.55046488e-01 -6.55660702e-01 -3.72086411e-03 1.23097052e+02] [ 4.92188205e-03 -6.96897527e-06 9.99987887e-01 1.02329768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.620281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:180.54, Y:123.08, Z:1.02 [[-6.54886214e-01 -7.55720622e-01 3.22325750e-03 1.80538464e+02] [ 7.55711468e-01 -6.54894146e-01 -3.71962081e-03 1.23083743e+02] [ 4.92188662e-03 -7.57360459e-08 9.99987887e-01 1.02281618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.65028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.54, Y:123.09, Z:1.02 [[-6.53473177e-01 -7.56942804e-01 3.22468508e-03 1.80535972e+02] [ 7.56933671e-01 -6.53481133e-01 -3.71838278e-03 1.23091773e+02] [ 4.92187394e-03 1.10093051e-05 9.99987887e-01 1.02242170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.680281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.56, Y:123.07, Z:1.02 [[-6.51861668e-01 -7.58331035e-01 3.22610627e-03 1.80556026e+02] [ 7.58321925e-01 -6.51869651e-01 -3.71714933e-03 1.23072937e+02] [ 4.92183046e-03 2.33599563e-05 9.99987887e-01 1.02200420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.71028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:180.56, Y:123.07, Z:1.02 [[-6.50474991e-01 -7.59520816e-01 3.22751926e-03 1.80563621e+02] [ 7.59511727e-01 -6.50482997e-01 -3.71592205e-03 1.23066264e+02] [ 4.92176655e-03 3.42243611e-05 9.99987887e-01 1.02180345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.740281693 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:180.56, Y:123.07, Z:1.02 [[-6.48272287e-01 -7.61401744e-01 3.22891564e-03 1.80559378e+02] [ 7.61392684e-01 -6.48280327e-01 -3.71470828e-03 1.23070680e+02] [ 4.92162785e-03 5.03303135e-05 9.99987887e-01 1.02229011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.77028169299996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:180.58, Y:123.05, Z:1.02 [[-6.46748119e-01 -7.62696817e-01 3.23031203e-03 1.80575840e+02] [ 7.62687779e-01 -6.46756184e-01 -3.71349358e-03 1.23050145e+02] [ 4.92149402e-03 6.20245180e-05 9.99987887e-01 1.02071818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.800281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:180.58, Y:123.05, Z:1.02 [[-6.47030900e-01 -7.62456931e-01 3.23170049e-03 1.80577520e+02] [ 7.62447896e-01 -6.47038967e-01 -3.71228488e-03 1.23048328e+02] [ 4.92149348e-03 6.20402129e-05 9.99987887e-01 1.02070580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.83028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:180.58, Y:123.04, Z:1.02 [[-6.46661002e-01 -7.62770670e-01 3.23307665e-03 1.80584544e+02] [ 7.62761646e-01 -6.46669081e-01 -3.71108597e-03 1.23039032e+02] [ 4.92143824e-03 6.62522986e-05 9.99987887e-01 1.01961258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.860281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:180.57, Y:123.05, Z:1.02 [[-6.46032306e-01 -7.63303215e-01 3.23444817e-03 1.80569483e+02] [ 7.63294203e-01 -6.46040399e-01 -3.70989022e-03 1.23054538e+02] [ 4.92135532e-03 7.21266075e-05 9.99987887e-01 1.01916285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.89028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.58, Y:123.04, Z:1.02 [[-6.45652164e-01 -7.63624786e-01 3.23582654e-03 1.80576674e+02] [ 7.63615783e-01 -6.45660268e-01 -3.70868759e-03 1.23043734e+02] [ 4.92129040e-03 7.64060541e-05 9.99987887e-01 1.01903519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:180.58, Y:123.04, Z:1.02 [[-6.46436488e-01 -7.62960934e-01 3.23721073e-03 1.80575441e+02] [ 7.62951930e-01 -6.46444590e-01 -3.70747898e-03 1.23038599e+02] [ 4.92133899e-03 7.31864809e-05 9.99987887e-01 1.02083148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.95028169299997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:180.58, Y:123.03, Z:1.02 [[-6.47605503e-01 -7.61968913e-01 3.23858910e-03 1.80577009e+02] [ 7.61959902e-01 -6.47613598e-01 -3.70627454e-03 1.23033855e+02] [ 4.92142032e-03 6.74712430e-05 9.99987887e-01 1.02358889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98028169299994 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:180.57, Y:123.04, Z:1.03 [[-6.49526104e-01 -7.60332390e-01 3.23996613e-03 1.80566277e+02] [ 7.60323365e-01 -6.49534182e-01 -3.70507037e-03 1.23040485e+02] [ 4.92155376e-03 5.68820222e-05 9.99987887e-01 1.02764825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.01028169299997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:180.57, Y:123.04, Z:1.03 [[-6.49920739e-01 -7.59995084e-01 3.24117416e-03 1.80565366e+02] [ 7.59986060e-01 -6.49928819e-01 -3.70401330e-03 1.23040213e+02] [ 4.92156439e-03 5.59321165e-05 9.99987887e-01 1.02589948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04028169299994 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:180.57, Y:123.04, Z:1.03 [[-6.50320375e-01 -7.59653142e-01 3.24256403e-03 1.80568600e+02] [ 7.59644119e-01 -6.50328456e-01 -3.70279618e-03 1.23035108e+02] [ 4.92157241e-03 5.51908949e-05 9.99987887e-01 1.02845829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.07028169299997 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:180.56, Y:123.04, Z:1.02 [[-6.50768034e-01 -7.59269677e-01 3.24395298e-03 1.80563842e+02] [ 7.59260656e-01 -6.50776117e-01 -3.70157894e-03 1.23036176e+02] [ 4.92158377e-03 5.41366218e-05 9.99987887e-01 1.02470935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:180.56, Y:123.03, Z:1.02 [[-6.51139922e-01 -7.58950769e-01 3.24534306e-03 1.80563398e+02] [ 7.58941750e-01 -6.51148008e-01 -3.70035979e-03 1.23033672e+02] [ 4.92158957e-03 5.35743551e-05 9.99987887e-01 1.02470278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.130281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:180.57, Y:123.02, Z:1.02 [[-6.51752784e-01 -7.58424530e-01 3.24673655e-03 1.80572385e+02] [ 7.58415511e-01 -6.51760869e-01 -3.69913672e-03 1.23020215e+02] [ 4.92161186e-03 5.14527043e-05 9.99987887e-01 1.02422736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16028169299994 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:180.57, Y:123.02, Z:1.02 [[-6.52056059e-01 -7.58163799e-01 3.24812323e-03 1.80565078e+02] [ 7.58154783e-01 -6.52064146e-01 -3.69791871e-03 1.23023711e+02] [ 4.92161280e-03 5.13298559e-05 9.99987888e-01 1.02384746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.190281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:180.57, Y:123.02, Z:1.02 [[-6.52253131e-01 -7.57994257e-01 3.24950742e-03 1.80567696e+02] [ 7.57985244e-01 -6.52261224e-01 -3.69670197e-03 1.23019337e+02] [ 4.92160655e-03 5.18932397e-05 9.99987888e-01 1.02243492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22028169299995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:180.57, Y:123.02, Z:1.02 [[-6.52691974e-01 -7.57616406e-01 3.25089500e-03 1.80566196e+02] [ 7.57607395e-01 -6.52700068e-01 -3.69548132e-03 1.23016436e+02] [ 4.92161666e-03 5.08910926e-05 9.99987888e-01 1.01551764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.250281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:180.56, Y:123.02, Z:1.02 [[-6.53130403e-01 -7.57238470e-01 3.25210672e-03 1.80556217e+02] [ 7.57229459e-01 -6.53138498e-01 -3.69441467e-03 1.23024212e+02] [ 4.92162901e-03 4.96564713e-05 9.99987888e-01 1.01563530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:180.55, Y:123.03, Z:1.01 [[-6.53567638e-01 -7.56861121e-01 3.25350002e-03 1.80546159e+02] [ 7.56852112e-01 -6.53575735e-01 -3.69318725e-03 1.23032266e+02] [ 4.92163851e-03 4.86706927e-05 9.99987888e-01 1.01497708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.310281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:180.55, Y:123.02, Z:1.02 [[-6.53697098e-01 -7.56749304e-01 3.25490807e-03 1.80553122e+02] [ 7.56740300e-01 -6.53705200e-01 -3.69194588e-03 1.23018532e+02] [ 4.92162781e-03 4.97057982e-05 9.99987888e-01 1.01525986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34028169299995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:180.56, Y:123.01, Z:1.01 [[-6.54056979e-01 -7.56438276e-01 3.25631727e-03 1.80562368e+02] [ 7.56429274e-01 -6.54065083e-01 -3.69070254e-03 1.23005893e+02] [ 4.92163209e-03 4.92439528e-05 9.99987888e-01 1.01336865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.370281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:180.54, Y:123.02, Z:1.01 [[-6.55896972e-01 -7.54843394e-01 3.25771260e-03 1.80542411e+02] [ 7.54834378e-01 -6.55905061e-01 -3.68947050e-03 1.23022458e+02] [ 4.92172261e-03 3.91209334e-05 9.99987888e-01 1.01004568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40028169299995 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:180.55, Y:123.01, Z:1.01 [[-6.57420675e-01 -7.53516711e-01 3.25911505e-03 1.80553350e+02] [ 7.53507685e-01 -6.57428753e-01 -3.68823121e-03 1.23006760e+02] [ 4.92177980e-03 3.10487865e-05 9.99987888e-01 1.00950991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.430281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:180.53, Y:123.03, Z:1.01 [[-6.60286103e-01 -7.51007078e-01 3.26052331e-03 1.80525260e+02] [ 7.50998028e-01 -6.60294153e-01 -3.68698585e-03 1.23033255e+02] [ 4.92185695e-03 1.41810548e-05 9.99987888e-01 1.00979189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46028169299996 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:180.54, Y:123.02, Z:1.01 [[-6.61937226e-01 -7.49552179e-01 3.26194355e-03 1.80537602e+02] [ 7.49543117e-01 -6.61945263e-01 -3.68572890e-03 1.23017454e+02] [ 4.92187421e-03 5.24617110e-06 9.99987888e-01 1.01005892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.490281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:180.53, Y:123.03, Z:1.01 [[-6.63612577e-01 -7.48069314e-01 3.26337578e-03 1.80528303e+02] [ 7.48060240e-01 -6.63620601e-01 -3.68446036e-03 1.23025049e+02] [ 4.92187513e-03 -3.85255996e-06 9.99987888e-01 1.01062968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52028169299996 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:180.54, Y:123.01, Z:1.01 [[-6.64884286e-01 -7.46939240e-01 3.26480558e-03 1.80537140e+02] [ 7.46930159e-01 -6.64892301e-01 -3.68319298e-03 1.23012240e+02] [ 4.92186546e-03 -1.03153869e-05 9.99987888e-01 1.01059988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.550281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:180.54, Y:123.01, Z:1.01 [[-6.66913572e-01 -7.45127921e-01 3.26623585e-03 1.80539587e+02] [ 7.45118824e-01 -6.66921570e-01 -3.68192419e-03 1.23005321e+02] [ 4.92182765e-03 -2.17913980e-05 9.99987888e-01 1.01188883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58028169299996 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:180.54, Y:123.01, Z:1.01 [[-6.68321870e-01 -7.43865042e-01 3.26765676e-03 1.80536923e+02] [ 7.43855936e-01 -6.68329858e-01 -3.68066272e-03 1.23007543e+02] [ 4.92178890e-03 -2.92015154e-05 9.99987888e-01 1.01427175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.610281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:180.56, Y:122.98, Z:1.02 [[-6.71330193e-01 -7.41151189e-01 3.26907766e-03 1.80556270e+02] [ 7.41142057e-01 -6.71338151e-01 -3.67940027e-03 1.22981858e+02] [ 4.92164844e-03 -4.72415539e-05 9.99987888e-01 1.01623638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64028169299996 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:180.56, Y:122.98, Z:1.02 [[-6.72194650e-01 -7.40367245e-01 3.27048604e-03 1.80558174e+02] [ 7.40358110e-01 -6.72202604e-01 -3.67814798e-03 1.22977774e+02] [ 4.92160952e-03 -5.11005313e-05 9.99987888e-01 1.01633838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.67028169299994 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:180.51, Y:123.03, Z:1.02 [[-6.72627526e-01 -7.39973990e-01 3.27187775e-03 1.80505483e+02] [ 7.39964857e-01 -6.72635482e-01 -3.67690958e-03 1.23034431e+02] [ 4.92159852e-03 -5.21160372e-05 9.99987888e-01 1.01559294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70028169299997 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:180.55, Y:122.98, Z:1.01 [[-6.72652655e-01 -7.39951142e-01 3.27317415e-03 1.80552763e+02] [ 7.39942014e-01 -6.72660617e-01 -3.67575508e-03 1.22979690e+02] [ 4.92161451e-03 -5.05473389e-05 9.99987888e-01 1.01277373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.73028169299994 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:180.55, Y:122.98, Z:1.01 [[-6.73104155e-01 -7.39540454e-01 3.27312924e-03 1.80547714e+02] [ 7.39531321e-01 -6.73112111e-01 -3.67579506e-03 1.22981301e+02] [ 4.92158208e-03 -5.36113392e-05 9.99987888e-01 1.01053101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76028169299997 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:180.55, Y:122.97, Z:1.01 [[-6.73475151e-01 -7.39202610e-01 3.27452972e-03 1.80550056e+02] [ 7.39193479e-01 -6.73483109e-01 -3.67454704e-03 1.22972613e+02] [ 4.92157522e-03 -5.42051097e-05 9.99987888e-01 1.01109789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.79028169299994 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:180.55, Y:122.97, Z:1.01 [[-6.73340502e-01 -7.39325258e-01 3.27593019e-03 1.80552981e+02] [ 7.39316134e-01 -6.73348469e-01 -3.67329807e-03 1.22966327e+02] [ 4.92160462e-03 -5.14323260e-05 9.99987888e-01 1.01149549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.82028169299997 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:180.55, Y:122.97, Z:1.01 [[-6.73139222e-01 -7.39508517e-01 3.27732557e-03 1.80549298e+02] [ 7.39499402e-01 -6.73147198e-01 -3.67205269e-03 1.22968337e+02] [ 4.92163676e-03 -4.82223968e-05 9.99987888e-01 1.01054453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.85028169299994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:180.55, Y:122.97, Z:1.01 [[-6.72815362e-01 -7.39803176e-01 3.27872140e-03 1.80548417e+02] [ 7.39794070e-01 -6.72823349e-01 -3.67080595e-03 1.22965683e+02] [ 4.92167421e-03 -4.41959872e-05 9.99987888e-01 1.00812002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.880281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:180.55, Y:122.96, Z:1.01 [[-6.73065922e-01 -7.39575219e-01 3.28012091e-03 1.80549197e+02] [ 7.39566117e-01 -6.73073913e-01 -3.66955497e-03 1.22962822e+02] [ 4.92167574e-03 -4.39861163e-05 9.99987888e-01 1.00952238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.91028169299994 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:180.56, Y:122.95, Z:1.01 [[-6.73504490e-01 -7.39175847e-01 3.28151994e-03 1.80559808e+02] [ 7.39166746e-01 -6.73512483e-01 -3.66830345e-03 1.22949079e+02] [ 4.92166595e-03 -4.50284301e-05 9.99987888e-01 1.01072805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.940281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:180.55, Y:122.96, Z:1.01 [[-6.74300702e-01 -7.38449583e-01 3.28291136e-03 1.80551842e+02] [ 7.38440479e-01 -6.74308691e-01 -3.66705779e-03 1.22955822e+02] [ 4.92163296e-03 -4.84650065e-05 9.99987888e-01 1.01461903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.97028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:180.57, Y:122.94, Z:1.02 [[-6.74697550e-01 -7.38087007e-01 3.28430138e-03 1.80570068e+02] [ 7.38077905e-01 -6.74705541e-01 -3.66581243e-03 1.22935074e+02] [ 4.92162487e-03 -4.92443834e-05 9.99987888e-01 1.01522635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.000281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:180.56, Y:122.94, Z:1.01 [[-6.74555354e-01 -7.38216959e-01 3.28568434e-03 1.80562373e+02] [ 7.38207865e-01 -6.74563354e-01 -3.66457246e-03 1.22944144e+02] [ 4.92165179e-03 -4.64389526e-05 9.99987888e-01 1.01179906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.03028169299995 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:180.56, Y:122.95, Z:1.01 [[-6.74557046e-01 -7.38215407e-01 3.28706186e-03 1.80558482e+02] [ 7.38206319e-01 -6.74565053e-01 -3.66333642e-03 1.22948977e+02] [ 4.92166845e-03 -4.45995601e-05 9.99987888e-01 1.01092872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.060281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:180.56, Y:122.94, Z:1.01 [[-6.74528977e-01 -7.38241048e-01 3.28845048e-03 1.80564781e+02] [ 7.38231967e-01 -6.74536991e-01 -3.66208949e-03 1.22942848e+02] [ 4.92168627e-03 -4.25462152e-05 9.99987888e-01 1.00982338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.09028169299995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:180.57, Y:122.94, Z:1.01 [[-6.74758708e-01 -7.38031072e-01 3.28983953e-03 1.80570000e+02] [ 7.38021994e-01 -6.74766726e-01 -3.66084120e-03 1.22939619e+02] [ 4.92168881e-03 -4.22105465e-05 9.99987888e-01 1.00705738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.120281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:180.55, Y:122.96, Z:1.00 [[-6.75237243e-01 -7.37593271e-01 3.29122311e-03 1.80554274e+02] [ 7.37584193e-01 -6.75245263e-01 -3.65959690e-03 1.22959156e+02] [ 4.92167686e-03 -4.35419802e-05 9.99987888e-01 1.00483875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.15028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:180.57, Y:122.95, Z:1.00 [[-6.76911862e-01 -7.36056716e-01 3.29261880e-03 1.80567006e+02] [ 7.36047627e-01 -6.76919868e-01 -3.65834073e-03 1.22950037e+02] [ 4.92158535e-03 -5.28499813e-05 9.99987888e-01 1.00039136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.180281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:180.58, Y:122.94, Z:1.00 [[-6.78285041e-01 -7.34791503e-01 3.29402122e-03 1.80581325e+02] [ 7.34782405e-01 -6.78293036e-01 -3.65707754e-03 1.22936143e+02] [ 4.92150116e-03 -6.01521591e-05 9.99987888e-01 1.00165830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.21028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.59, Y:122.93, Z:1.00 [[-6.79504202e-01 -7.33664215e-01 3.29540791e-03 1.80587633e+02] [ 7.33655110e-01 -6.79512189e-01 -3.65582756e-03 1.22931026e+02] [ 4.92141970e-03 -6.64573328e-05 9.99987888e-01 1.00282082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.240281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.58, Y:122.94, Z:1.01 [[-6.80876191e-01 -7.32391114e-01 3.29678260e-03 1.80579870e+02] [ 7.32382000e-01 -6.80884168e-01 -3.65458746e-03 1.22944158e+02] [ 4.92131446e-03 -7.38173539e-05 9.99987888e-01 1.00693558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.27028169299996 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:180.59, Y:122.94, Z:1.01 [[-6.81134131e-01 -7.32151226e-01 3.29816290e-03 1.80588368e+02] [ 7.32142115e-01 -6.81142112e-01 -3.65334136e-03 1.22937353e+02] [ 4.92131599e-03 -7.36915314e-05 9.99987888e-01 1.00687623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.300281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:180.60, Y:122.93, Z:1.01 [[-6.80939265e-01 -7.32332459e-01 3.29954726e-03 1.80598341e+02] [ 7.32323356e-01 -6.80947256e-01 -3.65209063e-03 1.22931308e+02] [ 4.92136216e-03 -7.05163887e-05 9.99987888e-01 1.00558009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.33028169299996 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:180.59, Y:122.94, Z:1.01 [[-6.80767917e-01 -7.32491739e-01 3.30092256e-03 1.80593528e+02] [ 7.32482643e-01 -6.80775916e-01 -3.65084715e-03 1.22939535e+02] [ 4.92140395e-03 -6.75111262e-05 9.99987888e-01 1.00540290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.360281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:180.59, Y:122.95, Z:1.01 [[-6.80930569e-01 -7.32340533e-01 3.30229941e-03 1.80589015e+02] [ 7.32331442e-01 -6.80938573e-01 -3.64960132e-03 1.22947413e+02] [ 4.92141402e-03 -6.67474097e-05 9.99987888e-01 1.00505879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.39028169299996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:180.59, Y:122.95, Z:1.00 [[-6.81452691e-01 -7.31854710e-01 3.30368738e-03 1.80586280e+02] [ 7.31845619e-01 -6.81460695e-01 -3.64834447e-03 1.22954925e+02] [ 4.92139118e-03 -6.83850214e-05 9.99987888e-01 1.00303450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:180.59, Y:122.95, Z:1.00 [[-6.81532369e-01 -7.31780504e-01 3.30508549e-03 1.80588401e+02] [ 7.31771419e-01 -6.81540380e-01 -3.64707747e-03 1.22954404e+02] [ 4.92140941e-03 -6.70342500e-05 9.99987888e-01 1.00083891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.45028169299997 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:180.60, Y:122.95, Z:1.00 [[-6.80433525e-01 -7.32802351e-01 3.30648871e-03 1.80596812e+02] [ 7.32793284e-01 -6.80441556e-01 -3.64580484e-03 1.22952108e+02] [ 4.92152668e-03 -5.77551172e-05 9.99987888e-01 9.98930381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48028169299994 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:180.60, Y:122.96, Z:1.00 [[-6.79852410e-01 -7.33341502e-01 3.30788888e-03 1.80596147e+02] [ 7.33332447e-01 -6.79860456e-01 -3.64453401e-03 1.22956706e+02] [ 4.92159088e-03 -5.19629847e-05 9.99987888e-01 9.99537889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.51028169299997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:180.61, Y:122.95, Z:1.00 [[-6.79058445e-01 -7.34076751e-01 3.30928949e-03 1.80606880e+02] [ 7.34067712e-01 -6.79066507e-01 -3.64326178e-03 1.22947935e+02] [ 4.92166143e-03 -4.47451147e-05 9.99987888e-01 9.99752140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.59, Y:122.97, Z:1.00 [[-6.76206721e-01 -7.36704493e-01 3.31068706e-03 1.80592821e+02] [ 7.36695491e-01 -6.76214825e-01 -3.64199135e-03 1.22967839e+02] [ 4.92180706e-03 -2.37708062e-05 9.99987888e-01 1.00116963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.57028169299997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:180.60, Y:122.96, Z:1.00 [[-6.74335869e-01 -7.38417339e-01 3.31209185e-03 1.80597355e+02] [ 7.38408364e-01 -6.74344002e-01 -3.64071336e-03 1.22964533e+02] [ 4.92185515e-03 -9.38728170e-06 9.99987888e-01 1.00081398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60028169299994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:180.62, Y:122.94, Z:1.00 [[-6.70307308e-01 -7.42076232e-01 3.31350872e-03 1.80618442e+02] [ 7.42067307e-01 -6.70315497e-01 -3.63942337e-03 1.22943120e+02] [ 4.92182583e-03 1.93144124e-05 9.99987888e-01 9.97062090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.630281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:180.61, Y:122.95, Z:1.00 [[-6.69110776e-01 -7.43155287e-01 3.31490947e-03 1.80608554e+02] [ 7.43146382e-01 -6.69118987e-01 -3.63814707e-03 1.22953274e+02] [ 4.92177710e-03 2.91395705e-05 9.99987888e-01 9.95302106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66028169299994 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:180.62, Y:122.95, Z:1.00 [[-6.67956807e-01 -7.44192654e-01 3.31630414e-03 1.80615108e+02] [ 7.44183768e-01 -6.67965038e-01 -3.63687534e-03 1.22945852e+02] [ 4.92171113e-03 3.86640688e-05 9.99987888e-01 9.96033073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.690281693 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:180.62, Y:122.94, Z:1.00 [[-6.68242328e-01 -7.43936277e-01 3.31770296e-03 1.80616841e+02] [ 7.43927395e-01 -6.68250562e-01 -3.63559883e-03 1.22944063e+02] [ 4.92171073e-03 3.86690998e-05 9.99987888e-01 9.96020690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72028169299995 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:180.64, Y:122.92, Z:1.00 [[-6.66905089e-01 -7.45135281e-01 3.31909759e-03 1.80635287e+02] [ 7.45126419e-01 -6.66913346e-01 -3.63432517e-03 1.22923006e+02] [ 4.92161438e-03 4.93973487e-05 9.99987888e-01 9.99712345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.750281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:180.64, Y:122.92, Z:1.00 [[-6.66738140e-01 -7.45284662e-01 3.32047861e-03 1.80638347e+02] [ 7.45275809e-01 -6.66746406e-01 -3.63306297e-03 1.22920500e+02] [ 4.92158329e-03 5.23707323e-05 9.99987888e-01 1.00083872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.64, Y:122.92, Z:1.00 [[-6.66970860e-01 -7.45076397e-01 3.32184584e-03 1.80638591e+02] [ 7.45067547e-01 -6.66979130e-01 -3.63181243e-03 1.22922551e+02] [ 4.92157957e-03 5.26864676e-05 9.99987888e-01 1.00072212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.810281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.64, Y:122.93, Z:1.00 [[-6.67478525e-01 -7.44621632e-01 3.32321394e-03 1.80635566e+02] [ 7.44612783e-01 -6.67486796e-01 -3.63056014e-03 1.22926544e+02] [ 4.92159504e-03 5.11866564e-05 9.99987888e-01 1.00065237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:180.65, Y:122.91, Z:1.00 [[-6.67506203e-01 -7.44596814e-01 3.32458718e-03 1.80645792e+02] [ 7.44587971e-01 -6.67514481e-01 -3.62930220e-03 1.22914640e+02] [ 4.92157694e-03 5.28658914e-05 9.99987888e-01 1.00376427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.870281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.64, Y:122.92, Z:1.01 [[-6.67256338e-01 -7.44820729e-01 3.32595681e-03 1.80640349e+02] [ 7.44811894e-01 -6.67264625e-01 -3.62804662e-03 1.22919664e+02] [ 4.92153764e-03 5.63750920e-05 9.99987888e-01 1.00504259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.65, Y:122.91, Z:1.00 [[-6.66494215e-01 -7.45502777e-01 3.32732461e-03 1.80651714e+02] [ 7.45493957e-01 -6.66502517e-01 -3.62679176e-03 1.22906314e+02] [ 4.92145355e-03 6.32646613e-05 9.99987888e-01 1.00491699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.930281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:180.66, Y:122.90, Z:1.00 [[-6.63763653e-01 -7.47934979e-01 3.32868947e-03 1.80656427e+02] [ 7.47926197e-01 -6.63771994e-01 -3.62553864e-03 1.22899568e+02] [ 4.92115802e-03 8.31132835e-05 9.99987888e-01 1.00080436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96028169299996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:180.65, Y:122.90, Z:1.00 [[-6.62609632e-01 -7.48957534e-01 3.32987260e-03 1.80653140e+02] [ 7.48948769e-01 -6.62617993e-01 -3.62445168e-03 1.22902939e+02] [ 4.92099389e-03 9.23073919e-05 9.99987888e-01 9.98815740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.990281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:180.66, Y:122.90, Z:1.00 [[-6.61858237e-01 -7.49621622e-01 3.33122641e-03 1.80658071e+02] [ 7.49612873e-01 -6.61866613e-01 -3.62320696e-03 1.22896862e+02] [ 4.92086182e-03 9.90808230e-05 9.99987888e-01 9.97828383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:180.66, Y:122.90, Z:1.00 [[-6.61762576e-01 -7.49706067e-01 3.33258064e-03 1.80656206e+02] [ 7.49697325e-01 -6.61770959e-01 -3.62196093e-03 1.22895528e+02] [ 4.92081117e-03 1.01548591e-04 9.99987888e-01 9.97751816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.050281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:180.66, Y:122.89, Z:1.00 [[-6.62420743e-01 -7.49124585e-01 3.33393287e-03 1.80658431e+02] [ 7.49115842e-01 -6.62429126e-01 -3.62071581e-03 1.22891370e+02] [ 4.92086146e-03 9.90646730e-05 9.99987888e-01 9.96949546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08028169299996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:180.65, Y:122.90, Z:1.00 [[-6.64473600e-01 -7.47304296e-01 3.33528528e-03 1.80649192e+02] [ 7.47295536e-01 -6.64481965e-01 -3.61946958e-03 1.22897800e+02] [ 4.92108208e-03 8.74018230e-05 9.99987888e-01 9.96352019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.110281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.66, Y:122.89, Z:1.00 [[-6.65486606e-01 -7.46402334e-01 3.33664252e-03 1.80657158e+02] [ 7.46393569e-01 -6.65494965e-01 -3.61821797e-03 1.22887864e+02] [ 4.92116513e-03 8.25729218e-05 9.99987888e-01 9.95687541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14028169299996 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:180.66, Y:122.89, Z:1.00 [[-6.66530992e-01 -7.45469848e-01 3.33800127e-03 1.80655581e+02] [ 7.45461077e-01 -6.66539346e-01 -3.61696401e-03 1.22887033e+02] [ 4.92124679e-03 7.75314078e-05 9.99987888e-01 9.95251078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.17028169299994 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:180.65, Y:122.89, Z:0.99 [[-6.67824885e-01 -7.44310937e-01 3.33935558e-03 1.80651569e+02] [ 7.44302159e-01 -6.67833230e-01 -3.61571321e-03 1.22885818e+02] [ 4.92134751e-03 7.08263019e-05 9.99987888e-01 9.92477220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20028169299997 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:180.64, Y:122.89, Z:0.99 [[-6.68674523e-01 -7.43547727e-01 3.34071339e-03 1.80640887e+02] [ 7.43538945e-01 -6.68682864e-01 -3.61445824e-03 1.22894697e+02] [ 4.92140001e-03 6.70543661e-05 9.99987888e-01 9.91747095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.23028169299994 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:180.64, Y:122.89, Z:0.99 [[-6.70051879e-01 -7.42306749e-01 3.34208053e-03 1.80638007e+02] [ 7.42297958e-01 -6.70060211e-01 -3.61319368e-03 1.22892513e+02] [ 4.92149324e-03 5.97923360e-05 9.99987888e-01 9.91150736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26028169299997 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:180.64, Y:122.89, Z:0.99 [[-6.71070820e-01 -7.41385714e-01 3.34345647e-03 1.80637437e+02] [ 7.41376917e-01 -6.71079147e-01 -3.61192001e-03 1.22890686e+02] [ 4.92154981e-03 5.49073242e-05 9.99987888e-01 9.92229986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.29028169299994 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:180.65, Y:122.88, Z:0.99 [[-6.72241522e-01 -7.40324354e-01 3.34483443e-03 1.80645156e+02] [ 7.40315550e-01 -6.72249841e-01 -3.61064350e-03 1.22880697e+02] [ 4.92161172e-03 4.90084602e-05 9.99987888e-01 9.92740526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.32028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:180.64, Y:122.89, Z:0.99 [[-6.74339601e-01 -7.38413777e-01 3.34620756e-03 1.80637953e+02] [ 7.38404956e-01 -6.74347902e-01 -3.60937047e-03 1.22889353e+02] [ 4.92171693e-03 3.69148046e-05 9.99987888e-01 9.92365156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.35028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:180.65, Y:122.88, Z:0.99 [[-6.75278657e-01 -7.37555102e-01 3.34758205e-03 1.80645040e+02] [ 7.37546277e-01 -6.75286954e-01 -3.60809523e-03 1.22882997e+02] [ 4.92174753e-03 3.25269714e-05 9.99987888e-01 9.91842964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.380281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.64, Y:122.89, Z:0.99 [[-6.75755593e-01 -7.37118147e-01 3.34895968e-03 1.80635193e+02] [ 7.37109323e-01 -6.75763891e-01 -3.60681609e-03 1.22892338e+02] [ 4.92175562e-03 3.12232508e-05 9.99987888e-01 9.92287558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.41028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:180.64, Y:122.89, Z:0.99 [[-6.75313956e-01 -7.37522770e-01 3.35034139e-03 1.80640099e+02] [ 7.37513957e-01 -6.75322266e-01 -3.60553217e-03 1.22885367e+02] [ 4.92172221e-03 3.60573464e-05 9.99987888e-01 9.92573451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.440281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.64, Y:122.89, Z:0.99 [[-6.74429269e-01 -7.38331854e-01 3.35172769e-03 1.80638660e+02] [ 7.38323058e-01 -6.74437596e-01 -3.60424300e-03 1.22885029e+02] [ 4.92165858e-03 4.38508707e-05 9.99987888e-01 9.91596253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.47028169299995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:180.64, Y:122.88, Z:0.99 [[-6.72001635e-01 -7.40542072e-01 3.35311188e-03 1.80638179e+02] [ 7.40533309e-01 -6.72009997e-01 -3.60295479e-03 1.22882690e+02] [ 4.92146431e-03 6.18995292e-05 9.99987888e-01 9.85224652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.500281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:180.64, Y:122.88, Z:0.98 [[-6.71293787e-01 -7.41183782e-01 3.35449765e-03 1.80641741e+02] [ 7.41175035e-01 -6.71302165e-01 -3.60166412e-03 1.22877496e+02] [ 4.92137657e-03 6.84951691e-05 9.99987888e-01 9.84167523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.53028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:180.66, Y:122.86, Z:0.99 [[-6.70151368e-01 -7.42216870e-01 3.35588178e-03 1.80655363e+02] [ 7.42208142e-01 -6.70159766e-01 -3.60037398e-03 1.22858436e+02] [ 4.92123526e-03 7.79672328e-05 9.99987888e-01 9.87460946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.560281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:180.65, Y:122.86, Z:0.99 [[-6.70166496e-01 -7.42203205e-01 3.35725283e-03 1.80651409e+02] [ 7.42194482e-01 -6.70174900e-01 -3.59909506e-03 1.22859837e+02] [ 4.92120647e-03 7.97416066e-05 9.99987888e-01 9.88758392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.59028169299995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:180.65, Y:122.86, Z:0.99 [[-6.70474321e-01 -7.41925134e-01 3.35861663e-03 1.80645205e+02] [ 7.41916415e-01 -6.70482728e-01 -3.59782194e-03 1.22863867e+02] [ 4.92120896e-03 7.95655821e-05 9.99987888e-01 9.89276137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.620281693 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:180.65, Y:122.86, Z:0.99 [[-6.71595094e-01 -7.40910750e-01 3.35998783e-03 1.80646944e+02] [ 7.40902025e-01 -6.71603495e-01 -3.59654092e-03 1.22857407e+02] [ 4.92129540e-03 7.40025455e-05 9.99987888e-01 9.87125170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.65028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.65, Y:122.85, Z:0.99 [[-6.72696416e-01 -7.39910963e-01 3.36136150e-03 1.80651832e+02] [ 7.39902231e-01 -6.72704811e-01 -3.59525662e-03 1.22850742e+02] [ 4.92137384e-03 6.85626336e-05 9.99987888e-01 9.85973356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.680281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.65, Y:122.85, Z:0.99 [[-6.74594678e-01 -7.38180677e-01 3.36273015e-03 1.80650158e+02] [ 7.38171931e-01 -6.74603057e-01 -3.59397603e-03 1.22848738e+02] [ 4.92151170e-03 5.77959033e-05 9.99987888e-01 9.87358639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.71028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.64, Y:122.86, Z:0.99 [[-6.75411275e-01 -7.37433585e-01 3.36409628e-03 1.80640991e+02] [ 7.37424836e-01 -6.75419650e-01 -3.59269683e-03 1.22857280e+02] [ 4.92155204e-03 5.42202043e-05 9.99987888e-01 9.87458812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.740281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:180.65, Y:122.85, Z:0.99 [[-6.76220375e-01 -7.36691712e-01 3.36547053e-03 1.80647706e+02] [ 7.36682959e-01 -6.76228748e-01 -3.59140903e-03 1.22849363e+02] [ 4.92158919e-03 5.07008300e-05 9.99987888e-01 9.86793929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.77028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.63, Y:122.86, Z:0.98 [[-6.77444590e-01 -7.35566103e-01 3.36684819e-03 1.80631834e+02] [ 7.35557343e-01 -6.77452955e-01 -3.59011705e-03 1.22862007e+02] [ 4.92164966e-03 4.44045361e-05 9.99987888e-01 9.83510560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.800281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.63, Y:122.86, Z:0.98 [[-6.78834116e-01 -7.34283936e-01 3.36823249e-03 1.80629480e+02] [ 7.34275167e-01 -6.78842471e-01 -3.58881783e-03 1.22855744e+02] [ 4.92171055e-03 3.69974950e-05 9.99987888e-01 9.79844625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.83028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.63, Y:122.85, Z:0.98 [[-6.79464256e-01 -7.33700873e-01 3.36962773e-03 1.80628255e+02] [ 7.33692103e-01 -6.79472610e-01 -3.58750734e-03 1.22852462e+02] [ 4.92172701e-03 3.46862527e-05 9.99987888e-01 9.80875187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.860281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:180.63, Y:122.85, Z:0.98 [[-6.80266644e-01 -7.32956977e-01 3.37102293e-03 1.80629390e+02] [ 7.32948204e-01 -6.80274995e-01 -3.58619585e-03 1.22847234e+02] [ 4.92174987e-03 3.12157873e-05 9.99987888e-01 9.81805439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.89028169299996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:180.63, Y:122.84, Z:0.98 [[-6.81278791e-01 -7.32016281e-01 3.37241714e-03 1.80633684e+02] [ 7.32007504e-01 -6.81287137e-01 -3.58488427e-03 1.22838963e+02] [ 4.92177807e-03 2.63290362e-05 9.99987888e-01 9.83513725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92028169299994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:180.64, Y:122.83, Z:0.98 [[-6.84237058e-01 -7.29251853e-01 3.37380616e-03 1.80639429e+02] [ 7.29243048e-01 -6.84245376e-01 -3.58357655e-03 1.22826330e+02] [ 4.92184111e-03 8.30881009e-06 9.99987888e-01 9.81821998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.95028169299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:180.64, Y:122.82, Z:0.98 [[-6.89229674e-01 -7.24535068e-01 3.37518586e-03 1.80640412e+02] [ 7.24526213e-01 -6.89237937e-01 -3.58227661e-03 1.22818409e+02] [ 4.92179117e-03 -2.36007077e-05 9.99987888e-01 9.82461351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:180.65, Y:122.81, Z:0.98 [[-6.91945034e-01 -7.21942289e-01 3.37655817e-03 1.80649153e+02] [ 7.21933409e-01 -6.91953271e-01 -3.58098264e-03 1.22807005e+02] [ 4.92168328e-03 -4.01930015e-05 9.99987888e-01 9.84257787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.01028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.66, Y:122.80, Z:0.99 [[-6.94624486e-01 -7.19364590e-01 3.37792184e-03 1.80656756e+02] [ 7.19355686e-01 -6.94632697e-01 -3.57969584e-03 1.22797722e+02] [ 4.92152139e-03 -5.66171029e-05 9.99987888e-01 9.86651349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.67, Y:122.78, Z:0.99 [[-6.97370563e-01 -7.16702782e-01 3.37927472e-03 1.80671620e+02] [ 7.16693853e-01 -6.97378747e-01 -3.57841825e-03 1.22781658e+02] [ 4.92129669e-03 -7.35781302e-05 9.99987888e-01 9.86644928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.07028169299997 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:180.68, Y:122.77, Z:0.98 [[-7.02422112e-01 -7.11752590e-01 3.38061307e-03 1.80683762e+02] [ 7.11743608e-01 -7.02430239e-01 -3.57715343e-03 1.22770064e+02] [ 4.92069306e-03 -1.06541921e-04 9.99987888e-01 9.82814403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.70, Y:122.76, Z:0.98 [[-7.05909574e-01 -7.08293891e-01 3.38193505e-03 1.80695813e+02] [ 7.08284876e-01 -7.05917663e-01 -3.57590316e-03 1.22760886e+02] [ 4.92015805e-03 -1.28890823e-04 9.99987888e-01 9.81513269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.130281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.69, Y:122.77, Z:0.98 [[-7.07351164e-01 -7.06854217e-01 3.38324440e-03 1.80691293e+02] [ 7.06845191e-01 -7.07359242e-01 -3.57466392e-03 1.22768323e+02] [ 4.91993546e-03 -1.37112648e-04 9.99987888e-01 9.81427813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.70, Y:122.76, Z:0.98 [[-7.08938785e-01 -7.05261898e-01 3.38455246e-03 1.80697713e+02] [ 7.05252860e-01 -7.08946849e-01 -3.57342500e-03 1.22764820e+02] [ 4.91966830e-03 -1.46374271e-04 9.99987888e-01 9.81347485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.190281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.70, Y:122.76, Z:0.98 [[-7.10641507e-01 -7.03546149e-01 3.38586320e-03 1.80703527e+02] [ 7.03537098e-01 -7.10649556e-01 -3.57218263e-03 1.22762902e+02] [ 4.91935751e-03 -1.56460884e-04 9.99987888e-01 9.81587209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22028169299995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:180.73, Y:122.75, Z:0.98 [[-7.13377731e-01 -7.00771532e-01 3.38716993e-03 1.80725759e+02] [ 7.00762456e-01 -7.13385751e-01 -3.57094315e-03 1.22747401e+02] [ 4.91877406e-03 -1.73829803e-04 9.99987888e-01 9.81002341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.250281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:180.73, Y:122.75, Z:0.98 [[-7.13106570e-01 -7.01047461e-01 3.38765395e-03 1.80734506e+02] [ 7.01038390e-01 -7.13114596e-01 -3.57048391e-03 1.22745714e+02] [ 4.91886416e-03 -1.71260067e-04 9.99987888e-01 9.78605922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28028169299995 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:180.72, Y:122.77, Z:0.98 [[-7.12027654e-01 -7.02143244e-01 3.38893544e-03 1.80718686e+02] [ 7.02134191e-01 -7.12035701e-01 -3.56926717e-03 1.22765666e+02] [ 4.91917985e-03 -1.61929489e-04 9.99987888e-01 9.77592071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.310281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:180.72, Y:122.77, Z:0.98 [[-7.10490510e-01 -7.03698615e-01 3.39022656e-03 1.80715493e+02] [ 7.03689585e-01 -7.10498583e-01 -3.56804040e-03 1.22771746e+02] [ 4.91957625e-03 -1.49391722e-04 9.99987888e-01 9.76234581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34028169299995 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:180.70, Y:122.79, Z:0.97 [[-7.06280329e-01 -7.07924145e-01 3.39153405e-03 1.80701735e+02] [ 7.07915169e-01 -7.06288462e-01 -3.56679714e-03 1.22789048e+02] [ 4.92042319e-03 -1.18240254e-04 9.99987888e-01 9.72952411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.370281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:180.70, Y:122.80, Z:0.97 [[-7.04315131e-01 -7.09879345e-01 3.39277311e-03 1.80695557e+02] [ 7.09870398e-01 -7.04323296e-01 -3.56561815e-03 1.22796926e+02] [ 4.92076782e-03 -1.02889615e-04 9.99987888e-01 9.74020557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.69, Y:122.80, Z:0.98 [[-7.00404282e-01 -7.13738273e-01 3.39411145e-03 1.80694883e+02] [ 7.13729377e-01 -7.00412502e-01 -3.56434373e-03 1.22799097e+02] [ 4.92128663e-03 -7.40045563e-05 9.99987888e-01 9.78124875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.430281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.70, Y:122.80, Z:0.98 [[-6.99265731e-01 -7.14853767e-01 3.39545808e-03 1.80696675e+02] [ 7.14844890e-01 -6.99273972e-01 -3.56306044e-03 1.22797512e+02] [ 4.92142264e-03 -6.43002039e-05 9.99987888e-01 9.78476535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46028169299996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:180.70, Y:122.80, Z:0.98 [[-6.98461093e-01 -7.15639968e-01 3.39680622e-03 1.80699006e+02] [ 7.15631106e-01 -6.98469350e-01 -3.56177475e-03 1.22795288e+02] [ 4.92151340e-03 -5.69008915e-05 9.99987888e-01 9.78103005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.490281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.69, Y:122.81, Z:0.97 [[-6.96833310e-01 -7.17225063e-01 3.39815386e-03 1.80688519e+02] [ 7.17216226e-01 -6.96841595e-01 -3.56048855e-03 1.22806830e+02] [ 4.92164658e-03 -4.38559296e-05 9.99987888e-01 9.73276953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.70, Y:122.80, Z:0.97 [[-6.96260631e-01 -7.17781009e-01 3.39950927e-03 1.80700673e+02] [ 7.17772186e-01 -6.96268929e-01 -3.55919395e-03 1.22795084e+02] [ 4.92169450e-03 -3.80534344e-05 9.99987888e-01 9.70442768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.550281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:180.70, Y:122.79, Z:0.97 [[-6.96305572e-01 -7.17737407e-01 3.40086619e-03 1.80703228e+02] [ 7.17728589e-01 -6.96313876e-01 -3.55789692e-03 1.22792428e+02] [ 4.92170603e-03 -3.64845576e-05 9.99987888e-01 9.69997602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.70, Y:122.80, Z:0.97 [[-6.96742065e-01 -7.17313683e-01 3.40221480e-03 1.80695849e+02] [ 7.17304867e-01 -6.96750370e-01 -3.55660685e-03 1.22800212e+02] [ 4.92169718e-03 -3.76123647e-05 9.99987888e-01 9.69455850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.610281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.70, Y:122.80, Z:0.97 [[-6.97016490e-01 -7.17047019e-01 3.40356873e-03 1.80697636e+02] [ 7.17038206e-01 -6.97024799e-01 -3.55531071e-03 1.22798451e+02] [ 4.92169676e-03 -3.76213814e-05 9.99987888e-01 9.69443467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.69, Y:122.80, Z:0.97 [[-6.98099436e-01 -7.15992727e-01 3.40492867e-03 1.80694666e+02] [ 7.15983907e-01 -6.98107738e-01 -3.55400782e-03 1.22803167e+02] [ 4.92165080e-03 -4.31767217e-05 9.99987888e-01 9.67671592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.67028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:180.70, Y:122.80, Z:0.97 [[-6.98713609e-01 -7.15393381e-01 3.40629196e-03 1.80698823e+02] [ 7.15384561e-01 -6.98721911e-01 -3.55270070e-03 1.22801656e+02] [ 4.92162940e-03 -4.55116485e-05 9.99987888e-01 9.68141107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70028169299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:180.72, Y:122.78, Z:0.97 [[-6.99196006e-01 -7.14921907e-01 3.40765839e-03 1.80718766e+02] [ 7.14913087e-01 -6.99204309e-01 -3.55138958e-03 1.22783571e+02] [ 4.92161564e-03 -4.69378259e-05 9.99987888e-01 9.69928138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.73028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.70, Y:122.80, Z:0.97 [[-6.99329935e-01 -7.14790893e-01 3.40901144e-03 1.80704444e+02] [ 7.14782078e-01 -6.99338242e-01 -3.55009030e-03 1.22802172e+02] [ 4.92162428e-03 -4.59841400e-05 9.99987888e-01 9.74983914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:180.71, Y:122.80, Z:0.97 [[-6.99394897e-01 -7.14727324e-01 3.41036489e-03 1.80711259e+02] [ 7.14718515e-01 -6.99403210e-01 -3.54878964e-03 1.22797216e+02] [ 4.92163707e-03 -4.45544409e-05 9.99987888e-01 9.74461407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.79028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.72, Y:122.80, Z:0.97 [[-6.98796964e-01 -7.15311934e-01 3.41172776e-03 1.80715293e+02] [ 7.15303138e-01 -6.98805292e-01 -3.54747892e-03 1.22797932e+02] [ 4.92168742e-03 -3.85479238e-05 9.99987888e-01 9.73897828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.72, Y:122.79, Z:0.97 [[-6.98491265e-01 -7.15610441e-01 3.41308719e-03 1.80721907e+02] [ 7.15601656e-01 -6.98499603e-01 -3.54617051e-03 1.22791956e+02] [ 4.92171669e-03 -3.45582836e-05 9.99987888e-01 9.72939057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.85028169299994 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:180.71, Y:122.80, Z:0.97 [[-6.98274791e-01 -7.15821666e-01 3.41444318e-03 1.80710638e+02] [ 7.15812889e-01 -6.98283139e-01 -3.54486441e-03 1.22804163e+02] [ 4.92173885e-03 -3.11870231e-05 9.99987888e-01 9.73985233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.880281693 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:180.71, Y:122.81, Z:0.97 [[-6.97821420e-01 -7.16263637e-01 3.41580500e-03 1.80707297e+02] [ 7.16254872e-01 -6.97829779e-01 -3.54355168e-03 1.22811606e+02] [ 4.92176767e-03 -2.61792895e-05 9.99987888e-01 9.72397557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.91028169299994 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:180.73, Y:122.79, Z:0.97 [[-6.98193332e-01 -7.15901106e-01 3.41718101e-03 1.80730464e+02] [ 7.15892343e-01 -6.98201694e-01 -3.54222425e-03 1.22790902e+02] [ 4.92176383e-03 -2.68236357e-05 9.99987888e-01 9.68805404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.940281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:180.72, Y:122.80, Z:0.97 [[-6.98603704e-01 -7.15500649e-01 3.41854729e-03 1.80724312e+02] [ 7.15491888e-01 -6.98612068e-01 -3.54090518e-03 1.22799623e+02] [ 4.92175834e-03 -2.77466233e-05 9.99987888e-01 9.71205435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.97028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.72, Y:122.80, Z:0.97 [[-6.98271494e-01 -7.15824856e-01 3.41990510e-03 1.80721631e+02] [ 7.15816105e-01 -6.98279869e-01 -3.53959328e-03 1.22803960e+02] [ 4.92177974e-03 -2.35739409e-05 9.99987888e-01 9.71464243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.000281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:180.72, Y:122.81, Z:0.97 [[-6.97919068e-01 -7.16168464e-01 3.42127289e-03 1.80716556e+02] [ 7.16159724e-01 -6.97927454e-01 -3.53827072e-03 1.22809784e+02] [ 4.92179818e-03 -1.92487600e-05 9.99987888e-01 9.70224997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.03028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:180.73, Y:122.80, Z:0.97 [[-6.96755073e-01 -7.17300950e-01 3.42264892e-03 1.80731078e+02] [ 7.17292230e-01 -6.96763480e-01 -3.53693915e-03 1.22797804e+02] [ 4.92182659e-03 -9.34081874e-06 9.99987888e-01 9.71898453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.060281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:180.71, Y:122.82, Z:0.97 [[-6.96739789e-01 -7.17315790e-01 3.42402143e-03 1.80710794e+02] [ 7.17307076e-01 -6.96748203e-01 -3.53560997e-03 1.22820130e+02] [ 4.92182963e-03 -7.32534604e-06 9.99987888e-01 9.70002875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.09028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:180.72, Y:122.81, Z:0.97 [[-6.97145134e-01 -7.16921843e-01 3.42540202e-03 1.80720485e+02] [ 7.16913131e-01 -6.97153549e-01 -3.53427190e-03 1.22811072e+02] [ 4.92182790e-03 -8.18476399e-06 9.99987888e-01 9.67938249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.120281693 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:180.74, Y:122.80, Z:0.97 [[-6.98342974e-01 -7.15755089e-01 3.42679342e-03 1.80737242e+02] [ 7.15746370e-01 -6.98351382e-01 -3.53292229e-03 1.22795037e+02] [ 4.92181303e-03 -1.44765083e-05 9.99987888e-01 9.65574631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.15028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:180.73, Y:122.81, Z:0.96 [[-6.98829440e-01 -7.15280128e-01 3.42816785e-03 1.80726603e+02] [ 7.15271409e-01 -6.98837849e-01 -3.53158812e-03 1.22807831e+02] [ 4.92180825e-03 -1.59073047e-05 9.99987888e-01 9.62872491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.180281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:180.74, Y:122.80, Z:0.97 [[-6.98939431e-01 -7.15172644e-01 3.42954128e-03 1.80735562e+02] [ 7.15163931e-01 -6.98947844e-01 -3.53025387e-03 1.22803203e+02] [ 4.92181148e-03 -1.47494053e-05 9.99987888e-01 9.68408194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.21028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.73, Y:122.81, Z:0.97 [[-6.99174559e-01 -7.14942771e-01 3.43074623e-03 1.80731791e+02] [ 7.14934061e-01 -6.99182976e-01 -3.52908250e-03 1.22808325e+02] [ 4.92181138e-03 -1.46873718e-05 9.99987888e-01 9.66535008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.240281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.74, Y:122.80, Z:0.97 [[-6.99555547e-01 -7.14569980e-01 3.43212474e-03 1.80737432e+02] [ 7.14561272e-01 -6.99563966e-01 -3.52774135e-03 1.22802956e+02] [ 4.92180886e-03 -1.53876059e-05 9.99987888e-01 9.65472150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.27028169299996 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:180.74, Y:122.80, Z:0.97 [[-7.00440517e-01 -7.13702525e-01 3.43350437e-03 1.80739331e+02] [ 7.13693813e-01 -7.00448932e-01 -3.52639807e-03 1.22802570e+02] [ 4.92179367e-03 -1.95612606e-05 9.99987888e-01 9.66930411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.300281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:180.74, Y:122.80, Z:0.97 [[-7.01186835e-01 -7.12969301e-01 3.43488136e-03 1.80741256e+02] [ 7.12960587e-01 -7.01195248e-01 -3.52505629e-03 1.22801831e+02] [ 4.92177941e-03 -2.27880336e-05 9.99987888e-01 9.66514251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.33028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:180.75, Y:122.79, Z:0.96 [[-7.02032392e-01 -7.12136723e-01 3.43625831e-03 1.80751631e+02] [ 7.12128006e-01 -7.02040802e-01 -3.52371353e-03 1.22793578e+02] [ 4.92175934e-03 -2.67052614e-05 9.99987888e-01 9.64470165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.360281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:180.75, Y:122.80, Z:0.97 [[-7.02491672e-01 -7.11683661e-01 3.43762961e-03 1.80748066e+02] [ 7.11674945e-01 -7.02500082e-01 -3.52237522e-03 1.22799023e+02] [ 4.92175197e-03 -2.79643899e-05 9.99987888e-01 9.67819708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.39028169299996 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:180.75, Y:122.80, Z:0.97 [[-7.03140860e-01 -7.11042266e-01 3.43899992e-03 1.80749905e+02] [ 7.11033549e-01 -7.03149269e-01 -3.52103683e-03 1.22803201e+02] [ 4.92173629e-03 -3.05405419e-05 9.99987888e-01 9.65466983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42028169299994 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:180.75, Y:122.81, Z:0.96 [[-7.03507074e-01 -7.10679929e-01 3.44037645e-03 1.80750391e+02] [ 7.10671213e-01 -7.03515485e-01 -3.51969132e-03 1.22806278e+02] [ 4.92173208e-03 -3.11512319e-05 9.99987888e-01 9.64717273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.45028169299997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:180.75, Y:122.81, Z:0.96 [[-7.04136495e-01 -7.10056301e-01 3.44175645e-03 1.80752879e+02] [ 7.10047585e-01 -7.04144906e-01 -3.51834136e-03 1.22806603e+02] [ 4.92171572e-03 -3.35817047e-05 9.99987888e-01 9.64573142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48028169299994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:180.76, Y:122.81, Z:0.96 [[-7.04194020e-01 -7.09999245e-01 3.44313850e-03 1.80755015e+02] [ 7.09990534e-01 -7.04202437e-01 -3.51698833e-03 1.22809475e+02] [ 4.92172558e-03 -3.20464103e-05 9.99987888e-01 9.64409528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.51028169299997 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:180.76, Y:122.80, Z:0.96 [[-7.03196999e-01 -7.10986720e-01 3.44443515e-03 1.80762404e+02] [ 7.10978028e-01 -7.03205435e-01 -3.51571797e-03 1.22804764e+02] [ 4.92177430e-03 -2.33246213e-05 9.99987888e-01 9.63751468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54028169299994 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:180.77, Y:122.80, Z:0.96 [[-6.99632995e-01 -7.14494087e-01 3.44572890e-03 1.80769803e+02] [ 7.14485443e-01 -6.99641480e-01 -3.51444952e-03 1.22802362e+02] [ 4.92182826e-03 3.09829522e-06 9.99987888e-01 9.64573636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.57028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.78, Y:122.79, Z:0.96 [[-6.98301420e-01 -7.15795532e-01 3.44710285e-03 1.80780330e+02] [ 7.15786911e-01 -6.98309928e-01 -3.51310138e-03 1.22793243e+02] [ 4.92180842e-03 1.41874166e-05 9.99987888e-01 9.64470114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60028169299994 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:180.78, Y:122.80, Z:0.96 [[-6.96783028e-01 -7.17273672e-01 3.44846795e-03 1.80775955e+02] [ 7.17265076e-01 -6.96791560e-01 -3.51176089e-03 1.22800045e+02] [ 4.92175699e-03 2.65302403e-05 9.99987888e-01 9.64536325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.630281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:180.75, Y:122.83, Z:0.97 [[-6.93603300e-01 -7.20348916e-01 3.44983206e-03 1.80749241e+02] [ 7.20340364e-01 -6.93611878e-01 -3.51042032e-03 1.22832342e+02] [ 4.92157196e-03 5.02141637e-05 9.99987888e-01 9.66214392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66028169299994 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:180.81, Y:122.77, Z:0.97 [[-6.91937973e-01 -7.21948705e-01 3.45104835e-03 1.80807950e+02] [ 7.21940179e-01 -6.91946576e-01 -3.50922419e-03 1.22774494e+02] [ 4.92142095e-03 6.32849943e-05 9.99987888e-01 9.66378404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.690281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:180.82, Y:122.76, Z:0.97 [[-6.88617576e-01 -7.25116488e-01 3.45156147e-03 1.80824491e+02] [ 7.25108004e-01 -6.88626220e-01 -3.50871942e-03 1.22756132e+02] [ 4.92106604e-03 8.65889871e-05 9.99987888e-01 9.65171783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72028169299995 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:180.82, Y:122.76, Z:0.97 [[-6.87034687e-01 -7.26616417e-01 3.45288274e-03 1.80815883e+02] [ 7.26607958e-01 -6.87043356e-01 -3.50741870e-03 1.22762575e+02] [ 4.92082816e-03 9.91737722e-05 9.99987888e-01 9.65210338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.750281693 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:180.83, Y:122.74, Z:0.96 [[-6.85745001e-01 -7.27833678e-01 3.45419922e-03 1.80831703e+02] [ 7.27825241e-01 -6.85753692e-01 -3.50612172e-03 1.22743945e+02] [ 4.92060333e-03 1.09747942e-04 9.99987888e-01 9.64558585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78028169299995 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:180.83, Y:122.74, Z:0.96 [[-6.83279109e-01 -7.30149107e-01 3.45551157e-03 1.80833130e+02] [ 7.30140707e-01 -6.83287834e-01 -3.50482783e-03 1.22736398e+02] [ 4.92015593e-03 1.28234020e-04 9.99987888e-01 9.64041887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.810281693 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:180.84, Y:122.73, Z:0.96 [[-6.82721417e-01 -7.30670595e-01 3.45681139e-03 1.80837835e+02] [ 7.30662207e-01 -6.82730155e-01 -3.50354535e-03 1.22727745e+02] [ 4.92000694e-03 1.33815997e-04 9.99987888e-01 9.63543857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84028169299995 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:180.83, Y:122.72, Z:0.97 [[-6.82108955e-01 -7.31242378e-01 3.45810554e-03 1.80833777e+02] [ 7.31234005e-01 -6.82117706e-01 -3.50226752e-03 1.22723803e+02] [ 4.91984145e-03 1.39756326e-04 9.99987888e-01 9.65971343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.870281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:180.82, Y:122.73, Z:0.96 [[-6.82434111e-01 -7.30938928e-01 3.45939755e-03 1.80821856e+02] [ 7.30930557e-01 -6.82442865e-01 -3.50099086e-03 1.22731572e+02] [ 4.91985168e-03 1.39383792e-04 9.99987888e-01 9.64245422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90028169299995 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:180.83, Y:122.72, Z:0.96 [[-6.83146907e-01 -7.30272775e-01 3.46069721e-03 1.80831940e+02] [ 7.30264402e-01 -6.83155659e-01 -3.49970569e-03 1.22716368e+02] [ 4.91993467e-03 1.36410865e-04 9.99987888e-01 9.63417548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.930281693 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:180.82, Y:122.72, Z:0.96 [[-6.84514057e-01 -7.28991440e-01 3.46199682e-03 1.80815530e+02] [ 7.28983057e-01 -6.84522800e-01 -3.49841961e-03 1.22719441e+02] [ 4.92013371e-03 1.29019623e-04 9.99987888e-01 9.64191080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96028169299996 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:180.82, Y:122.71, Z:0.97 [[-6.85312604e-01 -7.28240785e-01 3.46329656e-03 1.80820886e+02] [ 7.28232398e-01 -6.85321344e-01 -3.49713244e-03 1.22707125e+02] [ 4.92022553e-03 1.25455824e-04 9.99987888e-01 9.66425009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.990281693 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:180.81, Y:122.70, Z:0.97 [[-6.85903504e-01 -7.27684259e-01 3.46459856e-03 1.80811986e+02] [ 7.27675872e-01 -6.85912243e-01 -3.49584208e-03 1.22704587e+02] [ 4.92027982e-03 1.23294451e-04 9.99987888e-01 9.69745044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02028169299996 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:180.81, Y:122.70, Z:0.97 [[-6.86429382e-01 -7.27188210e-01 3.46573496e-03 1.80810058e+02] [ 7.27179823e-01 -6.86438120e-01 -3.49471511e-03 1.22701111e+02] [ 4.92032821e-03 1.21337400e-04 9.99987888e-01 9.69404951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.050281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:180.80, Y:122.71, Z:0.97 [[-6.87179985e-01 -7.26478938e-01 3.46703795e-03 1.80796523e+02] [ 7.26470548e-01 -6.87188721e-01 -3.49342196e-03 1.22708837e+02] [ 4.92040685e-03 1.18091310e-04 9.99987888e-01 9.70533668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08028169299996 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:180.78, Y:122.71, Z:0.97 [[-6.90041351e-01 -7.23761635e-01 3.46834917e-03 1.80783494e+02] [ 7.23753218e-01 -6.90050060e-01 -3.49211966e-03 1.22710538e+02] [ 4.92079679e-03 1.00521901e-04 9.99987888e-01 9.68511360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.110281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:180.77, Y:122.72, Z:0.97 [[-6.92500703e-01 -7.21408856e-01 3.46967415e-03 1.80766247e+02] [ 7.21400416e-01 -6.92509390e-01 -3.49080270e-03 1.22723144e+02] [ 4.92107791e-03 8.56410481e-05 9.99987888e-01 9.68768089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14028169299996 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:180.78, Y:122.71, Z:0.97 [[-6.95417380e-01 -7.18597676e-01 3.47101675e-03 1.80779283e+02] [ 7.18589206e-01 -6.95426039e-01 -3.48946720e-03 1.22706049e+02] [ 4.92135845e-03 6.75990347e-05 9.99987888e-01 9.67493991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.17028169299994 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:180.75, Y:122.73, Z:0.97 [[-7.01688882e-01 -7.12475022e-01 3.47236131e-03 1.80753784e+02] [ 7.12466483e-01 -7.01697473e-01 -3.48812872e-03 1.22727663e+02] [ 4.92175174e-03 2.63599116e-05 9.99987888e-01 9.67259042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20028169299997 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:180.76, Y:122.72, Z:0.97 [[-7.04440936e-01 -7.09754113e-01 3.47371373e-03 1.80761226e+02] [ 7.09745548e-01 -7.04449501e-01 -3.48678137e-03 1.22720106e+02] [ 4.92181332e-03 9.22132255e-06 9.99987888e-01 9.66262891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.23028169299994 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:180.77, Y:122.71, Z:0.96 [[-7.08100118e-01 -7.06103499e-01 3.47456396e-03 1.80769446e+02] [ 7.06094894e-01 -7.08108642e-01 -3.48593390e-03 1.22713696e+02] [ 4.92179890e-03 -1.50183328e-05 9.99987888e-01 9.61742795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26028169299997 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:180.77, Y:122.71, Z:0.96 [[-7.08755572e-01 -7.05445575e-01 3.47574936e-03 1.80772488e+02] [ 7.05436968e-01 -7.08764094e-01 -3.48475158e-03 1.22711711e+02] [ 4.92178892e-03 -1.79150075e-05 9.99987888e-01 9.59612515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.29028169299994 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:180.78, Y:122.71, Z:0.96 [[-7.08465648e-01 -7.05736732e-01 3.47710000e-03 1.80778241e+02] [ 7.05728136e-01 -7.08474181e-01 -3.48340337e-03 1.22706656e+02] [ 4.92180129e-03 -1.39843216e-05 9.99987888e-01 9.58902193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.32028169299997 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:180.76, Y:122.73, Z:0.96 [[-7.05443701e-01 -7.08757424e-01 3.47844718e-03 1.80758077e+02] [ 7.08748870e-01 -7.05452276e-01 -3.48205759e-03 1.22727122e+02] [ 4.92181265e-03 8.94991851e-06 9.99987888e-01 9.63388329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.35028169299994 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:180.76, Y:122.72, Z:0.96 [[-7.03307686e-01 -7.10877057e-01 3.47963530e-03 1.80763093e+02] [ 7.10868535e-01 -7.03316294e-01 -3.48086989e-03 1.22722365e+02] [ 4.92175475e-03 2.54406963e-05 9.99987888e-01 9.64644540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.380281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:180.78, Y:122.70, Z:0.96 [[-6.97791213e-01 -7.16292751e-01 3.48100729e-03 1.80784889e+02] [ 7.16284303e-01 -6.97799893e-01 -3.47949730e-03 1.22700759e+02] [ 4.92138521e-03 6.54282366e-05 9.99987888e-01 9.61599287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.41028169299994 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:180.79, Y:122.69, Z:0.96 [[-6.95074703e-01 -7.18929091e-01 3.48134517e-03 1.80790093e+02] [ 7.18920677e-01 -6.95083416e-01 -3.47915922e-03 1.22694532e+02] [ 4.92109406e-03 8.45354673e-05 9.99987888e-01 9.57265809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.440281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:180.79, Y:122.69, Z:0.96 [[-6.92154245e-01 -7.21741209e-01 3.48251344e-03 1.80792236e+02] [ 7.21732837e-01 -6.92162998e-01 -3.47798943e-03 1.22690734e+02] [ 4.92067524e-03 1.06139154e-04 9.99987888e-01 9.56439384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.47028169299995 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:180.79, Y:122.69, Z:0.96 [[-6.89309189e-01 -7.24458905e-01 3.48384577e-03 1.80789404e+02] [ 7.24450574e-01 -6.89317981e-01 -3.47665434e-03 1.22691919e+02] [ 4.92017073e-03 1.27384280e-04 9.99987888e-01 9.55961127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.500281693 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:180.79, Y:122.69, Z:0.96 [[-6.89587646e-01 -7.24193850e-01 3.48517937e-03 1.80791234e+02] [ 7.24185522e-01 -6.89596441e-01 -3.47531696e-03 1.22690197e+02] [ 4.92017046e-03 1.27380805e-04 9.99987888e-01 9.55948746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.53028169299995 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:180.80, Y:122.67, Z:0.96 [[-6.85519754e-01 -7.28045680e-01 3.48651491e-03 1.80802240e+02] [ 7.28037408e-01 -6.85528602e-01 -3.47397660e-03 1.22673951e+02] [ 4.91931934e-03 1.56833693e-04 9.99987888e-01 9.60244656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.560281693 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:180.80, Y:122.66, Z:0.96 [[-6.83005702e-01 -7.30404714e-01 3.48767471e-03 1.80804359e+02] [ 7.30396479e-01 -6.83014585e-01 -3.47281183e-03 1.22660886e+02] [ 4.91869083e-03 1.75435040e-04 9.99987888e-01 9.62776135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.59028169299995 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:180.82, Y:122.64, Z:0.96 [[-6.81906449e-01 -7.31431079e-01 3.48882297e-03 1.80823573e+02] [ 7.31422863e-01 -6.81915349e-01 -3.47165790e-03 1.22636170e+02] [ 4.91836041e-03 1.84458975e-04 9.99987888e-01 9.62927683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.620281693 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:180.82, Y:122.64, Z:0.97 [[-6.81408173e-01 -7.31895302e-01 3.48849910e-03 1.80816348e+02] [ 7.31887090e-01 -6.81417077e-01 -3.47198331e-03 1.22638465e+02] [ 4.91825113e-03 1.87349649e-04 9.99987888e-01 9.65726937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.65028169299995 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:180.80, Y:122.65, Z:0.97 [[-6.81557163e-01 -7.31756555e-01 3.48962010e-03 1.80798207e+02] [ 7.31748348e-01 -6.81566071e-01 -3.47085624e-03 1.22647043e+02] [ 4.91822847e-03 1.87936810e-04 9.99987888e-01 9.68904126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.680281693 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:180.80, Y:122.64, Z:0.97 [[-6.83008987e-01 -7.30401628e-01 3.49075238e-03 1.80795729e+02] [ 7.30393409e-01 -6.83017884e-01 -3.46971710e-03 1.22644453e+02] [ 4.91853332e-03 1.79774575e-04 9.99987888e-01 9.67684698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.71028169299996 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:180.80, Y:122.64, Z:0.96 [[-6.85116259e-01 -7.28425369e-01 3.49205810e-03 1.80795380e+02] [ 7.28417131e-01 -6.85125138e-01 -3.46840248e-03 1.22640528e+02] [ 4.91896914e-03 1.67416009e-04 9.99987888e-01 9.63992205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.740281693 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:180.79, Y:122.64, Z:0.96 [[-6.90200122e-01 -7.23610107e-01 3.49336417e-03 1.80785757e+02] [ 7.23601814e-01 -6.90208950e-01 -3.46708650e-03 1.22642919e+02] [ 4.91997005e-03 1.34821123e-04 9.99987888e-01 9.63160233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.77028169299996 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:180.77, Y:122.65, Z:0.96 [[-6.93042140e-01 -7.20888604e-01 3.49459189e-03 1.80772237e+02] [ 7.20880282e-01 -6.93050941e-01 -3.46584860e-03 1.22653906e+02] [ 4.92042096e-03 1.17203258e-04 9.99987888e-01 9.59292233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.800281693 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:180.76, Y:122.66, Z:0.96 [[-6.99241557e-01 -7.14876929e-01 3.49591605e-03 1.80760145e+02] [ 7.14868538e-01 -6.99250292e-01 -3.46451244e-03 1.22660205e+02] [ 4.92122033e-03 7.65893265e-05 9.99987888e-01 9.60700885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.83028169299996 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:180.75, Y:122.67, Z:0.96 [[-7.02190226e-01 -7.11980799e-01 3.49708799e-03 1.80750941e+02] [ 7.11972377e-01 -7.02198931e-01 -3.46332908e-03 1.22667193e+02] [ 4.92147525e-03 5.79142252e-05 9.99987888e-01 9.60062285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.860281693 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:180.75, Y:122.66, Z:0.96 [[-7.04829650e-01 -7.09367976e-01 3.49844287e-03 1.80752488e+02] [ 7.09359530e-01 -7.04838331e-01 -3.46195992e-03 1.22664630e+02] [ 4.92164013e-03 4.15617880e-05 9.99987888e-01 9.60219487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.89028169299996 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:180.76, Y:122.65, Z:0.96 [[-7.08905180e-01 -7.05295113e-01 3.49980390e-03 1.80764987e+02] [ 7.05286624e-01 -7.08913819e-01 -3.46058346e-03 1.22652248e+02] [ 4.92179196e-03 1.51393390e-05 9.99987888e-01 9.63357159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92028169299994 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:180.78, Y:122.64, Z:0.96 [[-7.10398439e-01 -7.03791029e-01 3.49946577e-03 1.80779847e+02] [ 7.03782519e-01 -7.10407058e-01 -3.46092536e-03 1.22637373e+02] [ 4.92181340e-03 4.22686506e-06 9.99987888e-01 9.64567554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.95028169299997 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:180.78, Y:122.63, Z:0.97 [[-7.13272038e-01 -7.00878561e-01 3.49896408e-03 1.80783778e+02] [ 7.00870014e-01 -7.13280619e-01 -3.46143249e-03 1.22634873e+02] [ 4.92178709e-03 -1.66239972e-05 9.99987888e-01 9.65552638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98028169299994 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:180.78, Y:122.64, Z:0.96 [[-7.14212991e-01 -6.99919676e-01 3.50011515e-03 1.80778810e+02] [ 6.99911123e-01 -7.14221567e-01 -3.46026816e-03 1.22641112e+02] [ 4.92176750e-03 -2.15989491e-05 9.99987888e-01 9.64852305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.01028169299997 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:180.79, Y:122.63, Z:0.96 [[-7.14539130e-01 -6.99586715e-01 3.50143521e-03 1.80793389e+02] [ 6.99578164e-01 -7.14547709e-01 -3.45893188e-03 1.22627472e+02] [ 4.92176530e-03 -2.20145635e-05 9.99987888e-01 9.64283200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04028169299994 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:180.79, Y:122.63, Z:0.97 [[-7.14660419e-01 -6.99462815e-01 3.50093958e-03 1.80792890e+02] [ 6.99454260e-01 -7.14668994e-01 -3.45943346e-03 1.22630112e+02] [ 4.92175803e-03 -2.35730689e-05 9.99987888e-01 9.65616233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.07028169299997 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:180.78, Y:122.65, Z:0.97 [[-7.14527003e-01 -6.99599097e-01 3.50224505e-03 1.80778892e+02] [ 6.99590551e-01 -7.14535585e-01 -3.45811133e-03 1.22646114e+02] [ 4.92177028e-03 -2.07763806e-05 9.99987888e-01 9.66820286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10028169299994 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:180.79, Y:122.64, Z:0.97 [[-7.14288183e-01 -6.99842923e-01 3.50356385e-03 1.80786505e+02] [ 6.99834386e-01 -7.14296775e-01 -3.45677468e-03 1.22639170e+02] [ 4.92178365e-03 -1.72188521e-05 9.99987888e-01 9.66261749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.130281693 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:180.78, Y:122.64, Z:0.97 [[-7.14291183e-01 -6.99839861e-01 3.50356385e-03 1.80782684e+02] [ 6.99831324e-01 -7.14299775e-01 -3.45677468e-03 1.22641227e+02] [ 4.92178358e-03 -1.72399492e-05 9.99987888e-01 9.68729870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16028169299994 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:180.77, Y:122.65, Z:0.97 [[-7.14034009e-01 -7.00102242e-01 3.50488695e-03 1.80774551e+02] [ 7.00093715e-01 -7.14042611e-01 -3.45543264e-03 1.22648304e+02] [ 4.92179477e-03 -1.35470940e-05 9.99987888e-01 9.67950215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.190281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:180.79, Y:122.63, Z:0.97 [[-7.12671147e-01 -7.01489518e-01 3.50621928e-03 1.80788000e+02] [ 7.01481014e-01 -7.12679772e-01 -3.45408020e-03 1.22634478e+02] [ 4.92181261e-03 -2.07703892e-06 9.99987888e-01 9.67609187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22028169299995 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:180.77, Y:122.65, Z:0.97 [[-7.12015448e-01 -7.02155048e-01 3.50588694e-03 1.80767509e+02] [ 7.02146550e-01 -7.12024079e-01 -3.45441750e-03 1.22654334e+02] [ 4.92181260e-03 2.04779934e-06 9.99987888e-01 9.67011112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.250281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:180.79, Y:122.63, Z:0.96 [[-7.10102079e-01 -7.04090007e-01 3.50721998e-03 1.80789342e+02] [ 7.04081539e-01 -7.10110739e-01 -3.45306354e-03 1.22629331e+02] [ 4.92178211e-03 1.73412449e-05 9.99987888e-01 9.64454726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28028169299995 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:180.76, Y:122.66, Z:0.96 [[-7.09680287e-01 -7.04515152e-01 3.50589012e-03 1.80759655e+02] [ 7.04506683e-01 -7.09688946e-01 -3.45441323e-03 1.22656329e+02] [ 4.92177792e-03 1.83940509e-05 9.99987888e-01 9.64819919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.310281693 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:180.77, Y:122.64, Z:0.96 [[-7.09444940e-01 -7.04752139e-01 3.50705613e-03 1.80772736e+02] [ 7.04743679e-01 -7.09453608e-01 -3.45322904e-03 1.22641078e+02] [ 4.92176418e-03 2.16997690e-05 9.99987888e-01 9.64503944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34028169299995 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:180.76, Y:122.65, Z:0.96 [[-7.10247298e-01 -7.03943520e-01 3.50671978e-03 1.80762383e+02] [ 7.03935048e-01 -7.10255955e-01 -3.45357057e-03 1.22649714e+02] [ 4.92178722e-03 1.56137903e-05 9.99987888e-01 9.61139106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.370281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:180.77, Y:122.64, Z:0.96 [[-7.10703545e-01 -7.03482882e-01 3.50806036e-03 1.80773132e+02] [ 7.03474412e-01 -7.10712202e-01 -3.45220830e-03 1.22639105e+02] [ 4.92179075e-03 1.43340221e-05 9.99987888e-01 9.63444018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40028169299995 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:180.78, Y:122.64, Z:0.97 [[-7.12596823e-01 -7.01565010e-01 3.50772511e-03 1.80776400e+02] [ 7.01556515e-01 -7.12605456e-01 -3.45254890e-03 1.22636423e+02] [ 4.92181156e-03 5.92026924e-07 9.99987888e-01 9.65330140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.430281693 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:180.78, Y:122.64, Z:0.97 [[-7.13703052e-01 -7.00439612e-01 3.50755949e-03 1.80778097e+02] [ 7.00431102e-01 -7.13711671e-01 -3.45271716e-03 1.22635093e+02] [ 4.92180601e-03 -7.41101758e-06 9.99987888e-01 9.65560192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46028169299996 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:180.78, Y:122.64, Z:0.97 [[-7.14908415e-01 -6.99209307e-01 3.50772479e-03 1.80777127e+02] [ 6.99200783e-01 -7.14917020e-01 -3.45254922e-03 1.22636149e+02] [ 4.92178669e-03 -1.56525710e-05 9.99987888e-01 9.67194029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.490281693 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:180.78, Y:122.63, Z:0.97 [[-7.14635654e-01 -6.99488076e-01 3.50905222e-03 1.80784759e+02] [ 6.99479562e-01 -7.14644269e-01 -3.45119953e-03 1.22627819e+02] [ 4.92179698e-03 -1.18399231e-05 9.99987888e-01 9.68833279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52028169299996 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:180.78, Y:122.63, Z:0.97 [[-7.13788884e-01 -7.00352138e-01 3.50872118e-03 1.80777426e+02] [ 7.00343633e-01 -7.13797508e-01 -3.45153605e-03 1.22633759e+02] [ 4.92180709e-03 -6.35752955e-06 9.99987888e-01 9.68740904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.550281693 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:180.78, Y:122.63, Z:0.97 [[-7.12757329e-01 -7.01401931e-01 3.51004337e-03 1.80775410e+02] [ 7.01393446e-01 -7.12765972e-01 -3.45019093e-03 1.22634827e+02] [ 4.92181005e-03 2.77254064e-06 9.99987888e-01 9.68189066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58028169299996 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:180.76, Y:122.65, Z:0.97 [[-7.10303160e-01 -7.03887130e-01 3.51137278e-03 1.80762732e+02] [ 7.03878681e-01 -7.10311838e-01 -3.44883741e-03 1.22646950e+02] [ 4.92176192e-03 2.18603313e-05 9.99987888e-01 9.66300915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.610281693 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:180.77, Y:122.64, Z:0.97 [[-7.09272042e-01 -7.04926118e-01 3.51254483e-03 1.80773828e+02] [ 7.04917688e-01 -7.09280739e-01 -3.44764330e-03 1.22635935e+02] [ 4.92171420e-03 3.07379759e-05 9.99987888e-01 9.66595662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64028169299996 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:180.76, Y:122.64, Z:0.97 [[-7.08744138e-01 -7.05456882e-01 3.51220902e-03 1.80762397e+02] [ 7.05448456e-01 -7.08752839e-01 -3.44798536e-03 1.22644844e+02] [ 4.92169312e-03 3.39430200e-05 9.99987888e-01 9.72138522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.67028169299994 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:180.77, Y:122.64, Z:0.97 [[-7.08832361e-01 -7.05368230e-01 3.51338114e-03 1.80767974e+02] [ 7.05359810e-01 -7.08841067e-01 -3.44679060e-03 1.22637817e+02] [ 4.92168542e-03 3.50011337e-05 9.99987888e-01 9.74483184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70028169299997 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:180.77, Y:122.64, Z:0.98 [[-7.08928249e-01 -7.05271860e-01 3.51304479e-03 1.80768376e+02] [ 7.05263436e-01 -7.08936953e-01 -3.44713338e-03 1.22637288e+02] [ 4.92169344e-03 3.38518067e-05 9.99987888e-01 9.76018569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.73028169299994 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:180.78, Y:122.63, Z:0.98 [[-7.10001563e-01 -7.04191338e-01 3.51287811e-03 1.80777385e+02] [ 7.04182901e-01 -7.10010252e-01 -3.44730323e-03 1.22627754e+02] [ 4.92174055e-03 2.61180129e-05 9.99987888e-01 9.76282623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76028169299997 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:180.78, Y:122.63, Z:0.98 [[-7.10622681e-01 -7.03564544e-01 3.51237682e-03 1.80775361e+02] [ 7.03556097e-01 -7.10631361e-01 -3.44781391e-03 1.22629175e+02] [ 4.92176474e-03 2.10593644e-05 9.99987888e-01 9.75832151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.79028169299994 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:180.77, Y:122.63, Z:0.97 [[-7.12177351e-01 -7.01990800e-01 3.51254170e-03 1.80774368e+02] [ 7.01982334e-01 -7.12186013e-01 -3.44764592e-03 1.22630427e+02] [ 4.92179879e-03 1.04068818e-05 9.99987888e-01 9.74613502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.82028169299997 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:180.78, Y:122.62, Z:0.97 [[-7.13167889e-01 -7.00984468e-01 3.51254170e-03 1.80782559e+02] [ 7.00975990e-01 -7.13176539e-01 -3.44764592e-03 1.22623775e+02] [ 4.92180858e-03 3.45703411e-06 9.99987888e-01 9.73407339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.85028169299994 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:180.79, Y:122.62, Z:0.97 [[-7.14268000e-01 -6.99863478e-01 3.51221105e-03 1.80789144e+02] [ 6.99854985e-01 -7.14276635e-01 -3.44798273e-03 1.22618383e+02] [ 4.92180748e-03 -4.74531615e-06 9.99987888e-01 9.71016935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.880281693 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:180.78, Y:122.63, Z:0.97 [[-7.16724854e-01 -6.97347224e-01 3.51188314e-03 1.80782669e+02] [ 6.97338698e-01 -7.16733458e-01 -3.44831668e-03 1.22628650e+02] [ 4.92175821e-03 -2.25222535e-05 9.99987888e-01 9.70860238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.91028169299994 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:180.80, Y:122.62, Z:0.97 [[-7.17438845e-01 -6.96612633e-01 3.51319494e-03 1.80798626e+02] [ 6.96604106e-01 -7.17447447e-01 -3.44697969e-03 1.22616338e+02] [ 4.92174234e-03 -2.56911112e-05 9.99987888e-01 9.73569614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.940281693 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:180.80, Y:122.62, Z:0.97 [[-7.18145464e-01 -6.95884151e-01 3.51286735e-03 1.80799564e+02] [ 6.95875613e-01 -7.18154055e-01 -3.44731350e-03 1.22618960e+02] [ 4.92171077e-03 -3.11538313e-05 9.99987888e-01 9.74151933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.97028169299995 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:180.80, Y:122.62, Z:0.97 [[-7.18353124e-01 -6.95669777e-01 3.51416696e-03 1.80799816e+02] [ 6.95661243e-01 -7.18361719e-01 -3.44598818e-03 1.22620528e+02] [ 4.92171285e-03 -3.07666173e-05 9.99987888e-01 9.71720872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.000281693 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:180.80, Y:122.62, Z:0.97 [[-7.17859889e-01 -6.96178729e-01 3.51530497e-03 1.80797127e+02] [ 6.96170207e-01 -7.17868495e-01 -3.44482689e-03 1.22622197e+02] [ 4.92174190e-03 -2.56524552e-05 9.99987888e-01 9.67446371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.03028169299995 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:180.79, Y:122.63, Z:0.97 [[-7.15420475e-01 -6.98685322e-01 3.51636340e-03 1.80788110e+02] [ 6.98676835e-01 -7.15429117e-01 -3.44374615e-03 1.22629926e+02] [ 4.92180364e-03 -6.92485845e-06 9.99987888e-01 9.66419315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.060281693 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:180.78, Y:122.64, Z:0.97 [[-7.14058941e-01 -7.00076749e-01 3.51767627e-03 1.80778791e+02] [ 7.00068285e-01 -7.14067606e-01 -3.44240456e-03 1.22639423e+02] [ 4.92180607e-03 4.53383751e-06 9.99987888e-01 9.71873221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.09028169299995 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:180.78, Y:122.64, Z:0.97 [[-7.12938426e-01 -7.01217811e-01 3.51883574e-03 1.80781536e+02] [ 7.01209367e-01 -7.12947110e-01 -3.44121895e-03 1.22635914e+02] [ 4.92178779e-03 1.40633619e-05 9.99987888e-01 9.73632985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.120281693 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:180.77, Y:122.64, Z:0.97 [[-7.12215157e-01 -7.01952411e-01 3.51900170e-03 1.80773986e+02] [ 7.01943977e-01 -7.12223850e-01 -3.44104922e-03 1.22636915e+02] [ 4.92176974e-03 1.93746358e-05 9.99987888e-01 9.71448510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.15028169299995 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:180.77, Y:122.64, Z:0.97 [[-7.11974476e-01 -7.02196521e-01 3.52025156e-03 1.80772623e+02] [ 7.02188096e-01 -7.11983178e-01 -3.43977012e-03 1.22636271e+02] [ 4.92175451e-03 2.28502076e-05 9.99987888e-01 9.72248955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.180281693 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:180.77, Y:122.63, Z:0.97 [[-7.10972076e-01 -7.03211424e-01 3.52142088e-03 1.80773277e+02] [ 7.03203017e-01 -7.10980796e-01 -3.43857263e-03 1.22634142e+02] [ 4.92170618e-03 3.15446671e-05 9.99987888e-01 9.70317938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.21028169299996 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:180.76, Y:122.64, Z:0.97 [[-7.10864407e-01 -7.03320266e-01 3.52108634e-03 1.80760355e+02] [ 7.03311859e-01 -7.10873127e-01 -3.43891516e-03 1.22643322e+02] [ 4.92170438e-03 3.18193898e-05 9.99987888e-01 9.73440640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.240281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:180.77, Y:122.63, Z:0.97 [[-7.10304503e-01 -7.03885719e-01 3.52243074e-03 1.80768008e+02] [ 7.03877326e-01 -7.10313236e-01 -3.43753756e-03 1.22630827e+02] [ 4.92166278e-03 3.76607198e-05 9.99987888e-01 9.73955891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.27028169299996 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:180.76, Y:122.63, Z:0.97 [[-7.08853808e-01 -7.05346635e-01 3.52192365e-03 1.80760325e+02] [ 7.05338257e-01 -7.08862556e-01 -3.43805702e-03 1.22631921e+02] [ 4.92158175e-03 4.70676727e-05 9.99987888e-01 9.72191145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.300281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:180.76, Y:122.63, Z:0.97 [[-7.07881271e-01 -7.06322662e-01 3.52192365e-03 1.80756631e+02] [ 7.06314296e-01 -7.07890030e-01 -3.43805702e-03 1.22634752e+02] [ 4.92151222e-03 5.38488464e-05 9.99987888e-01 9.70004188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.33028169299996 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:180.74, Y:122.65, Z:0.97 [[-7.06075492e-01 -7.08127812e-01 3.52158728e-03 1.80739828e+02] [ 7.08119467e-01 -7.06084271e-01 -3.43840153e-03 1.22645809e+02] [ 4.92136514e-03 6.59334551e-05 9.99987888e-01 9.74264175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.360281693 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:180.75, Y:122.63, Z:0.98 [[-7.04694042e-01 -7.09502570e-01 3.52277262e-03 1.80749873e+02] [ 7.09494249e-01 -7.04702843e-01 -3.43718667e-03 1.22632604e+02] [ 4.92120066e-03 7.72219451e-05 9.99987888e-01 9.81216331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.39028169299996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:180.74, Y:122.64, Z:0.98 [[-7.03869450e-01 -7.10320629e-01 3.52167131e-03 1.80741493e+02] [ 7.10312312e-01 -7.03878255e-01 -3.43831469e-03 1.22637708e+02] [ 4.92113370e-03 8.13618210e-05 9.99987888e-01 9.81570820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42028169299994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:180.74, Y:122.64, Z:0.98 [[-7.03763622e-01 -7.10425482e-01 3.52133224e-03 1.80739717e+02] [ 7.10417164e-01 -7.03772427e-01 -3.43866191e-03 1.22639491e+02] [ 4.92112958e-03 8.16097050e-05 9.99987888e-01 9.81583174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.45028169299997 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:180.75, Y:122.63, Z:0.98 [[-7.03569571e-01 -7.10617663e-01 3.52081988e-03 1.80748788e+02] [ 7.10609345e-01 -7.03578375e-01 -3.43918643e-03 1.22625928e+02] [ 4.92111935e-03 8.22205897e-05 9.99987888e-01 9.79980887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48028169299994 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:180.74, Y:122.63, Z:0.98 [[-7.04055660e-01 -7.10136073e-01 3.51947122e-03 1.80744163e+02] [ 7.10127742e-01 -7.04064452e-01 -3.44056602e-03 1.22627731e+02] [ 4.92120461e-03 7.69241712e-05 9.99987888e-01 9.78758844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.51028169299997 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:180.74, Y:122.63, Z:0.98 [[-7.06034516e-01 -7.08168679e-01 3.51913528e-03 1.80737715e+02] [ 7.08160322e-01 -7.06043284e-01 -3.44090959e-03 1.22629910e+02] [ 4.92140623e-03 6.27110361e-05 9.99987888e-01 9.77761381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.54028169299994 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:180.73, Y:122.64, Z:0.98 [[-7.07158942e-01 -7.07045861e-01 3.51879864e-03 1.80730823e+02] [ 7.07037488e-01 -7.07167695e-01 -3.44125382e-03 1.22635088e+02] [ 4.92150499e-03 5.44091372e-05 9.99987888e-01 9.77583153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.57028169299997 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:180.74, Y:122.62, Z:0.98 [[-7.07682677e-01 -7.06521655e-01 3.51846030e-03 1.80741835e+02] [ 7.06513275e-01 -7.07691421e-01 -3.44159971e-03 1.22622389e+02] [ 4.92154890e-03 5.02784162e-05 9.99987888e-01 9.76975484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60028169299994 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:180.75, Y:122.61, Z:0.98 [[-7.08419816e-01 -7.05782541e-01 3.51711573e-03 1.80751905e+02] [ 7.05774144e-01 -7.08428545e-01 -3.44297324e-03 1.22609658e+02] [ 4.92161558e-03 4.32188818e-05 9.99987888e-01 9.76897168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.630281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:180.74, Y:122.62, Z:0.98 [[-7.08789841e-01 -7.05410944e-01 3.51578931e-03 1.80742657e+02] [ 7.05402536e-01 -7.08798560e-01 -3.44432719e-03 1.22618434e+02] [ 4.92165249e-03 3.87425732e-05 9.99987888e-01 9.80707739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66028169299994 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:180.74, Y:122.62, Z:0.99 [[-7.09067185e-01 -7.05132164e-01 3.51545776e-03 1.80737264e+02] [ 7.05123751e-01 -7.09075898e-01 -3.44466554e-03 1.22620121e+02] [ 4.92167084e-03 3.63334635e-05 9.99987888e-01 9.85390820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.690281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:180.74, Y:122.61, Z:0.99 [[-7.08818569e-01 -7.05382081e-01 3.51512453e-03 1.80743163e+02] [ 7.05373670e-01 -7.08827284e-01 -3.44500555e-03 1.22610782e+02] [ 4.92166136e-03 3.75923843e-05 9.99987888e-01 9.85524693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72028169299995 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:180.75, Y:122.60, Z:0.98 [[-7.09038611e-01 -7.05160905e-01 3.51379887e-03 1.80748238e+02] [ 7.05152484e-01 -7.09047316e-01 -3.44635716e-03 1.22603405e+02] [ 4.92168599e-03 3.41637074e-05 9.99987888e-01 9.82371922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.750281693 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:180.73, Y:122.62, Z:0.98 [[-7.10150230e-01 -7.04041415e-01 3.51248432e-03 1.80733714e+02] [ 7.04032973e-01 -7.10158916e-01 -3.44769641e-03 1.22618476e+02] [ 4.92174312e-03 2.45223781e-05 9.99987888e-01 9.81736161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78028169299995 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:180.75, Y:122.61, Z:0.98 [[-7.11556756e-01 -7.02619846e-01 3.51215404e-03 1.80745021e+02] [ 7.02611385e-01 -7.11565424e-01 -3.44803284e-03 1.22608950e+02] [ 4.92178368e-03 1.42083522e-05 9.99987888e-01 9.79541917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.810281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:180.74, Y:122.61, Z:0.98 [[-7.13549612e-01 -7.00595907e-01 3.51083448e-03 1.80743079e+02] [ 7.00587416e-01 -7.13558249e-01 -3.44937590e-03 1.22611878e+02] [ 4.92180355e-03 -1.65438215e-06 9.99987888e-01 9.77825623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84028169299995 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:180.76, Y:122.60, Z:0.97 [[-7.17035042e-01 -6.97028282e-01 3.51050566e-03 1.80757747e+02] [ 6.97019746e-01 -7.17043634e-01 -3.44971052e-03 1.22598207e+02] [ 4.92173153e-03 -2.66715659e-05 9.99987888e-01 9.74681122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.870281693 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:180.76, Y:122.60, Z:0.98 [[-7.18502841e-01 -6.95515170e-01 3.50936750e-03 1.80755792e+02] [ 6.95506610e-01 -7.18511411e-01 -3.45086797e-03 1.22599718e+02] [ 4.92165162e-03 -3.86701447e-05 9.99987888e-01 9.75785525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90028169299995 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:180.75, Y:122.61, Z:0.98 [[-7.20346373e-01 -6.93605644e-01 3.50904344e-03 1.80748199e+02] [ 6.93597059e-01 -7.20354918e-01 -3.45119747e-03 1.22606167e+02] [ 4.92152674e-03 -5.21953667e-05 9.99987888e-01 9.76320766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.930281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:180.77, Y:122.59, Z:0.98 [[-7.20657872e-01 -6.93281993e-01 3.50855392e-03 1.80766283e+02] [ 6.93273402e-01 -7.20666411e-01 -3.45169505e-03 1.22587658e+02] [ 4.92149498e-03 -5.51040949e-05 9.99987888e-01 9.75594057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96028169299996 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:180.75, Y:122.60, Z:0.98 [[-7.21255777e-01 -6.92659948e-01 3.50726550e-03 1.80752159e+02] [ 6.92651343e-01 -7.21264302e-01 -3.45300372e-03 1.22601218e+02] [ 4.92142278e-03 -6.11867227e-05 9.99987888e-01 9.77293564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.990281693 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:180.76, Y:122.59, Z:0.98 [[-7.22334777e-01 -6.91534649e-01 3.50694376e-03 1.80764353e+02] [ 6.91526030e-01 -7.22343287e-01 -3.45333045e-03 1.22591355e+02] [ 4.92131494e-03 -6.93177796e-05 9.99987888e-01 9.82310063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02028169299996 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:180.76, Y:122.60, Z:0.98 [[-7.22741254e-01 -6.91109824e-01 3.50582225e-03 1.80759869e+02] [ 6.91101194e-01 -7.22749754e-01 -3.45446863e-03 1.22598012e+02] [ 4.92124937e-03 -7.38090439e-05 9.99987888e-01 9.82735089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.050281693 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:180.78, Y:122.58, Z:0.98 [[-7.22868565e-01 -6.90976664e-01 3.50533959e-03 1.80779294e+02] [ 6.90968031e-01 -7.22877060e-01 -3.45495833e-03 1.22579868e+02] [ 4.92122516e-03 -7.54031809e-05 9.99987888e-01 9.82978653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08028169299996 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:180.76, Y:122.60, Z:0.98 [[-7.22984567e-01 -6.90855294e-01 3.50407071e-03 1.80757170e+02] [ 6.90846653e-01 -7.22993054e-01 -3.45624477e-03 1.22601602e+02] [ 4.92118378e-03 -7.80361023e-05 9.99987888e-01 9.82899849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.110281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:180.77, Y:122.59, Z:0.98 [[-7.22300634e-01 -6.91570320e-01 3.50534248e-03 1.80766262e+02] [ 6.91561693e-01 -7.22309136e-01 -3.45495445e-03 1.22593103e+02] [ 4.92128485e-03 -7.13552083e-05 9.99987888e-01 9.84570515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14028169299996 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:180.77, Y:122.60, Z:0.99 [[-7.20780886e-01 -6.93154122e-01 3.50406321e-03 1.80765025e+02] [ 6.93145507e-01 -7.20789401e-01 -3.45625142e-03 1.22595263e+02] [ 4.92140654e-03 -6.23742859e-05 9.99987888e-01 9.85812563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.17028169299994 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:180.76, Y:122.60, Z:0.99 [[-7.19825025e-01 -6.94146711e-01 3.50374436e-03 1.80756510e+02] [ 6.94138107e-01 -7.19833550e-01 -3.45657462e-03 1.22602403e+02] [ 4.92148265e-03 -5.60464352e-05 9.99987888e-01 9.86707917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20028169299997 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:180.75, Y:122.61, Z:0.99 [[-7.18641338e-01 -6.95372098e-01 3.50342435e-03 1.80747439e+02] [ 6.95363507e-01 -7.18649876e-01 -3.45689893e-03 1.22609831e+02] [ 4.92156654e-03 -4.81170320e-05 9.99987888e-01 9.86250652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.23028169299994 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:180.74, Y:122.62, Z:0.99 [[-7.16756539e-01 -6.97314702e-01 3.50293902e-03 1.80740293e+02] [ 6.97306132e-01 -7.16765098e-01 -3.45739066e-03 1.22615400e+02] [ 4.92167377e-03 -3.54865098e-05 9.99987888e-01 9.85610729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26028169299997 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:180.75, Y:122.60, Z:0.99 [[-7.16437533e-01 -6.97642454e-01 3.50245073e-03 1.80753987e+02] [ 6.97633885e-01 -7.16446094e-01 -3.45788524e-03 1.22601427e+02] [ 4.92168469e-03 -3.39304636e-05 9.99987888e-01 9.87044004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.29028169299994 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:180.74, Y:122.61, Z:0.99 [[-7.17719223e-01 -6.96323817e-01 3.50116355e-03 1.80739878e+02] [ 6.96315227e-01 -7.17727761e-01 -3.45918804e-03 1.22612719e+02] [ 4.92159730e-03 -4.48122647e-05 9.99987888e-01 9.88743403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.32028169299997 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:180.75, Y:122.60, Z:0.99 [[-7.18572866e-01 -6.95442867e-01 3.50084194e-03 1.80753599e+02] [ 6.95434264e-01 -7.18581392e-01 -3.45951349e-03 1.22597967e+02] [ 4.92153386e-03 -5.13070874e-05 9.99987888e-01 9.88568184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.35028169299994 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:180.75, Y:122.60, Z:0.99 [[-7.19694140e-01 -6.94282434e-01 3.49955974e-03 1.80748613e+02] [ 6.94273811e-01 -7.19702646e-01 -3.46081005e-03 1.22602860e+02] [ 4.92142203e-03 -6.10720357e-05 9.99987888e-01 9.88975891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.380281693 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:180.75, Y:122.60, Z:0.99 [[-7.21590757e-01 -6.92311010e-01 3.49924064e-03 1.80754499e+02] [ 6.92302362e-01 -7.21599238e-01 -3.46113266e-03 1.22597462e+02] [ 4.92122963e-03 -7.49887756e-05 9.99987888e-01 9.86699680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.41028169299994 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:180.74, Y:122.62, Z:0.99 [[-7.21906129e-01 -6.91982157e-01 3.49796809e-03 1.80736175e+02] [ 6.91973499e-01 -7.21914599e-01 -3.46241828e-03 1.22615255e+02] [ 4.92116590e-03 -7.90397631e-05 9.99987888e-01 9.87464884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.440281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:180.73, Y:122.62, Z:0.99 [[-7.20126496e-01 -6.93833976e-01 3.49908765e-03 1.80734426e+02] [ 6.93825345e-01 -7.20134994e-01 -3.46128649e-03 1.22618157e+02] [ 4.92137363e-03 -6.48084202e-05 9.99987888e-01 9.90066544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.47028169299995 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:180.76, Y:122.60, Z:0.99 [[-7.18649905e-01 -6.95363266e-01 3.49876377e-03 1.80756025e+02] [ 6.95354652e-01 -7.18658420e-01 -3.46161385e-03 1.22599224e+02] [ 4.92149516e-03 -5.48068031e-05 9.99987888e-01 9.87678428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.500281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:180.74, Y:122.62, Z:0.99 [[-7.17716487e-01 -6.96326656e-01 3.49748388e-03 1.80741199e+02] [ 6.96318047e-01 -7.17725007e-01 -3.46290651e-03 1.22616758e+02] [ 4.92154576e-03 -5.00239497e-05 9.99987888e-01 9.87837389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.53028169299995 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:180.73, Y:122.63, Z:0.99 [[-7.15304291e-01 -6.98804358e-01 3.49860066e-03 1.80733307e+02] [ 6.98795784e-01 -7.15312846e-01 -3.46177786e-03 1.22627744e+02] [ 4.92169945e-03 -3.14171713e-05 9.99987888e-01 9.88619051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.560281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:180.73, Y:122.64, Z:0.99 [[-7.13762637e-01 -7.00378941e-01 3.49827673e-03 1.80726140e+02] [ 7.00370384e-01 -7.13771209e-01 -3.46210517e-03 1.22636365e+02] [ 4.92175477e-03 -2.10319019e-05 9.99987888e-01 9.86816076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.59028169299995 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:180.72, Y:122.65, Z:0.99 [[-7.12198460e-01 -7.01969457e-01 3.49795026e-03 1.80719415e+02] [ 7.01960918e-01 -7.12207049e-01 -3.46243499e-03 1.22645211e+02] [ 4.92178845e-03 -1.05164934e-05 9.99987888e-01 9.86288491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.620281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:180.71, Y:122.66, Z:0.99 [[-7.09023885e-01 -7.05175792e-01 3.49762157e-03 1.80710558e+02] [ 7.05167290e-01 -7.09032512e-01 -3.46276699e-03 1.22656877e+02] [ 4.92178686e-03 1.12238215e-05 9.99987888e-01 9.86982320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.65028169299995 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:180.71, Y:122.66, Z:0.99 [[-7.07371568e-01 -7.06833243e-01 3.49729008e-03 1.80707726e+02] [ 7.06824760e-01 -7.07380213e-01 -3.46310175e-03 1.22658679e+02] [ 4.92174925e-03 2.22715060e-05 9.99987888e-01 9.88079979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.680281693 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:180.69, Y:122.67, Z:0.99 [[-7.04993547e-01 -7.09205098e-01 3.49678836e-03 1.80694593e+02] [ 7.09196642e-01 -7.05002218e-01 -3.46360828e-03 1.22670929e+02] [ 4.92165220e-03 3.80890720e-05 9.99987888e-01 9.89067101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.71028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:180.70, Y:122.67, Z:0.99 [[-7.04457915e-01 -7.09737148e-01 3.49678836e-03 1.80698028e+02] [ 7.09728698e-01 -7.04466592e-01 -3.46360828e-03 1.22668155e+02] [ 4.92162204e-03 4.18047781e-05 9.99987888e-01 9.89582431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.740281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:180.70, Y:122.66, Z:0.99 [[-7.04467278e-01 -7.09727856e-01 3.49628094e-03 1.80703798e+02] [ 7.09719403e-01 -7.04475953e-01 -3.46412041e-03 1.22662575e+02] [ 4.92162860e-03 4.10189509e-05 9.99987888e-01 9.91349930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.77028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:180.71, Y:122.66, Z:1.00 [[-7.05503954e-01 -7.08697366e-01 3.49494437e-03 1.80707978e+02] [ 7.08688894e-01 -7.05512610e-01 -3.46546835e-03 1.22657785e+02] [ 4.92169561e-03 3.19266314e-05 9.99987888e-01 9.95634632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.800281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:180.70, Y:122.66, Z:1.00 [[-7.05786413e-01 -7.08416070e-01 3.49461196e-03 1.80701466e+02] [ 7.08407592e-01 -7.05795063e-01 -3.46580352e-03 1.22664160e+02] [ 4.92171078e-03 2.94926090e-05 9.99987888e-01 9.96053255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.83028169299996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:180.71, Y:122.66, Z:1.00 [[-7.06533725e-01 -7.07670748e-01 3.49411133e-03 1.80709984e+02] [ 7.07662259e-01 -7.06542364e-01 -3.46630817e-03 1.22655149e+02] [ 4.92174257e-03 2.35870951e-05 9.99987888e-01 9.96720313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.860281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.71, Y:122.65, Z:1.00 [[-7.07106413e-01 -7.07098523e-01 3.49278809e-03 1.80713955e+02] [ 7.07090020e-01 -7.07115039e-01 -3.46764101e-03 1.22649823e+02] [ 4.92176682e-03 1.77244080e-05 9.99987888e-01 9.97640419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.89028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.71, Y:122.66, Z:1.00 [[-7.08067930e-01 -7.06135692e-01 3.49147586e-03 1.80705843e+02] [ 7.06127171e-01 -7.08076538e-01 -3.46896175e-03 1.22656706e+02] [ 4.92178985e-03 9.16540681e-06 9.99987888e-01 9.98372759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:180.72, Y:122.64, Z:1.00 [[-7.10127406e-01 -7.04064542e-01 3.49114715e-03 1.80721255e+02] [ 7.04055994e-01 -7.10135988e-01 -3.46929253e-03 1.22642634e+02] [ 4.92179509e-03 -5.67662741e-06 9.99987888e-01 9.96979581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.95028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.71, Y:122.66, Z:1.00 [[-7.11190373e-01 -7.02990806e-01 3.48984095e-03 1.80710640e+02] [ 7.02982239e-01 -7.11198936e-01 -3.47060597e-03 1.22655223e+02] [ 4.92177526e-03 -1.49653549e-05 9.99987888e-01 9.95831098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.98028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:180.72, Y:122.65, Z:1.00 [[-7.11876046e-01 -7.02296459e-01 3.48967860e-03 1.80717943e+02] [ 7.02287883e-01 -7.11884599e-01 -3.47076921e-03 1.22649373e+02] [ 4.92175738e-03 -1.99984652e-05 9.99987888e-01 9.95469870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.01028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:180.71, Y:122.66, Z:1.00 [[-7.11947723e-01 -7.02223805e-01 3.48837376e-03 1.80707376e+02] [ 7.02215221e-01 -7.11956268e-01 -3.47208017e-03 1.22662055e+02] [ 4.92174691e-03 -2.23504226e-05 9.99987888e-01 9.95665588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.04028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.72, Y:122.65, Z:1.00 [[-7.11216748e-01 -7.02964131e-01 3.48837376e-03 1.80716139e+02] [ 7.02955556e-01 -7.11225302e-01 -3.47208017e-03 1.22654208e+02] [ 4.92176750e-03 -1.72298532e-05 9.99987888e-01 9.98637907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.07028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.71, Y:122.66, Z:1.00 [[-7.09346379e-01 -7.04851442e-01 3.48706544e-03 1.80714414e+02] [ 7.04842884e-01 -7.09354950e-01 -3.47339364e-03 1.22658374e+02] [ 4.92179364e-03 -6.00593410e-06 9.99987888e-01 9.98578313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.10028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.70, Y:122.67, Z:0.99 [[-7.07754747e-01 -7.06449617e-01 3.48673908e-03 1.80703879e+02] [ 7.06441076e-01 -7.07763336e-01 -3.47372122e-03 1.22669897e+02] [ 4.92179511e-03 4.63303023e-06 9.99987888e-01 9.94262349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.130281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.69, Y:122.68, Z:0.99 [[-7.05915018e-01 -7.08287957e-01 3.48673908e-03 1.80694989e+02] [ 7.08279439e-01 -7.05923629e-01 -3.47372122e-03 1.22679619e+02] [ 4.92176641e-03 1.74336284e-05 9.99987888e-01 9.90626152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:180.68, Y:122.70, Z:0.99 [[-7.04038942e-01 -7.10152809e-01 3.48657386e-03 1.80680752e+02] [ 7.10144313e-01 -7.04047574e-01 -3.47388704e-03 1.22695615e+02] [ 4.92170451e-03 3.02188447e-05 9.99987888e-01 9.88495610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.190281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.67, Y:122.70, Z:1.00 [[-6.99678397e-01 -7.14449421e-01 3.48791736e-03 1.80671225e+02] [ 7.14440985e-01 -6.99687088e-01 -3.47253760e-03 1.22704247e+02] [ 4.92140321e-03 6.22515748e-05 9.99987888e-01 9.96148169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.67, Y:122.71, Z:1.00 [[-6.97271377e-01 -7.16798760e-01 3.48774776e-03 1.80667017e+02] [ 7.16790352e-01 -6.97280096e-01 -3.47270793e-03 1.22707085e+02] [ 4.92116983e-03 7.85641064e-05 9.99987888e-01 9.99051407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.250281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.67, Y:122.70, Z:1.00 [[-6.93278829e-01 -7.20661018e-01 3.48740505e-03 1.80673124e+02] [ 7.20652657e-01 -6.93287592e-01 -3.47305205e-03 1.22700047e+02] [ 4.92066788e-03 1.05414256e-04 9.99987888e-01 9.98965549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.67, Y:122.71, Z:1.00 [[-6.92109206e-01 -7.21784379e-01 3.48689020e-03 1.80668013e+02] [ 7.21776029e-01 -6.92117980e-01 -3.47356888e-03 1.22705398e+02] [ 4.92050716e-03 1.12664766e-04 9.99987888e-01 9.96205380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.310281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.67, Y:122.71, Z:1.00 [[-6.92002217e-01 -7.21886955e-01 3.48654933e-03 1.80666255e+02] [ 7.21878605e-01 -6.92010991e-01 -3.47391099e-03 1.22707199e+02] [ 4.92050148e-03 1.12911264e-04 9.99987888e-01 9.96217735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.66, Y:122.71, Z:1.00 [[-6.91502978e-01 -7.22365198e-01 3.48603436e-03 1.80661388e+02] [ 7.22356852e-01 -6.91511755e-01 -3.47442768e-03 1.22711319e+02] [ 4.92043938e-03 1.15583713e-04 9.99987888e-01 9.96038889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.370281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:180.68, Y:122.69, Z:1.00 [[-6.91140563e-01 -7.22711957e-01 3.48569192e-03 1.80678322e+02] [ 7.22703613e-01 -6.91149343e-01 -3.47477119e-03 1.22690749e+02] [ 4.92039237e-03 1.17566827e-04 9.99987888e-01 9.99624175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40028169299995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:180.67, Y:122.70, Z:1.00 [[-6.90867816e-01 -7.22972697e-01 3.48433739e-03 1.80665956e+02] [ 7.22964350e-01 -6.90876592e-01 -3.47612892e-03 1.22702084e+02] [ 4.92039345e-03 1.17506121e-04 9.99987888e-01 1.00182799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.430281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.67, Y:122.69, Z:1.00 [[-6.89892616e-01 -7.23903335e-01 3.48416938e-03 1.80673147e+02] [ 7.23894999e-01 -6.89901403e-01 -3.47629731e-03 1.22694459e+02] [ 4.92023656e-03 1.23900941e-04 9.99987888e-01 1.00380058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.67, Y:122.70, Z:1.00 [[-6.88041195e-01 -7.25663272e-01 3.48281928e-03 1.80666085e+02] [ 7.25654951e-01 -6.88049997e-01 -3.47764942e-03 1.22698271e+02] [ 4.91995625e-03 1.34558992e-04 9.99987888e-01 1.00195475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.490281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.66, Y:122.70, Z:1.00 [[-6.86554777e-01 -7.27069743e-01 3.48231134e-03 1.80661264e+02] [ 7.27061438e-01 -6.86563593e-01 -3.47815797e-03 1.22697117e+02] [ 4.91969161e-03 1.43908315e-04 9.99987888e-01 1.00053389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.66, Y:122.70, Z:1.00 [[-6.86127461e-01 -7.27473013e-01 3.48180208e-03 1.80657877e+02] [ 7.27464710e-01 -6.86136280e-01 -3.47866769e-03 1.22699373e+02] [ 4.91962759e-03 1.46078712e-04 9.99987888e-01 1.00098314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.550281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:180.65, Y:122.70, Z:1.00 [[-6.86060232e-01 -7.27536417e-01 3.48129246e-03 1.80654219e+02] [ 7.27528113e-01 -6.86069050e-01 -3.47917762e-03 1.22702240e+02] [ 4.91963543e-03 1.45812731e-04 9.99987888e-01 1.00179110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.66, Y:122.70, Z:1.00 [[-6.86811801e-01 -7.26826963e-01 3.48078211e-03 1.80656376e+02] [ 7.26818647e-01 -6.86820607e-01 -3.47968813e-03 1.22697448e+02] [ 4.91980404e-03 1.40006468e-04 9.99987888e-01 9.99587829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.610281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:180.64, Y:122.71, Z:1.00 [[-6.87384223e-01 -7.26285635e-01 3.47943206e-03 1.80644016e+02] [ 7.26277305e-01 -6.87393016e-01 -3.48103755e-03 1.22708068e+02] [ 4.91996487e-03 1.34222250e-04 9.99987888e-01 1.00018487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:180.64, Y:122.71, Z:1.00 [[-6.89170462e-01 -7.24590900e-01 3.47892115e-03 1.80636151e+02] [ 7.24582546e-01 -6.89179232e-01 -3.48154808e-03 1.22711531e+02] [ 4.92029826e-03 1.21385441e-04 9.99987888e-01 1.00330758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.67028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.63, Y:122.71, Z:1.00 [[-6.89873059e-01 -7.23922001e-01 3.47840660e-03 1.80630160e+02] [ 7.23913636e-01 -6.89881818e-01 -3.48206209e-03 1.22714838e+02] [ 4.92043083e-03 1.15885142e-04 9.99987888e-01 1.00408876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.64, Y:122.70, Z:1.01 [[-6.90362618e-01 -7.23455154e-01 3.47789033e-03 1.80637679e+02] [ 7.23446780e-01 -6.90371370e-01 -3.48257767e-03 1.22704370e+02] [ 4.92052467e-03 1.11827124e-04 9.99987888e-01 1.00535101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.73028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.63, Y:122.71, Z:1.01 [[-6.92495205e-01 -7.21414101e-01 3.47652722e-03 1.80626675e+02] [ 7.21405695e-01 -6.92503925e-01 -3.48393788e-03 1.22712036e+02] [ 4.92087065e-03 9.53762578e-05 9.99987888e-01 1.00650648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.64, Y:122.70, Z:1.01 [[-6.93712326e-01 -7.20243797e-01 3.47601358e-03 1.80636802e+02] [ 7.20235373e-01 -6.93721029e-01 -3.48445027e-03 1.22701669e+02] [ 4.92103741e-03 8.63418319e-05 9.99987888e-01 1.00681457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.79028169299994 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:180.63, Y:122.71, Z:1.01 [[-6.94698756e-01 -7.19292406e-01 3.47465528e-03 1.80628414e+02] [ 7.19283964e-01 -6.94707441e-01 -3.48580423e-03 1.22709766e+02] [ 4.92118139e-03 7.76799571e-05 9.99987888e-01 1.00666711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.82028169299997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:180.64, Y:122.70, Z:1.00 [[-6.96982538e-01 -7.17079683e-01 3.47414424e-03 1.80637728e+02] [ 7.17071211e-01 -6.96991194e-01 -3.48631348e-03 1.22699789e+02] [ 4.92141251e-03 6.13091936e-05 9.99987888e-01 1.00159351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.85028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.64, Y:122.70, Z:1.00 [[-6.98612549e-01 -7.15491752e-01 3.47279276e-03 1.80637892e+02] [ 7.15483253e-01 -6.98621179e-01 -3.48765920e-03 1.22699034e+02] [ 4.92155796e-03 4.82025732e-05 9.99987888e-01 9.98785081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.880281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.65, Y:122.69, Z:1.00 [[-7.02029938e-01 -7.12138972e-01 3.47145024e-03 1.80648858e+02] [ 7.12130426e-01 -7.02038520e-01 -3.48899497e-03 1.22688403e+02] [ 4.92174108e-03 2.27464162e-05 9.99987888e-01 9.98035582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.91028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.63, Y:122.71, Z:1.00 [[-7.03185162e-01 -7.10998303e-01 3.47011746e-03 1.80632372e+02] [ 7.10989736e-01 -7.03193724e-01 -3.49032004e-03 1.22707728e+02] [ 4.92177644e-03 1.28766328e-05 9.99987888e-01 9.98941462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.940281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.64, Y:122.71, Z:1.00 [[-7.03679580e-01 -7.10508979e-01 3.46978272e-03 1.80639198e+02] [ 7.10500405e-01 -7.03688134e-01 -3.49065278e-03 1.22705120e+02] [ 4.92178507e-03 8.98094390e-06 9.99987888e-01 9.97100496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.97028169299995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:180.65, Y:122.70, Z:1.00 [[-7.03679856e-01 -7.10508712e-01 3.46843950e-03 1.80648642e+02] [ 7.10500131e-01 -7.03688404e-01 -3.49198694e-03 1.22699788e+02] [ 4.92178780e-03 7.08585420e-06 9.99987888e-01 1.00319756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.000281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.64, Y:122.71, Z:1.00 [[-7.03029855e-01 -7.11151884e-01 3.46710646e-03 1.80642980e+02] [ 7.11143304e-01 -7.03038404e-01 -3.49330997e-03 1.22710212e+02] [ 4.92178297e-03 9.70834229e-06 9.99987888e-01 1.00406561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.03028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:180.65, Y:122.71, Z:1.00 [[-7.02099560e-01 -7.12070354e-01 3.46685564e-03 1.80648067e+02] [ 7.12061784e-01 -7.02108119e-01 -3.49355888e-03 1.22708109e+02] [ 4.92176720e-03 1.57892554e-05 9.99987888e-01 1.00441217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.060281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.63, Y:122.73, Z:1.00 [[-7.01011619e-01 -7.13141430e-01 3.46552156e-03 1.80634183e+02] [ 7.13132867e-01 -7.01020185e-01 -3.49488176e-03 1.22729838e+02] [ 4.92174554e-03 2.14246043e-05 9.99987888e-01 1.00225867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.09028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.65, Y:122.72, Z:1.00 [[-6.99471912e-01 -7.14651681e-01 3.46686618e-03 1.80649534e+02] [ 7.14643143e-01 -6.99480503e-01 -3.49354740e-03 1.22716685e+02] [ 4.92167482e-03 3.39338632e-05 9.99987888e-01 1.00178145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.120281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.63, Y:122.73, Z:1.00 [[-6.98338990e-01 -7.15758789e-01 3.46551983e-03 1.80633178e+02] [ 7.15750258e-01 -6.98347588e-01 -3.49488244e-03 1.22733991e+02] [ 4.92163024e-03 3.98340387e-05 9.99987888e-01 1.00176953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.15028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.64, Y:122.73, Z:1.00 [[-6.95048943e-01 -7.18954065e-01 3.46686850e-03 1.80639239e+02] [ 7.18945580e-01 -6.95057586e-01 -3.49354407e-03 1.22731120e+02] [ 4.92137096e-03 6.43056803e-05 9.99987888e-01 1.00144691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.180281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.63, Y:122.74, Z:1.00 [[-6.93909191e-01 -7.20054178e-01 3.46635642e-03 1.80633220e+02] [ 7.20045704e-01 -6.93917845e-01 -3.49405209e-03 1.22739820e+02] [ 4.92127338e-03 7.13801876e-05 9.99987888e-01 1.00011752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.21028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.63, Y:122.75, Z:1.00 [[-6.93429259e-01 -7.20516377e-01 3.46601653e-03 1.80629872e+02] [ 7.20507907e-01 -6.93437917e-01 -3.49438922e-03 1.22745367e+02] [ 4.92123195e-03 7.41805868e-05 9.99987888e-01 9.98856357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.240281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.63, Y:122.75, Z:1.00 [[-6.93849455e-01 -7.20111744e-01 3.46550231e-03 1.80628512e+02] [ 7.20103267e-01 -6.93858106e-01 -3.49489911e-03 1.22745842e+02] [ 4.92128477e-03 7.05856925e-05 9.99987888e-01 1.00232708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.27028169299996 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:180.64, Y:122.74, Z:1.00 [[-6.93847645e-01 -7.20113490e-01 3.46516024e-03 1.80635250e+02] [ 7.20105011e-01 -6.93856294e-01 -3.49523824e-03 1.22738298e+02] [ 4.92129145e-03 7.01164324e-05 9.99987888e-01 1.00420425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.300281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.63, Y:122.74, Z:1.01 [[-6.94144782e-01 -7.19827079e-01 3.46380119e-03 1.80633324e+02] [ 7.19818590e-01 -6.94153421e-01 -3.49658455e-03 1.22738487e+02] [ 4.92134569e-03 6.61725740e-05 9.99987888e-01 1.00507114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.33028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.62, Y:122.75, Z:1.01 [[-6.94725670e-01 -7.19266466e-01 3.46329086e-03 1.80621747e+02] [ 7.19257967e-01 -6.94734300e-01 -3.49708995e-03 1.22749521e+02] [ 4.92140648e-03 6.14813799e-05 9.99987888e-01 1.00610299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.360281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.63, Y:122.74, Z:1.01 [[-6.95323058e-01 -7.18688981e-01 3.46312142e-03 1.80631796e+02] [ 7.18680474e-01 -6.95331680e-01 -3.49725773e-03 1.22737998e+02] [ 4.92145863e-03 5.71538064e-05 9.99987888e-01 1.00700905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.39028169299996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:180.63, Y:122.74, Z:1.01 [[-6.96613638e-01 -7.17438120e-01 3.46176273e-03 1.80628469e+02] [ 7.17429591e-01 -6.96622238e-01 -3.49860212e-03 1.22737004e+02] [ 4.92157142e-03 4.63970676e-05 9.99987888e-01 1.00932542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.63, Y:122.73, Z:1.01 [[-6.96866677e-01 -7.17192342e-01 3.46125362e-03 1.80633777e+02] [ 7.17183807e-01 -6.96875271e-01 -3.49910572e-03 1.22728794e+02] [ 4.92159388e-03 4.39448687e-05 9.99987888e-01 1.00961669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.45028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.63, Y:122.73, Z:1.01 [[-6.97563697e-01 -7.16514422e-01 3.45991007e-03 1.80629545e+02] [ 7.16505873e-01 -6.97572277e-01 -3.50043372e-03 1.22729585e+02] [ 4.92164859e-03 3.72703992e-05 9.99987888e-01 1.00801180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:180.63, Y:122.73, Z:1.01 [[-6.97899051e-01 -7.16187787e-01 3.45940508e-03 1.80625665e+02] [ 7.16179231e-01 -6.97907624e-01 -3.50093271e-03 1.22732538e+02] [ 4.92167044e-03 3.42564573e-05 9.99987888e-01 1.00790125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.51028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.63, Y:122.73, Z:1.01 [[-6.98133624e-01 -7.15959132e-01 3.45889918e-03 1.80631250e+02] [ 7.15950571e-01 -6.98142192e-01 -3.50143247e-03 1.22725351e+02] [ 4.92168601e-03 3.19331041e-05 9.99987888e-01 1.00731872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54028169299994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:180.63, Y:122.73, Z:1.01 [[-6.99037874e-01 -7.15076286e-01 3.45756299e-03 1.80628070e+02] [ 7.15067708e-01 -6.99046425e-01 -3.50275143e-03 1.22726111e+02] [ 4.92173153e-03 2.38357281e-05 9.99987888e-01 1.00871224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.57028169299997 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:180.62, Y:122.73, Z:1.01 [[-6.99294769e-01 -7.14825065e-01 3.45706052e-03 1.80619803e+02] [ 7.14816481e-01 -6.99303314e-01 -3.50324727e-03 1.22734141e+02] [ 4.92174284e-03 2.13613427e-05 9.99987888e-01 1.00832544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:180.63, Y:122.73, Z:1.01 [[-6.98273068e-01 -7.15823145e-01 3.45655642e-03 1.80625600e+02] [ 7.15814570e-01 -6.98281623e-01 -3.50374458e-03 1.22727733e+02] [ 4.92171129e-03 2.76829650e-05 9.99987888e-01 1.00623561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.630281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:180.63, Y:122.73, Z:1.00 [[-6.97410121e-01 -7.16663927e-01 3.45522133e-03 1.80626992e+02] [ 7.16655356e-01 -6.97418680e-01 -3.50506069e-03 1.22726153e+02] [ 4.92168645e-03 3.17380751e-05 9.99987888e-01 1.00499755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66028169299994 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:180.61, Y:122.74, Z:1.00 [[-6.96598902e-01 -7.17452461e-01 3.45488878e-03 1.80614186e+02] [ 7.17443898e-01 -6.96607468e-01 -3.50538844e-03 1.22739895e+02] [ 4.92165089e-03 3.68391345e-05 9.99987888e-01 1.00336838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.690281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:180.62, Y:122.74, Z:1.00 [[-6.95568791e-01 -7.18451198e-01 3.45455443e-03 1.80616132e+02] [ 7.18442646e-01 -6.95577368e-01 -3.50571791e-03 1.22739049e+02] [ 4.92159711e-03 4.34312571e-05 9.99987888e-01 1.00406062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.62, Y:122.74, Z:1.01 [[-6.94756049e-01 -7.19237166e-01 3.45404840e-03 1.80617930e+02] [ 7.19228622e-01 -6.94764634e-01 -3.50621641e-03 1.22738080e+02] [ 4.92155183e-03 4.82854088e-05 9.99987888e-01 1.00676782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.750281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.61, Y:122.75, Z:1.01 [[-6.93218064e-01 -7.20719632e-01 3.45371355e-03 1.80607094e+02] [ 7.20711104e-01 -6.93226665e-01 -3.50654622e-03 1.22749316e+02] [ 4.92144303e-03 5.83285293e-05 9.99987888e-01 1.01037269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.59, Y:122.76, Z:1.01 [[-6.89868720e-01 -7.23926256e-01 3.45337726e-03 1.80593881e+02] [ 7.23917766e-01 -6.89877358e-01 -3.50687738e-03 1.22762326e+02] [ 4.92112739e-03 8.06761400e-05 9.99987888e-01 1.01146255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.810281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:180.61, Y:122.75, Z:1.01 [[-6.88423306e-01 -7.25300923e-01 3.45303733e-03 1.80605594e+02] [ 7.25292449e-01 -6.88431960e-01 -3.50721206e-03 1.22749119e+02] [ 4.92096540e-03 9.00153881e-05 9.99987888e-01 1.00869361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:180.58, Y:122.77, Z:1.01 [[-6.86681758e-01 -7.26949964e-01 3.45168119e-03 1.80584262e+02] [ 7.26941504e-01 -6.86690426e-01 -3.50854622e-03 1.22766465e+02] [ 4.92077397e-03 9.99156246e-05 9.99987888e-01 1.00881801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.870281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:180.58, Y:122.77, Z:1.01 [[-6.85986292e-01 -7.27606276e-01 3.45168119e-03 1.80582413e+02] [ 7.27597824e-01 -6.85994968e-01 -3.50854622e-03 1.22766908e+02] [ 4.92067618e-03 1.04621108e-04 9.99987888e-01 1.00991165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.57, Y:122.78, Z:1.01 [[-6.86459727e-01 -7.27159638e-01 3.45030723e-03 1.80570427e+02] [ 7.27151174e-01 -6.86468391e-01 -3.50989685e-03 1.22778275e+02] [ 4.92078218e-03 9.94921179e-05 9.99987888e-01 1.01192467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.930281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.58, Y:122.76, Z:1.01 [[-6.87698937e-01 -7.25987790e-01 3.44978594e-03 1.80583675e+02] [ 7.25979309e-01 -6.87707584e-01 -3.51040914e-03 1.22764547e+02] [ 4.92095813e-03 9.03685735e-05 9.99987888e-01 1.01042228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:180.58, Y:122.77, Z:1.01 [[-6.89238312e-01 -7.24526506e-01 3.44840868e-03 1.80578380e+02] [ 7.24518000e-01 -6.89246934e-01 -3.51176156e-03 1.22769844e+02] [ 4.92116944e-03 7.79935493e-05 9.99987888e-01 1.00927300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.990281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.60, Y:122.75, Z:1.01 [[-6.92441738e-01 -7.21465559e-01 3.44780724e-03 1.80596848e+02] [ 7.21457011e-01 -6.92450319e-01 -3.51235194e-03 1.22749480e+02] [ 4.92147618e-03 5.53456287e-05 9.99987888e-01 1.00824430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02028169299996 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:180.59, Y:122.76, Z:1.01 [[-6.93457662e-01 -7.20489135e-01 3.44645161e-03 1.80590146e+02] [ 7.20480569e-01 -6.93466225e-01 -3.51368163e-03 1.22756150e+02] [ 4.92156723e-03 4.65119690e-05 9.99987888e-01 1.00911786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.050281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:180.59, Y:122.75, Z:1.01 [[-6.94107545e-01 -7.19863072e-01 3.44594415e-03 1.80594677e+02] [ 7.19854495e-01 -6.94116097e-01 -3.51417924e-03 1.22751878e+02] [ 4.92161317e-03 4.13600641e-05 9.99987888e-01 1.01229071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:180.59, Y:122.75, Z:1.01 [[-6.94126530e-01 -7.19844772e-01 3.44459975e-03 1.80592209e+02] [ 7.19836189e-01 -6.94135075e-01 -3.51549653e-03 1.22753593e+02] [ 4.92162930e-03 3.93481508e-05 9.99987888e-01 1.01156266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.110281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:180.59, Y:122.75, Z:1.01 [[-6.93720868e-01 -7.20235722e-01 3.44409389e-03 1.80591989e+02] [ 7.20227141e-01 -6.93729416e-01 -3.51599205e-03 1.22751922e+02] [ 4.92161231e-03 4.14128399e-05 9.99987888e-01 1.01180394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.59, Y:122.75, Z:1.01 [[-6.92946146e-01 -7.20981128e-01 3.44275458e-03 1.80589591e+02] [ 7.20972550e-01 -6.92954697e-01 -3.51730297e-03 1.22750463e+02] [ 4.92158202e-03 4.48300146e-05 9.99987888e-01 1.00961729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.17028169299994 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:180.58, Y:122.76, Z:1.01 [[-6.92995498e-01 -7.20933698e-01 3.44141721e-03 1.80580160e+02] [ 7.20925113e-01 -6.93004041e-01 -3.51861100e-03 1.22757931e+02] [ 4.92160127e-03 4.26225111e-05 9.99987888e-01 1.00874542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20028169299997 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:180.58, Y:122.75, Z:1.01 [[-6.92998115e-01 -7.20931185e-01 3.44091118e-03 1.80581729e+02] [ 7.20922597e-01 -6.93006656e-01 -3.51910578e-03 1.22753400e+02] [ 4.92160745e-03 4.18969511e-05 9.99987888e-01 1.00769577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.23028169299994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:180.58, Y:122.76, Z:1.01 [[-6.92723779e-01 -7.21194797e-01 3.43956825e-03 1.80579891e+02] [ 7.21186206e-01 -6.92732317e-01 -3.52041787e-03 1.22755176e+02] [ 4.92160714e-03 4.18919988e-05 9.99987888e-01 1.00770816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26028169299997 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:180.58, Y:122.76, Z:1.01 [[-6.92625480e-01 -7.21289209e-01 3.43822836e-03 1.80577823e+02] [ 7.21280612e-01 -6.92634013e-01 -3.52172600e-03 1.22756060e+02] [ 4.92161686e-03 4.06902946e-05 9.99987888e-01 1.00774056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.29028169299994 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:180.57, Y:122.76, Z:1.01 [[-6.92838089e-01 -7.21084996e-01 3.43688842e-03 1.80568700e+02] [ 7.21076390e-01 -6.92846612e-01 -3.52303317e-03 1.22764337e+02] [ 4.92164286e-03 3.73675206e-05 9.99987888e-01 1.00874640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32028169299997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:180.58, Y:122.75, Z:1.01 [[-6.93306629e-01 -7.20634519e-01 3.43638110e-03 1.80579936e+02] [ 7.20625905e-01 -6.93315144e-01 -3.52352794e-03 1.22750718e+02] [ 4.92167092e-03 3.34599655e-05 9.99987888e-01 1.00906478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.35028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:180.56, Y:122.77, Z:1.01 [[-6.94713551e-01 -7.19278307e-01 3.43504092e-03 1.80561684e+02] [ 7.19269670e-01 -6.94722043e-01 -3.52483398e-03 1.22766525e+02] [ 4.92173526e-03 2.19708170e-05 9.99987888e-01 1.01027964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.380281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.58, Y:122.75, Z:1.01 [[-6.95672871e-01 -7.18350514e-01 3.43453492e-03 1.80581074e+02] [ 7.18341864e-01 -6.95681349e-01 -3.52532695e-03 1.22746512e+02] [ 4.92176231e-03 1.46958996e-05 9.99987888e-01 1.01445233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.41028169299994 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:180.58, Y:122.75, Z:1.02 [[-6.95118444e-01 -7.18887030e-01 3.43319758e-03 1.80579411e+02] [ 7.18878380e-01 -6.95126922e-01 -3.52662886e-03 1.22747107e+02] [ 4.92175581e-03 1.66267503e-05 9.99987888e-01 1.01503524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.440281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:180.55, Y:122.77, Z:1.01 [[-6.94317367e-01 -7.19660765e-01 3.43187500e-03 1.80554387e+02] [ 7.19652118e-01 -6.94325848e-01 -3.52791544e-03 1.22771235e+02] [ 4.92174184e-03 2.02631523e-05 9.99987888e-01 1.01269674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.47028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.56, Y:122.76, Z:1.01 [[-6.93061384e-01 -7.20870405e-01 3.43170818e-03 1.80561407e+02] [ 7.20861772e-01 -6.93069880e-01 -3.52807770e-03 1.22762485e+02] [ 4.92170038e-03 2.86128273e-05 9.99987888e-01 1.00969805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.500281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:180.57, Y:122.75, Z:1.01 [[-6.91589373e-01 -7.22282750e-01 3.43035937e-03 1.80568509e+02] [ 7.22274128e-01 -6.91597880e-01 -3.52938866e-03 1.22753962e+02] [ 4.92164582e-03 3.67721261e-05 9.99987888e-01 1.00938771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.53028169299995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:180.57, Y:122.76, Z:1.01 [[-6.91415803e-01 -7.22448912e-01 3.42902335e-03 1.80565128e+02] [ 7.22440285e-01 -6.91424305e-01 -3.53068621e-03 1.22757840e+02] [ 4.92165050e-03 3.60923646e-05 9.99987888e-01 1.01159669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.560281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:180.57, Y:122.76, Z:1.01 [[-6.93022902e-01 -7.20907420e-01 3.42769209e-03 1.80567398e+02] [ 7.20898768e-01 -6.93031378e-01 -3.53197816e-03 1.22759656e+02] [ 4.92172744e-03 2.32772548e-05 9.99987888e-01 1.01363381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.59028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:180.56, Y:122.77, Z:1.01 [[-6.94408846e-01 -7.19572522e-01 3.42636035e-03 1.80558952e+02] [ 7.19563848e-01 -6.94417299e-01 -3.53326961e-03 1.22772486e+02] [ 4.92176763e-03 1.19513657e-05 9.99987888e-01 1.01215350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.620281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:180.57, Y:122.77, Z:1.01 [[-6.95608003e-01 -7.18413370e-01 3.42585619e-03 1.80566247e+02] [ 7.18404679e-01 -6.95616439e-01 -3.53375838e-03 1.22768555e+02] [ 4.92178115e-03 3.04050667e-06 9.99987888e-01 1.01150855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.65028169299995 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:180.57, Y:122.76, Z:1.01 [[-6.97143858e-01 -7.16923088e-01 3.42451807e-03 1.80574490e+02] [ 7.16914373e-01 -6.97152269e-01 -3.53505465e-03 1.22764074e+02] [ 4.92177284e-03 -9.35541142e-06 9.99987888e-01 1.01028565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.680281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:180.56, Y:122.78, Z:1.01 [[-6.97751323e-01 -7.16331888e-01 3.42318995e-03 1.80557914e+02] [ 7.16323159e-01 -6.97759719e-01 -3.53634028e-03 1.22784151e+02] [ 4.92175737e-03 -1.53758628e-05 9.99987888e-01 1.00936115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.71028169299996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:180.58, Y:122.77, Z:1.01 [[-6.98470304e-01 -7.15630852e-01 3.42302364e-03 1.80581388e+02] [ 7.15622114e-01 -6.98478692e-01 -3.53650125e-03 1.22769029e+02] [ 4.92173848e-03 -2.05496931e-05 9.99987888e-01 1.00874555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.740281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:180.58, Y:122.77, Z:1.01 [[-6.99333789e-01 -7.14787062e-01 3.42169063e-03 1.80580552e+02] [ 7.14778307e-01 -6.99342159e-01 -3.53779052e-03 1.22774106e+02] [ 4.92169940e-03 -2.83462082e-05 9.99987888e-01 1.01171276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.77028169299996 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:180.58, Y:122.78, Z:1.01 [[-7.00235542e-01 -7.13903692e-01 3.42119278e-03 1.80580583e+02] [ 7.13894924e-01 -7.00243899e-01 -3.53827189e-03 1.22777734e+02] [ 4.92165474e-03 -3.52515746e-05 9.99987888e-01 1.01313462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.800281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:180.59, Y:122.77, Z:1.01 [[-7.01632540e-01 -7.12530756e-01 3.42069432e-03 1.80593087e+02] [ 7.12521970e-01 -7.01640877e-01 -3.53875372e-03 1.22771418e+02] [ 4.92156983e-03 -4.55849048e-05 9.99987888e-01 1.01359481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.83028169299996 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:180.60, Y:122.77, Z:1.01 [[-7.02103559e-01 -7.12066640e-01 3.41938045e-03 1.80595089e+02] [ 7.12057843e-01 -7.02111884e-01 -3.54002282e-03 1.22773006e+02] [ 4.92151980e-03 -5.06659517e-05 9.99987888e-01 1.01231267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.860281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.59, Y:122.79, Z:1.01 [[-7.02297456e-01 -7.11875406e-01 3.41888812e-03 1.80586594e+02] [ 7.11866604e-01 -7.02305776e-01 -3.54049824e-03 1.22787433e+02] [ 4.92149850e-03 -5.26906339e-05 9.99987888e-01 1.01143827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.89028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:180.58, Y:122.80, Z:1.01 [[-7.01923119e-01 -7.12244513e-01 3.41888812e-03 1.80581752e+02] [ 7.12235715e-01 -7.01931443e-01 -3.54049824e-03 1.22795365e+02] [ 4.92152552e-03 -5.01033449e-05 9.99987888e-01 1.01359302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:180.59, Y:122.79, Z:1.01 [[-7.01455783e-01 -7.12704776e-01 3.41855683e-03 1.80592420e+02] [ 7.12695982e-01 -7.01464111e-01 -3.54081809e-03 1.22788885e+02] [ 4.92155289e-03 -4.73356109e-05 9.99987888e-01 1.01447450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.95028169299997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:180.58, Y:122.81, Z:1.01 [[-7.00614793e-01 -7.13531519e-01 3.41805910e-03 1.80579596e+02] [ 7.13522733e-01 -7.00623129e-01 -3.54129850e-03 1.22814489e+02] [ 4.92159936e-03 -4.22232506e-05 9.99987888e-01 1.01378478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.59, Y:122.81, Z:1.01 [[-7.00156384e-01 -7.13981334e-01 3.41938656e-03 1.80586620e+02] [ 7.13972559e-01 -7.00164733e-01 -3.54001628e-03 1.22812010e+02] [ 4.92163942e-03 -3.72168227e-05 9.99987888e-01 1.01468651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.01028169299997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:180.59, Y:122.82, Z:1.01 [[-6.98771069e-01 -7.15337196e-01 3.41888235e-03 1.80591350e+02] [ 7.15328435e-01 -6.98779433e-01 -3.54050317e-03 1.22815843e+02] [ 4.92169827e-03 -2.83774253e-05 9.99987888e-01 1.01289514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04028169299994 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:180.58, Y:122.83, Z:1.01 [[-6.98250458e-01 -7.15845381e-01 3.41871643e-03 1.80584474e+02] [ 7.15836625e-01 -6.98258827e-01 -3.54066337e-03 1.22828221e+02] [ 4.92171644e-03 -2.50273834e-05 9.99987888e-01 1.01128483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.07028169299997 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:180.59, Y:122.83, Z:1.01 [[-6.97547215e-01 -7.16530659e-01 3.42005564e-03 1.80588847e+02] [ 7.16521918e-01 -6.97555599e-01 -3.53936930e-03 1.22828408e+02] [ 4.92174558e-03 -1.83323718e-05 9.99987888e-01 1.01137348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10028169299994 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:180.59, Y:122.84, Z:1.01 [[-6.95435266e-01 -7.18580610e-01 3.42022344e-03 1.80587215e+02] [ 7.18571894e-01 -6.95443676e-01 -3.53920715e-03 1.22836034e+02] [ 4.92177839e-03 -3.61302570e-06 9.99987888e-01 1.01294072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.130281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:180.59, Y:122.84, Z:1.01 [[-6.94327850e-01 -7.19650699e-01 3.42157274e-03 1.80590257e+02] [ 7.19642003e-01 -6.94336281e-01 -3.53790221e-03 1.22836123e+02] [ 4.92177589e-03 5.84341867e-06 9.99987888e-01 1.01347896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:180.58, Y:122.85, Z:1.01 [[-6.93314498e-01 -7.20627012e-01 3.42292601e-03 1.80578486e+02] [ 7.20618334e-01 -6.93322947e-01 -3.53659243e-03 1.22852625e+02] [ 4.92175719e-03 1.46524332e-05 9.99987888e-01 1.01394091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.190281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:180.59, Y:122.85, Z:1.01 [[-6.93081208e-01 -7.20851381e-01 3.42429012e-03 1.80588917e+02] [ 7.20842712e-01 -6.93089667e-01 -3.53527115e-03 1.22848590e+02] [ 4.92174519e-03 1.81445831e-05 9.99987888e-01 1.01411005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22028169299995 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:180.60, Y:122.84, Z:1.01 [[-6.94237254e-01 -7.19738077e-01 3.42566130e-03 1.80602080e+02] [ 7.19729402e-01 -6.94245706e-01 -3.53394199e-03 1.22843114e+02] [ 4.92176325e-03 1.21549747e-05 9.99987888e-01 1.01362560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.250281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:180.61, Y:122.84, Z:1.01 [[-6.94958953e-01 -7.19041243e-01 3.42702300e-03 1.80607005e+02] [ 7.19032565e-01 -6.94967403e-01 -3.53262098e-03 1.22843308e+02] [ 4.92176946e-03 9.11456171e-06 9.99987888e-01 1.01311983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28028169299995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:180.61, Y:122.84, Z:1.01 [[-6.95378862e-01 -7.18635154e-01 3.42837876e-03 1.80611289e+02] [ 7.18626477e-01 -6.95387314e-01 -3.53130474e-03 1.22842662e+02] [ 4.92177082e-03 8.12907333e-06 9.99987888e-01 1.01297242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.310281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:180.61, Y:122.85, Z:1.01 [[-6.95624832e-01 -7.18397056e-01 3.42973289e-03 1.80608370e+02] [ 7.18388384e-01 -6.95633287e-01 -3.52998907e-03 1.22846627e+02] [ 4.92177012e-03 8.33220815e-06 9.99987888e-01 1.01401557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34028169299995 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:180.61, Y:122.84, Z:1.02 [[-6.95346317e-01 -7.18666631e-01 3.43108945e-03 1.80611694e+02] [ 7.18657968e-01 -6.95354782e-01 -3.52867003e-03 1.22844645e+02] [ 4.92176186e-03 1.21320663e-05 9.99987888e-01 1.01633371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.370281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:180.61, Y:122.85, Z:1.02 [[-6.95058389e-01 -7.18945099e-01 3.43244912e-03 1.80609595e+02] [ 7.18936446e-01 -6.95066864e-01 -3.52734693e-03 1.22848805e+02] [ 4.92175043e-03 1.60007004e-05 9.99987888e-01 1.01816923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:180.62, Y:122.84, Z:1.02 [[-6.95740950e-01 -7.18284586e-01 3.43287367e-03 1.80620113e+02] [ 7.18275927e-01 -6.95749419e-01 -3.52693370e-03 1.22840176e+02] [ 4.92176198e-03 1.19183175e-05 9.99987888e-01 1.02396473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.430281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:180.63, Y:122.83, Z:1.02 [[-6.97060298e-01 -7.17004286e-01 3.43423360e-03 1.80626590e+02] [ 7.16995618e-01 -6.97068758e-01 -3.52560903e-03 1.22833387e+02] [ 4.92177373e-03 4.76836056e-06 9.99987888e-01 1.02462273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46028169299996 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:180.62, Y:122.84, Z:1.02 [[-6.98648232e-01 -7.15457088e-01 3.43558418e-03 1.80620274e+02] [ 7.15448408e-01 -6.98656679e-01 -3.52429244e-03 1.22841377e+02] [ 4.92177384e-03 -4.25744800e-06 9.99987888e-01 1.02279041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.490281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:180.63, Y:122.84, Z:1.02 [[-7.03126211e-01 -7.11056763e-01 3.43693719e-03 1.80629935e+02] [ 7.11048036e-01 -7.03134610e-01 -3.52297247e-03 1.22839781e+02] [ 4.92166289e-03 -3.32668441e-05 9.99987888e-01 1.01801565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52028169299996 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:180.65, Y:122.83, Z:1.02 [[-7.07282362e-01 -7.06922796e-01 3.43829309e-03 1.80650160e+02] [ 7.06914026e-01 -7.07290716e-01 -3.52164867e-03 1.22825150e+02] [ 4.92140650e-03 -6.02223760e-05 9.99987888e-01 1.01815831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.550281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:180.66, Y:122.82, Z:1.02 [[-7.08503065e-01 -7.05699356e-01 3.43879466e-03 1.80656639e+02] [ 7.05690575e-01 -7.08511407e-01 -3.52115882e-03 1.22820655e+02] [ 4.92130476e-03 -6.80268349e-05 9.99987888e-01 1.01719398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58028169299996 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:180.67, Y:122.81, Z:1.02 [[-7.09371680e-01 -7.04826209e-01 3.44012301e-03 1.80666146e+02] [ 7.04817424e-01 -7.09380018e-01 -3.51986057e-03 1.22812686e+02] [ 4.92124450e-03 -7.22307701e-05 9.99987888e-01 1.01634109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.610281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:180.66, Y:122.82, Z:1.02 [[-7.09462308e-01 -7.04734978e-01 3.44144373e-03 1.80660120e+02] [ 7.04726198e-01 -7.09470652e-01 -3.51856880e-03 1.22822059e+02] [ 4.92126183e-03 -7.10163881e-05 9.99987888e-01 1.01607151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64028169299996 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:180.65, Y:122.84, Z:1.02 [[-7.08912118e-01 -7.05288421e-01 3.44276590e-03 1.80649690e+02] [ 7.05279653e-01 -7.08920475e-01 -3.51727464e-03 1.22839057e+02] [ 4.92134031e-03 -6.53258754e-05 9.99987888e-01 1.01665443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.67028169299994 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:180.65, Y:122.84, Z:1.02 [[-7.08045208e-01 -7.06158708e-01 3.44410439e-03 1.80653964e+02] [ 7.06149958e-01 -7.08053582e-01 -3.51596350e-03 1.22841336e+02] [ 4.92143870e-03 -5.74069400e-05 9.99987888e-01 1.02279736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.65, Y:122.85, Z:1.02 [[-7.08186323e-01 -7.06017182e-01 3.44545375e-03 1.80653439e+02] [ 7.06008436e-01 -7.08194702e-01 -3.51464071e-03 1.22845020e+02] [ 4.92144882e-03 -5.65010706e-05 9.99987888e-01 1.01686821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.73028169299994 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:180.66, Y:122.84, Z:1.02 [[-7.08654736e-01 -7.05547011e-01 3.44680598e-03 1.80663043e+02] [ 7.05538266e-01 -7.08663116e-01 -3.51331407e-03 1.22840435e+02] [ 4.92143251e-03 -5.78731433e-05 9.99987888e-01 1.01645757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76028169299997 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:180.67, Y:122.84, Z:1.02 [[-7.09758428e-01 -7.04436714e-01 3.44815679e-03 1.80667340e+02] [ 7.04427962e-01 -7.09766801e-01 -3.51198781e-03 1.22844144e+02] [ 4.92136037e-03 -6.36848887e-05 9.99987888e-01 1.01530019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.79028169299994 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:180.68, Y:122.83, Z:1.01 [[-7.09801608e-01 -7.04393198e-01 3.44950396e-03 1.80680565e+02] [ 7.04384453e-01 -7.09809987e-01 -3.51066411e-03 1.22833753e+02] [ 4.92138029e-03 -6.20980756e-05 9.99987888e-01 1.01469160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82028169299997 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:180.68, Y:122.84, Z:1.02 [[-7.08606072e-01 -7.05595866e-01 3.45084481e-03 1.80676691e+02] [ 7.05587141e-01 -7.08614473e-01 -3.50934562e-03 1.22844894e+02] [ 4.92149833e-03 -5.18718914e-05 9.99987888e-01 1.01593344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.85028169299994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:180.68, Y:122.84, Z:1.02 [[-7.08018667e-01 -7.06185280e-01 3.45218471e-03 1.80682232e+02] [ 7.06176568e-01 -7.08027082e-01 -3.50802705e-03 1.22844566e+02] [ 4.92155733e-03 -4.58966865e-05 9.99987888e-01 1.01624633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.880281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:180.68, Y:122.86, Z:1.02 [[-7.07763909e-01 -7.06440600e-01 3.45352990e-03 1.80676572e+02] [ 7.06431898e-01 -7.07772334e-01 -3.50670225e-03 1.22856151e+02] [ 4.92158976e-03 -4.22336107e-05 9.99987888e-01 1.01558701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.91028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.69, Y:122.85, Z:1.01 [[-7.06613478e-01 -7.07591306e-01 3.45488111e-03 1.80692528e+02] [ 7.07582624e-01 -7.06621923e-01 -3.50537051e-03 1.22849447e+02] [ 4.92166443e-03 -3.23282082e-05 9.99987888e-01 1.01404662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.940281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:180.68, Y:122.86, Z:1.02 [[-7.05580631e-01 -7.08621216e-01 3.45623225e-03 1.80681251e+02] [ 7.08612553e-01 -7.05589096e-01 -3.50403780e-03 1.22864865e+02] [ 4.92171531e-03 -2.32516406e-05 9.99987888e-01 1.01539158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.97028169299995 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:180.68, Y:122.88, Z:1.02 [[-7.02117842e-01 -7.12052372e-01 3.45758696e-03 1.80678404e+02] [ 7.12043757e-01 -7.02126355e-01 -3.50270054e-03 1.22877280e+02] [ 4.92176916e-03 2.64466367e-06 9.99987888e-01 1.01602639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.000281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:180.70, Y:122.86, Z:1.02 [[-7.00399398e-01 -7.13742754e-01 3.45895887e-03 1.80697621e+02] [ 7.13734166e-01 -7.00407939e-01 -3.50134523e-03 1.22863471e+02] [ 4.92174204e-03 1.64370337e-05 9.99987888e-01 1.01685716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.03028169299995 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:180.70, Y:122.86, Z:1.02 [[-6.98949738e-01 -7.15162422e-01 3.46032608e-03 1.80704989e+02] [ 7.15153858e-01 -6.98958303e-01 -3.49999352e-03 1.22859581e+02] [ 4.92168749e-03 2.83459916e-05 9.99987888e-01 1.01814798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.060281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:180.73, Y:122.84, Z:1.01 [[-6.94802034e-01 -7.19192707e-01 3.46167968e-03 1.80726190e+02] [ 7.19184200e-01 -6.94810655e-01 -3.49865423e-03 1.22840892e+02] [ 4.92141853e-03 5.87132542e-05 9.99987888e-01 1.01477271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.09028169299995 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:180.73, Y:122.84, Z:1.02 [[-6.92363685e-01 -7.21540391e-01 3.46301748e-03 1.80730472e+02] [ 7.21531919e-01 -6.92372341e-01 -3.49732955e-03 1.22838273e+02] [ 4.92116205e-03 7.72536774e-05 9.99987888e-01 1.01523995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.120281693 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:180.73, Y:122.84, Z:1.02 [[-6.92636513e-01 -7.21278490e-01 3.46434116e-03 1.80732277e+02] [ 7.21270021e-01 -6.92645172e-01 -3.49601786e-03 1.22836556e+02] [ 4.92116166e-03 7.72558045e-05 9.99987888e-01 1.01522757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.15028169299995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:180.76, Y:122.81, Z:1.01 [[-6.87314014e-01 -7.26352143e-01 3.46566283e-03 1.80755218e+02] [ 7.26343745e-01 -6.87322742e-01 -3.49470717e-03 1.22814687e+02] [ 4.92041692e-03 1.15301305e-04 9.99987888e-01 1.01408588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.180281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:180.76, Y:122.81, Z:1.01 [[-6.85714736e-01 -7.27862130e-01 3.46697048e-03 1.80758009e+02] [ 7.27853758e-01 -6.85723489e-01 -3.49340943e-03 1.22810540e+02] [ 4.92010352e-03 1.27965168e-04 9.99987888e-01 1.01420608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.21028169299996 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:180.76, Y:122.81, Z:1.02 [[-6.83494895e-01 -7.29947053e-01 3.46826316e-03 1.80755351e+02] [ 7.29938714e-01 -6.83503679e-01 -3.49212558e-03 1.22807246e+02] [ 4.91963740e-03 1.44769547e-04 9.99987888e-01 1.01587157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.240281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:180.76, Y:122.80, Z:1.02 [[-6.82878275e-01 -7.30523938e-01 3.46955495e-03 1.80761720e+02] [ 7.30515613e-01 -6.82887072e-01 -3.49084166e-03 1.22797231e+02] [ 4.91945762e-03 1.50744129e-04 9.99987888e-01 1.01674044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.27028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.76, Y:122.80, Z:1.02 [[-6.82445809e-01 -7.30927952e-01 3.47084316e-03 1.80757666e+02] [ 7.30919638e-01 -6.82454618e-01 -3.48956037e-03 1.22796803e+02] [ 4.91931015e-03 1.55471575e-04 9.99987888e-01 1.01776126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.300281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:180.76, Y:122.79, Z:1.02 [[-6.81696849e-01 -7.31626510e-01 3.47212904e-03 1.80755889e+02] [ 7.31618212e-01 -6.81705672e-01 -3.48828044e-03 1.22787099e+02] [ 4.91908850e-03 1.62323053e-04 9.99987888e-01 1.01735272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.33028169299996 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:180.76, Y:122.77, Z:1.02 [[-6.82157538e-01 -7.31196984e-01 3.47341527e-03 1.80761986e+02] [ 7.31188687e-01 -6.82166362e-01 -3.48699921e-03 1.22774685e+02] [ 4.91913037e-03 1.61039154e-04 9.99987888e-01 1.01737043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.360281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:180.74, Y:122.79, Z:1.02 [[-6.84386426e-01 -7.29111203e-01 3.47469488e-03 1.80738534e+02] [ 7.29102886e-01 -6.84395231e-01 -3.48572365e-03 1.22786827e+02] [ 4.91954477e-03 1.47828116e-04 9.99987888e-01 1.01646778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.39028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.74, Y:122.78, Z:1.02 [[-6.86241236e-01 -7.27365715e-01 3.47598161e-03 1.80740005e+02] [ 7.27357382e-01 -6.86250026e-01 -3.48444005e-03 1.22779980e+02] [ 4.91985470e-03 1.37114444e-04 9.99987888e-01 1.01586655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42028169299994 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:180.74, Y:122.78, Z:1.02 [[-6.88008168e-01 -7.25694612e-01 3.47727931e-03 1.80735743e+02] [ 7.25686264e-01 -6.88016943e-01 -3.48314454e-03 1.22778545e+02] [ 4.92012630e-03 1.26981937e-04 9.99987888e-01 1.01519850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.45028169299997 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:180.72, Y:122.78, Z:1.01 [[-6.91817348e-01 -7.22064164e-01 3.47857694e-03 1.80721819e+02] [ 7.22055777e-01 -6.91826085e-01 -3.48184812e-03 1.22781469e+02] [ 4.92068802e-03 1.02923640e-04 9.99987888e-01 1.01420607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48028169299994 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:180.71, Y:122.79, Z:1.01 [[-6.94135850e-01 -7.19835615e-01 3.47988296e-03 1.80709371e+02] [ 7.19827206e-01 -6.94144567e-01 -3.48054235e-03 1.22789607e+02] [ 4.92096019e-03 8.89451984e-05 9.99987888e-01 1.01434779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.51028169299997 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:180.69, Y:122.80, Z:1.02 [[-6.97957997e-01 -7.16130237e-01 3.48120310e-03 1.80693059e+02] [ 7.16121788e-01 -6.97966676e-01 -3.47922146e-03 1.22796975e+02] [ 4.92133944e-03 6.46149496e-05 9.99987888e-01 1.01601153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54028169299994 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:180.69, Y:122.79, Z:1.02 [[-6.99495641e-01 -7.14628379e-01 3.48254014e-03 1.80691817e+02] [ 7.14619918e-01 -6.99504308e-01 -3.47788263e-03 1.22794028e+02] [ 4.92144546e-03 5.59288123e-05 9.99987888e-01 1.01750454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.57028169299997 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:180.68, Y:122.80, Z:1.02 [[-7.00888338e-01 -7.13262505e-01 3.48388721e-03 1.80680426e+02] [ 7.13254034e-01 -7.00896995e-01 -3.47653271e-03 1.22801241e+02] [ 4.92152650e-03 4.82353788e-05 9.99987888e-01 1.01894023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60028169299994 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:180.68, Y:122.80, Z:1.02 [[-7.02237843e-01 -7.11933891e-01 3.48524220e-03 1.80683865e+02] [ 7.11925410e-01 -7.02246491e-01 -3.47517380e-03 1.22795015e+02] [ 4.92159310e-03 4.08339295e-05 9.99987888e-01 1.01992514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.630281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.69, Y:122.78, Z:1.02 [[-7.05714329e-01 -7.08487918e-01 3.48660218e-03 1.80692213e+02] [ 7.08479402e-01 -7.05722941e-01 -3.47380881e-03 1.22784618e+02] [ 4.92172671e-03 1.86691739e-05 9.99987888e-01 1.01793088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.69, Y:122.79, Z:1.02 [[-7.08190884e-01 -7.06012398e-01 3.48795404e-03 1.80687284e+02] [ 7.06003859e-01 -7.08199473e-01 -3.47245091e-03 1.22790469e+02] [ 4.92176061e-03 3.35093649e-06 9.99987888e-01 1.01655035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.690281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:180.70, Y:122.78, Z:1.01 [[-7.14262791e-01 -6.99868909e-01 3.48930538e-03 1.80698230e+02] [ 6.99860302e-01 -7.14271313e-01 -3.47109248e-03 1.22783713e+02] [ 4.92162044e-03 -3.72458857e-05 9.99987888e-01 1.01351227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72028169299995 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:180.73, Y:122.76, Z:1.01 [[-7.17192455e-01 -6.96866413e-01 3.49065619e-03 1.80727089e+02] [ 6.96857777e-01 -7.17200948e-01 -3.46973352e-03 1.22758830e+02] [ 4.92144268e-03 -5.59757945e-05 9.99987888e-01 1.01262155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.750281693 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:180.72, Y:122.78, Z:1.01 [[-7.21939434e-01 -6.91947447e-01 3.49065619e-03 1.80715967e+02] [ 6.91938753e-01 -7.21947867e-01 -3.46973352e-03 1.22777842e+02] [ 4.92094504e-03 -8.96171663e-05 9.99987888e-01 1.01458505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.74, Y:122.75, Z:1.02 [[-7.23221060e-01 -6.90607779e-01 3.49197614e-03 1.80744282e+02] [ 6.90599076e-01 -7.23229484e-01 -3.46840461e-03 1.22753914e+02] [ 4.92080730e-03 -9.68677600e-05 9.99987888e-01 1.01598226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.810281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.75, Y:122.76, Z:1.02 [[-7.24323702e-01 -6.89451215e-01 3.49246746e-03 1.80745145e+02] [ 6.89442501e-01 -7.24332114e-01 -3.46790981e-03 1.22757762e+02] [ 4.92066097e-03 -1.04033774e-04 9.99987888e-01 1.01667249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:180.75, Y:122.76, Z:1.02 [[-7.25554326e-01 -6.88156025e-01 3.49376739e-03 1.80753469e+02] [ 6.88147302e-01 -7.25562729e-01 -3.46659969e-03 1.22760145e+02] [ 4.92050886e-03 -1.10979798e-04 9.99987888e-01 1.01579924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.870281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.76, Y:122.76, Z:1.02 [[-7.26298857e-01 -6.87370173e-01 3.49506811e-03 1.80761161e+02] [ 6.87361448e-01 -7.26307257e-01 -3.46528779e-03 1.22757708e+02] [ 4.92042880e-03 -1.14459487e-04 9.99987888e-01 1.01550229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90028169299995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:180.77, Y:122.76, Z:1.02 [[-7.26475362e-01 -6.87183617e-01 3.49636558e-03 1.80772406e+02] [ 6.87174896e-01 -7.26483767e-01 -3.46397818e-03 1.22756605e+02] [ 4.92044190e-03 -1.13880148e-04 9.99987888e-01 1.01574479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.930281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.77, Y:122.77, Z:1.01 [[-7.26029163e-01 -6.87655016e-01 3.49765753e-03 1.80765491e+02] [ 6.87646307e-01 -7.26037579e-01 -3.46267319e-03 1.22768692e+02] [ 4.92055539e-03 -1.08850433e-04 9.99987888e-01 1.01428315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.76, Y:122.78, Z:1.01 [[-7.25614827e-01 -6.88092203e-01 3.49895318e-03 1.80756125e+02] [ 6.88083505e-01 -7.25623255e-01 -3.46136347e-03 1.22782429e+02] [ 4.92065901e-03 -1.04044687e-04 9.99987888e-01 1.01232549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.990281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:180.76, Y:122.78, Z:1.01 [[-7.24676598e-01 -6.89080240e-01 3.50026474e-03 1.80761650e+02] [ 6.89071559e-01 -7.24685045e-01 -3.46003666e-03 1.22784347e+02] [ 4.92083240e-03 -9.54747141e-05 9.99987888e-01 1.00842321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02028169299996 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:180.77, Y:122.78, Z:1.01 [[-7.24507309e-01 -6.89258223e-01 3.50158471e-03 1.80770279e+02] [ 6.89249552e-01 -7.24515764e-01 -3.45870032e-03 1.22778827e+02] [ 4.92089096e-03 -9.23879697e-05 9.99987888e-01 1.00795455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.050281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:180.78, Y:122.78, Z:1.01 [[-7.24327158e-01 -6.89447531e-01 3.50290046e-03 1.80778288e+02] [ 6.89438868e-01 -7.24335623e-01 -3.45736724e-03 1.22775582e+02] [ 4.92094889e-03 -8.92292633e-05 9.99987888e-01 1.01008060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.78, Y:122.78, Z:1.01 [[-7.24496808e-01 -6.89269248e-01 3.50420944e-03 1.80777494e+02] [ 6.89260589e-01 -7.24505277e-01 -3.45604002e-03 1.22777946e+02] [ 4.92096033e-03 -8.85765007e-05 9.99987888e-01 1.01158215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.110281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.77, Y:122.79, Z:1.01 [[-7.24597414e-01 -6.89163478e-01 3.50551748e-03 1.80770879e+02] [ 6.89154825e-01 -7.24605888e-01 -3.45471274e-03 1.22785470e+02] [ 4.92098045e-03 -8.74316350e-05 9.99987888e-01 1.01147264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.78, Y:122.78, Z:1.01 [[-7.24485948e-01 -6.89280649e-01 3.50683366e-03 1.80775726e+02] [ 6.89272004e-01 -7.24494430e-01 -3.45337618e-03 1.22783993e+02] [ 4.92102683e-03 -8.47602536e-05 9.99987888e-01 1.01401839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.17028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:180.78, Y:122.78, Z:1.01 [[-7.24978846e-01 -6.88762198e-01 3.50815414e-03 1.80777057e+02] [ 6.88753553e-01 -7.24987329e-01 -3.45203424e-03 1.22783894e+02] [ 4.92099799e-03 -8.63981717e-05 9.99987888e-01 1.01339526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20028169299997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:180.79, Y:122.77, Z:1.01 [[-7.26025867e-01 -6.87658436e-01 3.50947410e-03 1.80793510e+02] [ 6.87649784e-01 -7.26034343e-01 -3.45069179e-03 1.22769332e+02] [ 4.92089604e-03 -9.20023862e-05 9.99987888e-01 1.01363808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.23028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.79, Y:122.78, Z:1.01 [[-7.26475144e-01 -6.87183774e-01 3.51078486e-03 1.80787568e+02] [ 6.87175123e-01 -7.26483622e-01 -3.44935769e-03 1.22775710e+02] [ 4.92087034e-03 -9.33486106e-05 9.99987888e-01 1.01386240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.79, Y:122.77, Z:1.01 [[-7.26542205e-01 -6.87112865e-01 3.51209080e-03 1.80789476e+02] [ 6.87104220e-01 -7.26550688e-01 -3.44802748e-03 1.22773519e+02] [ 4.92089603e-03 -9.19650823e-05 9.99987888e-01 1.01421629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.29028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.78, Y:122.78, Z:1.01 [[-7.25879826e-01 -6.87812572e-01 3.51340141e-03 1.80777166e+02] [ 6.87803941e-01 -7.25888324e-01 -3.44669151e-03 1.22782753e+02] [ 4.92101481e-03 -8.53524911e-05 9.99987888e-01 1.01417233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.32028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:180.78, Y:122.78, Z:1.01 [[-7.25777124e-01 -6.87920935e-01 3.51472022e-03 1.80776481e+02] [ 6.87912312e-01 -7.25785630e-01 -3.44534615e-03 1.22781405e+02] [ 4.92105917e-03 -8.27341111e-05 9.99987888e-01 1.01362475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.35028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:180.80, Y:122.76, Z:1.01 [[-7.24843223e-01 -6.88904884e-01 3.51604776e-03 1.80796802e+02] [ 6.88896279e-01 -7.24851747e-01 -3.44399083e-03 1.22758506e+02] [ 4.92119547e-03 -7.41611930e-05 9.99987888e-01 1.01398157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.380281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:180.79, Y:122.76, Z:1.01 [[-7.24381068e-01 -6.89390815e-01 3.51736225e-03 1.80790405e+02] [ 6.89382223e-01 -7.24389604e-01 -3.44264782e-03 1.22763184e+02] [ 4.92127043e-03 -6.89818969e-05 9.99987888e-01 1.01439126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.41028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:180.78, Y:122.77, Z:1.01 [[-7.24115816e-01 -6.89669416e-01 3.51866801e-03 1.80782169e+02] [ 6.89660833e-01 -7.24124362e-01 -3.44131270e-03 1.22769878e+02] [ 4.92132135e-03 -6.52214456e-05 9.99987888e-01 1.01413592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.440281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:180.79, Y:122.76, Z:1.01 [[-7.24202281e-01 -6.89578615e-01 3.51998431e-03 1.80788932e+02] [ 6.89570038e-01 -7.24210833e-01 -3.43996578e-03 1.22759869e+02] [ 4.92133761e-03 -6.39553521e-05 9.99987888e-01 1.01132532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.47028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.79, Y:122.75, Z:1.01 [[-7.24786746e-01 -6.88964276e-01 3.52130206e-03 1.80793162e+02] [ 6.88955698e-01 -7.24795296e-01 -3.43861634e-03 1.22754150e+02] [ 4.92130699e-03 -6.62424260e-05 9.99987888e-01 1.01080081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.500281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.80, Y:122.75, Z:1.01 [[-7.26184887e-01 -6.87490437e-01 3.52261255e-03 1.80796944e+02] [ 6.87481848e-01 -7.26193427e-01 -3.43727332e-03 1.22750067e+02] [ 4.92119062e-03 -7.43637586e-05 9.99987888e-01 1.01140813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.53028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:180.79, Y:122.76, Z:1.01 [[-7.27106062e-01 -6.86516101e-01 3.52391863e-03 1.80786085e+02] [ 6.86507507e-01 -7.27114597e-01 -3.43593379e-03 1.22761820e+02] [ 4.92111655e-03 -7.90916922e-05 9.99987888e-01 1.01209462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.560281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.80, Y:122.75, Z:1.01 [[-7.28200348e-01 -6.85355255e-01 3.52523179e-03 1.80796307e+02] [ 6.85346654e-01 -7.28208876e-01 -3.43458597e-03 1.22753329e+02] [ 4.92101663e-03 -8.50608848e-05 9.99987888e-01 1.01272669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.59028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.81, Y:122.75, Z:1.01 [[-7.30335355e-01 -6.83079668e-01 3.52654792e-03 1.80808153e+02] [ 6.83071047e-01 -7.30343862e-01 -3.43323407e-03 1.22746339e+02] [ 4.92076502e-03 -9.85294370e-05 9.99987888e-01 1.01466455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.620281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.82, Y:122.73, Z:1.01 [[-7.31375163e-01 -6.81966220e-01 3.52785354e-03 1.80824912e+02] [ 6.81957593e-01 -7.31383664e-01 -3.43189194e-03 1.22732976e+02] [ 4.92064883e-03 -1.04154018e-04 9.99987888e-01 1.01394306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.65028169299995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:180.82, Y:122.74, Z:1.01 [[-7.32510763e-01 -6.80746301e-01 3.52914459e-03 1.80818883e+02] [ 6.80737666e-01 -7.32519257e-01 -3.43056380e-03 1.22744650e+02] [ 4.92050999e-03 -1.10503260e-04 9.99987888e-01 1.01089552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.680281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.83, Y:122.74, Z:1.01 [[-7.32631250e-01 -6.80616623e-01 3.53043324e-03 1.80826453e+02] [ 6.80607993e-01 -7.32639748e-01 -3.42923712e-03 1.22739951e+02] [ 4.92053151e-03 -1.09525200e-04 9.99987888e-01 1.01119069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.71028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.83, Y:122.74, Z:1.01 [[-7.32077116e-01 -6.81212613e-01 3.53172560e-03 1.80832457e+02] [ 6.81203996e-01 -7.32085627e-01 -3.42790562e-03 1.22739422e+02] [ 4.92065809e-03 -1.03665665e-04 9.99987888e-01 1.01284127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.740281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:180.83, Y:122.74, Z:1.01 [[-7.32225877e-01 -6.81052702e-01 3.53301368e-03 1.80833106e+02] [ 6.81044090e-01 -7.32234393e-01 -3.42657753e-03 1.22741300e+02] [ 4.92067401e-03 -1.02890654e-04 9.99987888e-01 1.01053476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.77028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:180.81, Y:122.76, Z:1.01 [[-7.32535580e-01 -6.80719570e-01 3.53430168e-03 1.80812330e+02] [ 6.80710960e-01 -7.32544099e-01 -3.42524853e-03 1.22764606e+02] [ 4.92066554e-03 -1.03278530e-04 9.99987888e-01 1.00997998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.800281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:180.83, Y:122.76, Z:1.01 [[-7.34387167e-01 -6.78721584e-01 3.53560663e-03 1.80832187e+02] [ 6.78712957e-01 -7.34395669e-01 -3.42390100e-03 1.22755174e+02] [ 4.92040970e-03 -1.14806930e-04 9.99987888e-01 1.00841874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.83028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.85, Y:122.75, Z:1.01 [[-7.35847765e-01 -6.77137768e-01 3.53691822e-03 1.80846748e+02] [ 6.77129129e-01 -7.35856255e-01 -3.42254558e-03 1.22747613e+02] [ 4.92019827e-03 -1.23522161e-04 9.99987888e-01 1.01006994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.860281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:180.84, Y:122.76, Z:1.01 [[-7.37805260e-01 -6.75004355e-01 3.53821400e-03 1.80841719e+02] [ 6.74995698e-01 -7.37813732e-01 -3.42120548e-03 1.22763442e+02] [ 4.91987147e-03 -1.35904165e-04 9.99987888e-01 1.01212473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.89028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.86, Y:122.75, Z:1.01 [[-7.38217693e-01 -6.74553266e-01 3.53951120e-03 1.80857584e+02] [ 6.74544611e-01 -7.38226166e-01 -3.41986290e-03 1.22752464e+02] [ 4.91983947e-03 -1.37045097e-04 9.99987888e-01 1.01139328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:180.86, Y:122.76, Z:1.01 [[-7.37649457e-01 -6.75174600e-01 3.54080831e-03 1.80861069e+02] [ 6.75165959e-01 -7.37657944e-01 -3.41851938e-03 1.22757327e+02] [ 4.92000284e-03 -1.31035731e-04 9.99987888e-01 1.01048490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.95028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:180.86, Y:122.76, Z:1.01 [[-7.36291061e-01 -6.76655693e-01 3.54209895e-03 1.80859220e+02] [ 6.76647075e-01 -7.36299571e-01 -3.41718156e-03 1.22762161e+02] [ 4.92030130e-03 -1.19289340e-04 9.99987888e-01 1.01085677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.87, Y:122.75, Z:1.01 [[-7.34698989e-01 -6.78383991e-01 3.54339376e-03 1.80869780e+02] [ 6.78375400e-01 -7.34707526e-01 -3.41583840e-03 1.22753543e+02] [ 4.92060815e-03 -1.05861862e-04 9.99987888e-01 1.01252707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.01028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.86, Y:122.77, Z:1.02 [[-7.30836307e-01 -6.82543572e-01 3.54468615e-03 1.80855782e+02] [ 6.82535035e-01 -7.30844899e-01 -3.41449674e-03 1.22769528e+02] [ 4.92115859e-03 -7.60656995e-05 9.99987888e-01 1.01540522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.86, Y:122.77, Z:1.02 [[-7.31097991e-01 -6.82263258e-01 3.54598401e-03 1.80857617e+02] [ 6.82254725e-01 -7.31106586e-01 -3.41314837e-03 1.22767863e+02] [ 4.92115799e-03 -7.60815713e-05 9.99987888e-01 1.01539283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.07028169299997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:180.85, Y:122.77, Z:1.02 [[-7.29832619e-01 -6.83616680e-01 3.54729236e-03 1.80853340e+02] [ 6.83608169e-01 -7.29841236e-01 -3.41178806e-03 1.22774190e+02] [ 4.92131546e-03 -6.50761795e-05 9.99987888e-01 1.01536219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10028169299994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:180.85, Y:122.78, Z:1.01 [[-7.28675538e-01 -6.84849887e-01 3.54860499e-03 1.80847695e+02] [ 6.84841398e-01 -7.28684176e-01 -3.41042224e-03 1.22784871e+02] [ 4.92143959e-03 -5.48596629e-05 9.99987888e-01 1.01347313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.130281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:180.86, Y:122.77, Z:1.01 [[-7.28807135e-01 -6.84709835e-01 3.54992881e-03 1.80860550e+02] [ 6.84701350e-01 -7.28815779e-01 -3.40904371e-03 1.22774405e+02] [ 4.92144988e-03 -5.38943368e-05 9.99987888e-01 1.01228332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16028169299994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:180.85, Y:122.79, Z:1.01 [[-7.29165199e-01 -6.84328504e-01 3.55125209e-03 1.80846938e+02] [ 6.84320022e-01 -7.29173844e-01 -3.40766467e-03 1.22788230e+02] [ 4.92144221e-03 -5.45575786e-05 9.99987888e-01 1.01151440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.190281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.85, Y:122.79, Z:1.01 [[-7.30229050e-01 -6.83193175e-01 3.55257865e-03 1.80845332e+02] [ 6.83184686e-01 -7.30237689e-01 -3.40628114e-03 1.22791272e+02] [ 4.92137485e-03 -6.02981133e-05 9.99987888e-01 1.00925906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:180.86, Y:122.78, Z:1.01 [[-7.31083418e-01 -6.82278833e-01 3.55383404e-03 1.80858319e+02] [ 6.82270339e-01 -7.31092053e-01 -3.40497086e-03 1.22780444e+02] [ 4.92131937e-03 -6.46421813e-05 9.99987888e-01 1.00811763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.250281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:180.86, Y:122.78, Z:1.01 [[-7.32298342e-01 -6.80974669e-01 3.55516810e-03 1.80861186e+02] [ 6.80966167e-01 -7.32306968e-01 -3.40357738e-03 1.22781129e+02] [ 4.92122435e-03 -7.14848764e-05 9.99987888e-01 1.00735806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28028169299995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:180.87, Y:122.78, Z:1.01 [[-7.32930755e-01 -6.80293951e-01 3.55649463e-03 1.80867489e+02] [ 6.80285447e-01 -7.32939380e-01 -3.40219069e-03 1.22778122e+02] [ 4.92118472e-03 -7.41386498e-05 9.99987888e-01 1.00832278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.310281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.86, Y:122.78, Z:1.01 [[-7.33513887e-01 -6.79665153e-01 3.55781906e-03 1.80864975e+02] [ 6.79656649e-01 -7.33522511e-01 -3.40080512e-03 1.22783969e+02] [ 4.92114910e-03 -7.64423997e-05 9.99987888e-01 1.00897739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.86, Y:122.80, Z:1.01 [[-7.33776506e-01 -6.79381610e-01 3.55914495e-03 1.80860691e+02] [ 6.79373110e-01 -7.33785133e-01 -3.39941692e-03 1.22795602e+02] [ 4.92114899e-03 -7.64248925e-05 9.99987888e-01 1.00694454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.370281693 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:180.88, Y:122.78, Z:1.00 [[-7.32817352e-01 -6.80416087e-01 3.56048138e-03 1.80882501e+02] [ 6.80407605e-01 -7.32825999e-01 -3.39801659e-03 1.22779262e+02] [ 4.92127848e-03 -6.75469081e-05 9.99987888e-01 1.00319737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.86, Y:122.80, Z:1.00 [[-7.31962593e-01 -6.81335509e-01 3.56181160e-03 1.80862391e+02] [ 6.81327045e-01 -7.31971256e-01 -3.39662168e-03 1.22800134e+02] [ 4.92138268e-03 -5.94414385e-05 9.99987888e-01 1.00372924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.430281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.87, Y:122.80, Z:1.00 [[-7.30682461e-01 -6.82708169e-01 3.56314489e-03 1.80868369e+02] [ 6.82699729e-01 -7.30691148e-01 -3.39522245e-03 1.22796377e+02] [ 4.92150453e-03 -4.82714536e-05 9.99987888e-01 1.00380596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:180.88, Y:122.78, Z:1.01 [[-7.29117462e-01 -6.84379296e-01 3.56449116e-03 1.80882713e+02] [ 6.84370882e-01 -7.29126175e-01 -3.39380847e-03 1.22784533e+02] [ 4.92161606e-03 -3.50510612e-05 9.99987888e-01 1.00619037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.490281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.90, Y:122.77, Z:1.01 [[-7.25538570e-01 -6.88172267e-01 3.56582630e-03 1.80903236e+02] [ 6.88163905e-01 -7.25547332e-01 -3.39240508e-03 1.22766685e+02] [ 4.92173485e-03 -7.44777356e-06 9.99987888e-01 1.01338710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52028169299996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:180.90, Y:122.77, Z:1.02 [[-7.22950324e-01 -6.90890805e-01 3.56714113e-03 1.80898847e+02] [ 6.90882483e-01 -7.22959124e-01 -3.39102196e-03 1.22769970e+02] [ 4.92172312e-03 1.29348991e-05 9.99987888e-01 1.01574692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.550281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:180.91, Y:122.76, Z:1.02 [[-7.22633704e-01 -6.91221959e-01 3.56844729e-03 1.80906182e+02] [ 6.91213648e-01 -7.22642514e-01 -3.38964690e-03 1.22762766e+02] [ 4.92171009e-03 1.70863696e-05 9.99987888e-01 1.01588259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58028169299996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:180.92, Y:122.75, Z:1.02 [[-7.22753420e-01 -6.91096774e-01 3.56975291e-03 1.80921190e+02] [ 6.91088468e-01 -7.22762235e-01 -3.38827135e-03 1.22747820e+02] [ 4.92170599e-03 1.81303690e-05 9.99987888e-01 1.01607818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.610281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:180.92, Y:122.75, Z:1.02 [[-7.23792553e-01 -6.90008398e-01 3.57104506e-03 1.80915066e+02] [ 6.90000085e-01 -7.23801362e-01 -3.38690895e-03 1.22749170e+02] [ 4.92172289e-03 1.26019163e-05 9.99987888e-01 1.01738222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:180.91, Y:122.75, Z:1.02 [[-7.24708090e-01 -6.89046749e-01 3.57233199e-03 1.80914135e+02] [ 6.89038432e-01 -7.24716895e-01 -3.38555102e-03 1.22746873e+02] [ 4.92173227e-03 7.93782204e-06 9.99987888e-01 1.01754072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.67028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.92, Y:122.74, Z:1.02 [[-7.25654127e-01 -6.88050375e-01 3.57362267e-03 1.80918791e+02] [ 6.88042052e-01 -7.25662926e-01 -3.38418810e-03 1.22738195e+02] [ 4.92173737e-03 3.05261350e-06 9.99987888e-01 1.01563319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70028169299997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:180.91, Y:122.74, Z:1.01 [[-7.26098172e-01 -6.87581751e-01 3.57491048e-03 1.80913418e+02] [ 6.87573430e-01 -7.26106972e-01 -3.38282716e-03 1.22740933e+02] [ 4.92173765e-03 1.74883595e-06 9.99987888e-01 1.01478184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.73028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:180.91, Y:122.74, Z:1.01 [[-7.26389683e-01 -6.87273773e-01 3.57619819e-03 1.80913089e+02] [ 6.87265454e-01 -7.26398487e-01 -3.38146529e-03 1.22738599e+02] [ 4.92173736e-03 1.53597686e-06 9.99987888e-01 1.01410242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.92, Y:122.73, Z:1.01 [[-7.26685350e-01 -6.86961137e-01 3.57748966e-03 1.80918439e+02] [ 6.86952821e-01 -7.26694156e-01 -3.38009840e-03 1.22728284e+02] [ 4.92173707e-03 1.29862599e-06 9.99987888e-01 1.01358213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.79028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.88, Y:122.77, Z:1.01 [[-7.27074320e-01 -6.86549434e-01 3.57877740e-03 1.80877016e+02] [ 6.86541120e-01 -7.27083128e-01 -3.37873442e-03 1.22766320e+02] [ 4.92173687e-03 3.86806400e-07 9.99987888e-01 1.01301883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.82028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.91, Y:122.73, Z:1.01 [[-7.27130529e-01 -6.86489888e-01 3.58164028e-03 1.80910393e+02] [ 6.86481588e-01 -7.27139350e-01 -3.37569997e-03 1.22733348e+02] [ 4.92173548e-03 4.15559968e-06 9.99987888e-01 1.00893019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.85028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:180.92, Y:122.72, Z:1.01 [[-7.27710984e-01 -6.85874555e-01 3.58040910e-03 1.80920762e+02] [ 6.85866241e-01 -7.27719792e-01 -3.37700531e-03 1.22722770e+02] [ 4.92173658e-03 -1.80212881e-06 9.99987888e-01 1.00764673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.880281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.91, Y:122.73, Z:1.01 [[-7.28576913e-01 -6.84954636e-01 3.58169843e-03 1.80911589e+02] [ 6.84946318e-01 -7.28585717e-01 -3.37563728e-03 1.22731400e+02] [ 4.92173272e-03 -6.14023502e-06 9.99987888e-01 1.00804241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.91028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.92, Y:122.72, Z:1.01 [[-7.28700389e-01 -6.84823266e-01 3.58298853e-03 1.80920329e+02] [ 6.84814953e-01 -7.28709198e-01 -3.37426737e-03 1.22723733e+02] [ 4.92173350e-03 -5.14582968e-06 9.99987888e-01 1.00884641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.940281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.92, Y:122.72, Z:1.01 [[-7.28558827e-01 -6.84973860e-01 3.58428109e-03 1.80921514e+02] [ 6.84965555e-01 -7.28567644e-01 -3.37289380e-03 1.22722026e+02] [ 4.92173531e-03 -2.24246230e-06 9.99987888e-01 1.00903104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.97028169299995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:180.91, Y:122.73, Z:1.01 [[-7.26193584e-01 -6.87480925e-01 3.58556885e-03 1.80908920e+02] [ 6.87472658e-01 -7.26202435e-01 -3.37152429e-03 1.22729486e+02] [ 4.92170747e-03 1.66012464e-05 9.99987888e-01 1.00532258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.000281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:180.93, Y:122.71, Z:1.00 [[-7.24470690e-01 -6.89296275e-01 3.58686404e-03 1.80925456e+02] [ 6.89288036e-01 -7.24479568e-01 -3.37014581e-03 1.22711387e+02] [ 4.92163866e-03 3.08106053e-05 9.99987888e-01 1.00257408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.03028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:180.93, Y:122.70, Z:1.00 [[-7.21216393e-01 -6.92700541e-01 3.58815632e-03 1.80934848e+02] [ 6.92692352e-01 -7.21225316e-01 -3.36876937e-03 1.22698043e+02] [ 4.92141754e-03 5.58767456e-05 9.99987888e-01 1.00160329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.060281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:180.93, Y:122.70, Z:1.00 [[-7.20387864e-01 -6.93562139e-01 3.58943131e-03 1.80932085e+02] [ 6.93553967e-01 -7.20396804e-01 -3.36741032e-03 1.22698555e+02] [ 4.92132315e-03 6.36227934e-05 9.99987888e-01 1.00243692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.09028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.93, Y:122.70, Z:1.00 [[-7.20133954e-01 -6.93825768e-01 3.59070203e-03 1.80930950e+02] [ 6.93817606e-01 -7.20142902e-01 -3.36605479e-03 1.22697646e+02] [ 4.92127413e-03 6.72819385e-05 9.99987888e-01 1.00436531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.120281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:180.94, Y:122.68, Z:1.01 [[-7.20822044e-01 -6.93110875e-01 3.59109913e-03 1.80944549e+02] [ 6.93102707e-01 -7.20830986e-01 -3.36563109e-03 1.22682636e+02] [ 4.92133104e-03 6.29794445e-05 9.99987888e-01 1.00788154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.15028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.94, Y:122.69, Z:1.01 [[-7.21650566e-01 -6.92248189e-01 3.59236606e-03 1.80939732e+02] [ 6.92240016e-01 -7.21659505e-01 -3.36427827e-03 1.22686383e+02] [ 4.92138065e-03 5.89462217e-05 9.99987888e-01 1.00764230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.180281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.93, Y:122.69, Z:1.01 [[-7.22678371e-01 -6.91175128e-01 3.59362836e-03 1.80930493e+02] [ 6.91166949e-01 -7.22687304e-01 -3.36292937e-03 1.22691118e+02] [ 4.92144273e-03 5.34808230e-05 9.99987888e-01 1.00515643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.21028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:180.94, Y:122.68, Z:1.01 [[-7.22917853e-01 -6.90924637e-01 3.59489968e-03 1.80939663e+02] [ 6.90916462e-01 -7.22926790e-01 -3.36156981e-03 1.22679403e+02] [ 4.92144068e-03 5.36365328e-05 9.99987888e-01 1.00583840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.240281693 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:180.92, Y:122.70, Z:1.00 [[-7.23665103e-01 -6.90141933e-01 3.59617048e-03 1.80919188e+02] [ 6.90133754e-01 -7.23674036e-01 -3.36020977e-03 1.22695856e+02] [ 4.92147687e-03 5.01720894e-05 9.99987888e-01 1.00435342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.27028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.93, Y:122.69, Z:1.01 [[-7.26225894e-01 -6.87446731e-01 3.59744831e-03 1.80927917e+02] [ 6.87438527e-01 -7.26234804e-01 -3.35884116e-03 1.22687147e+02] [ 4.92161655e-03 3.37471369e-05 9.99987888e-01 1.00574608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.300281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.92, Y:122.70, Z:1.01 [[-7.30091167e-01 -6.83340279e-01 3.59873433e-03 1.80918522e+02] [ 6.83332031e-01 -7.30100036e-01 -3.35746273e-03 1.22698412e+02] [ 4.92172558e-03 7.87655905e-06 9.99987888e-01 1.00885873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.33028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.91, Y:122.71, Z:1.01 [[-7.32376080e-01 -6.80890826e-01 3.60002325e-03 1.80911842e+02] [ 6.80882555e-01 -7.32384928e-01 -3.35608013e-03 1.22706496e+02] [ 4.92172694e-03 -6.71978328e-06 9.99987888e-01 1.00973765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.360281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:180.91, Y:122.71, Z:1.01 [[-7.34523175e-01 -6.78574046e-01 3.60132595e-03 1.80907994e+02] [ 6.78565754e-01 -7.34532003e-01 -3.35468164e-03 1.22712291e+02] [ 4.92168906e-03 -2.03549487e-05 9.99987888e-01 1.01127138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.39028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.93, Y:122.70, Z:1.01 [[-7.36521642e-01 -6.76404385e-01 3.60263874e-03 1.80929046e+02] [ 6.76396074e-01 -7.36530452e-01 -3.35327122e-03 1.22695485e+02] [ 4.92162050e-03 -3.29461264e-05 9.99987888e-01 1.01338725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.92, Y:122.71, Z:1.01 [[-7.39209327e-01 -6.73466096e-01 3.60394367e-03 1.80923209e+02] [ 6.73457757e-01 -7.39218110e-01 -3.35186817e-03 1.22708329e+02] [ 4.92147000e-03 -5.06283922e-05 9.99987888e-01 1.01411317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.45028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.92, Y:122.72, Z:1.01 [[-7.39598127e-01 -6.73039087e-01 3.60524365e-03 1.80922599e+02] [ 6.73030749e-01 -7.39606913e-01 -3.35046933e-03 1.22716471e+02] [ 4.92145994e-03 -5.15610023e-05 9.99987888e-01 1.00955012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.93, Y:122.72, Z:1.01 [[-7.39368109e-01 -6.73291759e-01 3.60655479e-03 1.80925714e+02] [ 6.73283431e-01 -7.39376903e-01 -3.34905738e-03 1.22717073e+02] [ 4.92149605e-03 -4.79526324e-05 9.99987888e-01 1.00718195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.51028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.93, Y:122.72, Z:1.01 [[-7.38709287e-01 -6.74014520e-01 3.60786984e-03 1.80929688e+02] [ 6.74006208e-01 -7.38718096e-01 -3.34764010e-03 1.22716386e+02] [ 4.92155678e-03 -4.12061582e-05 9.99987888e-01 1.00653842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.94, Y:122.71, Z:1.01 [[-7.37133396e-01 -6.75737620e-01 3.60918434e-03 1.80943746e+02] [ 6.75729335e-01 -7.37142231e-01 -3.34622231e-03 1.22707328e+02] [ 4.92165049e-03 -2.77804782e-05 9.99987888e-01 1.00676161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.57028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.94, Y:122.71, Z:1.01 [[-7.36642172e-01 -6.76273077e-01 3.61049093e-03 1.80942428e+02] [ 6.76264805e-01 -7.36651020e-01 -3.34481194e-03 1.22710212e+02] [ 4.92167808e-03 -2.22815871e-05 9.99987888e-01 1.00689914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:180.95, Y:122.71, Z:1.01 [[-7.35262069e-01 -6.77773299e-01 3.61179300e-03 1.80948532e+02] [ 6.77765053e-01 -7.35270940e-01 -3.34340534e-03 1.22708870e+02] [ 4.92171730e-03 -1.03320572e-05 9.99987888e-01 1.00771389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.630281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:180.96, Y:122.70, Z:1.01 [[-7.34815058e-01 -6.78257898e-01 3.61309561e-03 1.80960957e+02] [ 6.78249664e-01 -7.34823941e-01 -3.34199706e-03 1.22698046e+02] [ 4.92172506e-03 -5.16888178e-06 9.99987888e-01 1.01013301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.96, Y:122.70, Z:1.01 [[-7.34010947e-01 -6.79128019e-01 3.61438937e-03 1.80963787e+02] [ 6.79119803e-01 -7.34019846e-01 -3.34059727e-03 1.22695301e+02] [ 4.92172673e-03 2.56843253e-06 9.99987888e-01 1.01133494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.690281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.98, Y:122.68, Z:1.01 [[-7.31287775e-01 -6.82059467e-01 3.61567546e-03 1.80975372e+02] [ 6.82051294e-01 -7.31296713e-01 -3.33920470e-03 1.22683516e+02] [ 4.92166776e-03 2.41565460e-05 9.99987888e-01 1.01212956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72028169299995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:180.98, Y:122.68, Z:1.01 [[-7.29597056e-01 -6.83867717e-01 3.61695353e-03 1.80981430e+02] [ 6.83859572e-01 -7.29606020e-01 -3.33781975e-03 1.22678585e+02] [ 4.92157824e-03 3.82248309e-05 9.99987888e-01 1.01237833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.750281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:181.00, Y:122.66, Z:1.01 [[-7.26642088e-01 -6.87006684e-01 3.61822222e-03 1.81001242e+02] [ 6.86998585e-01 -7.26651094e-01 -3.33644391e-03 1.22659931e+02] [ 4.92134440e-03 6.13129742e-05 9.99987888e-01 1.01242227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:181.00, Y:122.66, Z:1.01 [[-7.25842143e-01 -6.87851789e-01 3.61947672e-03 1.80999379e+02] [ 6.87843707e-01 -7.25851164e-01 -3.33508243e-03 1.22660602e+02] [ 4.92124381e-03 6.88909114e-05 9.99987888e-01 1.01128779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.810281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:181.00, Y:122.66, Z:1.01 [[-7.25138487e-01 -6.88593541e-01 3.62072137e-03 1.81000316e+02] [ 6.88585475e-01 -7.25147523e-01 -3.33373063e-03 1.22658680e+02] [ 4.92114251e-03 7.57597551e-05 9.99987888e-01 1.01071814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.00, Y:122.65, Z:1.01 [[-7.24257864e-01 -6.89519709e-01 3.62196773e-03 1.81004724e+02] [ 6.89511661e-01 -7.24266915e-01 -3.33237596e-03 1.22651759e+02] [ 4.92101030e-03 8.38894938e-05 9.99987888e-01 1.01012887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.870281693 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:180.99, Y:122.66, Z:1.01 [[-7.24350527e-01 -6.89422357e-01 3.62321137e-03 1.80992381e+02] [ 6.89414315e-01 -7.24359584e-01 -3.33102324e-03 1.22660516e+02] [ 4.92098977e-03 8.50653443e-05 9.99987888e-01 1.01073227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90028169299995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:181.01, Y:122.64, Z:1.01 [[-7.24358963e-01 -6.89413487e-01 3.62445995e-03 1.81008894e+02] [ 6.89405452e-01 -7.24368026e-01 -3.32966411e-03 1.22638264e+02] [ 4.92095824e-03 8.68504079e-05 9.99987888e-01 1.01040265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.930281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:181.01, Y:122.64, Z:1.01 [[-7.24614480e-01 -6.89144912e-01 3.62570479e-03 1.81010768e+02] [ 6.89136880e-01 -7.24623546e-01 -3.32830804e-03 1.22636643e+02] [ 4.92095761e-03 8.68666908e-05 9.99987888e-01 1.01039027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:181.00, Y:122.65, Z:1.01 [[-7.24478747e-01 -6.89287597e-01 3.62693812e-03 1.80997038e+02] [ 6.89279573e-01 -7.24487820e-01 -3.32696351e-03 1.22647390e+02] [ 4.92090717e-03 8.96600042e-05 9.99987888e-01 1.01020357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.990281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:181.00, Y:122.64, Z:1.01 [[-7.23215516e-01 -6.90612883e-01 3.62817973e-03 1.80996737e+02] [ 6.90604883e-01 -7.23224610e-01 -3.32560893e-03 1.22643641e+02] [ 4.92069724e-03 1.00506659e-04 9.99987888e-01 1.00913846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:181.02, Y:122.62, Z:1.01 [[-7.22407542e-01 -6.91458003e-01 3.62942975e-03 1.81016474e+02] [ 6.91450021e-01 -7.22416651e-01 -3.32424415e-03 1.22622125e+02] [ 4.92053571e-03 1.08110228e-04 9.99987888e-01 1.00832882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.050281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:181.01, Y:122.62, Z:1.01 [[-7.21491865e-01 -6.92413393e-01 3.63066774e-03 1.81011047e+02] [ 6.92405430e-01 -7.21500990e-01 -3.32289150e-03 1.22622739e+02] [ 4.92034495e-03 1.16454872e-04 9.99987888e-01 1.00793623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.02, Y:122.61, Z:1.01 [[-7.19415964e-01 -6.94569996e-01 3.63189648e-03 1.81016041e+02] [ 6.94562067e-01 -7.19425120e-01 -3.32154795e-03 1.22608053e+02] [ 4.91992511e-03 1.33002908e-04 9.99987888e-01 1.00780539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.110281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:181.00, Y:122.62, Z:1.01 [[-7.18668922e-01 -6.95342923e-01 3.63312296e-03 1.80999244e+02] [ 6.95335010e-01 -7.18678092e-01 -3.32020588e-03 1.22617148e+02] [ 4.91972754e-03 1.40108810e-04 9.99987888e-01 1.00816559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14028169299996 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:181.00, Y:122.60, Z:1.01 [[-7.18359392e-01 -6.95662688e-01 3.63435328e-03 1.81003555e+02] [ 6.95654787e-01 -7.18368571e-01 -3.31885860e-03 1.22600324e+02] [ 4.91961127e-03 1.44122010e-04 9.99987888e-01 1.00840661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.17028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:181.00, Y:122.60, Z:1.01 [[-7.19163688e-01 -6.94831183e-01 3.63558667e-03 1.81001345e+02] [ 6.94823277e-01 -7.19172864e-01 -3.31750696e-03 1.22596825e+02] [ 4.91972256e-03 1.40259703e-04 9.99987888e-01 1.00924062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.98, Y:122.61, Z:1.01 [[-7.22887543e-01 -6.90956130e-01 3.63681519e-03 1.80980766e+02] [ 6.90948182e-01 -7.22896682e-01 -3.31615964e-03 1.22606506e+02] [ 4.92036247e-03 1.15640348e-04 9.99987888e-01 1.01167134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.23028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:180.98, Y:122.60, Z:1.01 [[-7.25428661e-01 -6.88287747e-01 3.63805457e-03 1.80978202e+02] [ 6.88279772e-01 -7.25437776e-01 -3.31479940e-03 1.22604857e+02] [ 4.92071803e-03 9.93488867e-05 9.99987888e-01 1.01092790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.98, Y:122.60, Z:1.01 [[-7.28061850e-01 -6.85501785e-01 3.63930603e-03 1.80979927e+02] [ 6.85493782e-01 -7.28070941e-01 -3.31342486e-03 1.22599570e+02] [ 4.92103162e-03 8.23434239e-05 9.99987888e-01 1.00849957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.29028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:180.93, Y:122.64, Z:1.00 [[-7.32688038e-01 -6.80554909e-01 3.64055738e-03 1.80932957e+02] [ 6.80546852e-01 -7.32697081e-01 -3.31204939e-03 1.22635215e+02] [ 4.92145724e-03 5.08708940e-05 9.99987888e-01 1.00332600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.32028169299997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:180.94, Y:122.63, Z:1.00 [[-7.34822586e-01 -6.78249588e-01 3.64175448e-03 1.80935356e+02] [ 6.78241509e-01 -7.34831610e-01 -3.31073260e-03 1.22630022e+02] [ 4.92157933e-03 3.71879595e-05 9.99987888e-01 1.00384228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.35028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:180.95, Y:122.61, Z:1.01 [[-7.37589205e-01 -6.75239878e-01 3.64305891e-03 1.80949242e+02] [ 6.75231768e-01 -7.37598202e-01 -3.30929661e-03 1.22614161e+02] [ 4.92168274e-03 1.90076577e-05 9.99987888e-01 1.00874628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.380281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:180.94, Y:122.62, Z:1.01 [[-7.38873221e-01 -6.73834611e-01 3.64418909e-03 1.80941469e+02] [ 6.73826491e-01 -7.38882208e-01 -3.30805159e-03 1.22620966e+02] [ 4.92170614e-03 1.13204070e-05 9.99987888e-01 1.01075569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.41028169299994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:180.95, Y:122.62, Z:1.01 [[-7.40371206e-01 -6.72188357e-01 3.64547836e-03 1.80947332e+02] [ 6.72180224e-01 -7.40380181e-01 -3.30663021e-03 1.22615872e+02] [ 4.92171825e-03 2.28466222e-06 9.99987888e-01 1.01136756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.440281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.96, Y:122.60, Z:1.01 [[-7.44517304e-01 -6.67593204e-01 3.64677100e-03 1.80963030e+02] [ 6.67585022e-01 -7.44526235e-01 -3.30520398e-03 1.22603189e+02] [ 4.92164839e-03 -2.62518554e-05 9.99987888e-01 1.01170909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.47028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.95, Y:122.61, Z:1.01 [[-7.46866904e-01 -6.64963548e-01 3.64805201e-03 1.80954879e+02] [ 6.64955342e-01 -7.46875812e-01 -3.30378949e-03 1.22612431e+02] [ 4.92154138e-03 -4.16993585e-05 9.99987888e-01 1.01158333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.500281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.98, Y:122.59, Z:1.01 [[-7.50304094e-01 -6.61082786e-01 3.64933096e-03 1.80984246e+02] [ 6.61074541e-01 -7.50312965e-01 -3.30237616e-03 1.22591118e+02] [ 4.92128437e-03 -6.53065617e-05 9.99987888e-01 1.01017674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.53028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.99, Y:122.59, Z:1.01 [[-7.51198122e-01 -6.60066705e-01 3.65060061e-03 1.80986102e+02] [ 6.60058455e-01 -7.51206989e-01 -3.30097203e-03 1.22591935e+02] [ 4.92121843e-03 -7.00741911e-05 9.99987888e-01 1.01039915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.560281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.99, Y:122.59, Z:1.01 [[-7.51255368e-01 -6.60001542e-01 3.65185487e-03 1.80985425e+02] [ 6.59993298e-01 -7.51264241e-01 -3.29958387e-03 1.22594341e+02] [ 4.92123842e-03 -6.86303551e-05 9.99987888e-01 1.01150153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.59028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:180.98, Y:122.60, Z:1.02 [[-7.49439162e-01 -6.62063137e-01 3.65311191e-03 1.80977525e+02] [ 6.62054924e-01 -7.49448064e-01 -3.29819156e-03 1.22603936e+02] [ 4.92142870e-03 -5.32331940e-05 9.99987888e-01 1.01625889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.620281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:180.97, Y:122.61, Z:1.01 [[-7.45357176e-01 -6.66655328e-01 3.65437700e-03 1.80969482e+02] [ 6.66647176e-01 -7.45366134e-01 -3.29678924e-03 1.22612034e+02] [ 4.92167097e-03 -2.11054104e-05 9.99987888e-01 1.01342599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.65028169299995 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:180.96, Y:122.62, Z:1.01 [[-7.42996274e-01 -6.69285569e-01 3.65565518e-03 1.80960270e+02] [ 6.69277456e-01 -7.43005267e-01 -3.29537133e-03 1.22619623e+02] [ 4.92171553e-03 -1.80101764e-06 9.99987888e-01 1.00854899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.680281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:180.97, Y:122.61, Z:1.00 [[-7.40544585e-01 -6.71997280e-01 3.65694627e-03 1.80969260e+02] [ 6.71989208e-01 -7.40553614e-01 -3.29393795e-03 1.22610362e+02] [ 4.92168212e-03 1.81205154e-05 9.99987888e-01 1.00447585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.71028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:180.98, Y:122.60, Z:1.01 [[-7.36386069e-01 -6.76551679e-01 3.65823877e-03 1.80981775e+02] [ 6.76543669e-01 -7.36395154e-01 -3.29250187e-03 1.22596659e+02] [ 4.92145698e-03 5.04057698e-05 9.99987888e-01 1.00525917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.740281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:180.99, Y:122.59, Z:1.01 [[-7.35289445e-01 -6.77743343e-01 3.65951809e-03 1.80993280e+02] [ 6.77735355e-01 -7.35298550e-01 -3.29107934e-03 1.22585553e+02] [ 4.92134546e-03 6.02888894e-05 9.99987888e-01 1.00548597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.77028169299996 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:181.00, Y:122.58, Z:1.01 [[-7.34061178e-01 -6.79073476e-01 3.66078277e-03 1.80995335e+02] [ 6.79065512e-01 -7.34070303e-01 -3.28967199e-03 1.22582329e+02] [ 4.92120091e-03 7.10908317e-05 9.99987888e-01 1.01218277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.800281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:181.01, Y:122.57, Z:1.01 [[-7.33873915e-01 -6.79275840e-01 3.66204061e-03 1.81009061e+02] [ 6.79267885e-01 -7.33883048e-01 -3.28827118e-03 1.22569853e+02] [ 4.92115269e-03 7.43301349e-05 9.99987888e-01 1.01408315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.83028169299996 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:181.00, Y:122.57, Z:1.01 [[-7.34216038e-01 -6.78906024e-01 3.66328962e-03 1.81003108e+02] [ 6.78898072e-01 -7.34225173e-01 -3.28687913e-03 1.22574936e+02] [ 4.92116150e-03 7.37208872e-05 9.99987888e-01 1.01378601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.860281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:181.00, Y:122.58, Z:1.01 [[-7.35050054e-01 -6.78002942e-01 3.66453584e-03 1.81000172e+02] [ 6.77994985e-01 -7.35059185e-01 -3.28548913e-03 1.22579328e+02] [ 4.92122203e-03 6.95379607e-05 9.99987888e-01 1.00902053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.89028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:181.01, Y:122.57, Z:1.01 [[-7.35321304e-01 -6.77708744e-01 3.66578979e-03 1.81012707e+02] [ 6.77700791e-01 -7.35330438e-01 -3.28408944e-03 1.22568225e+02] [ 4.92122294e-03 6.94477064e-05 9.99987888e-01 1.00740018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92028169299994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:181.01, Y:122.57, Z:1.01 [[-7.35316793e-01 -6.77713632e-01 3.66703989e-03 1.81006876e+02] [ 6.77705685e-01 -7.35325933e-01 -3.28269297e-03 1.22572385e+02] [ 4.92119531e-03 7.13545174e-05 9.99987888e-01 1.00575297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.95028169299997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:181.02, Y:122.56, Z:1.01 [[-7.35506034e-01 -6.77508242e-01 3.66828720e-03 1.81016801e+02] [ 6.77500300e-01 -7.35515178e-01 -3.28129856e-03 1.22564437e+02] [ 4.92118773e-03 7.18507902e-05 9.99987888e-01 1.00603676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98028169299994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:181.01, Y:122.58, Z:1.01 [[-7.36007620e-01 -6.76963306e-01 3.66953398e-03 1.81006855e+02] [ 6.76955364e-01 -7.36016764e-01 -3.27990367e-03 1.22575628e+02] [ 4.92121296e-03 7.00766113e-05 9.99987888e-01 1.00823342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.01028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:181.00, Y:122.58, Z:1.01 [[-7.36584623e-01 -6.76335434e-01 3.67078351e-03 1.81001448e+02] [ 6.76327491e-01 -7.36593766e-01 -3.27850463e-03 1.22583865e+02] [ 4.92124510e-03 6.77557041e-05 9.99987888e-01 1.00862437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04028169299994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:181.01, Y:122.58, Z:1.01 [[-7.36827040e-01 -6.76071320e-01 3.67204567e-03 1.81006765e+02] [ 6.76063381e-01 -7.36836187e-01 -3.27709035e-03 1.22580255e+02] [ 4.92124293e-03 6.78868269e-05 9.99987888e-01 1.00796531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.07028169299997 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:181.02, Y:122.57, Z:1.01 [[-7.36275068e-01 -6.76672396e-01 3.67331109e-03 1.81017970e+02] [ 6.76664471e-01 -7.36284227e-01 -3.27567132e-03 1.22572172e+02] [ 4.92115738e-03 7.38039810e-05 9.99987888e-01 1.00845086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10028169299994 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:181.03, Y:122.56, Z:1.01 [[-7.35674826e-01 -6.77324920e-01 3.67456900e-03 1.81026611e+02] [ 6.77317011e-01 -7.35683999e-01 -3.27425962e-03 1.22564865e+02] [ 4.92105925e-03 8.00577142e-05 9.99987888e-01 1.00884956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.130281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:181.03, Y:122.56, Z:1.01 [[-7.35197332e-01 -6.77843177e-01 3.67581722e-03 1.81033226e+02] [ 6.77835281e-01 -7.35206516e-01 -3.27285772e-03 1.22558227e+02] [ 4.92096904e-03 8.54023298e-05 9.99987888e-01 1.00822492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16028169299994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:181.03, Y:122.56, Z:1.01 [[-7.34983865e-01 -6.78074625e-01 3.67705812e-03 1.81026490e+02] [ 6.78066739e-01 -7.34993058e-01 -3.27146297e-03 1.22563398e+02] [ 4.92090822e-03 8.88183061e-05 9.99987888e-01 1.01046011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.190281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:181.04, Y:122.56, Z:1.01 [[-7.35715645e-01 -6.77280562e-01 3.67830033e-03 1.81036222e+02] [ 6.77272673e-01 -7.35724836e-01 -3.27006569e-03 1.22555740e+02] [ 4.92096883e-03 8.53738090e-05 9.99987888e-01 1.01259474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22028169299995 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:181.04, Y:122.56, Z:1.01 [[-7.38035674e-01 -6.74751662e-01 3.67954242e-03 1.81041158e+02] [ 6.74743748e-01 -7.38044843e-01 -3.26866746e-03 1.22556893e+02] [ 4.92120611e-03 7.03550529e-05 9.99987888e-01 1.01302392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.250281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:181.03, Y:122.57, Z:1.01 [[-7.39302043e-01 -6.73363900e-01 3.68077950e-03 1.81033993e+02] [ 6.73355976e-01 -7.39311203e-01 -3.26727382e-03 1.22565797e+02] [ 4.92130576e-03 6.29726579e-05 9.99987888e-01 1.01101840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:181.04, Y:122.57, Z:1.01 [[-7.40326398e-01 -6.72237508e-01 3.68202195e-03 1.81036043e+02] [ 6.72229577e-01 -7.40335552e-01 -3.26587305e-03 1.22567404e+02] [ 4.92137411e-03 5.73520334e-05 9.99987888e-01 1.00620391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.310281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:181.05, Y:122.56, Z:1.01 [[-7.40536524e-01 -6.72006020e-01 3.68327110e-03 1.81049314e+02] [ 6.71998093e-01 -7.40545681e-01 -3.26446364e-03 1.22557355e+02] [ 4.92136973e-03 5.76965978e-05 9.99987888e-01 1.00566649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34028169299995 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:181.05, Y:122.56, Z:1.01 [[-7.40641159e-01 -6.71890689e-01 3.68451373e-03 1.81052275e+02] [ 6.71882768e-01 -7.40650321e-01 -3.26306052e-03 1.22556902e+02] [ 4.92135626e-03 5.88043623e-05 9.99987888e-01 1.00533821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.370281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:181.06, Y:122.56, Z:1.00 [[-7.40493785e-01 -6.72053100e-01 3.68574950e-03 1.81055252e+02] [ 6.72045188e-01 -7.40502955e-01 -3.26166407e-03 1.22555086e+02] [ 4.92131985e-03 6.17482368e-05 9.99987888e-01 1.00476144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40028169299995 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:181.05, Y:122.56, Z:1.00 [[-7.39861735e-01 -6.72748853e-01 3.68698433e-03 1.81054324e+02] [ 6.72740957e-01 -7.39870918e-01 -3.26026763e-03 1.22557534e+02] [ 4.92123379e-03 6.82381020e-05 9.99987888e-01 1.00394148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.430281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:181.07, Y:122.55, Z:1.01 [[-7.38067141e-01 -6.74717194e-01 3.68822045e-03 1.81068496e+02] [ 6.74709329e-01 -7.38076352e-01 -3.25886864e-03 1.22548482e+02] [ 4.92100300e-03 8.32128845e-05 9.99987888e-01 1.00560739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46028169299996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:181.08, Y:122.54, Z:1.01 [[-7.37355001e-01 -6.75495367e-01 3.68945200e-03 1.81080947e+02] [ 6.75487519e-01 -7.37364225e-01 -3.25747378e-03 1.22537967e+02] [ 4.92087836e-03 9.02641940e-05 9.99987888e-01 1.00711494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.490281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:181.07, Y:122.54, Z:1.01 [[-7.36015175e-01 -6.76954978e-01 3.69067081e-03 1.81073395e+02] [ 6.76947154e-01 -7.36024421e-01 -3.25609230e-03 1.22541539e+02] [ 4.92065173e-03 1.01855761e-04 9.99987888e-01 1.00846274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52028169299996 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:181.09, Y:122.53, Z:1.01 [[-7.35779759e-01 -6.77210836e-01 3.69188773e-03 1.81087744e+02] [ 6.77203023e-01 -7.35789014e-01 -3.25471192e-03 1.22525340e+02] [ 4.92057661e-03 1.05406372e-04 9.99987888e-01 1.00720823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.550281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:181.08, Y:122.53, Z:1.01 [[-7.35550986e-01 -6.77459304e-01 3.69310020e-03 1.81075800e+02] [ 6.77451501e-01 -7.35560249e-01 -3.25333556e-03 1.22532753e+02] [ 4.92050014e-03 1.08902089e-04 9.99987888e-01 1.00673286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58028169299996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:181.07, Y:122.53, Z:1.00 [[-7.35378890e-01 -6.77646102e-01 3.69431136e-03 1.81071274e+02] [ 6.77638308e-01 -7.35388161e-01 -3.25195964e-03 1.22533282e+02] [ 4.92043062e-03 1.11984428e-04 9.99987888e-01 1.00421441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.610281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:181.07, Y:122.53, Z:1.00 [[-7.36158196e-01 -6.76799419e-01 3.69553149e-03 1.81072963e+02] [ 6.76791622e-01 -7.36167464e-01 -3.25057250e-03 1.22530999e+02] [ 4.92051562e-03 1.08169159e-04 9.99987888e-01 1.00396509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64028169299996 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:181.07, Y:122.53, Z:1.00 [[-7.38193436e-01 -6.74578969e-01 3.69675368e-03 1.81071380e+02] [ 6.74571150e-01 -7.38202686e-01 -3.24918195e-03 1.22529795e+02] [ 4.92078331e-03 9.51985956e-05 9.99987888e-01 1.00358111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.67028169299994 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:181.08, Y:122.52, Z:1.01 [[-7.39513324e-01 -6.73131762e-01 3.69797674e-03 1.81076280e+02] [ 6.73123932e-01 -7.39522565e-01 -3.24778935e-03 1.22524823e+02] [ 4.92092742e-03 8.74131450e-05 9.99987888e-01 1.00502528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70028169299997 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:181.06, Y:122.54, Z:1.01 [[-7.41662603e-01 -6.70762923e-01 3.69919848e-03 1.81063711e+02] [ 6.70755071e-01 -7.41671825e-01 -3.24639722e-03 1.22535223e+02] [ 4.92115417e-03 7.35247282e-05 9.99987888e-01 1.00929298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.73028169299994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:181.08, Y:122.52, Z:1.01 [[-7.42317163e-01 -6.70038459e-01 3.70042571e-03 1.81075482e+02] [ 6.70030605e-01 -7.42326382e-01 -3.24499774e-03 1.22523669e+02] [ 4.92119692e-03 7.05809614e-05 9.99987888e-01 1.01070496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76028169299997 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:181.06, Y:122.54, Z:1.01 [[-7.42930329e-01 -6.69358517e-01 3.70165463e-03 1.81056121e+02] [ 6.69350662e-01 -7.42939547e-01 -3.24359527e-03 1.22537864e+02] [ 4.92123374e-03 6.79396744e-05 9.99987888e-01 1.00990360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.79028169299994 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:181.06, Y:122.53, Z:1.01 [[-7.43234737e-01 -6.69020488e-01 3.70288890e-03 1.81061581e+02] [ 6.69012636e-01 -7.43243959e-01 -3.24218562e-03 1.22533716e+02] [ 4.92123841e-03 6.75744848e-05 9.99987888e-01 1.00748882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.82028169299997 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:181.06, Y:122.54, Z:1.00 [[-7.43515514e-01 -6.68708427e-01 3.70413250e-03 1.81061284e+02] [ 6.68700577e-01 -7.43524737e-01 -3.24076421e-03 1.22535998e+02] [ 4.92124048e-03 6.73970735e-05 9.99987888e-01 1.00438814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.85028169299994 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:181.06, Y:122.53, Z:1.00 [[-7.43772448e-01 -6.68422633e-01 3.70537555e-03 1.81063209e+02] [ 6.68414787e-01 -7.43781675e-01 -3.23934233e-03 1.22534413e+02] [ 4.92124016e-03 6.73942375e-05 9.99987888e-01 1.00437576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.880281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:181.08, Y:122.52, Z:1.00 [[-7.43788623e-01 -6.68404627e-01 3.70661992e-03 1.81080736e+02] [ 6.68396788e-01 -7.43797856e-01 -3.23791783e-03 1.22522348e+02] [ 4.92121521e-03 6.91664017e-05 9.99987888e-01 1.00241321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.91028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:181.08, Y:122.53, Z:1.01 [[-7.43481633e-01 -6.68746076e-01 3.70785509e-03 1.81076329e+02] [ 6.68738248e-01 -7.43490875e-01 -3.23650277e-03 1.22525643e+02] [ 4.92115495e-03 7.33041505e-05 9.99987888e-01 1.00554063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.940281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:181.08, Y:122.52, Z:1.01 [[-7.41592361e-01 -6.70840527e-01 3.70908524e-03 1.81081217e+02] [ 6.70832732e-01 -7.41601631e-01 -3.23509238e-03 1.22519368e+02] [ 4.92089475e-03 8.90559875e-05 9.99987888e-01 1.01150285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.97028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:181.10, Y:122.50, Z:1.02 [[-7.40163365e-01 -6.72416855e-01 3.71016067e-03 1.81101580e+02] [ 6.72409087e-01 -7.40172657e-01 -3.23385856e-03 1.22501246e+02] [ 4.92066049e-03 1.01162114e-04 9.99987888e-01 1.01543521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.000281693 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:181.11, Y:122.49, Z:1.02 [[-7.35220050e-01 -6.77818341e-01 3.71137716e-03 1.81114461e+02] [ 6.77810647e-01 -7.35229405e-01 -3.23246184e-03 1.22486450e+02] [ 4.91973554e-03 1.39040201e-04 9.99987888e-01 1.01999402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.03028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:181.12, Y:122.48, Z:1.02 [[-7.32368019e-01 -6.80898892e-01 3.71257494e-03 1.81122105e+02] [ 6.80891245e-01 -7.32377411e-01 -3.23108556e-03 1.22476817e+02] [ 4.91904861e-03 1.61516043e-04 9.99987888e-01 1.01962898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.060281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:181.12, Y:122.47, Z:1.02 [[-7.29904445e-01 -6.83539106e-01 3.71376096e-03 1.81124643e+02] [ 6.83531500e-01 -7.29913870e-01 -3.22972180e-03 1.22471287e+02] [ 4.91836679e-03 1.81084294e-04 9.99987888e-01 1.01722569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.09028169299995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:181.14, Y:122.46, Z:1.01 [[-7.26708079e-01 -6.86936363e-01 3.71494140e-03 1.81135435e+02] [ 6.86928808e-01 -7.26717545e-01 -3.22836345e-03 1.22456466e+02] [ 4.91739334e-03 2.05822466e-04 9.99987888e-01 1.01007161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.120281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:181.13, Y:122.46, Z:1.01 [[-7.26594437e-01 -6.87056559e-01 3.71611370e-03 1.81129448e+02] [ 6.87049012e-01 -7.26603910e-01 -3.22701346e-03 1.22458551e+02] [ 4.91728351e-03 2.08422219e-04 9.99987888e-01 1.00657958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.15028169299995 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:181.13, Y:122.45, Z:1.00 [[-7.27669935e-01 -6.85917376e-01 3.71728258e-03 1.81133420e+02] [ 6.85909821e-01 -7.27679402e-01 -3.22566644e-03 1.22449488e+02] [ 4.91753062e-03 2.02500143e-04 9.99987888e-01 1.00223459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.180281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:181.13, Y:122.45, Z:1.00 [[-7.28727533e-01 -6.84793659e-01 3.71845188e-03 1.81127506e+02] [ 6.84786097e-01 -7.28736993e-01 -3.22431794e-03 1.22453748e+02] [ 4.91776592e-03 1.96694892e-04 9.99987888e-01 1.00095475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.21028169299996 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:181.12, Y:122.46, Z:1.00 [[-7.30080588e-01 -6.83350934e-01 3.71962180e-03 1.81122380e+02] [ 6.83343360e-01 -7.30090039e-01 -3.22296773e-03 1.22457966e+02] [ 4.91807684e-03 1.88752683e-04 9.99987888e-01 1.00268218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.240281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:181.11, Y:122.46, Z:1.01 [[-7.33458286e-01 -6.79724281e-01 3.72079902e-03 1.81112033e+02] [ 6.79716667e-01 -7.33467705e-01 -3.22160810e-03 1.22463982e+02] [ 4.91889117e-03 1.66173949e-04 9.99987888e-01 1.01045806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.27028169299996 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:181.12, Y:122.46, Z:1.01 [[-7.35361489e-01 -6.77664834e-01 3.72198571e-03 1.81116588e+02] [ 6.77657200e-01 -7.35370892e-01 -3.22023651e-03 1.22456879e+02] [ 4.91928100e-03 1.54192498e-04 9.99987888e-01 1.01078366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.300281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:181.09, Y:122.48, Z:1.01 [[-7.38205706e-01 -6.74565396e-01 3.72317570e-03 1.81092095e+02] [ 6.74557730e-01 -7.38215082e-01 -3.21886009e-03 1.22475045e+02] [ 4.91983608e-03 1.35316066e-04 9.99987888e-01 1.00576518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.33028169299996 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:181.10, Y:122.47, Z:1.00 [[-7.39329227e-01 -6.73333813e-01 3.72437655e-03 1.81099490e+02] [ 6.73326138e-01 -7.39338596e-01 -3.21747005e-03 1.22469679e+02] [ 4.92000670e-03 1.28950437e-04 9.99987888e-01 1.00439324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.360281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:181.10, Y:122.47, Z:1.00 [[-7.40963780e-01 -6.71534658e-01 3.72558806e-03 1.81097931e+02] [ 6.71526967e-01 -7.40973137e-01 -3.21606659e-03 1.22472412e+02] [ 4.92026085e-03 1.18843993e-04 9.99987888e-01 1.00339971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.39028169299996 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:181.09, Y:122.48, Z:1.00 [[-7.44565667e-01 -6.67538822e-01 3.72679865e-03 1.81087120e+02] [ 6.67531088e-01 -7.44574988e-01 -3.21466314e-03 1.22484987e+02] [ 4.92079350e-03 9.42261503e-05 9.99987888e-01 1.00273131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:181.09, Y:122.49, Z:1.01 [[-7.47591142e-01 -6.64148768e-01 3.72801928e-03 1.81089464e+02] [ 6.64140999e-01 -7.47600434e-01 -3.21324697e-03 1.22486128e+02] [ 4.92114284e-03 7.37354774e-05 9.99987888e-01 1.00590527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.45028169299997 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:181.10, Y:122.48, Z:1.01 [[-7.48385457e-01 -6.63253573e-01 3.72909361e-03 1.81099541e+02] [ 6.63245799e-01 -7.48394744e-01 -3.21199968e-03 1.22479130e+02] [ 4.92120432e-03 6.94918246e-05 9.99987888e-01 1.00752268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48028169299994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:181.09, Y:122.49, Z:1.01 [[-7.48785775e-01 -6.62801590e-01 3.73031807e-03 1.81086353e+02] [ 6.62793818e-01 -7.48795064e-01 -3.21057700e-03 1.22491972e+02] [ 4.92121930e-03 6.83973692e-05 9.99987888e-01 1.00730411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.51028169299997 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:181.10, Y:122.48, Z:1.00 [[-7.48306063e-01 -6.63343133e-01 3.73154687e-03 1.81101112e+02] [ 6.63335374e-01 -7.48315363e-01 -3.20914817e-03 1.22481649e+02] [ 4.92114025e-03 7.38420126e-05 9.99987888e-01 1.00436118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:181.11, Y:122.48, Z:1.00 [[-7.47870810e-01 -6.63833803e-01 3.73277737e-03 1.81108346e+02] [ 6.63826058e-01 -7.47880121e-01 -3.20771625e-03 1.22476358e+02] [ 4.92106047e-03 7.89575430e-05 9.99987888e-01 1.00475120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.57028169299997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:181.11, Y:122.48, Z:1.01 [[-7.47033454e-01 -6.64775960e-01 3.73399798e-03 1.81113034e+02] [ 6.64768233e-01 -7.47042780e-01 -3.20629475e-03 1.22475321e+02] [ 4.92092390e-03 8.70338006e-05 9.99987888e-01 1.00520091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:181.12, Y:122.47, Z:1.01 [[-7.47302070e-01 -6.64473975e-01 3.73521403e-03 1.81119177e+02] [ 6.64466252e-01 -7.47311400e-01 -3.20487747e-03 1.22471430e+02] [ 4.92092570e-03 8.69120977e-05 9.99987888e-01 1.00605527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.630281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:181.12, Y:122.47, Z:1.01 [[-7.48079295e-01 -6.63598830e-01 3.73642694e-03 1.81124270e+02] [ 6.63591103e-01 -7.48088621e-01 -3.20346276e-03 1.22467391e+02] [ 4.92099262e-03 8.30155121e-05 9.99987888e-01 1.00603313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66028169299994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:181.12, Y:122.47, Z:1.00 [[-7.49981208e-01 -6.61448575e-01 3.73763535e-03 1.81115895e+02] [ 6.61440828e-01 -7.49990518e-01 -3.20205223e-03 1.22474361e+02] [ 4.92118396e-03 7.07456204e-05 9.99987888e-01 1.00387434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.690281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:181.09, Y:122.49, Z:1.00 [[-7.51214054e-01 -6.60048079e-01 3.73884760e-03 1.81093866e+02] [ 6.60040322e-01 -7.51223356e-01 -3.20063614e-03 1.22493422e+02] [ 4.92128337e-03 6.34273192e-05 9.99987888e-01 1.00404756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:181.10, Y:122.49, Z:1.01 [[-7.53069091e-01 -6.57930814e-01 3.74007934e-03 1.81104358e+02] [ 6.57923038e-01 -7.53078377e-01 -3.19919614e-03 1.22485492e+02] [ 4.92142260e-03 5.14686293e-05 9.99987888e-01 1.00910792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.750281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:181.10, Y:122.49, Z:1.01 [[-7.54058830e-01 -6.56796227e-01 3.74132007e-03 1.81102253e+02] [ 6.56788444e-01 -7.54068110e-01 -3.19774451e-03 1.22486939e+02] [ 4.92147668e-03 4.59683103e-05 9.99987888e-01 1.00971736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78028169299995 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:181.10, Y:122.49, Z:1.01 [[-7.55968797e-01 -6.54596953e-01 3.74255753e-03 1.81099689e+02] [ 6.54589150e-01 -7.55978061e-01 -3.19629556e-03 1.22488478e+02] [ 4.92157672e-03 3.35378379e-05 9.99987888e-01 1.00999385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.810281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:181.11, Y:122.48, Z:1.01 [[-7.57347943e-01 -6.53000825e-01 3.74379943e-03 1.81112475e+02] [ 6.52993010e-01 -7.57357196e-01 -3.19484027e-03 1.22477913e+02] [ 4.92162677e-03 2.50691548e-05 9.99987888e-01 1.00873087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84028169299995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:181.10, Y:122.49, Z:1.01 [[-7.58828022e-01 -6.51280284e-01 3.74503679e-03 1.81096638e+02] [ 6.51272455e-01 -7.58837263e-01 -3.19338916e-03 1.22491622e+02] [ 4.92166487e-03 1.58061292e-05 9.99987888e-01 1.00898558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.870281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:181.11, Y:122.48, Z:1.01 [[-7.62260443e-01 -6.47259594e-01 3.74627756e-03 1.81109980e+02] [ 6.47251724e-01 -7.62269649e-01 -3.19193290e-03 1.22481224e+02] [ 4.92168288e-03 -8.29957272e-06 9.99987888e-01 1.00969158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90028169299995 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:181.11, Y:122.48, Z:1.01 [[-7.64019487e-01 -6.45182284e-01 3.74752197e-03 1.81109985e+02] [ 6.45174395e-01 -7.64028678e-01 -3.19047123e-03 1.22483105e+02] [ 4.92164976e-03 -1.97769717e-05 9.99987888e-01 1.00969781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.930281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:181.12, Y:122.48, Z:1.01 [[-7.66817873e-01 -6.41853796e-01 3.74876118e-03 1.81115986e+02] [ 6.41845875e-01 -7.66827036e-01 -3.18901450e-03 1.22481131e+02] [ 4.92153249e-03 -3.92664114e-05 9.99987888e-01 1.00882289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:181.12, Y:122.48, Z:1.01 [[-7.67747081e-01 -6.40742036e-01 3.74999984e-03 1.81117372e+02] [ 6.40734109e-01 -7.67756238e-01 -3.18755729e-03 1.22480541e+02] [ 4.92148771e-03 -4.44850023e-05 9.99987888e-01 1.00857023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.990281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:181.14, Y:122.47, Z:1.01 [[-7.68509943e-01 -6.39826848e-01 3.75123708e-03 1.81136077e+02] [ 6.39818917e-01 -7.68519097e-01 -3.18610058e-03 1.22465211e+02] [ 4.92145003e-03 -4.84375326e-05 9.99987888e-01 1.00804340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:181.13, Y:122.48, Z:1.01 [[-7.69881901e-01 -6.38175350e-01 3.75246425e-03 1.81125946e+02] [ 6.38167407e-01 -7.69891044e-01 -3.18465462e-03 1.22477672e+02] [ 4.92135669e-03 -5.71075772e-05 9.99987888e-01 1.01257479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.050281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.14, Y:122.47, Z:1.01 [[-7.71747033e-01 -6.35918570e-01 3.75368942e-03 1.81137468e+02] [ 6.35910607e-01 -7.71756158e-01 -3.18320987e-03 1.22473769e+02] [ 4.92119520e-03 -6.96218531e-05 9.99987888e-01 1.01190061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:181.13, Y:122.48, Z:1.01 [[-7.72713465e-01 -6.34743886e-01 3.75491815e-03 1.81130975e+02] [ 6.34735916e-01 -7.72722585e-01 -3.18175981e-03 1.22482133e+02] [ 4.92111264e-03 -7.52072345e-05 9.99987888e-01 1.00914344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.11028169299993 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:181.14, Y:122.48, Z:1.01 [[-7.73563493e-01 -6.33707673e-01 3.75614817e-03 1.81135285e+02] [ 6.33699697e-01 -7.73572608e-01 -3.18030708e-03 1.22481187e+02] [ 4.92103833e-03 -7.98994953e-05 9.99987888e-01 1.00666481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14028169299996 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:181.14, Y:122.48, Z:1.00 [[-7.74537783e-01 -6.32516486e-01 3.75738301e-03 1.81140339e+02] [ 6.32508504e-01 -7.74546892e-01 -3.17884749e-03 1.22482959e+02] [ 4.92094278e-03 -8.55607818e-05 9.99987888e-01 1.00285659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.17028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:181.14, Y:122.49, Z:1.00 [[-7.74810036e-01 -6.32182949e-01 3.75861646e-03 1.81139960e+02] [ 6.32174970e-01 -7.74819148e-01 -3.17738842e-03 1.22487290e+02] [ 4.92093878e-03 -8.57691922e-05 9.99987888e-01 1.00253510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:181.15, Y:122.49, Z:1.00 [[-7.74219997e-01 -6.32905412e-01 3.75985162e-03 1.81150583e+02] [ 6.32897448e-01 -7.74229122e-01 -3.17592616e-03 1.22485192e+02] [ 4.92104747e-03 -7.92650434e-05 9.99987888e-01 1.00250431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.23028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:181.15, Y:122.49, Z:1.00 [[-7.73710178e-01 -6.33528543e-01 3.76108560e-03 1.81151884e+02] [ 6.33520594e-01 -7.73719316e-01 -3.17446414e-03 1.22486767e+02] [ 4.92113822e-03 -7.33900312e-05 9.99987888e-01 1.00244009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26028169299997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:181.15, Y:122.49, Z:1.00 [[-7.71497496e-01 -6.36221234e-01 3.76231673e-03 1.81152714e+02] [ 6.36213324e-01 -7.71506668e-01 -3.17300436e-03 1.22490984e+02] [ 4.92138520e-03 -5.43288830e-05 9.99987888e-01 1.00352560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.29028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:181.15, Y:122.49, Z:1.01 [[-7.69784861e-01 -6.38292334e-01 3.76355103e-03 1.81152073e+02] [ 6.38284456e-01 -7.69794060e-01 -3.17153966e-03 1.22494082e+02] [ 4.92152868e-03 -3.91870959e-05 9.99987888e-01 1.00530179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:181.16, Y:122.49, Z:1.01 [[-7.67928142e-01 -6.40524938e-01 3.76478894e-03 1.81161250e+02] [ 6.40517093e-01 -7.67937370e-01 -3.17006952e-03 1.22488656e+02] [ 4.92163070e-03 -2.29739282e-05 9.99987888e-01 1.00661722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.35028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:181.16, Y:122.49, Z:1.01 [[-7.64784048e-01 -6.44275699e-01 3.76602481e-03 1.81163941e+02] [ 6.44267908e-01 -7.64793321e-01 -3.16860063e-03 1.22490408e+02] [ 4.92168301e-03 3.03370512e-06 9.99987888e-01 1.01201300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.380281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.19, Y:122.48, Z:1.01 [[-7.63085296e-01 -6.46286809e-01 3.76710189e-03 1.81185138e+02] [ 6.46279048e-01 -7.63094594e-01 -3.16731959e-03 1.22476748e+02] [ 4.92165196e-03 1.76640178e-05 9.99987888e-01 1.00962653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.41028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.18, Y:122.49, Z:1.01 [[-7.62671638e-01 -6.46774901e-01 3.76832346e-03 1.81176649e+02] [ 6.46767153e-01 -7.62680947e-01 -3.16586556e-03 1.22486826e+02] [ 4.92163089e-03 2.27119672e-05 9.99987888e-01 1.00858858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.440281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.20, Y:122.47, Z:1.01 [[-7.62589219e-01 -6.46872070e-01 3.76954141e-03 1.81197264e+02] [ 6.46864330e-01 -7.62598535e-01 -3.16441470e-03 1.22471789e+02] [ 4.92161824e-03 2.52333403e-05 9.99987888e-01 1.00945518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.47028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.20, Y:122.47, Z:1.01 [[-7.61734825e-01 -6.47877950e-01 3.77075515e-03 1.81201405e+02] [ 6.47870230e-01 -7.61744157e-01 -3.16296773e-03 1.22472133e+02] [ 4.92156775e-03 3.36173343e-05 9.99987888e-01 1.01241208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.500281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.20, Y:122.48, Z:1.01 [[-7.61448392e-01 -6.48214562e-01 3.77195831e-03 1.81196048e+02] [ 6.48206853e-01 -7.61457734e-01 -3.16153226e-03 1.22478596e+02] [ 4.92153808e-03 3.76655733e-05 9.99987888e-01 1.01204462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.53028169299995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:181.21, Y:122.47, Z:1.01 [[-7.59871808e-01 -6.50061996e-01 3.77316532e-03 1.81213620e+02] [ 6.50054317e-01 -7.59881174e-01 -3.16009109e-03 1.22467795e+02] [ 4.92141241e-03 5.14982694e-05 9.99987888e-01 1.01131756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.560281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.22, Y:122.46, Z:1.01 [[-7.58333285e-01 -6.51856106e-01 3.77436859e-03 1.81221821e+02] [ 6.51848456e-01 -7.58342675e-01 -3.15865327e-03 1.22460666e+02] [ 4.92125219e-03 6.50044238e-05 9.99987888e-01 1.01135895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.59028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.23, Y:122.46, Z:1.01 [[-7.55991178e-01 -6.54570916e-01 3.77556008e-03 1.81226107e+02] [ 6.54563307e-01 -7.56000601e-01 -3.15722843e-03 1.22455419e+02] [ 4.92095559e-03 8.45062564e-05 9.99987888e-01 1.01390148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.620281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.24, Y:122.43, Z:1.01 [[-7.50007114e-01 -6.61418978e-01 3.77674559e-03 1.81244296e+02] [ 6.61411463e-01 -7.50016612e-01 -3.15580965e-03 1.22433682e+02] [ 4.91993433e-03 1.31103136e-04 9.99987888e-01 1.01491746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.65028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.26, Y:122.41, Z:1.01 [[-7.46830594e-01 -6.65003603e-01 3.77791834e-03 1.81263889e+02] [ 6.64996140e-01 -7.46840133e-01 -3.15440509e-03 1.22414017e+02] [ 4.91919179e-03 1.56494883e-04 9.99987888e-01 1.01346796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.680281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.27, Y:122.40, Z:1.01 [[-7.41847144e-01 -6.70558375e-01 3.77906976e-03 1.81272838e+02] [ 6.70550990e-01 -7.41856744e-01 -3.15302505e-03 1.22399019e+02] [ 4.91781574e-03 1.94996341e-04 9.99987888e-01 1.00933996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.71028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:181.26, Y:122.40, Z:1.01 [[-7.40955650e-01 -6.71543323e-01 3.78020521e-03 1.81263386e+02] [ 6.71535958e-01 -7.40965265e-01 -3.15166316e-03 1.22402333e+02] [ 4.91747911e-03 2.03301100e-04 9.99987888e-01 1.00736708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.740281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:181.27, Y:122.40, Z:1.01 [[-7.41198294e-01 -6.71275496e-01 3.78133929e-03 1.81265343e+02] [ 6.71268134e-01 -7.41207911e-01 -3.15030192e-03 1.22400799e+02] [ 4.91747908e-03 2.03294160e-04 9.99987888e-01 1.00735469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.77028169299996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:181.27, Y:122.39, Z:1.01 [[-7.40979473e-01 -6.71517024e-01 3.78247731e-03 1.81270538e+02] [ 6.71509673e-01 -7.40989098e-01 -3.14893494e-03 1.22385366e+02] [ 4.91733787e-03 2.06673951e-04 9.99987888e-01 1.00687125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.800281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.25, Y:122.39, Z:1.01 [[-7.41612963e-01 -6.70817335e-01 3.78361040e-03 1.81252777e+02] [ 6.70809981e-01 -7.41622587e-01 -3.14757287e-03 1.22394191e+02] [ 4.91745738e-03 2.03802778e-04 9.99987888e-01 1.00768391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.83028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.25, Y:122.39, Z:1.01 [[-7.43630588e-01 -6.68580010e-01 3.78410671e-03 1.81248930e+02] [ 6.68572631e-01 -7.43640191e-01 -3.14697608e-03 1.22387126e+02] [ 4.91801914e-03 1.89762503e-04 9.99987888e-01 1.00853176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86028169299993 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.24, Y:122.39, Z:1.01 [[-7.44843621e-01 -6.67228335e-01 3.78525289e-03 1.81244397e+02] [ 6.67220945e-01 -7.44853217e-01 -3.14559683e-03 1.22385834e+02] [ 4.91828913e-03 1.82622271e-04 9.99987888e-01 1.00806975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.89028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.23, Y:122.39, Z:1.01 [[-7.46185228e-01 -6.65727623e-01 3.78640109e-03 1.81233364e+02] [ 6.65720221e-01 -7.46194815e-01 -3.14421412e-03 1.22389643e+02] [ 4.91858305e-03 1.74517641e-04 9.99987888e-01 1.00785224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:181.24, Y:122.38, Z:1.01 [[-7.48882287e-01 -6.62692218e-01 3.78755630e-03 1.81235456e+02] [ 6.62684784e-01 -7.48891848e-01 -3.14282192e-03 1.22379239e+02] [ 4.91919367e-03 1.56352264e-04 9.99987888e-01 1.00596538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.95028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.22, Y:122.39, Z:1.00 [[-7.50609047e-01 -6.60735729e-01 3.78871432e-03 1.81220019e+02] [ 6.60728277e-01 -7.50618595e-01 -3.14142529e-03 1.22388935e+02] [ 4.91953135e-03 1.45328444e-04 9.99987889e-01 1.00328759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:181.20, Y:122.40, Z:1.00 [[-7.54333236e-01 -6.56480773e-01 3.78987759e-03 1.81200308e+02] [ 6.56473275e-01 -7.54342747e-01 -3.14002127e-03 1.22398584e+02] [ 4.92023026e-03 1.19330950e-04 9.99987889e-01 1.00237472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.01028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:181.21, Y:122.39, Z:1.01 [[-7.56203650e-01 -6.54325353e-01 3.79105915e-03 1.81206192e+02] [ 6.54317834e-01 -7.56213145e-01 -3.13859409e-03 1.22390506e+02] [ 4.92051045e-03 1.07141304e-04 9.99987889e-01 1.00514422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.20, Y:122.40, Z:1.01 [[-7.58935544e-01 -6.51154712e-01 3.79224695e-03 1.81196589e+02] [ 6.51147161e-01 -7.58945013e-01 -3.13715825e-03 1.22395935e+02] [ 4.92088229e-03 8.84099357e-05 9.99987889e-01 1.00683568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.07028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.18, Y:122.41, Z:1.01 [[-7.60381554e-01 -6.49465552e-01 3.79343716e-03 1.81181837e+02] [ 6.49457987e-01 -7.60391012e-01 -3.13571840e-03 1.22407798e+02] [ 4.92103660e-03 7.93356305e-05 9.99987889e-01 1.00694923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.19, Y:122.40, Z:1.01 [[-7.62067316e-01 -6.47486685e-01 3.79464169e-03 1.81187579e+02] [ 6.47479103e-01 -7.62076760e-01 -3.13426008e-03 1.22402128e+02] [ 4.92119991e-03 6.84340325e-05 9.99987889e-01 1.00771243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.130281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.19, Y:122.40, Z:1.01 [[-7.65924037e-01 -6.42919871e-01 3.79585273e-03 1.81185586e+02] [ 6.42912240e-01 -7.65933442e-01 -3.13279272e-03 1.22404206e+02] [ 4.92150524e-03 4.09189338e-05 9.99987889e-01 1.00788802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.18, Y:122.41, Z:1.01 [[-7.68309950e-01 -6.40066718e-01 3.79706320e-03 1.81180095e+02] [ 6.40059059e-01 -7.68319332e-01 -3.13132489e-03 1.22411378e+02] [ 4.92161391e-03 2.45166321e-05 9.99987889e-01 1.00945142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.190281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.19, Y:122.41, Z:1.02 [[-7.72459635e-01 -6.35052505e-01 3.79828086e-03 1.81185908e+02] [ 6.35044793e-01 -7.72468974e-01 -3.12984718e-03 1.22411976e+02] [ 4.92167141e-03 -5.60212986e-06 9.99987889e-01 1.01514640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.19, Y:122.41, Z:1.02 [[-7.74272539e-01 -6.32840897e-01 3.79934839e-03 1.81191952e+02] [ 6.32833164e-01 -7.74281860e-01 -3.12855076e-03 1.22407763e+02] [ 4.92164141e-03 -1.79972734e-05 9.99987889e-01 1.01630621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.250281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.20, Y:122.41, Z:1.01 [[-7.76534903e-01 -6.30062775e-01 3.80056538e-03 1.81196232e+02] [ 6.30055016e-01 -7.76544203e-01 -3.12707166e-03 1.22405731e+02] [ 4.92155846e-03 -3.37150024e-05 9.99987889e-01 1.01191469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.20, Y:122.40, Z:1.01 [[-7.77544570e-01 -6.28816339e-01 3.80177872e-03 1.81203443e+02] [ 6.28808572e-01 -7.77553864e-01 -3.12559583e-03 1.22402362e+02] [ 4.92151346e-03 -3.96990171e-05 9.99987889e-01 1.01009242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.310281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.20, Y:122.41, Z:1.01 [[-7.78475556e-01 -6.27663402e-01 3.80298823e-03 1.81203788e+02] [ 6.27655628e-01 -7.78484844e-01 -3.12412349e-03 1.22405696e+02] [ 4.92146668e-03 -4.50868007e-05 9.99987889e-01 1.01085336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.21, Y:122.41, Z:1.01 [[-7.79942449e-01 -6.25839679e-01 3.80419677e-03 1.81210873e+02] [ 6.25831891e-01 -7.79951725e-01 -3.12265118e-03 1.22405289e+02] [ 4.92136885e-03 -5.47005536e-05 9.99987889e-01 1.01369553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.370281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.20, Y:122.42, Z:1.01 [[-7.80362775e-01 -6.25315488e-01 3.80540514e-03 1.81196717e+02] [ 6.25307701e-01 -7.80372051e-01 -3.12117791e-03 1.22419911e+02] [ 4.92135270e-03 -5.61019142e-05 9.99987889e-01 1.01398436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.22, Y:122.41, Z:1.01 [[-7.80219819e-01 -6.25493840e-01 3.80662194e-03 1.81216132e+02] [ 6.25486063e-01 -7.80229103e-01 -3.11969319e-03 1.22408621e+02] [ 4.92138609e-03 -5.30574849e-05 9.99987889e-01 1.01304771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.430281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.22, Y:122.41, Z:1.01 [[-7.79783702e-01 -6.26037442e-01 3.80783959e-03 1.81221397e+02] [ 6.26029678e-01 -7.79792997e-01 -3.11820623e-03 1.22405955e+02] [ 4.92144050e-03 -4.77058047e-05 9.99987889e-01 1.01129006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.23, Y:122.40, Z:1.01 [[-7.79298541e-01 -6.26641265e-01 3.80904624e-03 1.81226166e+02] [ 6.26633516e-01 -7.79307849e-01 -3.11673155e-03 1.22403378e+02] [ 4.92149223e-03 -4.19883116e-05 9.99987889e-01 1.01028822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.490281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.22, Y:122.41, Z:1.01 [[-7.79063405e-01 -6.26933564e-01 3.81024969e-03 1.81224761e+02] [ 6.26925825e-01 -7.79072721e-01 -3.11525962e-03 1.22405767e+02] [ 4.92152241e-03 -3.82408333e-05 9.99987889e-01 1.01098411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.23, Y:122.40, Z:1.01 [[-7.77678646e-01 -6.28650456e-01 3.81145338e-03 1.81229625e+02] [ 6.28642745e-01 -7.77687986e-01 -3.11378623e-03 1.22402942e+02] [ 4.92160464e-03 -2.54825404e-05 9.99987889e-01 1.01261156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.550281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.22, Y:122.41, Z:1.01 [[-7.76801632e-01 -6.29733824e-01 3.81265751e-03 1.81216873e+02] [ 6.29726133e-01 -7.76810988e-01 -3.11231115e-03 1.22412970e+02] [ 4.92164185e-03 -1.67183061e-05 9.99987889e-01 1.01109703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.22, Y:122.41, Z:1.01 [[-7.75977764e-01 -6.30748733e-01 3.81386818e-03 1.81220943e+02] [ 6.30741062e-01 -7.75987137e-01 -3.11082687e-03 1.22409360e+02] [ 4.92166275e-03 -8.36921335e-06 9.99987889e-01 1.00806828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.61028169299993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.22, Y:122.41, Z:1.00 [[-7.75236403e-01 -6.31659691e-01 3.81508547e-03 1.81216226e+02] [ 6.31652038e-01 -7.75245790e-01 -3.10933328e-03 1.22412575e+02] [ 4.92166945e-03 -6.61836913e-07 9.99987889e-01 1.00271449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.22, Y:122.41, Z:1.00 [[-7.75678278e-01 -6.31116983e-01 3.81615062e-03 1.81224300e+02] [ 6.31109330e-01 -7.75687665e-01 -3.10802545e-03 1.22405339e+02] [ 4.92166861e-03 -2.41956382e-06 9.99987889e-01 1.00113730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.67028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.21, Y:122.41, Z:1.01 [[-7.76873877e-01 -6.29644667e-01 3.81736825e-03 1.81213803e+02] [ 6.29637004e-01 -7.76883256e-01 -3.10652919e-03 1.22410280e+02] [ 4.92165902e-03 -9.82506937e-06 9.99987889e-01 1.00590097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.22, Y:122.40, Z:1.01 [[-7.77791939e-01 -6.28510242e-01 3.81774844e-03 1.81220767e+02] [ 6.28502567e-01 -7.77801309e-01 -3.10606190e-03 1.22403822e+02] [ 4.92164145e-03 -1.64052181e-05 9.99987889e-01 1.01014086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.73028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.22, Y:122.41, Z:1.01 [[-7.78991829e-01 -6.27022445e-01 3.81881679e-03 1.81219185e+02] [ 6.27014759e-01 -7.79001189e-01 -3.10474783e-03 1.22405150e+02] [ 4.92160940e-03 -2.41187046e-05 9.99987889e-01 1.01294328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.22, Y:122.41, Z:1.02 [[-7.81428119e-01 -6.23983576e-01 3.82003667e-03 1.81219948e+02] [ 6.23975861e-01 -7.81437455e-01 -3.10324618e-03 1.22406050e+02] [ 4.92149438e-03 -4.13531526e-05 9.99987889e-01 1.01569695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.79028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.24, Y:122.39, Z:1.01 [[-7.83422120e-01 -6.21478222e-01 3.82125930e-03 1.81242200e+02] [ 6.21470484e-01 -7.83431437e-01 -3.10173994e-03 1.22391078e+02] [ 4.92135849e-03 -5.51718157e-05 9.99987889e-01 1.01487754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.82028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.25, Y:122.39, Z:1.01 [[-7.84266638e-01 -6.20412144e-01 3.82247178e-03 1.81250052e+02] [ 6.20404401e-01 -7.84275951e-01 -3.10024500e-03 1.22387461e+02] [ 4.92130234e-03 -5.99404059e-05 9.99987889e-01 1.01187992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.85028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.24, Y:122.40, Z:1.01 [[-7.84803189e-01 -6.19733276e-01 3.82367026e-03 1.81244394e+02] [ 6.19725532e-01 -7.84812502e-01 -3.09876615e-03 1.22395093e+02] [ 4.92127272e-03 -6.22954751e-05 9.99987889e-01 1.00876457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.880281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.26, Y:122.39, Z:1.01 [[-7.84509345e-01 -6.20105199e-01 3.82487038e-03 1.81258611e+02] [ 6.20097466e-01 -7.84518667e-01 -3.09728411e-03 1.22388098e+02] [ 4.92132419e-03 -5.80558973e-05 9.99987889e-01 1.00651685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.91028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.25, Y:122.40, Z:1.01 [[-7.83896987e-01 -6.20879114e-01 3.82606934e-03 1.81248938e+02] [ 6.20871398e-01 -7.83906323e-01 -3.09580234e-03 1.22398658e+02] [ 4.92139896e-03 -5.12931042e-05 9.99987889e-01 1.00662407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.940281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.26, Y:122.40, Z:1.01 [[-7.82470027e-01 -6.22676488e-01 3.82726953e-03 1.81255640e+02] [ 6.22668801e-01 -7.82479386e-01 -3.09431785e-03 1.22400376e+02] [ 4.92151849e-03 -3.80896452e-05 9.99987889e-01 1.00958919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.97028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.26, Y:122.40, Z:1.01 [[-7.81853817e-01 -6.23450040e-01 3.82847585e-03 1.81257071e+02] [ 6.23442369e-01 -7.81863190e-01 -3.09282461e-03 1.22402937e+02] [ 4.92156596e-03 -3.13026715e-05 9.99987889e-01 1.01248284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.000281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.26, Y:122.41, Z:1.01 [[-7.80335455e-01 -6.25349431e-01 3.82968199e-03 1.81261007e+02] [ 6.25341791e-01 -7.80344852e-01 -3.09133038e-03 1.22405081e+02] [ 4.92163432e-03 -1.74145053e-05 9.99987889e-01 1.01432846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.03028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.27, Y:122.40, Z:1.01 [[-7.79639565e-01 -6.26216794e-01 3.83088939e-03 1.81271795e+02] [ 6.26209171e-01 -7.79648977e-01 -3.08983340e-03 1.22398801e+02] [ 4.92165456e-03 -1.00183030e-05 9.99987889e-01 1.01090973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.060281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.27, Y:122.40, Z:1.01 [[-7.78066616e-01 -6.28170086e-01 3.83209213e-03 1.81274845e+02] [ 6.28162494e-01 -7.78076052e-01 -3.08834102e-03 1.22402970e+02] [ 4.92166255e-03 4.24150563e-06 9.99987889e-01 1.00740712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.09028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.29, Y:122.39, Z:1.01 [[-7.77650539e-01 -6.28685092e-01 3.83329124e-03 1.81291424e+02] [ 6.28677514e-01 -7.77659987e-01 -3.08685194e-03 1.22392687e+02] [ 4.92165501e-03 9.41192758e-06 9.99987889e-01 1.00585754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.120281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.30, Y:122.39, Z:1.01 [[-7.76588619e-01 -6.29996361e-01 3.83440822e-03 1.81295907e+02] [ 6.29988806e-01 -7.76598085e-01 -3.08546383e-03 1.22393166e+02] [ 4.92162507e-03 1.94981585e-05 9.99987889e-01 1.00819274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.15028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.31, Y:122.39, Z:1.01 [[-7.76303041e-01 -6.30348219e-01 3.83559126e-03 1.81307491e+02] [ 6.30340675e-01 -7.76312516e-01 -3.08399247e-03 1.22386415e+02] [ 4.92160666e-03 2.36164509e-05 9.99987889e-01 1.00896593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.180281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.32, Y:122.38, Z:1.01 [[-7.75936522e-01 -6.30799329e-01 3.83676864e-03 1.81319510e+02] [ 6.30791798e-01 -7.75946007e-01 -3.08252701e-03 1.22379863e+02] [ 4.92158128e-03 2.83569008e-05 9.99987889e-01 1.00757065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.21028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:181.32, Y:122.39, Z:1.00 [[-7.75715879e-01 -6.31070634e-01 3.83793655e-03 1.81315769e+02] [ 6.31063114e-01 -7.75725373e-01 -3.08107220e-03 1.22387941e+02] [ 4.92155895e-03 3.19435564e-05 9.99987889e-01 1.00440744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.240281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.30, Y:122.40, Z:1.00 [[-7.75827596e-01 -6.30933279e-01 3.83910334e-03 1.81301127e+02] [ 6.30925764e-01 -7.75837094e-01 -3.07961766e-03 1.22400953e+02] [ 4.92155205e-03 3.29368466e-05 9.99987889e-01 1.00453792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.27028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.32, Y:122.39, Z:1.00 [[-7.75471368e-01 -6.31371055e-01 3.84028375e-03 1.81319045e+02] [ 6.31363553e-01 -7.75480876e-01 -3.07814499e-03 1.22389416e+02] [ 4.92151826e-03 3.76018813e-05 9.99987889e-01 1.00386563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.300281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.33, Y:122.38, Z:1.01 [[-7.75400630e-01 -6.31457921e-01 3.84146495e-03 1.81332096e+02] [ 6.31450427e-01 -7.75410145e-01 -3.07667016e-03 1.22381270e+02] [ 4.92149864e-03 4.00427044e-05 9.99987889e-01 1.00554850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.33028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.34, Y:122.38, Z:1.01 [[-7.75303599e-01 -6.31577045e-01 3.84263180e-03 1.81336837e+02] [ 6.31569560e-01 -7.75313120e-01 -3.07521212e-03 1.22380041e+02] [ 4.92147624e-03 4.26662490e-05 9.99987889e-01 1.00761298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36028169299993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.33, Y:122.39, Z:1.01 [[-7.75157630e-01 -6.31756182e-01 3.84379218e-03 1.81328757e+02] [ 6.31748706e-01 -7.75167159e-01 -3.07376105e-03 1.22386007e+02] [ 4.92144901e-03 4.56614047e-05 9.99987889e-01 1.00798174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.39028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:181.34, Y:122.38, Z:1.01 [[-7.74870900e-01 -6.32107827e-01 3.84495620e-03 1.81338273e+02] [ 6.32100362e-01 -7.74880438e-01 -3.07230429e-03 1.22377642e+02] [ 4.92140893e-03 4.97590222e-05 9.99987889e-01 1.00537465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:181.34, Y:122.38, Z:1.01 [[-7.74894649e-01 -6.32078706e-01 3.84612063e-03 1.81337588e+02] [ 6.32071248e-01 -7.74904192e-01 -3.07084589e-03 1.22378893e+02] [ 4.92139129e-03 5.14402135e-05 9.99987889e-01 1.00572957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.45028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.34, Y:122.37, Z:1.01 [[-7.74083189e-01 -6.33072203e-01 3.84728201e-03 1.81344782e+02] [ 6.33064765e-01 -7.74092748e-01 -3.06939018e-03 1.22373354e+02] [ 4.92129870e-03 5.96153406e-05 9.99987889e-01 1.00930646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.36, Y:122.36, Z:1.01 [[-7.73146423e-01 -6.34215893e-01 3.84844151e-03 1.81358797e+02] [ 6.34208476e-01 -7.73155998e-01 -3.06793569e-03 1.22360765e+02] [ 4.92117921e-03 6.87507207e-05 9.99987889e-01 1.01151489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.51028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.36, Y:122.36, Z:1.01 [[-7.71513859e-01 -6.36200869e-01 3.84959086e-03 1.81361626e+02] [ 6.36193484e-01 -7.71523459e-01 -3.06649283e-03 1.22356200e+02] [ 4.92095506e-03 8.32429014e-05 9.99987889e-01 1.01210776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:181.37, Y:122.34, Z:1.01 [[-7.67255493e-01 -6.41330009e-01 3.85073204e-03 1.81367208e+02] [ 6.41322695e-01 -7.67265147e-01 -3.06505912e-03 1.22344329e+02] [ 4.92024688e-03 1.17878402e-04 9.99987889e-01 1.01108363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.57028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.39, Y:122.33, Z:1.01 [[-7.64931104e-01 -6.44100590e-01 3.85186812e-03 1.81385922e+02] [ 6.44093318e-01 -7.64940790e-01 -3.06363075e-03 1.22326171e+02] [ 4.91973741e-03 1.37496065e-04 9.99987889e-01 1.01154707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.38, Y:122.32, Z:1.02 [[-7.61070681e-01 -6.48657516e-01 3.85299065e-03 1.81383929e+02] [ 6.48650310e-01 -7.61080415e-01 -3.06221834e-03 1.22322689e+02] [ 4.91876666e-03 1.68678980e-04 9.99987889e-01 1.01518019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.630281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:181.40, Y:122.31, Z:1.02 [[-7.60482199e-01 -6.49347342e-01 3.85410399e-03 1.81400198e+02] [ 6.49340152e-01 -7.60491945e-01 -3.06081644e-03 1.22307355e+02] [ 4.91854807e-03 1.74928054e-04 9.99987889e-01 1.01659837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:181.40, Y:122.31, Z:1.02 [[-7.60715358e-01 -6.49074172e-01 3.85521002e-03 1.81402189e+02] [ 6.49066985e-01 -7.60725107e-01 -3.05942273e-03 1.22305869e+02] [ 4.91854733e-03 1.74939681e-04 9.99987889e-01 1.01658599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.690281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:181.40, Y:122.30, Z:1.02 [[-7.61922117e-01 -6.47657175e-01 3.85630830e-03 1.81401008e+02] [ 6.47649977e-01 -7.61931858e-01 -3.05803775e-03 1.22302889e+02] [ 4.91880424e-03 1.67551381e-04 9.99987889e-01 1.01632645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.38, Y:122.32, Z:1.01 [[-7.63520328e-01 -6.45772273e-01 3.85740643e-03 1.81377372e+02] [ 6.45765058e-01 -7.63530056e-01 -3.05665194e-03 1.22321883e+02] [ 4.91914682e-03 1.57162393e-04 9.99987889e-01 1.01463363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.750281693 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:181.37, Y:122.33, Z:1.01 [[-7.65703028e-01 -6.43182699e-01 3.85851705e-03 1.81371599e+02] [ 6.43175458e-01 -7.65712737e-01 -3.05524933e-03 1.22327176e+02] [ 4.91959916e-03 1.42289803e-04 9.99987889e-01 1.01332513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.37, Y:122.33, Z:1.01 [[-7.69023331e-01 -6.39209058e-01 3.85964439e-03 1.81374301e+02] [ 6.39201774e-01 -7.69033007e-01 -3.05382451e-03 1.22325891e+02] [ 4.92022622e-03 1.18629249e-04 9.99987889e-01 1.01163683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.810281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.37, Y:122.33, Z:1.01 [[-7.71045962e-01 -6.36767790e-01 3.86077484e-03 1.81373855e+02] [ 6.36760483e-01 -7.71055621e-01 -3.05239468e-03 1.22326459e+02] [ 4.92053876e-03 1.04852251e-04 9.99987889e-01 1.01144055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.36, Y:122.34, Z:1.01 [[-7.71965721e-01 -6.35652430e-01 3.86190585e-03 1.81362479e+02] [ 6.35645116e-01 -7.71975374e-01 -3.05096305e-03 1.22336283e+02] [ 4.92064829e-03 9.95626968e-05 9.99987889e-01 1.01363205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.870281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.37, Y:122.33, Z:1.01 [[-7.72491276e-01 -6.35013627e-01 3.86304476e-03 1.81368267e+02] [ 6.35006312e-01 -7.72500929e-01 -3.04952032e-03 1.22333323e+02] [ 4.92069262e-03 9.73299617e-05 9.99987889e-01 1.01403656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.37, Y:122.33, Z:1.01 [[-7.72956887e-01 -6.34446781e-01 3.86418849e-03 1.81371309e+02] [ 6.34439467e-01 -7.72966540e-01 -3.04807034e-03 1.22329592e+02] [ 4.92072683e-03 9.55667222e-05 9.99987889e-01 1.01135275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.930281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.36, Y:122.33, Z:1.01 [[-7.72590796e-01 -6.34892527e-01 3.86532927e-03 1.81364018e+02] [ 6.34885225e-01 -7.72600459e-01 -3.04662301e-03 1.22330240e+02] [ 4.92063335e-03 1.00247550e-04 9.99987889e-01 1.00758266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.38, Y:122.32, Z:1.01 [[-7.72639470e-01 -6.34833285e-01 3.86647230e-03 1.81377326e+02] [ 6.34825989e-01 -7.72649138e-01 -3.04517170e-03 1.22317752e+02] [ 4.92060284e-03 1.01717251e-04 9.99987889e-01 1.00647535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.990281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.37, Y:122.32, Z:1.01 [[-7.72956772e-01 -6.34446901e-01 3.86761199e-03 1.81374451e+02] [ 6.34439608e-01 -7.72966441e-01 -3.04372351e-03 1.22317587e+02] [ 4.92061523e-03 1.01099531e-04 9.99987889e-01 1.00860104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:181.30, Y:122.37, Z:1.01 [[-7.74868430e-01 -6.32110709e-01 3.86874671e-03 1.81302607e+02] [ 6.32103394e-01 -7.74878083e-01 -3.04228053e-03 1.22367624e+02] [ 4.92086514e-03 8.80807881e-05 9.99987889e-01 1.01062062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.050281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:181.35, Y:122.33, Z:1.01 [[-7.76110687e-01 -6.30584820e-01 3.87114908e-03 1.81351769e+02] [ 6.30577501e-01 -7.76120337e-01 -3.03922340e-03 1.22326929e+02] [ 4.92096567e-03 8.22857513e-05 9.99987889e-01 1.01228402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:181.35, Y:122.33, Z:1.02 [[-7.80865953e-01 -6.24686630e-01 3.87020061e-03 1.81348948e+02] [ 6.24679232e-01 -7.80875542e-01 -3.04043071e-03 1.22328494e+02] [ 4.92146142e-03 4.34651258e-05 9.99987889e-01 1.01562265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.11028169299993 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.35, Y:122.33, Z:1.01 [[-7.84214739e-01 -6.20477442e-01 3.87136096e-03 1.81346773e+02] [ 6.20470000e-01 -7.84224294e-01 -3.03895253e-03 1.22329713e+02] [ 4.92161681e-03 1.88719733e-05 9.99987889e-01 1.01490474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:181.33, Y:122.34, Z:1.01 [[-7.90823810e-01 -6.12031621e-01 3.87252537e-03 1.81332968e+02] [ 6.12024085e-01 -7.90833291e-01 -3.03746800e-03 1.22341542e+02] [ 4.92154845e-03 -3.20232142e-05 9.99987889e-01 1.01289463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.17028169299994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:181.32, Y:122.35, Z:1.01 [[-7.93893386e-01 -6.08044641e-01 3.87370036e-03 1.81323515e+02] [ 6.08037064e-01 -7.93902835e-01 -3.03596879e-03 1.22351615e+02] [ 4.92134625e-03 -5.48821489e-05 9.99987889e-01 1.01199236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.35, Y:122.33, Z:1.01 [[-7.96381896e-01 -6.04781663e-01 3.87489056e-03 1.81350248e+02] [ 6.04774055e-01 -7.96391320e-01 -3.03444895e-03 1.22334336e+02] [ 4.92110829e-03 -7.31469320e-05 9.99987889e-01 1.00986326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.23028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.36, Y:122.33, Z:1.00 [[-7.99423032e-01 -6.00756017e-01 3.87607451e-03 1.81361940e+02] [ 6.00748369e-01 -7.99432423e-01 -3.03293586e-03 1.22331106e+02] [ 4.92071411e-03 -9.60533473e-05 9.99987889e-01 1.00491647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.36, Y:122.34, Z:1.01 [[-8.00172932e-01 -5.99756823e-01 3.87724128e-03 1.81358087e+02] [ 5.99749170e-01 -8.00182319e-01 -3.03144356e-03 1.22342080e+02] [ 4.92062887e-03 -1.00306846e-04 9.99987889e-01 1.00720771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.29028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.38, Y:122.34, Z:1.01 [[-8.00271720e-01 -5.99624993e-01 3.87840922e-03 1.81375135e+02] [ 5.99617346e-01 -8.00281112e-01 -3.02994856e-03 1.22335027e+02] [ 4.92065053e-03 -9.92207060e-05 9.99987889e-01 1.01043564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.37, Y:122.35, Z:1.01 [[-8.00189767e-01 -5.99734346e-01 3.87957523e-03 1.81369043e+02] [ 5.99726707e-01 -8.00199166e-01 -3.02845486e-03 1.22345528e+02] [ 4.92070125e-03 -9.66537105e-05 9.99987889e-01 1.01203931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.35028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.38, Y:122.35, Z:1.01 [[-8.00074755e-01 -5.99887762e-01 3.88073988e-03 1.81375440e+02] [ 5.99880132e-01 -8.00084161e-01 -3.02696171e-03 1.22349693e+02] [ 4.92075579e-03 -9.38168970e-05 9.99987889e-01 1.01053465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.380281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.38, Y:122.35, Z:1.01 [[-7.99970229e-01 -6.00027136e-01 3.88191001e-03 1.81381289e+02] [ 6.00019516e-01 -7.99979642e-01 -3.02546034e-03 1.22350565e+02] [ 4.92080728e-03 -9.10564398e-05 9.99987889e-01 1.00928187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.41028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.38, Y:122.36, Z:1.01 [[-7.98033882e-01 -6.02600071e-01 3.88307897e-03 1.81375033e+02] [ 6.02592488e-01 -7.98043326e-01 -3.02395926e-03 1.22364981e+02] [ 4.92110332e-03 -7.33077297e-05 9.99987889e-01 1.01236672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.440281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.38, Y:122.36, Z:1.02 [[-7.96539043e-01 -6.04574616e-01 3.88425347e-03 1.81379559e+02] [ 6.04567063e-01 -7.96548511e-01 -3.02244988e-03 1.22363927e+02] [ 4.92129279e-03 -5.92076244e-05 9.99987889e-01 1.01588813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.47028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.38, Y:122.37, Z:1.02 [[-7.94579074e-01 -6.07148251e-01 3.88543394e-03 1.81379298e+02] [ 6.07140737e-01 -7.94588572e-01 -3.02093159e-03 1.22365371e+02] [ 4.92147474e-03 -4.13637992e-05 9.99987889e-01 1.01681914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.500281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.41, Y:122.34, Z:1.02 [[-7.89868367e-01 -6.13264101e-01 3.88661481e-03 1.81408920e+02] [ 6.13256668e-01 -7.89877929e-01 -3.01941156e-03 1.22343674e+02] [ 4.92164798e-03 -1.44522844e-06 9.99987889e-01 1.01650201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.53028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.41, Y:122.34, Z:1.01 [[-7.87753799e-01 -6.15977952e-01 3.88778144e-03 1.81411465e+02] [ 6.15970559e-01 -7.87763392e-01 -3.01790867e-03 1.22342457e+02] [ 4.92161710e-03 1.73898936e-05 9.99987889e-01 1.01495151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.560281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:181.42, Y:122.33, Z:1.01 [[-7.84317016e-01 -6.20348043e-01 3.88893263e-03 1.81421488e+02] [ 6.20340711e-01 -7.84326656e-01 -3.01642450e-03 1.22331116e+02] [ 4.92142656e-03 4.66301685e-05 9.99987889e-01 1.01161831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.59028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.43, Y:122.32, Z:1.01 [[-7.82963848e-01 -6.22055046e-01 3.89007830e-03 1.81426863e+02] [ 6.22047742e-01 -7.82973510e-01 -3.01494627e-03 1.22324960e+02] [ 4.92129080e-03 5.92204885e-05 9.99987889e-01 1.01112815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.620281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.42, Y:122.33, Z:1.01 [[-7.81427668e-01 -6.23983701e-01 3.89121592e-03 1.81423494e+02] [ 6.23976428e-01 -7.81437353e-01 -3.01347730e-03 1.22326942e+02] [ 4.92110219e-03 7.32124762e-05 9.99987889e-01 1.01050481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.65028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.43, Y:122.32, Z:1.01 [[-7.81653142e-01 -6.23701223e-01 3.89235299e-03 1.81430259e+02] [ 6.23693954e-01 -7.81662830e-01 -3.01200789e-03 1.22320656e+02] [ 4.92110066e-03 7.32915934e-05 9.99987889e-01 1.01013651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.680281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:181.41, Y:122.33, Z:1.01 [[-7.82040867e-01 -6.23214989e-01 3.89348950e-03 1.81412995e+02] [ 6.23207722e-01 -7.82050556e-01 -3.01053806e-03 1.22331497e+02] [ 4.92111807e-03 7.20889226e-05 9.99987889e-01 1.00930846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.71028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.42, Y:122.32, Z:1.01 [[-7.82386026e-01 -6.22781614e-01 3.89463218e-03 1.81420674e+02] [ 6.22774349e-01 -7.82395716e-01 -3.00905909e-03 1.22320213e+02] [ 4.92113021e-03 7.12312412e-05 9.99987889e-01 1.01134061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.740281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.43, Y:122.31, Z:1.02 [[-7.81370860e-01 -6.24054807e-01 3.89577922e-03 1.81430758e+02] [ 6.24047565e-01 -7.81380567e-01 -3.00757330e-03 1.22310327e+02] [ 4.92097675e-03 8.11214019e-05 9.99987889e-01 1.01572576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.77028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:181.44, Y:122.30, Z:1.01 [[-7.80989094e-01 -6.24532504e-01 3.89691665e-03 1.81437565e+02] [ 6.24525275e-01 -7.80998812e-01 -3.00609880e-03 1.22303759e+02] [ 4.92089369e-03 8.59925620e-05 9.99987889e-01 1.01483123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.800281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.44, Y:122.30, Z:1.01 [[-7.80685921e-01 -6.24911433e-01 3.89804612e-03 1.81442495e+02] [ 6.24904216e-01 -7.80695647e-01 -3.00463350e-03 1.22297845e+02] [ 4.92081746e-03 9.02303818e-05 9.99987889e-01 1.01186073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.83028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.44, Y:122.30, Z:1.01 [[-7.79350179e-01 -6.26576488e-01 3.89917026e-03 1.81438610e+02] [ 6.26569299e-01 -7.79359926e-01 -3.00317397e-03 1.22297501e+02] [ 4.92057524e-03 1.02576204e-04 9.99987889e-01 1.00794313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86028169299993 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:181.45, Y:122.28, Z:1.01 [[-7.78813585e-01 -6.27243325e-01 3.90029385e-03 1.81452775e+02] [ 6.27236152e-01 -7.78823343e-01 -3.00171402e-03 1.22284359e+02] [ 4.92044498e-03 1.08629645e-04 9.99987889e-01 1.00792891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.89028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.45, Y:122.28, Z:1.01 [[-7.77245304e-01 -6.29185597e-01 3.90141237e-03 1.81448630e+02] [ 6.29178456e-01 -7.77255086e-01 -3.00025955e-03 1.22279297e+02] [ 4.92011270e-03 1.22746960e-04 9.99987889e-01 1.00999103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.46, Y:122.27, Z:1.01 [[-7.76794575e-01 -6.29741978e-01 3.90252493e-03 1.81459631e+02] [ 6.29734851e-01 -7.76804367e-01 -2.99881171e-03 1.22266400e+02] [ 4.91997603e-03 1.28095291e-04 9.99987889e-01 1.01060331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.95028169299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:181.44, Y:122.27, Z:1.01 [[-7.76217467e-01 -6.30453174e-01 3.90363215e-03 1.81443676e+02] [ 6.30446063e-01 -7.76227271e-01 -2.99736971e-03 1.22271929e+02] [ 4.91980699e-03 1.34418797e-04 9.99987889e-01 1.00943862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.44, Y:122.27, Z:1.01 [[-7.76459338e-01 -6.30155258e-01 3.90474080e-03 1.81442413e+02] [ 6.30148150e-01 -7.76469145e-01 -2.99592476e-03 1.22269301e+02] [ 4.91980849e-03 1.34351434e-04 9.99987889e-01 1.00705092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.01028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.43, Y:122.27, Z:1.01 [[-7.77193735e-01 -6.29249270e-01 3.90585679e-03 1.81434265e+02] [ 6.29242158e-01 -7.77203538e-01 -2.99446911e-03 1.22271582e+02] [ 4.91991322e-03 1.30447130e-04 9.99987889e-01 1.00710278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.44, Y:122.26, Z:1.01 [[-7.79362919e-01 -6.26560592e-01 3.90697713e-03 1.81435498e+02] [ 6.26553454e-01 -7.79372704e-01 -2.99300666e-03 1.22261033e+02] [ 4.92029135e-03 1.15291610e-04 9.99987889e-01 1.00934372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.07028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.42, Y:122.27, Z:1.01 [[-7.80676998e-01 -6.24922516e-01 3.90809929e-03 1.81422722e+02] [ 6.24915365e-01 -7.80686773e-01 -2.99154069e-03 1.22267507e+02] [ 4.92048255e-03 1.06804288e-04 9.99987889e-01 1.01070639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.43, Y:122.26, Z:1.01 [[-7.83721014e-01 -6.21100708e-01 3.90922529e-03 1.81425914e+02] [ 6.21093517e-01 -7.83730759e-01 -2.99006854e-03 1.22259658e+02] [ 4.92091380e-03 8.46149384e-05 9.99987889e-01 1.01212893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.130281693 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:181.42, Y:122.26, Z:1.01 [[-7.85480023e-01 -6.18874659e-01 3.91035556e-03 1.81418312e+02] [ 6.18867447e-01 -7.85489753e-01 -2.98858967e-03 1.22262291e+02] [ 4.92110663e-03 7.25142750e-05 9.99987889e-01 1.01041206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:181.40, Y:122.27, Z:1.01 [[-7.88694002e-01 -6.14773512e-01 3.91148785e-03 1.81395208e+02] [ 6.14766257e-01 -7.88703700e-01 -2.98710698e-03 1.22274651e+02] [ 4.92139919e-03 4.87373818e-05 9.99987889e-01 1.00735955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.190281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.39, Y:122.28, Z:1.01 [[-7.90709551e-01 -6.12178975e-01 3.91263525e-03 1.81390381e+02] [ 6.12171695e-01 -7.90719231e-01 -2.98560331e-03 1.22277405e+02] [ 4.92151951e-03 3.44594971e-05 9.99987889e-01 1.00933348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.38, Y:122.28, Z:1.02 [[-7.94931373e-01 -6.06686735e-01 3.91379738e-03 1.81382914e+02] [ 6.06679397e-01 -7.94941007e-01 -2.98407911e-03 1.22280869e+02] [ 4.92163925e-03 2.28213285e-06 9.99987889e-01 1.01792855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.250281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.38, Y:122.28, Z:1.02 [[-7.96635363e-01 -6.04447494e-01 3.91481960e-03 1.81383717e+02] [ 6.04440134e-01 -7.96644982e-01 -2.98273746e-03 1.22278500e+02] [ 4.92162957e-03 -9.88005820e-06 9.99987889e-01 1.02057675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.39, Y:122.27, Z:1.02 [[-7.97511149e-01 -6.03291498e-01 3.91599290e-03 1.81386505e+02] [ 6.03284133e-01 -7.97520763e-01 -2.98119625e-03 1.22274582e+02] [ 4.92161600e-03 -1.50808699e-05 9.99987889e-01 1.01964409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.310281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.38, Y:122.27, Z:1.01 [[-7.97346581e-01 -6.03508977e-01 3.91716519e-03 1.81383379e+02] [ 6.03501622e-01 -7.97356203e-01 -2.97965511e-03 1.22273055e+02] [ 4.92162457e-03 -1.18022717e-05 9.99987889e-01 1.01216354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.39, Y:122.26, Z:1.01 [[-7.95987354e-01 -6.05300570e-01 3.91833768e-03 1.81389343e+02] [ 6.05293243e-01 -7.95996998e-01 -2.97811245e-03 1.22264359e+02] [ 4.92163820e-03 1.20347480e-06 9.99987889e-01 1.00567054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.370281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.39, Y:122.26, Z:1.01 [[-7.95385153e-01 -6.06091657e-01 3.91936008e-03 1.81387938e+02] [ 6.06084347e-01 -7.95394810e-01 -2.97676631e-03 1.22263637e+02] [ 4.92163189e-03 7.78706217e-06 9.99987889e-01 1.00672147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.40, Y:122.26, Z:1.01 [[-7.94966224e-01 -6.06641025e-01 3.92052705e-03 1.81395277e+02] [ 6.06633729e-01 -7.94975891e-01 -2.97522857e-03 1.22256677e+02] [ 4.92162019e-03 1.31177190e-05 9.99987889e-01 1.00920000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.430281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.40, Y:122.25, Z:1.01 [[-7.94121735e-01 -6.07746074e-01 3.92169163e-03 1.81397338e+02] [ 6.07738799e-01 -7.94131418e-01 -2.97369272e-03 1.22252166e+02] [ 4.92158862e-03 2.18901354e-05 9.99987889e-01 1.01194108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.40, Y:122.25, Z:1.01 [[-7.93940700e-01 -6.07982545e-01 3.92285128e-03 1.81400150e+02] [ 6.07975281e-01 -7.93950391e-01 -2.97216215e-03 1.22248769e+02] [ 4.92157202e-03 2.52761146e-05 9.99987889e-01 1.01168341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.490281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.39, Y:122.25, Z:1.01 [[-7.93724362e-01 -6.08264942e-01 3.92400915e-03 1.81393757e+02] [ 6.08257688e-01 -7.93734061e-01 -2.97063268e-03 1.22252162e+02] [ 4.92155143e-03 2.89452033e-05 9.99987889e-01 1.01307177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.39, Y:122.25, Z:1.01 [[-7.94034662e-01 -6.07859810e-01 3.92516937e-03 1.81393350e+02] [ 6.07852559e-01 -7.94044363e-01 -2.96909886e-03 1.22251697e+02] [ 4.92155448e-03 2.83568333e-05 9.99987889e-01 1.01437415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.550281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.40, Y:122.25, Z:1.01 [[-7.94273465e-01 -6.07547732e-01 3.92633471e-03 1.81395390e+02] [ 6.07540485e-01 -7.94283169e-01 -2.96755701e-03 1.22250247e+02] [ 4.92155411e-03 2.83555035e-05 9.99987889e-01 1.01436177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.39, Y:122.25, Z:1.01 [[-7.95130207e-01 -6.06426029e-01 3.92750025e-03 1.81394742e+02] [ 6.06418776e-01 -7.95139907e-01 -2.96601364e-03 1.22251634e+02] [ 4.92158006e-03 2.33428464e-05 9.99987889e-01 1.01387140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.61028169299993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.41, Y:122.24, Z:1.01 [[-7.95982245e-01 -6.05307220e-01 3.92866697e-03 1.81410682e+02] [ 6.05299961e-01 -7.95991940e-01 -2.96446745e-03 1.22240305e+02] [ 4.92160079e-03 1.83585073e-05 9.99987889e-01 1.01232401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.40, Y:122.25, Z:1.01 [[-7.97045493e-01 -6.03906481e-01 3.92982733e-03 1.81399662e+02] [ 6.03899213e-01 -7.97055181e-01 -2.96292841e-03 1.22250092e+02] [ 4.92162091e-03 1.16308957e-05 9.99987889e-01 1.01183159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.67028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.41, Y:122.25, Z:1.01 [[-7.99460373e-01 -6.00705968e-01 3.93098710e-03 1.81408100e+02] [ 6.00698669e-01 -7.99470037e-01 -2.96138892e-03 1.22248871e+02] [ 4.92163040e-03 -6.17437498e-06 9.99987889e-01 1.01054142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.42, Y:122.25, Z:1.01 [[-8.02088702e-01 -5.97191973e-01 3.93215160e-03 1.81419302e+02] [ 5.97184638e-01 -8.02098340e-01 -2.95984189e-03 1.22245643e+02] [ 4.92156609e-03 -2.58352100e-05 9.99987889e-01 1.00919288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.73028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.43, Y:122.24, Z:1.01 [[-8.03099453e-01 -5.95832022e-01 3.93330976e-03 1.81432327e+02] [ 5.95824679e-01 -8.03109084e-01 -2.95830202e-03 1.22237809e+02] [ 4.92152787e-03 -3.22477083e-05 9.99987889e-01 1.00995045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.43, Y:122.24, Z:1.01 [[-8.03895963e-01 -5.94756926e-01 3.93445834e-03 1.81426920e+02] [ 5.94749578e-01 -8.03905590e-01 -2.95677365e-03 1.22244244e+02] [ 4.92149466e-03 -3.69209609e-05 9.99987889e-01 1.00873268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.79028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.43, Y:122.25, Z:1.01 [[-8.05074029e-01 -5.93161292e-01 3.93560555e-03 1.81431543e+02] [ 5.93153932e-01 -8.05083648e-01 -2.95524587e-03 1.22247665e+02] [ 4.92142913e-03 -4.47717931e-05 9.99987889e-01 1.00750648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.82028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.43, Y:122.25, Z:1.01 [[-8.05750656e-01 -5.92241828e-01 3.93675682e-03 1.81430273e+02] [ 5.92234464e-01 -8.05760271e-01 -2.95371143e-03 1.22251619e+02] [ 4.92139370e-03 -4.84718587e-05 9.99987889e-01 1.00750861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.85028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.43, Y:122.26, Z:1.00 [[-8.05808943e-01 -5.92162512e-01 3.93791043e-03 1.81433087e+02] [ 5.92155155e-01 -8.05818564e-01 -2.95217264e-03 1.22255026e+02] [ 4.92140729e-03 -4.70331563e-05 9.99987889e-01 1.00393705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.880281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.45, Y:122.25, Z:1.01 [[-8.05725037e-01 -5.92276666e-01 3.93906695e-03 1.81445235e+02] [ 5.92269317e-01 -8.05734664e-01 -2.95062868e-03 1.22249307e+02] [ 4.92143131e-03 -4.44069096e-05 9.99987889e-01 1.00586974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.91028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:181.43, Y:122.26, Z:1.00 [[-8.05350829e-01 -5.92785389e-01 3.94021935e-03 1.81433340e+02] [ 5.92778054e-01 -8.05360467e-01 -2.94908898e-03 1.22264354e+02] [ 4.92147376e-03 -3.93756984e-05 9.99987889e-01 1.00175615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.940281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.44, Y:122.26, Z:1.01 [[-8.04965768e-01 -5.93308165e-01 3.94137546e-03 1.81436186e+02] [ 5.93300844e-01 -8.04975416e-01 -2.94754307e-03 1.22264806e+02] [ 4.92151172e-03 -3.42498782e-05 9.99987889e-01 1.00576260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.97028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.45, Y:122.26, Z:1.01 [[-8.04516584e-01 -5.93917100e-01 3.94254067e-03 1.81447809e+02] [ 5.93909794e-01 -8.04526244e-01 -2.94598369e-03 1.22258041e+02] [ 4.92154753e-03 -2.85792159e-05 9.99987889e-01 1.00835253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.000281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.45, Y:122.26, Z:1.01 [[-8.02419298e-01 -5.96747616e-01 3.94370030e-03 1.81449840e+02] [ 5.96740352e-01 -8.02428989e-01 -2.94443051e-03 1.22261331e+02] [ 4.92162134e-03 -9.30275503e-06 9.99987889e-01 1.01415129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.03028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.46, Y:122.26, Z:1.01 [[-7.99796688e-01 -6.00258025e-01 3.94485596e-03 1.81459583e+02] [ 6.00250811e-01 -7.99806416e-01 -2.94288139e-03 1.22256595e+02] [ 4.92160927e-03 1.41962024e-05 9.99987889e-01 1.01415450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.060281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.47, Y:122.25, Z:1.01 [[-7.98578902e-01 -6.01877202e-01 3.94600884e-03 1.81471355e+02] [ 6.01870015e-01 -7.98588651e-01 -2.94133471e-03 1.22247815e+02] [ 4.92156018e-03 2.60965593e-05 9.99987889e-01 1.01159575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.09028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:181.48, Y:122.24, Z:1.01 [[-7.97470853e-01 -6.03344561e-01 3.94715256e-03 1.81482804e+02] [ 6.03337400e-01 -7.97480620e-01 -2.93979908e-03 1.22239039e+02] [ 4.92148946e-03 3.70606816e-05 9.99987889e-01 1.00917941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.120281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:181.49, Y:122.24, Z:1.01 [[-7.95338644e-01 -6.06152500e-01 3.94828555e-03 1.81485806e+02] [ 6.06145381e-01 -7.95348442e-01 -2.93827664e-03 1.22236660e+02] [ 4.92130649e-03 5.63100955e-05 9.99987889e-01 1.00615912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.15028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:181.50, Y:122.23, Z:1.01 [[-7.94331805e-01 -6.07471305e-01 3.94941212e-03 1.81497131e+02] [ 6.07464210e-01 -7.94341620e-01 -2.93676161e-03 1.22227748e+02] [ 4.92118083e-03 6.63633585e-05 9.99987889e-01 1.00748859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.180281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.50, Y:122.22, Z:1.01 [[-7.91711429e-01 -6.10882481e-01 3.95053287e-03 1.81499647e+02] [ 6.10875436e-01 -7.91721281e-01 -2.93525320e-03 1.22222910e+02] [ 4.92081570e-03 8.94099783e-05 9.99987889e-01 1.01227361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.21028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.52, Y:122.20, Z:1.01 [[-7.90522546e-01 -6.12420190e-01 3.95164732e-03 1.81524271e+02] [ 6.12413171e-01 -7.90532416e-01 -2.93375208e-03 1.22202375e+02] [ 4.92059431e-03 1.00843706e-04 9.99987889e-01 1.01405421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.240281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.51, Y:122.21, Z:1.01 [[-7.89660625e-01 -6.13531151e-01 3.95274833e-03 1.81514921e+02] [ 6.13524153e-01 -7.89670510e-01 -2.93226790e-03 1.22206914e+02] [ 4.92040649e-03 1.09610070e-04 9.99987889e-01 1.01370125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.27028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.51, Y:122.21, Z:1.01 [[-7.88724106e-01 -6.14734619e-01 3.95384218e-03 1.81507521e+02] [ 6.14727644e-01 -7.88734007e-01 -2.93079222e-03 1.22205853e+02] [ 4.92018922e-03 1.18949618e-04 9.99987889e-01 1.00829665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.300281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.50, Y:122.20, Z:1.01 [[-7.89267004e-01 -6.14037421e-01 3.95494333e-03 1.81504962e+02] [ 6.14030445e-01 -7.89276904e-01 -2.92930552e-03 1.22204881e+02] [ 4.92024864e-03 1.16451416e-04 9.99987889e-01 1.00599030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.33028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.52, Y:122.19, Z:1.01 [[-7.91163922e-01 -6.11591365e-01 3.95604861e-03 1.81520412e+02] [ 6.11584366e-01 -7.91173806e-01 -2.92781208e-03 1.22189897e+02] [ 4.92054662e-03 1.03078195e-04 9.99987889e-01 1.00722212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.36028169299993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.51, Y:122.20, Z:1.01 [[-7.92413026e-01 -6.09972079e-01 3.95714738e-03 1.81507903e+02] [ 6.09965067e-01 -7.92422901e-01 -2.92632625e-03 1.22197494e+02] [ 4.92071151e-03 9.48626327e-05 9.99987889e-01 1.00933822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.39028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.50, Y:122.20, Z:1.02 [[-7.94513361e-01 -6.07233770e-01 3.95824488e-03 1.81502559e+02] [ 6.07226732e-01 -7.94523217e-01 -2.92484098e-03 1.22197411e+02] [ 4.92097967e-03 7.97268682e-05 9.99987889e-01 1.01531485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:181.50, Y:122.20, Z:1.02 [[-7.95772130e-01 -6.05583228e-01 3.95858992e-03 1.81499028e+02] [ 6.05576171e-01 -7.95781973e-01 -2.92437392e-03 1.22198136e+02] [ 4.92112630e-03 7.00924654e-05 9.99987889e-01 1.01703855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.45028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:181.49, Y:122.20, Z:1.01 [[-7.97455355e-01 -6.03364963e-01 3.95970135e-03 1.81487397e+02] [ 6.03357886e-01 -7.97465183e-01 -2.92286823e-03 1.22202613e+02] [ 4.92128024e-03 5.82601120e-05 9.99987889e-01 1.01303169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.49, Y:122.20, Z:1.01 [[-7.97788383e-01 -6.02924546e-01 3.96082033e-03 1.81489180e+02] [ 6.02917471e-01 -7.97798213e-01 -2.92135110e-03 1.22199234e+02] [ 4.92128966e-03 5.74278014e-05 9.99987889e-01 1.01069899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.51028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.49, Y:122.20, Z:1.01 [[-7.97910712e-01 -6.02762639e-01 3.96194451e-03 1.81485341e+02] [ 6.02755570e-01 -7.97920546e-01 -2.91982568e-03 1.22196989e+02] [ 4.92127876e-03 5.83239317e-05 9.99987889e-01 1.00885067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.48, Y:122.20, Z:1.01 [[-7.98256307e-01 -6.02304876e-01 3.96306942e-03 1.81477857e+02] [ 6.02297808e-01 -7.98266142e-01 -2.91829805e-03 1.22200821e+02] [ 4.92128928e-03 5.73981992e-05 9.99987889e-01 1.00939206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.57028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:181.48, Y:122.19, Z:1.01 [[-7.99702927e-01 -6.00382806e-01 3.96419997e-03 1.81484772e+02] [ 6.00375722e-01 -7.99712751e-01 -2.91676150e-03 1.22193723e+02] [ 4.92139472e-03 4.74667128e-05 9.99987889e-01 1.01028444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.47, Y:122.20, Z:1.01 [[-8.00867284e-01 -5.98828748e-01 3.96533165e-03 1.81472329e+02] [ 5.98821653e-01 -8.00877100e-01 -2.91522218e-03 1.22201783e+02] [ 4.92146216e-03 3.98203794e-05 9.99987889e-01 1.00975459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.630281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.48, Y:122.20, Z:1.01 [[-8.02305544e-01 -5.96900394e-01 3.96646693e-03 1.81475835e+02] [ 5.96893284e-01 -8.02315349e-01 -2.91367670e-03 1.22197675e+02] [ 4.92153206e-03 2.98985009e-05 9.99987889e-01 1.00971247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.48, Y:122.20, Z:1.01 [[-8.05949840e-01 -5.91970534e-01 3.96760740e-03 1.81477836e+02] [ 5.91963371e-01 -8.05959606e-01 -2.91212286e-03 1.22195729e+02] [ 4.92162222e-03 1.65329331e-06 9.99987889e-01 1.01042543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.690281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.49, Y:122.19, Z:1.01 [[-8.08162359e-01 -5.88946390e-01 3.96874609e-03 1.81489264e+02] [ 5.88939198e-01 -8.08172104e-01 -2.91057018e-03 1.22189231e+02] [ 4.92159968e-03 -1.48631234e-05 9.99987889e-01 1.01110930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.51, Y:122.18, Z:1.01 [[-8.12063729e-01 -5.83555259e-01 3.96987995e-03 1.81511093e+02] [ 5.83548010e-01 -8.12073431e-01 -2.90902284e-03 1.22176462e+02] [ 4.92140960e-03 -4.56963897e-05 9.99987889e-01 1.01255867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.750281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.48, Y:122.20, Z:1.01 [[-8.13508373e-01 -5.81539645e-01 3.97099901e-03 1.81477036e+02] [ 5.81532379e-01 -8.13518063e-01 -2.90749445e-03 1.22202072e+02] [ 4.92130271e-03 -5.60065763e-05 9.99987889e-01 1.01442841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.51, Y:122.18, Z:1.01 [[-8.14982861e-01 -5.79471444e-01 3.97271896e-03 1.81509665e+02] [ 5.79464165e-01 -8.14992541e-01 -2.90514355e-03 1.22181471e+02] [ 4.92118405e-03 -6.55939234e-05 9.99987889e-01 1.01208923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.810281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.52, Y:122.18, Z:1.01 [[-8.15939044e-01 -5.78124291e-01 3.97240778e-03 1.81521680e+02] [ 5.78116995e-01 -8.15948711e-01 -2.90556899e-03 1.22175607e+02] [ 4.92106102e-03 -7.42507379e-05 9.99987889e-01 1.01055855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.53, Y:122.18, Z:1.01 [[-8.17814277e-01 -5.75468522e-01 3.97351901e-03 1.81528199e+02] [ 5.75461201e-01 -8.17823925e-01 -2.90404853e-03 1.22175181e+02] [ 4.92082743e-03 -8.83663220e-05 9.99987889e-01 1.00785501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.870281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.53, Y:122.17, Z:1.01 [[-8.18583349e-01 -5.74374010e-01 3.97462398e-03 1.81533177e+02] [ 5.74366683e-01 -8.18592993e-01 -2.90253542e-03 1.22173608e+02] [ 4.92074025e-03 -9.30755750e-05 9.99987889e-01 1.00706098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.53, Y:122.18, Z:1.01 [[-8.19198505e-01 -5.73496297e-01 3.97572600e-03 1.81530681e+02] [ 5.73488968e-01 -8.19208147e-01 -2.90102515e-03 1.22181630e+02] [ 4.92067431e-03 -9.64804636e-05 9.99987889e-01 1.01158667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.930281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.55, Y:122.17, Z:1.01 [[-8.19321015e-01 -5.73321252e-01 3.97683019e-03 1.81546023e+02] [ 5.73313928e-01 -8.19330661e-01 -2.89951071e-03 1.22173601e+02] [ 4.92069002e-03 -9.56579199e-05 9.99987889e-01 1.01289198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.54, Y:122.18, Z:1.01 [[-8.19109269e-01 -5.73623728e-01 3.97793179e-03 1.81540082e+02] [ 5.73616414e-01 -8.19118924e-01 -2.89799859e-03 1.22182319e+02] [ 4.92075996e-03 -9.19705394e-05 9.99987889e-01 1.01149423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.990281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.52, Y:122.20, Z:1.01 [[-8.18833493e-01 -5.74017316e-01 3.97903209e-03 1.81519595e+02] [ 5.74010015e-01 -8.18843156e-01 -2.89648706e-03 1.22198969e+02] [ 4.92083692e-03 -8.77363512e-05 9.99987889e-01 1.01154277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.54, Y:122.18, Z:1.01 [[-8.18422529e-01 -5.74603100e-01 3.98014837e-03 1.81543055e+02] [ 5.74595814e-01 -8.18432203e-01 -2.89495233e-03 1.22183361e+02] [ 4.92093019e-03 -8.23176152e-05 9.99987889e-01 1.01281760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.050281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.52, Y:122.20, Z:1.02 [[-8.15973545e-01 -5.78075534e-01 3.98126537e-03 1.81524387e+02] [ 5.78068296e-01 -8.15983256e-01 -2.89341538e-03 1.22199077e+02] [ 4.92125852e-03 -5.95071147e-05 9.99987889e-01 1.01530658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:181.51, Y:122.21, Z:1.02 [[-8.14383039e-01 -5.80314058e-01 3.98238215e-03 1.81514642e+02] [ 5.80306855e-01 -8.14392775e-01 -2.89187747e-03 1.22206332e+02] [ 4.92142040e-03 -4.40923042e-05 9.99987889e-01 1.01523222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.11028169299993 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.52, Y:122.20, Z:1.01 [[-8.10851755e-01 -5.85238040e-01 3.98351581e-03 1.81522837e+02] [ 5.85230902e-01 -8.10861540e-01 -2.89031502e-03 1.22200277e+02] [ 4.92160206e-03 -1.23404547e-05 9.99987889e-01 1.01156856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:181.53, Y:122.20, Z:1.01 [[-8.09635317e-01 -5.86919736e-01 3.98465195e-03 1.81530012e+02] [ 5.86912627e-01 -8.09645122e-01 -2.88874787e-03 1.22195666e+02] [ 4.92161715e-03 -1.89753402e-07 9.99987889e-01 1.01052279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.17028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.53, Y:122.20, Z:1.01 [[-8.08594230e-01 -5.88353197e-01 3.98578149e-03 1.81529293e+02] [ 5.88346113e-01 -8.08604054e-01 -2.88718852e-03 1.22197611e+02] [ 4.92160567e-03 1.04550693e-05 9.99987889e-01 1.01369427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.53, Y:122.20, Z:1.01 [[-8.08289947e-01 -5.88771150e-01 3.98690948e-03 1.81530081e+02] [ 5.88764079e-01 -8.08299779e-01 -2.88563005e-03 1.22197100e+02] [ 4.92159377e-03 1.49233308e-05 9.99987889e-01 1.01408517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.23028169299994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:181.54, Y:122.19, Z:1.01 [[-8.08003414e-01 -5.89164305e-01 3.98803953e-03 1.81543451e+02] [ 5.89157247e-01 -8.08013255e-01 -2.88406743e-03 1.22187437e+02] [ 4.92157839e-03 1.92460599e-05 9.99987889e-01 1.01351704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26028169299997 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:181.55, Y:122.19, Z:1.01 [[-8.07545936e-01 -5.89791190e-01 3.98916343e-03 1.81546419e+02] [ 5.89784146e-01 -8.07555789e-01 -2.88251204e-03 1.22185504e+02] [ 4.92155223e-03 2.49844653e-05 9.99987889e-01 1.01212579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.29028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.55, Y:122.18, Z:1.01 [[-8.05659978e-01 -5.92364818e-01 3.99028050e-03 1.81549924e+02] [ 5.92357814e-01 -8.05669858e-01 -2.88096486e-03 1.22181633e+02] [ 4.92143094e-03 4.25957493e-05 9.99987889e-01 1.01325017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.32028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.56, Y:122.17, Z:1.02 [[-8.04695631e-01 -5.93674162e-01 3.99139565e-03 1.81559327e+02] [ 5.93667181e-01 -8.04705528e-01 -2.87941905e-03 1.22171489e+02] [ 4.92133484e-03 5.25046745e-05 9.99987889e-01 1.01549117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.35028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:181.58, Y:122.15, Z:1.02 [[-8.02404370e-01 -5.96767365e-01 3.99250460e-03 1.81577770e+02] [ 5.96760430e-01 -8.02414299e-01 -2.87788059e-03 1.22151962e+02] [ 4.92106800e-03 7.33447998e-05 9.99987889e-01 1.01771511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.380281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:181.57, Y:122.16, Z:1.02 [[-8.01563405e-01 -5.97896445e-01 3.99359888e-03 1.81569943e+02] [ 5.97889532e-01 -8.01573349e-01 -2.87636128e-03 1.22155679e+02] [ 4.92092861e-03 8.21450232e-05 9.99987889e-01 1.01621531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.41028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:181.56, Y:122.16, Z:1.01 [[-8.00137865e-01 -5.99802834e-01 3.99468737e-03 1.81558474e+02] [ 5.99795952e-01 -8.00147831e-01 -2.87484879e-03 1.22157721e+02] [ 4.92068288e-03 9.57219443e-05 9.99987889e-01 1.01124205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.440281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.58, Y:122.14, Z:1.01 [[-8.00157075e-01 -5.99777199e-01 3.99578484e-03 1.81576341e+02] [ 5.99770325e-01 -8.00167046e-01 -2.87332259e-03 1.22140232e+02] [ 4.92064873e-03 9.74437692e-05 9.99987889e-01 1.01025050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.47028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.58, Y:122.14, Z:1.01 [[-8.00383547e-01 -5.99474939e-01 3.99687811e-03 1.81578412e+02] [ 5.99468068e-01 -8.00393521e-01 -2.87180102e-03 1.22138835e+02] [ 4.92064808e-03 9.74585120e-05 9.99987889e-01 1.01023811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.500281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:181.57, Y:122.14, Z:1.01 [[-8.02016026e-01 -5.97289134e-01 3.99796219e-03 1.81566378e+02] [ 5.97282244e-01 -8.02025986e-01 -2.87029102e-03 1.22139507e+02] [ 4.92086321e-03 8.58924326e-05 9.99987889e-01 1.01418302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.53028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:181.56, Y:122.14, Z:1.02 [[-8.03513562e-01 -5.95273016e-01 3.99905035e-03 1.81558811e+02] [ 5.95266108e-01 -8.03523510e-01 -2.86877413e-03 1.22142738e+02] [ 4.92103480e-03 7.54002174e-05 9.99987889e-01 1.01640125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.560281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:181.57, Y:122.14, Z:1.02 [[-8.05127930e-01 -5.93087696e-01 4.00014750e-03 1.81565611e+02] [ 5.93080768e-01 -8.05137865e-01 -2.86724348e-03 1.22136699e+02] [ 4.92119704e-03 6.39127477e-05 9.99987889e-01 1.01749350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.59028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:181.55, Y:122.15, Z:1.02 [[-8.08779353e-01 -5.88098587e-01 4.00124570e-03 1.81551418e+02] [ 5.88091606e-01 -8.08789250e-01 -2.86571011e-03 1.22145408e+02] [ 4.92148458e-03 3.53718430e-05 9.99987889e-01 1.01799775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.620281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:181.55, Y:122.15, Z:1.02 [[-8.10559363e-01 -5.85642809e-01 4.00234809e-03 1.81546343e+02] [ 5.85635806e-01 -8.10569244e-01 -2.86416966e-03 1.22149539e+02] [ 4.92156063e-03 2.23388134e-05 9.99987889e-01 1.01881041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.65028169299995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:181.54, Y:122.15, Z:1.02 [[-8.12522492e-01 -5.82916093e-01 4.00346140e-03 1.81542914e+02] [ 5.82909064e-01 -8.12532355e-01 -2.86261265e-03 1.22154167e+02] [ 4.92160490e-03 7.71677440e-06 9.99987889e-01 1.02042042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.680281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:181.56, Y:122.15, Z:1.02 [[-8.12923190e-01 -5.82357151e-01 4.00458110e-03 1.81555053e+02] [ 5.82350123e-01 -8.12933053e-01 -2.86104541e-03 1.22146515e+02] [ 4.92160660e-03 6.25813392e-06 9.99987889e-01 1.01924763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.71028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:181.56, Y:122.14, Z:1.01 [[-8.12372086e-01 -5.83125670e-01 4.00569887e-03 1.81559641e+02] [ 5.83118660e-01 -8.12381962e-01 -2.85947959e-03 1.22143828e+02] [ 4.92159346e-03 1.28363522e-05 9.99987889e-01 1.01267139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.740281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:181.56, Y:122.15, Z:1.01 [[-8.11804855e-01 -5.83915081e-01 4.00680981e-03 1.81557796e+02] [ 5.83908088e-01 -8.11814743e-01 -2.85792206e-03 1.22146058e+02] [ 4.92157107e-03 1.95336474e-05 9.99987889e-01 1.01057949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.77028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:181.55, Y:122.15, Z:1.01 [[-8.10296788e-01 -5.86006017e-01 4.00792106e-03 1.81550644e+02] [ 5.85999056e-01 -8.10306700e-01 -2.85636279e-03 1.22153455e+02] [ 4.92149107e-03 3.41363673e-05 9.99987889e-01 1.00956961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.800281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:181.56, Y:122.15, Z:1.01 [[-8.09662581e-01 -5.86881957e-01 4.00903909e-03 1.81557976e+02] [ 5.86875016e-01 -8.09672506e-01 -2.85479273e-03 1.22149051e+02] [ 4.92143507e-03 4.13860223e-05 9.99987889e-01 1.01051126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.83028169299996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:181.58, Y:122.13, Z:1.01 [[-8.07913370e-01 -5.89287625e-01 4.01015953e-03 1.81580924e+02] [ 5.89280721e-01 -8.07923320e-01 -2.85321796e-03 1.22133153e+02] [ 4.92126744e-03 5.79567553e-05 9.99987889e-01 1.01368212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86028169299993 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:181.59, Y:122.12, Z:1.01 [[-8.06838420e-01 -5.90758558e-01 4.01126598e-03 1.81591895e+02] [ 5.90751679e-01 -8.06848388e-01 -2.85166159e-03 1.22123829e+02] [ 4.92112698e-03 6.88319804e-05 9.99987889e-01 1.01356676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.89028169299996 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:181.58, Y:122.12, Z:1.01 [[-8.03864126e-01 -5.94799436e-01 4.01235694e-03 1.81584870e+02] [ 5.94792615e-01 -8.03874134e-01 -2.85012575e-03 1.22123156e+02] [ 4.92068315e-03 9.54064339e-05 9.99987889e-01 1.00969456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.92028169299994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:181.60, Y:122.11, Z:1.00 [[-8.02637208e-01 -5.96454026e-01 4.01344569e-03 1.81597192e+02] [ 5.96447233e-01 -8.02647235e-01 -2.84859178e-03 1.22112139e+02] [ 4.92043512e-03 1.07422825e-04 9.99987889e-01 1.00489395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.95028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:181.60, Y:122.11, Z:1.01 [[-8.01017471e-01 -5.98627509e-01 4.01453152e-03 1.81596853e+02] [ 5.98620751e-01 -8.01027522e-01 -2.84706070e-03 1.22107948e+02] [ 4.92007909e-03 1.22636504e-04 9.99987889e-01 1.01037915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.61, Y:122.10, Z:1.01 [[-8.00700591e-01 -5.99051282e-01 4.01561122e-03 1.81608712e+02] [ 5.99044537e-01 -8.00710651e-01 -2.84553703e-03 1.22096099e+02] [ 4.91996528e-03 1.27106777e-04 9.99987889e-01 1.01355248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.01028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:181.61, Y:122.09, Z:1.01 [[-8.00295216e-01 -5.99592723e-01 4.01668538e-03 1.81611084e+02] [ 5.99585993e-01 -8.00305285e-01 -2.84401996e-03 1.22086996e+02] [ 4.91982821e-03 1.32292725e-04 9.99987889e-01 1.01372812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04028169299994 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:181.61, Y:122.08, Z:1.01 [[-8.00456887e-01 -5.99376868e-01 4.01775164e-03 1.81612173e+02] [ 5.99370143e-01 -8.00466959e-01 -2.84251286e-03 1.22083792e+02] [ 4.91981389e-03 1.32811382e-04 9.99987889e-01 1.01332238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.07028169299997 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:181.53, Y:122.14, Z:1.01 [[-8.00789042e-01 -5.98933017e-01 4.01881543e-03 1.81533026e+02] [ 5.98926293e-01 -8.00799116e-01 -2.84100805e-03 1.22135064e+02] [ 4.91983736e-03 1.31926110e-04 9.99987889e-01 1.01330180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:181.54, Y:122.13, Z:1.01 [[-8.00684328e-01 -5.99072985e-01 4.02058080e-03 1.81541015e+02] [ 5.99066276e-01 -8.00694411e-01 -2.83850893e-03 1.22126203e+02] [ 4.91973059e-03 1.35844745e-04 9.99987889e-01 1.01488334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.130281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:181.49, Y:122.16, Z:1.01 [[-7.99985806e-01 -6.00005450e-01 4.02113546e-03 1.81486781e+02] [ 5.99998757e-01 -7.99995900e-01 -2.83772355e-03 1.22156879e+02] [ 4.91954148e-03 1.42537709e-04 9.99987889e-01 1.01293072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:181.59, Y:122.08, Z:1.01 [[-7.99145895e-01 -6.01123667e-01 4.02182010e-03 1.81592091e+02] [ 6.01116992e-01 -7.99156001e-01 -2.83675335e-03 1.22078679e+02] [ 4.91930125e-03 1.50604606e-04 9.99987889e-01 1.01099684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.190281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.60, Y:122.06, Z:1.01 [[-7.98767134e-01 -6.01626882e-01 4.02012285e-03 1.81604388e+02] [ 6.01620201e-01 -7.98777236e-01 -2.83915659e-03 1.22063535e+02] [ 4.91929554e-03 1.50762144e-04 9.99987889e-01 1.01000400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:181.60, Y:122.06, Z:1.01 [[-7.99075775e-01 -6.01216879e-01 4.02119267e-03 1.81601576e+02] [ 6.01210202e-01 -7.99085879e-01 -2.83764055e-03 1.22062281e+02] [ 4.91931568e-03 1.50092236e-04 9.99987889e-01 1.01201625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.250281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:181.60, Y:122.06, Z:1.02 [[-8.00649369e-01 -5.99119695e-01 4.02225723e-03 1.81597919e+02] [ 5.99112998e-01 -8.00659461e-01 -2.83613077e-03 1.22059396e+02] [ 4.91964011e-03 1.39040279e-04 9.99987889e-01 1.01770616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.60, Y:122.06, Z:1.02 [[-8.02372396e-01 -5.96810147e-01 4.02332435e-03 1.81597385e+02] [ 5.96803428e-01 -8.02382473e-01 -2.83461615e-03 1.22057567e+02] [ 4.91997262e-03 1.26716014e-04 9.99987889e-01 1.01846258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.310281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:181.58, Y:122.07, Z:1.01 [[-8.05626573e-01 -5.92410017e-01 4.02439317e-03 1.81581988e+02] [ 5.92403252e-01 -8.05636618e-01 -2.83309790e-03 1.22065466e+02] [ 4.92055408e-03 1.01644645e-04 9.99987889e-01 1.01465029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.58, Y:122.07, Z:1.01 [[-8.06995510e-01 -5.90543853e-01 4.02546952e-03 1.81579157e+02] [ 5.90537071e-01 -8.07005545e-01 -2.83156772e-03 1.22066474e+02] [ 4.92074113e-03 9.21265480e-05 9.99987889e-01 1.01200668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.370281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:181.57, Y:122.07, Z:1.01 [[-8.08880257e-01 -5.87959622e-01 4.02655514e-03 1.81569506e+02] [ 5.87952817e-01 -8.08890275e-01 -2.83002310e-03 1.22071005e+02] [ 4.92098061e-03 7.82746231e-05 9.99987889e-01 1.00758643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:181.57, Y:122.07, Z:1.01 [[-8.09735387e-01 -5.86781374e-01 4.02764780e-03 1.81567843e+02] [ 5.86774562e-01 -8.09745400e-01 -2.82846719e-03 1.22070948e+02] [ 4.92106114e-03 7.30112989e-05 9.99987889e-01 1.00677956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.430281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:181.56, Y:122.07, Z:1.01 [[-8.10470374e-01 -5.85765775e-01 4.02874668e-03 1.81560885e+02] [ 5.85758957e-01 -8.10480384e-01 -2.82690113e-03 1.22073918e+02] [ 4.92112208e-03 6.87548394e-05 9.99987889e-01 1.00941332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:181.56, Y:122.07, Z:1.01 [[-8.10476643e-01 -5.85757093e-01 4.02985034e-03 1.81564961e+02] [ 5.85750283e-01 -8.10486658e-01 -2.82532694e-03 1.22069914e+02] [ 4.92109523e-03 7.06244811e-05 9.99987889e-01 1.01126775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.490281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:181.57, Y:122.07, Z:1.01 [[-8.09395675e-01 -5.87249855e-01 4.03095620e-03 1.81565535e+02] [ 5.87243072e-01 -8.09405709e-01 -2.82374830e-03 1.22067551e+02] [ 4.92092474e-03 8.16214349e-05 9.99987889e-01 1.01233865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:181.57, Y:122.06, Z:1.01 [[-8.09311353e-01 -5.87366050e-01 4.03206069e-03 1.81571118e+02] [ 5.87359276e-01 -8.09321392e-01 -2.82217031e-03 1.22062933e+02] [ 4.92088000e-03 8.42537749e-05 9.99987889e-01 1.01070168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.550281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:181.57, Y:122.06, Z:1.01 [[-8.10515554e-01 -5.85703227e-01 4.03316288e-03 1.81571271e+02] [ 5.85696441e-01 -8.10525585e-01 -2.82059429e-03 1.22062472e+02] [ 4.92101288e-03 7.60735952e-05 9.99987889e-01 1.00757092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:181.57, Y:122.06, Z:1.01 [[-8.11795070e-01 -5.83928496e-01 4.03426332e-03 1.81574251e+02] [ 5.83921696e-01 -8.11805091e-01 -2.81901946e-03 1.22059969e+02] [ 4.92114130e-03 6.72277801e-05 9.99987889e-01 1.00617835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.61028169299993 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:181.56, Y:122.07, Z:1.00 [[-8.14158054e-01 -5.80629296e-01 4.03536353e-03 1.81562299e+02] [ 5.80622462e-01 -8.14168053e-01 -2.81744366e-03 1.22065762e+02] [ 4.92135439e-03 4.91782611e-05 9.99987889e-01 1.00431709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:181.57, Y:122.06, Z:1.00 [[-8.15100018e-01 -5.79306195e-01 4.03646892e-03 1.81572790e+02] [ 5.79299352e-01 -8.15110012e-01 -2.81585910e-03 1.22057604e+02] [ 4.92141085e-03 4.31170260e-05 9.99987889e-01 1.00482749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.67028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:181.58, Y:122.05, Z:1.01 [[-8.16360084e-01 -5.77529143e-01 4.03757577e-03 1.81577296e+02] [ 5.77522287e-01 -8.16370068e-01 -2.81427114e-03 1.22054774e+02] [ 4.92147960e-03 3.43313700e-05 9.99987889e-01 1.00793683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:181.57, Y:122.06, Z:1.01 [[-8.17280878e-01 -5.76225353e-01 4.03853767e-03 1.81572748e+02] [ 5.76218488e-01 -8.17290855e-01 -2.81289010e-03 1.22058398e+02] [ 4.92151850e-03 2.81587828e-05 9.99987889e-01 1.01102926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.73028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:181.58, Y:122.05, Z:1.01 [[-8.18003602e-01 -5.75198912e-01 4.03963959e-03 1.81584660e+02] [ 5.75192042e-01 -8.18013577e-01 -2.81130672e-03 1.22050307e+02] [ 4.92154060e-03 2.39095192e-05 9.99987889e-01 1.01307611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:181.60, Y:122.04, Z:1.01 [[-8.18990033e-01 -5.73793516e-01 4.04073921e-03 1.81596928e+02] [ 5.73786637e-01 -8.19000001e-01 -2.80972534e-03 1.22039281e+02] [ 4.92156759e-03 1.73851164e-05 9.99987889e-01 1.01399598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.79028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:181.59, Y:122.04, Z:1.01 [[-8.19333485e-01 -5.73302977e-01 4.04182767e-03 1.81593876e+02] [ 5.73296100e-01 -8.19343454e-01 -2.80815869e-03 1.22040842e+02] [ 4.92157079e-03 1.63455897e-05 9.99987889e-01 1.01188939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.82028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.59, Y:122.04, Z:1.01 [[-8.19048018e-01 -5.73710728e-01 4.04291225e-03 1.81593957e+02] [ 5.73703864e-01 -8.19057995e-01 -2.80659636e-03 1.22040529e+02] [ 4.92155404e-03 2.06971952e-05 9.99987889e-01 1.00912393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.85028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.59, Y:122.04, Z:1.01 [[-8.18614979e-01 -5.74328444e-01 4.04399987e-03 1.81590887e+02] [ 5.74321595e-01 -8.18624968e-01 -2.80502834e-03 1.22041481e+02] [ 4.92152682e-03 2.63182336e-05 9.99987889e-01 1.00958684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.880281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.60, Y:122.04, Z:1.01 [[-8.18622053e-01 -5.74318354e-01 4.04508963e-03 1.81595074e+02] [ 5.74311513e-01 -8.18632046e-01 -2.80345593e-03 1.22037240e+02] [ 4.92151620e-03 2.81706959e-05 9.99987889e-01 1.01027137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.91028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:181.60, Y:122.04, Z:1.01 [[-8.18532526e-01 -5.74445935e-01 4.04618006e-03 1.81596971e+02] [ 5.74439103e-01 -8.18542526e-01 -2.80188124e-03 1.22035361e+02] [ 4.92149974e-03 3.08531171e-05 9.99987889e-01 1.01244542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.940281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.61, Y:122.02, Z:1.02 [[-8.17695710e-01 -5.75636470e-01 4.04726824e-03 1.81610493e+02] [ 5.75629660e-01 -8.17705725e-01 -2.80030851e-03 1.22024855e+02] [ 4.92143411e-03 3.99273806e-05 9.99987889e-01 1.01628901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.97028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:181.60, Y:122.03, Z:1.01 [[-8.17033778e-01 -5.76575602e-01 4.04726824e-03 1.81597171e+02] [ 5.76568804e-01 -8.17043801e-01 -2.80030851e-03 1.22029680e+02] [ 4.92138499e-03 4.55819590e-05 9.99987889e-01 1.01408148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.000281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.59, Y:122.03, Z:1.01 [[-8.17096099e-01 -5.76487274e-01 4.04834868e-03 1.81591457e+02] [ 5.76480482e-01 -8.17106126e-01 -2.79874566e-03 1.22031827e+02] [ 4.92137176e-03 4.69498400e-05 9.99987889e-01 1.01196114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.03028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.60, Y:122.02, Z:1.01 [[-8.18600484e-01 -5.74349066e-01 4.04943857e-03 1.81603761e+02] [ 5.74342255e-01 -8.18610499e-01 -2.79716784e-03 1.22023425e+02] [ 4.92146366e-03 3.60007285e-05 9.99987889e-01 1.01154074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.060281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.60, Y:122.02, Z:1.01 [[-8.20254627e-01 -5.71984222e-01 4.04930314e-03 1.81603335e+02] [ 5.71977382e-01 -8.20264621e-01 -2.79736388e-03 1.22024810e+02] [ 4.92154811e-03 2.15591411e-05 9.99987889e-01 1.01290739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.09028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.61, Y:122.02, Z:1.01 [[-8.21945722e-01 -5.69551424e-01 4.05038481e-03 1.81613896e+02] [ 5.69544562e-01 -8.21955702e-01 -2.79579682e-03 1.22018360e+02] [ 4.92158695e-03 8.88140115e-06 9.99987889e-01 1.01299726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.120281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:181.63, Y:122.01, Z:1.01 [[-8.24514227e-01 -5.65826719e-01 4.05146298e-03 1.81629930e+02] [ 5.65819820e-01 -8.24524180e-01 -2.79423354e-03 1.22011401e+02] [ 4.92158119e-03 -1.14872525e-05 9.99987889e-01 1.00967582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.15028169299995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:181.61, Y:122.03, Z:1.01 [[-8.26270189e-01 -5.63259409e-01 4.05132998e-03 1.81614666e+02] [ 5.63252478e-01 -8.26280121e-01 -2.79442636e-03 1.22027215e+02] [ 4.92152037e-03 -2.70295444e-05 9.99987889e-01 1.00788106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.180281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:181.63, Y:122.02, Z:1.01 [[-8.26432780e-01 -5.63020816e-01 4.05239939e-03 1.81627386e+02] [ 5.63013889e-01 -8.26442715e-01 -2.79287467e-03 1.22019244e+02] [ 4.92152253e-03 -2.65660352e-05 9.99987889e-01 1.00756253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.21028169299996 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:181.60, Y:122.04, Z:1.01 [[-8.24820158e-01 -5.65380648e-01 4.05347249e-03 1.81603748e+02] [ 5.65373757e-01 -8.24830118e-01 -2.79131635e-03 1.22035455e+02] [ 4.92158244e-03 -1.06070250e-05 9.99987889e-01 1.00671329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.240281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:181.62, Y:122.03, Z:1.01 [[-8.23805018e-01 -5.66858759e-01 4.05455254e-03 1.81617094e+02] [ 5.66851894e-01 -8.23814996e-01 -2.78974662e-03 1.22027256e+02] [ 4.92159350e-03 1.23523578e-07 9.99987889e-01 1.00533954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.27028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:181.61, Y:122.03, Z:1.01 [[-8.22707113e-01 -5.68451016e-01 4.05563929e-03 1.81609074e+02] [ 5.68444178e-01 -8.22717110e-01 -2.78816585e-03 1.22034778e+02] [ 4.92157955e-03 1.15606669e-05 9.99987889e-01 1.00553291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.300281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:181.62, Y:122.03, Z:1.01 [[-8.22888408e-01 -5.68188535e-01 4.05672542e-03 1.81623316e+02] [ 5.68181701e-01 -8.22898408e-01 -2.78658466e-03 1.22025502e+02] [ 4.92157834e-03 1.19089408e-05 9.99987889e-01 1.00600580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.33028169299996 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:181.63, Y:122.02, Z:1.01 [[-8.24058884e-01 -5.66489620e-01 4.05781057e-03 1.81626383e+02] [ 5.66482774e-01 -8.24068875e-01 -2.78500358e-03 1.22024559e+02] [ 4.92159101e-03 3.67284533e-06 9.99987889e-01 1.00897559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36028169299993 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:181.63, Y:122.02, Z:1.01 [[-8.24278321e-01 -5.66170271e-01 4.05888908e-03 1.81628506e+02] [ 5.66163429e-01 -8.24288314e-01 -2.78343086e-03 1.22023192e+02] [ 4.92159064e-03 3.67284502e-06 9.99987889e-01 1.00896321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.39028169299996 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:181.64, Y:122.02, Z:1.01 [[-8.25384245e-01 -5.64556786e-01 4.05996698e-03 1.81640107e+02] [ 5.64549932e-01 -8.25394230e-01 -2.78185772e-03 1.22017396e+02] [ 4.92158997e-03 -4.04744676e-06 9.99987889e-01 1.00810194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42028169299994 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:181.64, Y:122.02, Z:1.01 [[-8.28000546e-01 -5.60712585e-01 4.06103977e-03 1.81640460e+02] [ 5.60705693e-01 -8.28010505e-01 -2.78029074e-03 1.22021445e+02] [ 4.92152760e-03 -2.50341278e-05 9.99987889e-01 1.00784804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.45028169299997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:181.66, Y:122.01, Z:1.01 [[-8.28978803e-01 -5.59265271e-01 4.06210999e-03 1.81662021e+02] [ 5.59258368e-01 -8.28988755e-01 -2.77872623e-03 1.22008644e+02] [ 4.92148858e-03 -3.17361342e-05 9.99987889e-01 1.00963253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:181.66, Y:122.01, Z:1.01 [[-8.30378312e-01 -5.57185211e-01 4.06197773e-03 1.81664271e+02] [ 5.57178283e-01 -8.30388246e-01 -2.77891955e-03 1.22011549e+02] [ 4.92139144e-03 -4.43087457e-05 9.99987889e-01 1.00888593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.51028169299997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:181.66, Y:122.02, Z:1.01 [[-8.31194424e-01 -5.55967015e-01 4.06303002e-03 1.81658848e+02] [ 5.55960080e-01 -8.31204353e-01 -2.77738016e-03 1.22018132e+02] [ 4.92134000e-03 -4.96604144e-05 9.99987889e-01 1.00694152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54028169299994 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:181.68, Y:122.01, Z:1.01 [[-8.32877031e-01 -5.53443163e-01 4.06408675e-03 1.81679441e+02] [ 5.53436205e-01 -8.32886944e-01 -2.77583301e-03 1.22010993e+02] [ 4.92119059e-03 -6.27148046e-05 9.99987889e-01 1.00701930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.57028169299997 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:181.68, Y:122.01, Z:1.01 [[-8.34064237e-01 -5.51652358e-01 4.06513977e-03 1.81680432e+02] [ 5.51645386e-01 -8.34074140e-01 -2.77429003e-03 1.22014344e+02] [ 4.92107159e-03 -7.14204980e-05 9.99987889e-01 1.00778717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60028169299994 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:181.69, Y:122.01, Z:1.01 [[-8.37156265e-01 -5.46948677e-01 4.06618651e-03 1.81693669e+02] [ 5.46941657e-01 -8.37166134e-01 -2.77275500e-03 1.22014153e+02] [ 4.92062832e-03 -9.72624306e-05 9.99987889e-01 1.01413769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.630281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:181.70, Y:122.02, Z:1.02 [[-8.40410380e-01 -5.41935282e-01 4.06723080e-03 1.81704281e+02] [ 5.41928211e-01 -8.40420213e-01 -2.77122234e-03 1.22018484e+02] [ 4.92000613e-03 -1.24816913e-04 9.99987889e-01 1.01730237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66028169299994 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:181.73, Y:122.00, Z:1.02 [[-8.41795012e-01 -5.39781999e-01 4.06827008e-03 1.81732976e+02] [ 5.39774910e-01 -8.41804832e-01 -2.76969579e-03 1.22004511e+02] [ 4.91972134e-03 -1.35565984e-04 9.99987889e-01 1.01703106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.690281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:181.73, Y:122.01, Z:1.02 [[-8.42976703e-01 -5.37934683e-01 4.06865424e-03 1.81734758e+02] [ 5.37927576e-01 -8.42986510e-01 -2.76913134e-03 1.22009096e+02] [ 4.91943243e-03 -1.45671896e-04 9.99987889e-01 1.01600972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72028169299995 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:181.72, Y:122.03, Z:1.01 [[-8.44159063e-01 -5.36077339e-01 4.06967122e-03 1.81720750e+02] [ 5.36070217e-01 -8.44168859e-01 -2.76763593e-03 1.22028554e+02] [ 4.91915661e-03 -1.54695413e-04 9.99987889e-01 1.01253756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.750281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:181.74, Y:122.02, Z:1.01 [[-8.44202016e-01 -5.36009688e-01 4.07069813e-03 1.81739444e+02] [ 5.36002573e-01 -8.44211816e-01 -2.76612471e-03 1.22020885e+02] [ 4.91920110e-03 -1.53263386e-04 9.99987889e-01 1.01102138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:181.73, Y:122.03, Z:1.01 [[-8.43211471e-01 -5.37566588e-01 4.07172745e-03 1.81734210e+02] [ 5.37559498e-01 -8.43221290e-01 -2.76460872e-03 1.22034687e+02] [ 4.91952855e-03 -1.42354021e-04 9.99987889e-01 1.00561302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.810281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:181.74, Y:122.04, Z:1.00 [[-8.42158233e-01 -5.39215099e-01 4.07275505e-03 1.81735344e+02] [ 5.39208035e-01 -8.42168071e-01 -2.76309405e-03 1.22043312e+02] [ 4.91984630e-03 -1.30900158e-04 9.99987889e-01 1.00325323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84028169299995 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:181.74, Y:122.04, Z:1.00 [[-8.41622850e-01 -5.40050352e-01 4.07378977e-03 1.81742274e+02] [ 5.40043305e-01 -8.41632700e-01 -2.76156766e-03 1.22042993e+02] [ 4.92002027e-03 -1.24175558e-04 9.99987889e-01 1.00432113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.870281693 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:181.72, Y:122.06, Z:1.01 [[-8.40984469e-01 -5.41043916e-01 4.07482509e-03 1.81724833e+02] [ 5.41036888e-01 -8.40994333e-01 -2.76003915e-03 1.22059326e+02] [ 4.92020720e-03 -1.16519376e-04 9.99987889e-01 1.00710021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:181.75, Y:122.05, Z:1.01 [[-8.39588275e-01 -5.43207986e-01 4.07586833e-03 1.81748473e+02] [ 5.43200991e-01 -8.39598162e-01 -2.75849769e-03 1.22051902e+02] [ 4.92052953e-03 -1.01986603e-04 9.99987889e-01 1.01172754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.930281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:181.74, Y:122.06, Z:1.01 [[-8.39093135e-01 -5.43972508e-01 4.07691253e-03 1.81738224e+02] [ 5.43965530e-01 -8.39103034e-01 -2.75695356e-03 1.22062122e+02] [ 4.92065661e-03 -9.56409193e-05 9.99987889e-01 1.01148733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96028169299996 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:181.72, Y:122.08, Z:1.01 [[-8.38031481e-01 -5.45606641e-01 4.07795460e-03 1.81721810e+02] [ 5.45599690e-01 -8.38041399e-01 -2.75541131e-03 1.22078891e+02] [ 4.92086549e-03 -8.41906533e-05 9.99987889e-01 1.01040002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.990281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:181.72, Y:122.09, Z:1.01 [[-8.37491120e-01 -5.46435710e-01 4.07901223e-03 1.81715452e+02] [ 5.46428776e-01 -8.37501050e-01 -2.75384475e-03 1.22085483e+02] [ 4.92097613e-03 -7.74308662e-05 9.99987889e-01 1.00862037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02028169299996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:181.74, Y:122.08, Z:1.00 [[-8.35707808e-01 -5.49159188e-01 4.08008371e-03 1.81735957e+02] [ 5.49152294e-01 -8.35717765e-01 -2.75225632e-03 1.22076526e+02] [ 4.92122529e-03 -5.94947680e-05 9.99987889e-01 1.00464427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.050281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:181.71, Y:122.09, Z:1.00 [[-8.35093254e-01 -5.50093266e-01 4.08115151e-03 1.81713169e+02] [ 5.50086391e-01 -8.35103225e-01 -2.75067205e-03 1.22094486e+02] [ 4.92130895e-03 -5.20817660e-05 9.99987889e-01 1.00306358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:181.73, Y:122.09, Z:1.00 [[-8.35176508e-01 -5.49966849e-01 4.08222338e-03 1.81731288e+02] [ 5.49959981e-01 -8.35186484e-01 -2.74908037e-03 1.22087933e+02] [ 4.92132086e-03 -5.09078519e-05 9.99987889e-01 1.00444659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.11028169299993 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:181.72, Y:122.10, Z:1.01 [[-8.35714878e-01 -5.49148405e-01 4.08330065e-03 1.81719293e+02] [ 5.49141534e-01 -8.35724851e-01 -2.74747933e-03 1.22099503e+02] [ 4.92128972e-03 -5.37993693e-05 9.99987889e-01 1.00674480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14028169299996 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:181.72, Y:122.10, Z:1.01 [[-8.36153077e-01 -5.48480947e-01 4.08437857e-03 1.81721153e+02] [ 5.48474076e-01 -8.36163051e-01 -2.74587597e-03 1.22103845e+02] [ 4.92126710e-03 -5.57968771e-05 9.99987889e-01 1.01139894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.17028169299994 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:181.73, Y:122.10, Z:1.01 [[-8.35759973e-01 -5.49079755e-01 4.08546475e-03 1.81729666e+02] [ 5.49072899e-01 -8.35769957e-01 -2.74425895e-03 1.22101378e+02] [ 4.92132573e-03 -5.03238070e-05 9.99987889e-01 1.01144187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20028169299997 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:181.75, Y:122.10, Z:1.01 [[-8.34055435e-01 -5.51665507e-01 4.08654899e-03 1.81745838e+02] [ 5.51658690e-01 -8.34065446e-01 -2.74264343e-03 1.22096471e+02] [ 4.92147108e-03 -3.31363993e-05 9.99987889e-01 1.01252557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.23028169299994 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:181.74, Y:122.10, Z:1.01 [[-8.33023509e-01 -5.53222491e-01 4.08762501e-03 1.81744152e+02] [ 5.53215701e-01 -8.33033538e-01 -2.74103879e-03 1.22099869e+02] [ 4.92153303e-03 -2.20114196e-05 9.99987889e-01 1.01378762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26028169299997 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:181.77, Y:122.08, Z:1.01 [[-8.30229663e-01 -5.57406485e-01 4.08869712e-03 1.81774183e+02] [ 5.57399753e-01 -8.30239731e-01 -2.73943864e-03 1.22081541e+02] [ 4.92157965e-03 4.67554992e-06 9.99987889e-01 1.01302505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.29028169299994 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:181.77, Y:122.08, Z:1.01 [[-8.28814412e-01 -5.59508663e-01 4.08975797e-03 1.81771570e+02] [ 5.59501965e-01 -8.28824502e-01 -2.73785395e-03 1.22084129e+02] [ 4.92154462e-03 1.90548037e-05 9.99987889e-01 1.01175828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.32028169299997 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:181.78, Y:122.08, Z:1.01 [[-8.26506839e-01 -5.62911814e-01 4.09080763e-03 1.81776334e+02] [ 5.62905165e-01 -8.26516962e-01 -2.73628469e-03 1.22081597e+02] [ 4.92140887e-03 4.11787329e-05 9.99987889e-01 1.00574804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.35028169299994 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:181.78, Y:122.08, Z:1.01 [[-8.26336691e-01 -5.63161548e-01 4.09185790e-03 1.81781957e+02] [ 5.63154910e-01 -8.26346821e-01 -2.73471320e-03 1.22077740e+02] [ 4.92137909e-03 4.45560130e-05 9.99987889e-01 1.00517379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.380281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:181.80, Y:122.06, Z:1.00 [[-8.27625441e-01 -5.61265871e-01 4.09290479e-03 1.81801178e+02] [ 5.61259217e-01 -8.27635561e-01 -2.73314548e-03 1.22064699e+02] [ 4.92145483e-03 3.51598076e-05 9.99987889e-01 1.00393406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.41028169299994 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:181.75, Y:122.10, Z:1.01 [[-8.28850237e-01 -5.59455561e-01 4.09394160e-03 1.81749852e+02] [ 5.59448893e-01 -8.28860347e-01 -2.73159157e-03 1.22098946e+02] [ 4.92150995e-03 2.62707766e-05 9.99987889e-01 1.00831878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.440281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:181.79, Y:122.07, Z:1.01 [[-8.29931307e-01 -5.57850565e-01 4.09559682e-03 1.81794018e+02] [ 5.57843889e-01 -8.29941412e-01 -2.72910888e-03 1.22068368e+02] [ 4.92154034e-03 1.97307562e-05 9.99987889e-01 1.00851609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.47028169299995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:181.72, Y:122.12, Z:1.01 [[-8.30375501e-01 -5.57189150e-01 4.09604880e-03 1.81717353e+02] [ 5.57182470e-01 -8.30385604e-01 -2.72843034e-03 1.22118627e+02] [ 4.92155174e-03 1.66248757e-05 9.99987889e-01 1.00856502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.500281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:181.72, Y:122.11, Z:1.01 [[-8.29847020e-01 -5.57975902e-01 4.10067913e-03 1.81722663e+02] [ 5.57969266e-01 -8.29857151e-01 -2.72147604e-03 1.22110716e+02] [ 4.92149595e-03 2.96441421e-05 9.99987889e-01 1.01093638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.53028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:181.78, Y:122.07, Z:1.01 [[-8.30067905e-01 -5.57647273e-01 4.09776592e-03 1.81780536e+02] [ 5.57640611e-01 -8.30078020e-01 -2.72585352e-03 1.22067707e+02] [ 4.92153020e-03 2.24371679e-05 9.99987889e-01 1.01010627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.560281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:181.77, Y:122.07, Z:1.01 [[-8.30876684e-01 -5.56441503e-01 4.09753130e-03 1.81772965e+02] [ 5.56434824e-01 -8.30886788e-01 -2.72620617e-03 1.22070974e+02] [ 4.92155887e-03 1.48679672e-05 9.99987889e-01 1.01015163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.59028169299995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:181.78, Y:122.06, Z:1.01 [[-8.32261760e-01 -5.54367716e-01 4.09858420e-03 1.81782537e+02] [ 5.54361021e-01 -8.32271852e-01 -2.72462232e-03 1.22063657e+02] [ 4.92157891e-03 4.49635510e-06 9.99987889e-01 1.01018554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.620281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:181.77, Y:122.07, Z:1.01 [[-8.32825206e-01 -5.53520884e-01 4.09963684e-03 1.81768255e+02] [ 5.53514186e-01 -8.32835296e-01 -2.72303752e-03 1.22073677e+02] [ 4.92158040e-03 1.39286138e-06 9.99987889e-01 1.01121594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.65028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:181.78, Y:122.07, Z:1.01 [[-8.34188256e-01 -5.51464539e-01 4.10069329e-03 1.81783259e+02] [ 5.51457824e-01 -8.34198335e-01 -2.72144566e-03 1.22065387e+02] [ 4.92157229e-03 -8.83861247e-06 9.99987889e-01 1.01215817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.680281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:181.78, Y:122.07, Z:1.01 [[-8.35029471e-01 -5.50189930e-01 4.10175108e-03 1.81782030e+02] [ 5.50183207e-01 -8.35039545e-01 -2.71985043e-03 1.22066684e+02] [ 4.92155867e-03 -1.44406991e-05 9.99987889e-01 1.01268671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.71028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:181.78, Y:122.07, Z:1.01 [[-8.35355690e-01 -5.49694495e-01 4.10280434e-03 1.81781557e+02] [ 5.49687775e-01 -8.35365765e-01 -2.71826069e-03 1.22066977e+02] [ 4.92155522e-03 -1.54531477e-05 9.99987889e-01 1.01402683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.740281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:181.78, Y:122.07, Z:1.01 [[-8.34577350e-01 -5.50875489e-01 4.10385965e-03 1.81783894e+02] [ 5.50868791e-01 -8.34587440e-01 -2.71666651e-03 1.22066051e+02] [ 4.92157471e-03 -6.58014012e-06 9.99987889e-01 1.01370699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.77028169299996 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:181.78, Y:122.07, Z:1.01 [[-8.33323396e-01 -5.52770537e-01 4.10491558e-03 1.81782150e+02] [ 5.52763869e-01 -8.33333507e-01 -2.71507005e-03 1.22066825e+02] [ 4.92157442e-03 6.51762187e-06 9.99987889e-01 1.01156011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.800281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:181.80, Y:122.06, Z:1.01 [[-8.32757259e-01 -5.53623056e-01 4.10597232e-03 1.81796680e+02] [ 5.53616407e-01 -8.32767381e-01 -2.71347100e-03 1.22055866e+02] [ 4.92155993e-03 1.34709694e-05 9.99987889e-01 1.01139887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.83028169299996 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:181.79, Y:122.06, Z:1.01 [[-8.32237945e-01 -5.54403404e-01 4.10702418e-03 1.81794842e+02] [ 5.54396772e-01 -8.32248079e-01 -2.71187801e-03 1.22055614e+02] [ 4.92153739e-03 1.99931624e-05 9.99987889e-01 1.01118725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86028169299993 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:181.82, Y:122.04, Z:1.01 [[-8.31003466e-01 -5.56252068e-01 4.10807083e-03 1.81817970e+02] [ 5.56245467e-01 -8.31013619e-01 -2.71029157e-03 1.22039232e+02] [ 4.92146810e-03 3.28340916e-05 9.99987889e-01 1.01038128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.89028169299996 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:181.81, Y:122.04, Z:1.01 [[-8.30648466e-01 -5.56782041e-01 4.10910837e-03 1.81811955e+02] [ 5.56775453e-01 -8.30658629e-01 -2.70871764e-03 1.22043166e+02] [ 4.92143166e-03 3.78585200e-05 9.99987889e-01 1.00810405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92028169299994 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:181.82, Y:122.03, Z:1.01 [[-8.29390112e-01 -5.58654767e-01 4.11013929e-03 1.81823111e+02] [ 5.58648210e-01 -8.29400295e-01 -2.70715243e-03 1.22032709e+02] [ 4.92131435e-03 5.08365036e-05 9.99987889e-01 1.00844331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.95028169299997 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:181.82, Y:122.03, Z:1.01 [[-8.28757049e-01 -5.59593470e-01 4.11116860e-03 1.81824718e+02] [ 5.59586932e-01 -8.28767244e-01 -2.70558839e-03 1.22028096e+02] [ 4.92123147e-03 5.82807766e-05 9.99987889e-01 1.00959815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:181.82, Y:122.02, Z:1.01 [[-8.27115448e-01 -5.62017016e-01 4.11219208e-03 1.81821467e+02] [ 5.62010516e-01 -8.27125666e-01 -2.70403192e-03 1.22024381e+02] [ 4.92101156e-03 7.45486193e-05 9.99987889e-01 1.01348355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.01028169299997 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:181.84, Y:122.01, Z:1.01 [[-8.26292830e-01 -5.63225746e-01 4.11321564e-03 1.81837264e+02] [ 5.63219269e-01 -8.26303063e-01 -2.70247404e-03 1.22011805e+02] [ 4.92086564e-03 8.36073881e-05 9.99987889e-01 1.01333521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:181.84, Y:122.01, Z:1.01 [[-8.25242211e-01 -5.64763991e-01 4.11423310e-03 1.81835514e+02] [ 5.64757541e-01 -8.25252462e-01 -2.70092418e-03 1.22007701e+02] [ 4.92066571e-03 9.46275268e-05 9.99987889e-01 1.00883144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.07028169299997 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:181.84, Y:122.00, Z:1.01 [[-8.25881075e-01 -5.63829331e-01 4.11524419e-03 1.81843824e+02] [ 5.63822877e-01 -8.25891323e-01 -2.69938276e-03 1.22001212e+02] [ 4.92073564e-03 9.08996820e-05 9.99987889e-01 1.00902325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10028169299994 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:181.85, Y:122.00, Z:1.01 [[-8.26928562e-01 -5.62291926e-01 4.11625257e-03 1.81845433e+02] [ 5.62285460e-01 -8.26938802e-01 -2.69784422e-03 1.22000012e+02] [ 4.92086499e-03 8.35845265e-05 9.99987889e-01 1.00921759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.130281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:181.83, Y:122.01, Z:1.01 [[-8.29261680e-01 -5.58845341e-01 4.11725744e-03 1.81825571e+02] [ 5.58838840e-01 -8.29271898e-01 -2.69630978e-03 1.22011392e+02] [ 4.92114605e-03 6.49369943e-05 9.99987889e-01 1.01287336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16028169299994 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:181.82, Y:122.01, Z:1.02 [[-8.30521391e-01 -5.56971506e-01 4.11827109e-03 1.81823622e+02] [ 5.56964990e-01 -8.30531600e-01 -2.69476067e-03 1.22008730e+02] [ 4.92125919e-03 5.56764307e-05 9.99987889e-01 1.01656468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.190281693 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:181.83, Y:122.00, Z:1.02 [[-8.30885513e-01 -5.56428159e-01 4.11929450e-03 1.81828307e+02] [ 5.56421644e-01 -8.30895722e-01 -2.69319534e-03 1.22004764e+02] [ 4.92127390e-03 5.43276201e-05 9.99987889e-01 1.01658978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:181.83, Y:122.01, Z:1.01 [[-8.31475150e-01 -5.55546666e-01 4.12031698e-03 1.81825891e+02] [ 5.55540147e-01 -8.31485358e-01 -2.69163015e-03 1.22006944e+02] [ 4.92130939e-03 5.09779215e-05 9.99987889e-01 1.01260864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.250281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:181.82, Y:122.01, Z:1.01 [[-8.31785408e-01 -5.55082020e-01 4.12133954e-03 1.81818937e+02] [ 5.55075504e-01 -8.31795617e-01 -2.69006352e-03 1.22012224e+02] [ 4.92131806e-03 5.00990419e-05 9.99987889e-01 1.01037836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28028169299995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:181.82, Y:122.01, Z:1.01 [[-8.31998597e-01 -5.54762419e-01 4.12236795e-03 1.81821061e+02] [ 5.54755906e-01 -8.32008808e-01 -2.68848662e-03 1.22010927e+02] [ 4.92131778e-03 5.00908674e-05 9.99987889e-01 1.01036598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.310281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:181.81, Y:122.02, Z:1.01 [[-8.32625293e-01 -5.53821378e-01 4.12340020e-03 1.81814927e+02] [ 5.53814862e-01 -8.32635502e-01 -2.68690249e-03 1.22016682e+02] [ 4.92135344e-03 4.64173438e-05 9.99987889e-01 1.00937353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34028169299995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:181.81, Y:122.02, Z:1.01 [[-8.32996152e-01 -5.53263409e-01 4.12443565e-03 1.81811663e+02] [ 5.53256894e-01 -8.33006362e-01 -2.68531212e-03 1.22019972e+02] [ 4.92136607e-03 4.50177977e-05 9.99987889e-01 1.01133695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.370281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:181.83, Y:122.01, Z:1.01 [[-8.33243801e-01 -5.52890358e-01 4.12547745e-03 1.81828502e+02] [ 5.52883846e-01 -8.33254013e-01 -2.68371063e-03 1.22009831e+02] [ 4.92136837e-03 4.47245924e-05 9.99987889e-01 1.01396647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40028169299995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:181.84, Y:122.00, Z:1.02 [[-8.33370949e-01 -5.52698682e-01 4.12651479e-03 1.81837926e+02] [ 5.52692176e-01 -8.33381164e-01 -2.68211466e-03 1.22002481e+02] [ 4.92136094e-03 4.54959982e-05 9.99987889e-01 1.01762256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.430281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:181.83, Y:122.00, Z:1.02 [[-8.33594369e-01 -5.52361649e-01 4.12754118e-03 1.81834213e+02] [ 5.52355146e-01 -8.33604587e-01 -2.68053420e-03 1.22004581e+02] [ 4.92136155e-03 4.53903961e-05 9.99987889e-01 1.01851601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:181.85, Y:122.00, Z:1.02 [[-8.34884323e-01 -5.50409959e-01 4.12856628e-03 1.81847165e+02] [ 5.50403441e-01 -8.34894530e-01 -2.67895441e-03 1.21998126e+02] [ 4.92144059e-03 3.57600508e-05 9.99987889e-01 1.01652764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.490281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:181.84, Y:122.01, Z:1.02 [[-8.35573036e-01 -5.49363858e-01 4.12958891e-03 1.81839005e+02] [ 5.49357334e-01 -8.35583240e-01 -2.67737710e-03 1.22005508e+02] [ 4.92146949e-03 3.14758408e-05 9.99987889e-01 1.01503852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:181.84, Y:122.01, Z:1.01 [[-8.35744271e-01 -5.49103316e-01 4.13061128e-03 1.81842088e+02] [ 5.49096797e-01 -8.35754478e-01 -2.67579888e-03 1.22005150e+02] [ 4.92146691e-03 3.18218350e-05 9.99987889e-01 1.01362377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.550281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:181.84, Y:122.01, Z:1.01 [[-8.34488532e-01 -5.51009818e-01 4.13163797e-03 1.81835794e+02] [ 5.51003330e-01 -8.34498759e-01 -2.67421265e-03 1.22010559e+02] [ 4.92136418e-03 4.49464982e-05 9.99987889e-01 1.01043705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:181.85, Y:122.00, Z:1.01 [[-8.33552890e-01 -5.52424207e-01 4.13227923e-03 1.81851404e+02] [ 5.52417742e-01 -8.33563130e-01 -2.67322138e-03 1.22000596e+02] [ 4.92126782e-03 5.44729523e-05 9.99987889e-01 1.00838270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.61028169299993 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:181.90, Y:121.97, Z:1.01 [[-8.30320985e-01 -5.57270112e-01 4.13330597e-03 1.81896356e+02] [ 5.57263714e-01 -8.30331268e-01 -2.67163291e-03 1.21971844e+02] [ 4.92083436e-03 8.50285671e-05 9.99987889e-01 1.01046635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.87, Y:121.99, Z:1.01 [[-8.28588953e-01 -5.59842174e-01 4.13368055e-03 1.81872183e+02] [ 5.59835811e-01 -8.28599258e-01 -2.67105322e-03 1.21986719e+02] [ 4.92053287e-03 1.00977210e-04 9.99987889e-01 1.01202324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.67028169299994 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:181.89, Y:121.97, Z:1.01 [[-8.26641474e-01 -5.62713762e-01 4.13467479e-03 1.81888355e+02] [ 5.62707443e-01 -8.26651806e-01 -2.66951329e-03 1.21974749e+02] [ 4.92010824e-03 1.19881872e-04 9.99987889e-01 1.01280655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70028169299997 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:181.90, Y:121.96, Z:1.01 [[-8.22821084e-01 -5.68285456e-01 4.13567345e-03 1.81897123e+02] [ 5.68279214e-01 -8.22831463e-01 -2.66796524e-03 1.21963726e+02] [ 4.91912808e-03 1.54959211e-04 9.99987889e-01 1.01079356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.73028169299994 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:181.91, Y:121.95, Z:1.01 [[-8.21320868e-01 -5.70451506e-01 4.13666127e-03 1.81912942e+02] [ 5.70445299e-01 -8.21331267e-01 -2.66643275e-03 1.21950227e+02] [ 4.91863982e-03 1.69742123e-04 9.99987889e-01 1.00960859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76028169299997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:181.92, Y:121.94, Z:1.01 [[-8.19065666e-01 -5.73684856e-01 4.13763848e-03 1.81921386e+02] [ 5.73678698e-01 -8.19076095e-01 -2.66491550e-03 1.21937116e+02] [ 4.91786244e-03 1.90934264e-04 9.99987889e-01 1.00811397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.79028169299994 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:181.91, Y:121.94, Z:1.01 [[-8.18595949e-01 -5.74354893e-01 4.13860498e-03 1.81913042e+02] [ 5.74348752e-01 -8.18606388e-01 -2.66341368e-03 1.21938747e+02] [ 4.91763316e-03 1.96742950e-04 9.99987889e-01 1.00842838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.82028169299997 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:181.93, Y:121.93, Z:1.01 [[-8.18449945e-01 -5.74562922e-01 4.13957063e-03 1.81925838e+02] [ 5.74556791e-01 -8.18460389e-01 -2.66191199e-03 1.21927522e+02] [ 4.91751052e-03 1.99776692e-04 9.99987889e-01 1.00806179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.85028169299994 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:181.90, Y:121.94, Z:1.01 [[-8.19225342e-01 -5.73456795e-01 4.14053437e-03 1.81903643e+02] [ 5.73450657e-01 -8.19235782e-01 -2.66041207e-03 1.21937175e+02] [ 4.91770529e-03 1.94915168e-04 9.99987889e-01 1.00572198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.880281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:181.91, Y:121.93, Z:1.01 [[-8.20178984e-01 -5.72092023e-01 4.14150153e-03 1.81910032e+02] [ 5.72085875e-01 -8.20189418e-01 -2.65890564e-03 1.21930152e+02] [ 4.91795443e-03 1.88516004e-04 9.99987889e-01 1.00703128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.91028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:181.90, Y:121.93, Z:1.01 [[-8.21026197e-01 -5.70875489e-01 4.14247489e-03 1.81904580e+02] [ 5.70869333e-01 -8.21036627e-01 -2.65738830e-03 1.21926184e+02] [ 4.91816146e-03 1.83026466e-04 9.99987889e-01 1.01238750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.940281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:181.91, Y:121.92, Z:1.01 [[-8.21216978e-01 -5.70601005e-01 4.14332451e-03 1.81911673e+02] [ 5.70594853e-01 -8.21227410e-01 -2.65606295e-03 1.21918499e+02] [ 4.91816384e-03 1.82955651e-04 9.99987889e-01 1.01409174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.97028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:181.91, Y:121.92, Z:1.02 [[-8.21298028e-01 -5.70484333e-01 4.14429482e-03 1.81910963e+02] [ 5.70478187e-01 -8.21308463e-01 -2.65454808e-03 1.21916290e+02] [ 4.91812251e-03 1.84054691e-04 9.99987889e-01 1.01524091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.000281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:181.92, Y:121.91, Z:1.01 [[-8.20709763e-01 -5.71330291e-01 4.14526259e-03 1.81915362e+02] [ 5.71324163e-01 -8.20720210e-01 -2.65303599e-03 1.21908239e+02] [ 4.91786060e-03 1.90916141e-04 9.99987889e-01 1.01171088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.03028169299995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:181.91, Y:121.91, Z:1.01 [[-8.20630420e-01 -5.71444242e-01 4.14622843e-03 1.81909615e+02] [ 5.71438123e-01 -8.20640872e-01 -2.65152569e-03 1.21908580e+02] [ 4.91776360e-03 1.93390353e-04 9.99987889e-01 1.01022518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.060281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:181.91, Y:121.90, Z:1.01 [[-8.20635962e-01 -5.71436277e-01 4.14719448e-03 1.81905984e+02] [ 5.71430166e-01 -8.20646418e-01 -2.65001385e-03 1.21904476e+02] [ 4.91769434e-03 1.95135358e-04 9.99987889e-01 1.01087840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.09028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:181.90, Y:121.91, Z:1.01 [[-8.21166032e-01 -5.70674286e-01 4.14816365e-03 1.81896770e+02] [ 5.70668173e-01 -8.21176487e-01 -2.64849590e-03 1.21907217e+02] [ 4.91780296e-03 1.92370106e-04 9.99987889e-01 1.01099599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.120281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:181.90, Y:121.90, Z:1.01 [[-8.21958714e-01 -5.69531963e-01 4.14913737e-03 1.81902031e+02] [ 5.69525843e-01 -8.21969165e-01 -2.64696958e-03 1.21901240e+02] [ 4.91799677e-03 1.87341244e-04 9.99987889e-01 1.01147665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.15028169299995 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:181.89, Y:121.90, Z:1.01 [[-8.23922753e-01 -5.66686928e-01 4.15011287e-03 1.81892390e+02] [ 5.66680779e-01 -8.23933187e-01 -2.64543924e-03 1.21902621e+02] [ 4.91855156e-03 1.72151618e-04 9.99987889e-01 1.01300247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.180281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:181.88, Y:121.90, Z:1.02 [[-8.25539060e-01 -5.64329716e-01 4.15108984e-03 1.81883047e+02] [ 5.64323545e-01 -8.25549481e-01 -2.64390534e-03 1.21904659e+02] [ 4.91896442e-03 1.59910610e-04 9.99987889e-01 1.01687891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.21028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:181.88, Y:121.90, Z:1.02 [[-8.26073942e-01 -5.63546451e-01 4.15207429e-03 1.81881133e+02] [ 5.63540278e-01 -8.26084362e-01 -2.64235843e-03 1.21902980e+02] [ 4.91905535e-03 1.57077659e-04 9.99987889e-01 1.01951513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.240281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:181.90, Y:121.89, Z:1.02 [[-8.26202048e-01 -5.63358614e-01 4.15306344e-03 1.81902963e+02] [ 5.63352446e-01 -8.26212471e-01 -2.64080284e-03 1.21885302e+02] [ 4.91903183e-03 1.57801728e-04 9.99987889e-01 1.02083311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.27028169299996 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:181.89, Y:121.89, Z:1.02 [[-8.25922391e-01 -5.63768529e-01 4.15343021e-03 1.81885117e+02] [ 5.63762369e-01 -8.25932818e-01 -2.64022585e-03 1.21890313e+02] [ 4.91893057e-03 1.60926009e-04 9.99987889e-01 1.01987239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.300281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:181.90, Y:121.88, Z:1.02 [[-8.26132208e-01 -5.63461015e-01 4.15440917e-03 1.81895228e+02] [ 5.63454860e-01 -8.26142638e-01 -2.63868456e-03 1.21882531e+02] [ 4.91893043e-03 1.60919733e-04 9.99987889e-01 1.01840255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.33028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:181.87, Y:121.89, Z:1.02 [[-8.28010065e-01 -5.60697837e-01 4.15539103e-03 1.81872012e+02] [ 5.60691654e-01 -8.28020479e-01 -2.63713742e-03 1.21894848e+02] [ 4.91938612e-03 1.46316744e-04 9.99987889e-01 1.01650051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36028169299993 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:181.87, Y:121.89, Z:1.01 [[-8.29280014e-01 -5.58817844e-01 4.15637855e-03 1.81870580e+02] [ 5.58811646e-01 -8.29290418e-01 -2.63558009e-03 1.21894145e+02] [ 4.91965409e-03 1.36998846e-04 9.99987889e-01 1.01415337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.39028169299996 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:181.87, Y:121.89, Z:1.01 [[-8.30441922e-01 -5.57089697e-01 4.15737699e-03 1.81872954e+02] [ 5.57083485e-01 -8.30452318e-01 -2.63400419e-03 1.21890922e+02] [ 4.91987996e-03 1.28618559e-04 9.99987889e-01 1.01200727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42028169299994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:181.86, Y:121.90, Z:1.01 [[-8.32063900e-01 -5.54664199e-01 4.15837550e-03 1.81858392e+02] [ 5.54657965e-01 -8.32074283e-01 -2.63242687e-03 1.21897102e+02] [ 4.92019026e-03 1.16128722e-04 9.99987889e-01 1.00877894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.45028169299997 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:181.86, Y:121.90, Z:1.01 [[-8.33123834e-01 -5.53070861e-01 4.15937953e-03 1.81855992e+02] [ 5.53064614e-01 -8.33134210e-01 -2.63083949e-03 1.21895981e+02] [ 4.92036204e-03 1.08590549e-04 9.99987889e-01 1.01010158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:181.85, Y:121.90, Z:1.01 [[-8.35028024e-01 -5.50191685e-01 4.16039115e-03 1.81847821e+02] [ 5.50185411e-01 -8.35038383e-01 -2.62923875e-03 1.21896522e+02] [ 4.92067160e-03 9.34984779e-05 9.99987889e-01 1.01285446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.51028169299997 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:181.84, Y:121.90, Z:1.01 [[-8.36158733e-01 -5.48471747e-01 4.16127900e-03 1.81838498e+02] [ 5.48465459e-01 -8.36169083e-01 -2.62783280e-03 1.21901633e+02] [ 4.92082489e-03 8.50324513e-05 9.99987889e-01 1.01381811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54028169299994 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:181.84, Y:121.90, Z:1.01 [[-8.38089832e-01 -5.45516369e-01 4.16230262e-03 1.81836944e+02] [ 5.45510052e-01 -8.38100165e-01 -2.62621046e-03 1.21899630e+02] [ 4.92106731e-03 6.95776408e-05 9.99987889e-01 1.01107027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.57028169299997 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:181.84, Y:121.90, Z:1.01 [[-8.38757982e-01 -5.44488489e-01 4.16333170e-03 1.81837746e+02] [ 5.44482167e-01 -8.38768312e-01 -2.62457804e-03 1.21897530e+02] [ 4.92112324e-03 6.54740881e-05 9.99987889e-01 1.01174797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:181.84, Y:121.89, Z:1.01 [[-8.38852087e-01 -5.44343490e-01 4.16436137e-03 1.81843996e+02] [ 5.44337175e-01 -8.38862421e-01 -2.62294328e-03 1.21890646e+02] [ 4.92110835e-03 6.65552576e-05 9.99987889e-01 1.01411517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.630281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:181.84, Y:121.89, Z:1.02 [[-8.38974677e-01 -5.44154520e-01 4.16538846e-03 1.81843524e+02] [ 5.44148210e-01 -8.38985014e-01 -2.62131117e-03 1.21888682e+02] [ 4.92109682e-03 6.73749834e-05 9.99987889e-01 1.01730982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:181.84, Y:121.88, Z:1.02 [[-8.39032834e-01 -5.44064835e-01 4.16641300e-03 1.81843916e+02] [ 5.44058532e-01 -8.39043176e-01 -2.61968172e-03 1.21884242e+02] [ 4.92107710e-03 6.87735705e-05 9.99987889e-01 1.01981058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.690281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:181.85, Y:121.87, Z:1.02 [[-8.37816440e-01 -5.45936119e-01 4.16743761e-03 1.81847321e+02] [ 5.45929848e-01 -8.37826800e-01 -2.61805074e-03 1.21873376e+02] [ 4.92087938e-03 8.16826266e-05 9.99987889e-01 1.01762672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72028169299995 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:181.85, Y:121.87, Z:1.02 [[-8.37416383e-01 -5.46549563e-01 4.16845931e-03 1.81847258e+02] [ 5.46543308e-01 -8.37426753e-01 -2.61642297e-03 1.21870897e+02] [ 4.92078418e-03 8.72080840e-05 9.99987889e-01 1.01579821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.750281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:181.83, Y:121.87, Z:1.02 [[-8.36852764e-01 -5.47412155e-01 4.16947849e-03 1.81834261e+02] [ 5.47405918e-01 -8.36863145e-01 -2.61479782e-03 1.21872874e+02] [ 4.92065499e-03 9.41964147e-05 9.99987889e-01 1.01534207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78028169299995 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:181.84, Y:121.86, Z:1.02 [[-8.36668076e-01 -5.47694383e-01 4.17050309e-03 1.81840791e+02] [ 5.47688158e-01 -8.36678465e-01 -2.61316260e-03 1.21863759e+02] [ 4.92058460e-03 9.77854352e-05 9.99987889e-01 1.01732541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.810281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:181.83, Y:121.86, Z:1.02 [[-8.36942985e-01 -5.47274197e-01 4.17050309e-03 1.81834178e+02] [ 5.47267966e-01 -8.36953371e-01 -2.61316260e-03 1.21863108e+02] [ 4.92063308e-03 9.53146427e-05 9.99987889e-01 1.01779773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:181.83, Y:121.86, Z:1.01 [[-8.38015605e-01 -5.45630318e-01 4.17152741e-03 1.81827320e+02] [ 5.45624076e-01 -8.38025983e-01 -2.61152640e-03 1.21860757e+02] [ 4.92077634e-03 8.75859052e-05 9.99987889e-01 1.01334343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.870281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:181.83, Y:121.86, Z:1.01 [[-8.38658588e-01 -5.44641500e-01 4.17255686e-03 1.81831156e+02] [ 5.44635253e-01 -8.38668963e-01 -2.60988056e-03 1.21855444e+02] [ 4.92084320e-03 8.37228151e-05 9.99987889e-01 1.01231679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:181.83, Y:121.85, Z:1.01 [[-8.40375455e-01 -5.41988638e-01 4.17255686e-03 1.81833192e+02] [ 5.41982359e-01 -8.40385811e-01 -2.60988056e-03 1.21847351e+02] [ 4.92108319e-03 6.81726441e-05 9.99987889e-01 1.01320197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.930281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:181.84, Y:121.84, Z:1.02 [[-8.41677840e-01 -5.39963894e-01 4.17230055e-03 1.81838350e+02] [ 5.39957587e-01 -8.41688179e-01 -2.61029026e-03 1.21842170e+02] [ 4.92123854e-03 5.58418727e-05 9.99987889e-01 1.01570868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96028169299996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:181.86, Y:121.83, Z:1.02 [[-8.45514830e-01 -5.33935639e-01 4.17204552e-03 1.81859089e+02] [ 5.33929256e-01 -8.45525123e-01 -2.61069780e-03 1.21829313e+02] [ 4.92151390e-03 2.01934523e-05 9.99987889e-01 1.01855044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.990281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:181.87, Y:121.82, Z:1.02 [[-8.48032144e-01 -5.29928377e-01 4.17104068e-03 1.81868982e+02] [ 5.29921938e-01 -8.48042402e-01 -2.61230222e-03 1.21824438e+02] [ 4.92155243e-03 -4.99029531e-06 9.99987889e-01 1.01912267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02028169299996 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:181.87, Y:121.82, Z:1.02 [[-8.50668031e-01 -5.25686699e-01 4.17079241e-03 1.81872052e+02] [ 5.25680207e-01 -8.50678255e-01 -2.61269856e-03 1.21824327e+02] [ 4.92146329e-03 -3.00361222e-05 9.99987889e-01 1.01958651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.050281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:181.89, Y:121.82, Z:1.02 [[-8.54564866e-01 -5.19327919e-01 4.17165455e-03 1.81886291e+02] [ 5.19321358e-01 -8.54575046e-01 -2.61132126e-03 1.21820329e+02] [ 4.92112391e-03 -6.51140962e-05 9.99987889e-01 1.01981459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08028169299996 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:181.90, Y:121.81, Z:1.02 [[-8.56856747e-01 -5.15537695e-01 4.17140918e-03 1.81904105e+02] [ 5.15531087e-01 -8.56866896e-01 -2.61171316e-03 1.21813007e+02] [ 4.92077902e-03 -8.73729362e-05 9.99987889e-01 1.01618615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.11028169299993 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:181.91, Y:121.81, Z:1.01 [[-8.57602677e-01 -5.14295878e-01 4.17116695e-03 1.81907650e+02] [ 5.14289254e-01 -8.57612815e-01 -2.61209998e-03 1.21811896e+02] [ 4.92063848e-03 -9.49575968e-05 9.99987889e-01 1.01477202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14028169299996 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:181.91, Y:121.81, Z:1.01 [[-8.58128234e-01 -5.13418472e-01 4.17212697e-03 1.81913218e+02] [ 5.13411844e-01 -8.58138371e-01 -2.61056570e-03 1.21809184e+02] [ 4.92057489e-03 -9.81807348e-05 9.99987889e-01 1.01472274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.17028169299994 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:181.92, Y:121.81, Z:1.01 [[-8.58316441e-01 -5.13103764e-01 4.17308474e-03 1.81915406e+02] [ 5.13097140e-01 -8.58326580e-01 -2.60903376e-03 1.21807903e+02] [ 4.92057460e-03 -9.81787236e-05 9.99987889e-01 1.01471036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20028169299997 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:181.91, Y:121.81, Z:1.02 [[-8.57678412e-01 -5.14169544e-01 4.17404090e-03 1.81910941e+02] [ 5.14162940e-01 -8.57688564e-01 -2.60750317e-03 1.21814313e+02] [ 4.92072586e-03 -9.02620380e-05 9.99987889e-01 1.01817348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.23028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.90, Y:121.82, Z:1.02 [[-8.56930057e-01 -5.15415799e-01 4.17499953e-03 1.81899880e+02] [ 5.15409218e-01 -8.56940224e-01 -2.60596734e-03 1.21822256e+02] [ 4.92088178e-03 -8.12985000e-05 9.99987889e-01 1.02032368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:181.91, Y:121.82, Z:1.02 [[-8.54612246e-01 -5.19249912e-01 4.17596641e-03 1.81908354e+02] [ 5.19243383e-01 -8.54622447e-01 -2.60441704e-03 1.21816681e+02] [ 4.92121795e-03 -5.74237748e-05 9.99987889e-01 1.02073043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.29028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:181.89, Y:121.83, Z:1.02 [[-8.53605448e-01 -5.20903350e-01 4.17596641e-03 1.81893450e+02] [ 5.20896841e-01 -8.53615662e-01 -2.60441704e-03 1.21825423e+02] [ 4.92131989e-03 -4.78968678e-05 9.99987889e-01 1.01941240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.32028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:181.90, Y:121.82, Z:1.02 [[-8.52807734e-01 -5.22208313e-01 4.17693818e-03 1.81901862e+02] [ 5.22201827e-01 -8.52817962e-01 -2.60285759e-03 1.21818648e+02] [ 4.92140178e-03 -3.85323304e-05 9.99987889e-01 1.01887848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.35028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.89, Y:121.82, Z:1.02 [[-8.51803871e-01 -5.23844175e-01 4.17681679e-03 1.81885619e+02] [ 5.23837708e-01 -8.51814111e-01 -2.60305237e-03 1.21824663e+02] [ 4.92146530e-03 -2.93159548e-05 9.99987889e-01 1.02081568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.380281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:181.89, Y:121.82, Z:1.02 [[-8.51424845e-01 -5.24459988e-01 4.17779359e-03 1.81890112e+02] [ 5.24453536e-01 -8.51435095e-01 -2.60148369e-03 1.21819728e+02] [ 4.92149419e-03 -2.39092277e-05 9.99987889e-01 1.02335168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.41028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:181.88, Y:121.82, Z:1.03 [[-8.50965505e-01 -5.25204965e-01 4.17779359e-03 1.81881421e+02] [ 5.25198522e-01 -8.50975760e-01 -2.60148369e-03 1.21821296e+02] [ 4.92151323e-03 -1.96018653e-05 9.99987889e-01 1.02598731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.440281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:181.90, Y:121.81, Z:1.03 [[-8.50239224e-01 -5.26379900e-01 4.17877588e-03 1.81897071e+02] [ 5.26373479e-01 -8.50249493e-01 -2.59990488e-03 1.21808754e+02] [ 4.92153975e-03 -1.09443079e-05 9.99987889e-01 1.02504929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.47028169299995 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:181.88, Y:121.82, Z:1.02 [[-8.49455453e-01 -5.27643795e-01 4.17840708e-03 1.81875665e+02] [ 5.27637386e-01 -8.49465730e-01 -2.60049746e-03 1.21815701e+02] [ 4.92154997e-03 -4.32295812e-06 9.99987889e-01 1.01931172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.500281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:181.88, Y:121.81, Z:1.02 [[-8.49281900e-01 -5.27923088e-01 4.17938579e-03 1.81877838e+02] [ 5.27916691e-01 -8.49292184e-01 -2.59892357e-03 1.21811067e+02] [ 4.92155144e-03 -8.51234811e-07 9.99987889e-01 1.01657559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.53028169299995 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:181.88, Y:121.81, Z:1.02 [[-8.49441046e-01 -5.27666982e-01 4.17913934e-03 1.81876500e+02] [ 5.27660580e-01 -8.49451326e-01 -2.59931982e-03 1.21808900e+02] [ 4.92155070e-03 -2.80185914e-06 9.99987889e-01 1.01651472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.560281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:181.88, Y:121.80, Z:1.02 [[-8.50383652e-01 -5.26146536e-01 4.17926185e-03 1.81880279e+02] [ 5.26140117e-01 -8.50393922e-01 -2.59912283e-03 1.21804085e+02] [ 4.92153835e-03 -1.13742518e-05 9.99987889e-01 1.01504563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.59028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:181.88, Y:121.81, Z:1.01 [[-8.51929927e-01 -5.23639127e-01 4.17901630e-03 1.81876657e+02] [ 5.23632675e-01 -8.51940177e-01 -2.59951758e-03 1.21806768e+02] [ 4.92148100e-03 -2.63373380e-05 9.99987889e-01 1.01455434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.620281693 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:181.91, Y:121.79, Z:1.02 [[-8.55771656e-01 -5.17336835e-01 4.17999672e-03 1.81912001e+02] [ 5.17330316e-01 -8.55781862e-01 -2.59794011e-03 1.21787452e+02] [ 4.92117549e-03 -6.08044808e-05 9.99987889e-01 1.01536091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.65028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:181.90, Y:121.79, Z:1.02 [[-8.58260318e-01 -5.13197586e-01 4.17902912e-03 1.81903888e+02] [ 5.13191009e-01 -8.58270488e-01 -2.59949565e-03 1.21794906e+02] [ 4.92079226e-03 -8.64037882e-05 9.99987889e-01 1.01621876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.680281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:181.93, Y:121.78, Z:1.02 [[-8.60104663e-01 -5.10100477e-01 4.17998711e-03 1.81931439e+02] [ 5.10093871e-01 -8.60114814e-01 -2.59795429e-03 1.21781309e+02] [ 4.92048656e-03 -1.02326787e-04 9.99987889e-01 1.01712378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.71028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:181.94, Y:121.79, Z:1.02 [[-8.62789904e-01 -5.05545366e-01 4.17903611e-03 1.81935841e+02] [ 5.05538700e-01 -8.62800015e-01 -2.59948316e-03 1.21787630e+02] [ 4.91982908e-03 -1.30143340e-04 9.99987889e-01 1.01765099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.740281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:181.95, Y:121.79, Z:1.02 [[-8.63511460e-01 -5.04311895e-01 4.17997723e-03 1.81945508e+02] [ 5.04305221e-01 -8.63521566e-01 -2.59796895e-03 1.21785896e+02] [ 4.91968713e-03 -1.35391616e-04 9.99987889e-01 1.01735932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.77028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:181.95, Y:121.79, Z:1.02 [[-8.64776676e-01 -5.02139253e-01 4.17986025e-03 1.81950732e+02] [ 5.02132553e-01 -8.64786765e-01 -2.59815715e-03 1.21790243e+02] [ 4.91932451e-03 -1.47981799e-04 9.99987889e-01 1.01760668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.800281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.96, Y:121.79, Z:1.02 [[-8.65296056e-01 -5.01243709e-01 4.18079545e-03 1.81958408e+02] [ 5.01237006e-01 -8.65306143e-01 -2.59665141e-03 1.21789889e+02] [ 4.91922317e-03 -1.51302826e-04 9.99987889e-01 1.01625295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.83028169299996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:181.95, Y:121.80, Z:1.02 [[-8.66040488e-01 -4.99956384e-01 4.18172880e-03 1.81952446e+02] [ 4.99949673e-01 -8.66050570e-01 -2.59514745e-03 1.21804760e+02] [ 4.91904914e-03 -1.56848817e-04 9.99987889e-01 1.01701646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86028169299993 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:181.97, Y:121.80, Z:1.02 [[-8.66441158e-01 -4.99261680e-01 4.18266511e-03 1.81967281e+02] [ 4.99254969e-01 -8.66451239e-01 -2.59363749e-03 1.21801509e+02] [ 4.91897918e-03 -1.59017929e-04 9.99987889e-01 1.01887787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.89028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:181.97, Y:121.81, Z:1.02 [[-8.66475586e-01 -4.99201920e-01 4.18360220e-03 1.81971837e+02] [ 4.99195215e-01 -8.66485671e-01 -2.59212506e-03 1.21808494e+02] [ 4.91902517e-03 -1.57578884e-04 9.99987889e-01 1.02223436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:181.98, Y:121.81, Z:1.02 [[-8.66294101e-01 -4.99516786e-01 4.18453552e-03 1.81979945e+02] [ 4.99510092e-01 -8.66304194e-01 -2.59061750e-03 1.21807259e+02] [ 4.91913760e-03 -1.54018940e-04 9.99987889e-01 1.02263195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.95028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:181.97, Y:121.82, Z:1.02 [[-8.65784484e-01 -5.00399549e-01 4.18546757e-03 1.81966088e+02] [ 5.00392873e-01 -8.65794589e-01 -2.58911078e-03 1.21819202e+02] [ 4.91934504e-03 -1.47233796e-04 9.99987889e-01 1.02268561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:181.96, Y:121.83, Z:1.02 [[-8.63457868e-01 -5.04403593e-01 4.18640391e-03 1.81960851e+02] [ 5.04396971e-01 -8.63468008e-01 -2.58759590e-03 1.21829036e+02] [ 4.92001851e-03 -1.22670590e-04 9.99987889e-01 1.02206273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.01028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:181.96, Y:121.83, Z:1.02 [[-8.62358214e-01 -5.06281322e-01 4.18735054e-03 1.81960336e+02] [ 5.06274729e-01 -8.62368373e-01 -2.58606311e-03 1.21832920e+02] [ 4.92031413e-03 -1.10163005e-04 9.99987889e-01 1.02297169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:181.94, Y:121.85, Z:1.03 [[-8.60137789e-01 -5.10044549e-01 4.18830221e-03 1.81938010e+02] [ 5.10038008e-01 -8.60147982e-01 -2.58452090e-03 1.21853557e+02] [ 4.92078049e-03 -8.68507785e-05 9.99987889e-01 1.02618044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.07028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.96, Y:121.84, Z:1.03 [[-8.59399062e-01 -5.11288277e-01 4.18926624e-03 1.81957952e+02] [ 5.11281759e-01 -8.59409269e-01 -2.58295735e-03 1.21844045e+02] [ 4.92093005e-03 -7.78957175e-05 9.99987889e-01 1.02667132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.95, Y:121.85, Z:1.03 [[-8.58945269e-01 -5.12050258e-01 4.19023376e-03 1.81949879e+02] [ 5.12043756e-01 -8.58955487e-01 -2.58138682e-03 1.21851052e+02] [ 4.92102407e-03 -7.16869611e-05 9.99987889e-01 1.02590736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.130281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.94, Y:121.86, Z:1.02 [[-8.57640751e-01 -5.14232220e-01 4.19119866e-03 1.81943664e+02] [ 5.14225752e-01 -8.57650990e-01 -2.57981925e-03 1.21858698e+02] [ 4.92121186e-03 -5.73358319e-05 9.99987889e-01 1.02158325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16028169299994 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:181.94, Y:121.86, Z:1.02 [[-8.57031174e-01 -5.15247506e-01 4.19217165e-03 1.81938487e+02] [ 5.15241058e-01 -8.57041425e-01 -2.57823718e-03 1.21863381e+02] [ 4.92129504e-03 -4.96506790e-05 9.99987889e-01 1.02077767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.190281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:181.95, Y:121.86, Z:1.02 [[-8.54950957e-01 -5.18691892e-01 4.19315142e-03 1.81946175e+02] [ 5.18685493e-01 -8.54961239e-01 -2.57664272e-03 1.21859469e+02] [ 4.92146563e-03 -2.79763500e-05 9.99987889e-01 1.02197413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.94, Y:121.86, Z:1.02 [[-8.53883042e-01 -5.20448037e-01 4.19413172e-03 1.81939194e+02] [ 5.20441667e-01 -8.53893342e-01 -2.57504606e-03 1.21863348e+02] [ 4.92151882e-03 -1.59872584e-05 9.99987889e-01 1.02239634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.250281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:181.94, Y:121.86, Z:1.02 [[-8.52331971e-01 -5.22984333e-01 4.19511319e-03 1.81939674e+02] [ 5.22978001e-01 -8.52342295e-01 -2.57344611e-03 1.21861648e+02] [ 4.92154440e-03 5.21512371e-07 9.99987889e-01 1.02193854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.94, Y:121.86, Z:1.02 [[-8.52102325e-01 -5.23358406e-01 4.19609829e-03 1.81937398e+02] [ 5.23352087e-01 -8.52112656e-01 -2.57183886e-03 1.21862521e+02] [ 4.92154195e-03 4.56692414e-06 9.99987889e-01 1.02309277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.310281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.92, Y:121.87, Z:1.02 [[-8.52128934e-01 -5.23315072e-01 4.19708506e-03 1.81924667e+02] [ 5.23308761e-01 -8.52139270e-01 -2.57022750e-03 1.21869401e+02] [ 4.92153979e-03 6.20616331e-06 9.99987889e-01 1.02378116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.91, Y:121.87, Z:1.02 [[-8.52929452e-01 -5.22009316e-01 4.19807917e-03 1.81913830e+02] [ 5.22002996e-01 -8.52939784e-01 -2.56860275e-03 1.21873559e+02] [ 4.92154330e-03 5.72965230e-07 9.99987889e-01 1.02282896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.370281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:181.94, Y:121.86, Z:1.02 [[-8.53441330e-01 -5.21172009e-01 4.19908378e-03 1.81938095e+02] [ 5.21165688e-01 -8.53451660e-01 -2.56695939e-03 1.21857472e+02] [ 4.92154241e-03 -2.33085465e-06 9.99987889e-01 1.02049490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.94, Y:121.85, Z:1.02 [[-8.54620190e-01 -5.19236647e-01 4.19945748e-03 1.81942528e+02] [ 5.19230305e-01 -8.54630507e-01 -2.56634789e-03 1.21853903e+02] [ 4.92152635e-03 -1.27671288e-05 9.99987889e-01 1.02040750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.430281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:181.96, Y:121.84, Z:1.02 [[-8.55356049e-01 -5.18023538e-01 4.20044576e-03 1.81957940e+02] [ 5.18017189e-01 -8.55366363e-01 -2.56472930e-03 1.21843851e+02] [ 4.92151016e-03 -1.78536144e-05 9.99987889e-01 1.02321811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:181.95, Y:121.84, Z:1.03 [[-8.57085944e-01 -5.15156319e-01 4.20142654e-03 1.81953892e+02] [ 5.15149943e-01 -8.57096241e-01 -2.56312162e-03 1.21844880e+02] [ 4.92143519e-03 -3.24508739e-05 9.99987889e-01 1.02804190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.490281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:181.97, Y:121.84, Z:1.03 [[-8.57807259e-01 -5.13954323e-01 4.20240346e-03 1.81968147e+02] [ 5.13947941e-01 -8.57817552e-01 -2.56151890e-03 1.21836142e+02] [ 4.92139916e-03 -3.74728991e-05 9.99987889e-01 1.02655636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.96, Y:121.84, Z:1.02 [[-8.58286520e-01 -5.13153565e-01 4.20337688e-03 1.81956970e+02] [ 5.13147182e-01 -8.58296812e-01 -2.55992055e-03 1.21843693e+02] [ 4.92137733e-03 -4.01943050e-05 9.99987889e-01 1.02326437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.550281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:181.96, Y:121.84, Z:1.02 [[-8.58429235e-01 -5.12914781e-01 4.20435048e-03 1.81962291e+02] [ 5.12908402e-01 -8.58439530e-01 -2.55832053e-03 1.21841634e+02] [ 4.92138106e-03 -3.96904485e-05 9.99987889e-01 1.01872831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:181.96, Y:121.84, Z:1.02 [[-8.58440130e-01 -5.12896538e-01 4.20532800e-03 1.81960259e+02] [ 5.12890166e-01 -8.58450430e-01 -2.55671269e-03 1.21842991e+02] [ 4.92139471e-03 -3.79133939e-05 9.99987889e-01 1.02004107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.61028169299993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:181.98, Y:121.83, Z:1.02 [[-8.58364177e-01 -5.13023632e-01 4.20630538e-03 1.81978574e+02] [ 5.13017271e-01 -8.58374482e-01 -2.55510368e-03 1.21832574e+02] [ 4.92141378e-03 -3.53021636e-05 9.99987889e-01 1.02212510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.98, Y:121.83, Z:1.02 [[-8.58291086e-01 -5.13145896e-01 4.20727748e-03 1.81978852e+02] [ 5.13139544e-01 -8.58301397e-01 -2.55350201e-03 1.21833698e+02] [ 4.92143122e-03 -3.27275716e-05 9.99987889e-01 1.02479055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.67028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.96, Y:121.84, Z:1.02 [[-8.58426184e-01 -5.12919855e-01 4.20824338e-03 1.81962911e+02] [ 5.12913508e-01 -8.58436498e-01 -2.55190919e-03 1.21843349e+02] [ 4.92143460e-03 -3.21607991e-05 9.99987889e-01 1.02300809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:181.98, Y:121.83, Z:1.02 [[-8.58896227e-01 -5.12132359e-01 4.20921714e-03 1.81975526e+02] [ 5.12126010e-01 -8.58906541e-01 -2.55030201e-03 1.21834719e+02] [ 4.92141632e-03 -3.47951957e-05 9.99987889e-01 1.02073481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.73028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.98, Y:121.83, Z:1.02 [[-8.58929285e-01 -5.12076907e-01 4.21019338e-03 1.81982864e+02] [ 5.12070565e-01 -8.58939602e-01 -2.54868936e-03 1.21827896e+02] [ 4.92142679e-03 -3.32278305e-05 9.99987889e-01 1.01905029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.98, Y:121.83, Z:1.02 [[-8.58859367e-01 -5.12194156e-01 4.21116191e-03 1.81979590e+02] [ 5.12187823e-01 -8.58869691e-01 -2.54708806e-03 1.21828505e+02] [ 4.92144295e-03 -3.06845858e-05 9.99987889e-01 1.01942695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.79028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:181.98, Y:121.83, Z:1.02 [[-8.58582764e-01 -5.12657679e-01 4.21212920e-03 1.81976048e+02] [ 5.12651360e-01 -8.58593096e-01 -2.54548745e-03 1.21827693e+02] [ 4.92146874e-03 -2.61578932e-05 9.99987889e-01 1.02329862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.82028169299997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:181.97, Y:121.83, Z:1.02 [[-8.58812333e-01 -5.12272999e-01 4.21309972e-03 1.81974916e+02] [ 5.12266684e-01 -8.58822667e-01 -2.54388011e-03 1.21827269e+02] [ 4.92146663e-03 -2.64849951e-05 9.99987889e-01 1.02431899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.85028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:181.97, Y:121.83, Z:1.02 [[-8.59569700e-01 -5.11001146e-01 4.21407251e-03 1.81972357e+02] [ 5.10994823e-01 -8.59580030e-01 -2.54226760e-03 1.21827973e+02] [ 4.92143423e-03 -3.18869574e-05 9.99987889e-01 1.02280134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.880281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:181.99, Y:121.82, Z:1.02 [[-8.60751054e-01 -5.09008699e-01 4.21504745e-03 1.81986799e+02] [ 5.09002360e-01 -8.60761374e-01 -2.54065013e-03 1.21817834e+02] [ 4.92136305e-03 -4.13981788e-05 9.99987889e-01 1.01955354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.91028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:181.99, Y:121.81, Z:1.02 [[-8.62617447e-01 -5.05839268e-01 4.21601821e-03 1.81988063e+02] [ 5.05832898e-01 -8.62627748e-01 -2.53903820e-03 1.21814271e+02] [ 4.92119952e-03 -5.76179396e-05 9.99987889e-01 1.01515626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.940281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:182.01, Y:121.80, Z:1.02 [[-8.63094791e-01 -5.05024355e-01 4.21698308e-03 1.82009219e+02] [ 5.05017984e-01 -8.63105090e-01 -2.53743468e-03 1.21800009e+02] [ 4.92116588e-03 -6.03943635e-05 9.99987889e-01 1.01655745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.97028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:182.01, Y:121.80, Z:1.02 [[-8.63648639e-01 -5.04076626e-01 4.21710229e-03 1.82006288e+02] [ 5.04070245e-01 -8.63658932e-01 -2.53723654e-03 1.21800835e+02] [ 4.92109970e-03 -6.55651017e-05 9.99987889e-01 1.01966071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.000281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:181.99, Y:121.81, Z:1.02 [[-8.64702076e-01 -5.02267387e-01 4.21805143e-03 1.81992799e+02] [ 5.02260991e-01 -8.64712361e-01 -2.53565765e-03 1.21807048e+02] [ 4.92097936e-03 -7.40257413e-05 9.99987889e-01 1.02296794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.03028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:182.01, Y:121.79, Z:1.02 [[-8.65238484e-01 -5.01342763e-01 4.21900744e-03 1.82014935e+02] [ 5.01336365e-01 -8.65248767e-01 -2.53406598e-03 1.21793237e+02] [ 4.92092662e-03 -7.74295573e-05 9.99987889e-01 1.02144251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.060281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.01, Y:121.80, Z:1.02 [[-8.67640711e-01 -4.97173812e-01 4.21876903e-03 1.82007752e+02] [ 4.97167362e-01 -8.67650961e-01 -2.53446283e-03 1.21799444e+02] [ 4.92048755e-03 -1.01568864e-04 9.99987889e-01 1.01715803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.09028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.01, Y:121.80, Z:1.02 [[-8.67827265e-01 -4.96848098e-01 4.21971575e-03 1.82009951e+02] [ 4.96841652e-01 -8.67837518e-01 -2.53288562e-03 1.21798210e+02] [ 4.92048705e-03 -1.01576657e-04 9.99987889e-01 1.01714565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.120281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:182.03, Y:121.79, Z:1.02 [[-8.69030680e-01 -4.94740198e-01 4.22066589e-03 1.82034475e+02] [ 4.94733735e-01 -8.69040922e-01 -2.53130137e-03 1.21785467e+02] [ 4.92026792e-03 -1.11672748e-04 9.99987889e-01 1.01700113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.15028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:182.05, Y:121.78, Z:1.02 [[-8.70392370e-01 -4.92340643e-01 4.22054868e-03 1.82048363e+02] [ 4.92334151e-01 -8.70402594e-01 -2.53149677e-03 1.21778728e+02] [ 4.91993527e-03 -1.25475224e-04 9.99987889e-01 1.01922392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.180281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.05, Y:121.78, Z:1.02 [[-8.71601817e-01 -4.90196340e-01 4.22147507e-03 1.82049502e+02] [ 4.90189830e-01 -8.71612029e-01 -2.52995100e-03 1.21778873e+02] [ 4.91966118e-03 -1.35785740e-04 9.99987889e-01 1.02136835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.21028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:182.05, Y:121.78, Z:1.02 [[-8.73249602e-01 -4.87254865e-01 4.22239738e-03 1.82051246e+02] [ 4.87248328e-01 -8.73259797e-01 -2.52841077e-03 1.21780766e+02] [ 4.91923033e-03 -1.50577635e-04 9.99987889e-01 1.02047658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.240281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:182.05, Y:121.78, Z:1.02 [[-8.73852703e-01 -4.86172415e-01 4.22332043e-03 1.82053613e+02] [ 4.86165873e-01 -8.73862895e-01 -2.52686801e-03 1.21781317e+02] [ 4.91909654e-03 -1.54876172e-04 9.99987889e-01 1.02004677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.27028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:182.07, Y:121.77, Z:1.02 [[-8.74249761e-01 -4.85458042e-01 4.22424352e-03 1.82069460e+02] [ 4.85451499e-01 -8.74259953e-01 -2.52532392e-03 1.21773897e+02] [ 4.91902574e-03 -1.57098487e-04 9.99987889e-01 1.02008038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.300281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:182.06, Y:121.78, Z:1.02 [[-8.74502273e-01 -4.85003012e-01 4.22516152e-03 1.82063079e+02] [ 4.84996471e-01 -8.74512466e-01 -2.52378705e-03 1.21782870e+02] [ 4.91900074e-03 -1.57869086e-04 9.99987889e-01 1.01908547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.33028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:182.08, Y:121.77, Z:1.02 [[-8.74453024e-01 -4.85091795e-01 4.22607839e-03 1.82082128e+02] [ 4.85085263e-01 -8.74463222e-01 -2.52225083e-03 1.21774893e+02] [ 4.91907330e-03 -1.55581518e-04 9.99987889e-01 1.01750607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36028169299993 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.06, Y:121.79, Z:1.02 [[-8.73057930e-01 -4.87598178e-01 4.22699310e-03 1.82056430e+02] [ 4.87591683e-01 -8.73068151e-01 -2.52071694e-03 1.21794845e+02] [ 4.91955004e-03 -1.39685229e-04 9.99987889e-01 1.01601867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.39028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:182.05, Y:121.80, Z:1.02 [[-8.71950854e-01 -4.89575156e-01 4.22791233e-03 1.82048369e+02] [ 4.89568691e-01 -8.71961095e-01 -2.51917420e-03 1.21801243e+02] [ 4.91990017e-03 -1.26742587e-04 9.99987889e-01 1.01755541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:182.04, Y:121.81, Z:1.02 [[-8.70707153e-01 -4.91783662e-01 4.22884667e-03 1.82044308e+02] [ 4.91777231e-01 -8.70717415e-01 -2.51760478e-03 1.21805258e+02] [ 4.92024734e-03 -1.12445985e-04 9.99987889e-01 1.01976867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.45028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:182.05, Y:121.80, Z:1.02 [[-8.68882799e-01 -4.94999789e-01 4.22978740e-03 1.82051540e+02] [ 4.94993403e-01 -8.68893089e-01 -2.51602329e-03 1.21804546e+02] [ 4.92066404e-03 -9.24124999e-05 9.99987889e-01 1.02044099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:182.06, Y:121.80, Z:1.02 [[-8.68750292e-01 -4.95232300e-01 4.23072891e-03 1.82055611e+02] [ 4.95225925e-01 -8.68760589e-01 -2.51443914e-03 1.21804093e+02] [ 4.92072201e-03 -8.92530980e-05 9.99987889e-01 1.01797062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.51028169299997 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:182.06, Y:121.80, Z:1.02 [[-8.68919868e-01 -4.94934698e-01 4.23166783e-03 1.82064548e+02] [ 4.94928327e-01 -8.68930168e-01 -2.51285797e-03 1.21800543e+02] [ 4.92072444e-03 -8.90999371e-05 9.99987889e-01 1.01578441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:182.04, Y:121.82, Z:1.02 [[-8.68973110e-01 -4.94841206e-01 4.23260345e-03 1.82036702e+02] [ 4.94834841e-01 -8.68983414e-01 -2.51128106e-03 1.21818936e+02] [ 4.92074754e-03 -8.77960591e-05 9.99987889e-01 1.01582319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.57028169299997 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:182.06, Y:121.81, Z:1.02 [[-8.68485365e-01 -4.95696729e-01 4.23354824e-03 1.82060353e+02] [ 4.95690383e-01 -8.68495680e-01 -2.50968730e-03 1.21810093e+02] [ 4.92086214e-03 -8.10975465e-05 9.99987889e-01 1.01918839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:182.05, Y:121.82, Z:1.02 [[-8.68325502e-01 -4.95976710e-01 4.23390308e-03 1.82048961e+02] [ 4.95970370e-01 -8.68335820e-01 -2.50908854e-03 1.21819437e+02] [ 4.92089918e-03 -7.88150931e-05 9.99987889e-01 1.01920962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.630281693 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:182.05, Y:121.82, Z:1.02 [[-8.67891443e-01 -4.96735855e-01 4.23484968e-03 1.82048323e+02] [ 4.96729532e-01 -8.67901771e-01 -2.50748984e-03 1.21821317e+02] [ 4.92099365e-03 -7.26540762e-05 9.99987889e-01 1.01919421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66028169299994 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:182.05, Y:121.82, Z:1.02 [[-8.66065954e-01 -4.99911814e-01 4.23580301e-03 1.82052545e+02] [ 4.99905536e-01 -8.66076311e-01 -2.50587839e-03 1.21818925e+02] [ 4.92124685e-03 -5.27545799e-05 9.99987889e-01 1.01954190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.690281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:182.04, Y:121.82, Z:1.02 [[-8.65203513e-01 -5.01402963e-01 4.23675636e-03 1.82041121e+02] [ 5.01396711e-01 -8.65213885e-01 -2.50426549e-03 1.21824765e+02] [ 4.92134657e-03 -4.24035967e-05 9.99987889e-01 1.01823909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:182.03, Y:121.83, Z:1.02 [[-8.62785532e-01 -5.05552340e-01 4.23771368e-03 1.82034157e+02] [ 5.05546146e-01 -8.62795938e-01 -2.50264448e-03 1.21826232e+02] [ 4.92149992e-03 -1.68856288e-05 9.99987889e-01 1.01675696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.750281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:182.04, Y:121.82, Z:1.02 [[-8.61862418e-01 -5.07124449e-01 4.23867918e-03 1.82036018e+02] [ 5.07118281e-01 -8.61872841e-01 -2.50100814e-03 1.21822915e+02] [ 4.92152484e-03 -6.01322407e-06 9.99987889e-01 1.01811064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78028169299995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:182.02, Y:121.83, Z:1.02 [[-8.61119841e-01 -5.08384348e-01 4.23964682e-03 1.82023774e+02] [ 5.08378204e-01 -8.61130278e-01 -2.49936675e-03 1.21827536e+02] [ 4.92152718e-03 3.08973262e-06 9.99987889e-01 1.01985710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.810281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:182.02, Y:121.82, Z:1.02 [[-8.60392036e-01 -5.09615110e-01 4.24061921e-03 1.82024567e+02] [ 5.09608990e-01 -8.60402487e-01 -2.49771583e-03 1.21822474e+02] [ 4.92151304e-03 1.20428618e-05 9.99987889e-01 1.02062070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:182.03, Y:121.82, Z:1.02 [[-8.60489912e-01 -5.09449821e-01 4.24159607e-03 1.82033184e+02] [ 5.09443706e-01 -8.60500366e-01 -2.49605583e-03 1.21815760e+02] [ 4.92151017e-03 1.30235555e-05 9.99987889e-01 1.02068089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.870281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.03, Y:121.81, Z:1.02 [[-8.60909389e-01 -5.08740625e-01 4.24256898e-03 1.82031583e+02] [ 5.08734510e-01 -8.60919843e-01 -2.49440108e-03 1.21814724e+02] [ 4.92151498e-03 1.08879456e-05 9.99987889e-01 1.02029090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90028169299995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:182.04, Y:121.80, Z:1.02 [[-8.61401771e-01 -5.07906469e-01 4.24353944e-03 1.82044457e+02] [ 5.07900352e-01 -8.61412224e-01 -2.49274901e-03 1.21804917e+02] [ 4.92152009e-03 8.03675612e-06 9.99987889e-01 1.02061759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.930281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:182.04, Y:121.81, Z:1.02 [[-8.62304547e-01 -5.06372246e-01 4.24450566e-03 1.82035807e+02] [ 5.06366119e-01 -8.62314994e-01 -2.49110270e-03 1.21806907e+02] [ 4.92152614e-03 1.18467153e-06 9.99987889e-01 1.02249564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:182.04, Y:121.81, Z:1.02 [[-8.62874110e-01 -5.05401075e-01 4.24547059e-03 1.82036389e+02] [ 5.05394943e-01 -8.62884554e-01 -2.48945712e-03 1.21806537e+02] [ 4.92152530e-03 -2.44873281e-06 9.99987889e-01 1.02350691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.990281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:182.04, Y:121.80, Z:1.02 [[-8.63553636e-01 -5.04239116e-01 4.24643912e-03 1.82040388e+02] [ 5.04232979e-01 -8.63564076e-01 -2.48780394e-03 1.21803974e+02] [ 4.92152033e-03 -7.15748458e-06 9.99987889e-01 1.02327426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02028169299996 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:182.05, Y:121.80, Z:1.02 [[-8.64332937e-01 -5.02902111e-01 4.24740701e-03 1.82053577e+02] [ 5.02895966e-01 -8.64343373e-01 -2.48615037e-03 1.21795941e+02] [ 4.92150837e-03 -1.28578013e-05 9.99987889e-01 1.02396501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.050281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:182.06, Y:121.79, Z:1.02 [[-8.64469899e-01 -5.02666634e-01 4.24836889e-03 1.82055609e+02] [ 5.02660495e-01 -8.64480338e-01 -2.48450560e-03 1.21793552e+02] [ 4.92150944e-03 -1.22930973e-05 9.99987889e-01 1.01764692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:182.05, Y:121.80, Z:1.02 [[-8.64684614e-01 -5.02297184e-01 4.24932516e-03 1.82049399e+02] [ 5.02291048e-01 -8.64695056e-01 -2.48286899e-03 1.21797095e+02] [ 4.92150856e-03 -1.25006239e-05 9.99987889e-01 1.01814969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.11028169299993 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:182.06, Y:121.79, Z:1.02 [[-8.65060058e-01 -5.01650308e-01 4.25028433e-03 1.82061567e+02] [ 5.01644172e-01 -8.65070499e-01 -2.48122596e-03 1.21788581e+02] [ 4.92150335e-03 -1.42791055e-05 9.99987889e-01 1.02323091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:182.06, Y:121.79, Z:1.02 [[-8.65266094e-01 -5.01294836e-01 4.25124189e-03 1.82064030e+02] [ 5.01288704e-01 -8.65276538e-01 -2.47958422e-03 1.21785969e+02] [ 4.92150263e-03 -1.44006204e-05 9.99987889e-01 1.02351160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.17028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:182.05, Y:121.79, Z:1.02 [[-8.65443236e-01 -5.00988947e-01 4.25219419e-03 1.82054650e+02] [ 5.00982819e-01 -8.65453682e-01 -2.47795006e-03 1.21789524e+02] [ 4.92150271e-03 -1.42488828e-05 9.99987889e-01 1.01988393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:182.07, Y:121.78, Z:1.02 [[-8.66128479e-01 -4.99803330e-01 4.25314969e-03 1.82065091e+02] [ 4.99797196e-01 -8.66138921e-01 -2.47630895e-03 1.21781229e+02] [ 4.92148595e-03 -1.90894165e-05 9.99987889e-01 1.01849265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.23028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:182.06, Y:121.78, Z:1.02 [[-8.66905744e-01 -4.98453943e-01 4.25410535e-03 1.82060827e+02] [ 4.98447800e-01 -8.66916182e-01 -2.47466611e-03 1.21781017e+02] [ 4.92145985e-03 -2.48528114e-05 9.99987889e-01 1.01750733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:182.07, Y:121.77, Z:1.02 [[-8.67524624e-01 -4.97376037e-01 4.25505862e-03 1.82067995e+02] [ 4.97369890e-01 -8.67535058e-01 -2.47302593e-03 1.21773952e+02] [ 4.92143636e-03 -2.90728482e-05 9.99987889e-01 1.01728356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.29028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:182.08, Y:121.76, Z:1.02 [[-8.68264800e-01 -4.96082779e-01 4.25601094e-03 1.82082949e+02] [ 4.96076624e-01 -8.68275230e-01 -2.47138593e-03 1.21762442e+02] [ 4.92140088e-03 -3.45098718e-05 9.99987889e-01 1.01766739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:182.08, Y:121.76, Z:1.02 [[-8.68594516e-01 -4.95505243e-01 4.25695458e-03 1.82076765e+02] [ 4.95499089e-01 -8.68604947e-01 -2.46975943e-03 1.21764840e+02] [ 4.92139056e-03 -3.59023821e-05 9.99987889e-01 1.01807168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.35028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.08, Y:121.76, Z:1.02 [[-8.68860382e-01 -4.95038895e-01 4.25789526e-03 1.82082154e+02] [ 4.95032743e-01 -8.68870814e-01 -2.46813662e-03 1.21760335e+02] [ 4.92138455e-03 -3.66685565e-05 9.99987889e-01 1.01848499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.380281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.08, Y:121.76, Z:1.02 [[-8.68623783e-01 -4.95453920e-01 4.25883658e-03 1.82078911e+02] [ 4.95447781e-01 -8.68634223e-01 -2.46651129e-03 1.21758928e+02] [ 4.92141389e-03 -3.24392343e-05 9.99987889e-01 1.01900229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.41028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.08, Y:121.76, Z:1.02 [[-8.68441774e-01 -4.95772871e-01 4.25977773e-03 1.82077128e+02] [ 4.95766744e-01 -8.68452221e-01 -2.46488480e-03 1.21758290e+02] [ 4.92143645e-03 -2.87527948e-05 9.99987889e-01 1.01881936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.440281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:182.07, Y:121.76, Z:1.02 [[-8.68533042e-01 -4.95612956e-01 4.26072092e-03 1.82072707e+02] [ 4.95606835e-01 -8.68543492e-01 -2.46325335e-03 1.21759292e+02] [ 4.92144170e-03 -2.77745105e-05 9.99987889e-01 1.01910734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.47028169299995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:182.10, Y:121.74, Z:1.02 [[-8.68799166e-01 -4.95146289e-01 4.26166727e-03 1.82097515e+02] [ 4.95140171e-01 -8.68809618e-01 -2.46161499e-03 1.21741783e+02] [ 4.92143704e-03 -2.85263930e-05 9.99987889e-01 1.01840217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.500281693 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:182.08, Y:121.75, Z:1.02 [[-8.68967507e-01 -4.94850799e-01 4.26131366e-03 1.82079833e+02] [ 4.94844675e-01 -8.68977954e-01 -2.46222697e-03 1.21750818e+02] [ 4.92142261e-03 -3.09068560e-05 9.99987889e-01 1.01906963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.53028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.08, Y:121.75, Z:1.02 [[-8.69166959e-01 -4.94500386e-01 4.26224700e-03 1.82076255e+02] [ 4.94494265e-01 -8.69177409e-01 -2.46061025e-03 1.21750336e+02] [ 4.92142152e-03 -3.10244315e-05 9.99987889e-01 1.02126350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.560281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:182.09, Y:121.74, Z:1.02 [[-8.69363804e-01 -4.94154229e-01 4.26318933e-03 1.82092690e+02] [ 4.94148112e-01 -8.69374256e-01 -2.45897650e-03 1.21738795e+02] [ 4.92142069e-03 -3.10982072e-05 9.99987889e-01 1.02182585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.59028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:182.10, Y:121.73, Z:1.02 [[-8.69991438e-01 -4.93048399e-01 4.26307263e-03 1.82099714e+02] [ 4.93042267e-01 -8.70001882e-01 -2.45917880e-03 1.21732766e+02] [ 4.92137539e-03 -3.75895080e-05 9.99987889e-01 1.02180127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.620281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.11, Y:121.72, Z:1.02 [[-8.71685614e-01 -4.90046945e-01 4.26399978e-03 1.82108620e+02] [ 4.90040786e-01 -8.71696042e-01 -2.45757016e-03 1.21723406e+02] [ 4.92123648e-03 -5.26947533e-05 9.99987889e-01 1.02157066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.65028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:182.11, Y:121.72, Z:1.02 [[-8.72585404e-01 -4.88442959e-01 4.26492104e-03 1.82113914e+02] [ 4.88436788e-01 -8.72595824e-01 -2.45597034e-03 1.21717864e+02] [ 4.92115371e-03 -5.98995407e-05 9.99987889e-01 1.02166680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.680281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:182.11, Y:121.72, Z:1.02 [[-8.73158948e-01 -4.87416920e-01 4.26583678e-03 1.82105678e+02] [ 4.87410745e-01 -8.73169366e-01 -2.45437874e-03 1.21719928e+02] [ 4.92110373e-03 -6.38480691e-05 9.99987889e-01 1.02004429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.71028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.11, Y:121.71, Z:1.02 [[-8.73882193e-01 -4.86119026e-01 4.26675387e-03 1.82107809e+02] [ 4.86112843e-01 -8.73892607e-01 -2.45278342e-03 1.21714063e+02] [ 4.92102935e-03 -6.93199065e-05 9.99987889e-01 1.02046514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.740281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:182.11, Y:121.71, Z:1.02 [[-8.74542550e-01 -4.84930011e-01 4.26767303e-03 1.82112107e+02] [ 4.84923821e-01 -8.74552960e-01 -2.45118310e-03 1.21710183e+02] [ 4.92095832e-03 -7.41676045e-05 9.99987889e-01 1.02068157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.77028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:182.12, Y:121.70, Z:1.02 [[-8.75301210e-01 -4.83559274e-01 4.26858995e-03 1.82124514e+02] [ 4.83553076e-01 -8.75311614e-01 -2.44958529e-03 1.21702330e+02] [ 4.92086605e-03 -8.00351672e-05 9.99987889e-01 1.02152262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.800281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.14, Y:121.70, Z:1.02 [[-8.77805658e-01 -4.78997920e-01 4.26847651e-03 1.82136647e+02] [ 4.78991667e-01 -8.77816029e-01 -2.44978294e-03 1.21695008e+02] [ 4.92037804e-03 -1.05868643e-04 9.99987889e-01 1.02027639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.83028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.15, Y:121.69, Z:1.02 [[-8.79373487e-01 -4.76113485e-01 4.26836426e-03 1.82146256e+02] [ 4.76107197e-01 -8.79383838e-01 -2.44997851e-03 1.21690415e+02] [ 4.91999835e-03 -1.22247205e-04 9.99987889e-01 1.01742860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86028169299993 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.14, Y:121.70, Z:1.01 [[-8.81022810e-01 -4.73054523e-01 4.26925767e-03 1.82136411e+02] [ 4.73048207e-01 -8.81033143e-01 -2.44842069e-03 1.21697337e+02] [ 4.91959399e-03 -1.37549790e-04 9.99987889e-01 1.01456144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.89028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.15, Y:121.69, Z:1.01 [[-8.83418422e-01 -4.68565533e-01 4.27015236e-03 1.82153464e+02] [ 4.68559171e-01 -8.83428727e-01 -2.44685932e-03 1.21691058e+02] [ 4.91888920e-03 -1.60781552e-04 9.99987889e-01 1.01050997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:182.16, Y:121.69, Z:1.01 [[-8.84357564e-01 -4.66790603e-01 4.26992873e-03 1.82159722e+02] [ 4.66784219e-01 -8.84367856e-01 -2.44724950e-03 1.21690239e+02] [ 4.91854079e-03 -1.71108256e-04 9.99987889e-01 1.01131377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.95028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.16, Y:121.70, Z:1.01 [[-8.84693512e-01 -4.66153568e-01 4.27081442e-03 1.82156976e+02] [ 4.66147185e-01 -8.84703804e-01 -2.44570287e-03 1.21695261e+02] [ 4.91847888e-03 -1.72869350e-04 9.99987889e-01 1.01177169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.16, Y:121.69, Z:1.01 [[-8.84862957e-01 -4.65831836e-01 4.27170079e-03 1.82159207e+02] [ 4.65825456e-01 -8.84873251e-01 -2.44415374e-03 1.21694070e+02] [ 4.91847839e-03 -1.72874137e-04 9.99987889e-01 1.01175931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.01028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.18, Y:121.69, Z:1.02 [[-8.84259654e-01 -4.66976027e-01 4.27258898e-03 1.82180886e+02] [ 4.66969667e-01 -8.84269961e-01 -2.44260012e-03 1.21688942e+02] [ 4.91875779e-03 -1.64723279e-04 9.99987889e-01 1.01739246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:182.17, Y:121.70, Z:1.02 [[-8.84172641e-01 -4.67140757e-01 4.27247917e-03 1.82166457e+02] [ 4.67134398e-01 -8.84182949e-01 -2.44279218e-03 1.21700730e+02] [ 4.91878102e-03 -1.64028025e-04 9.99987889e-01 1.01845800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.07028169299997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:182.18, Y:121.70, Z:1.02 [[-8.84204663e-01 -4.67080134e-01 4.27335951e-03 1.82177888e+02] [ 4.67073782e-01 -8.84214975e-01 -2.44125116e-03 1.21697839e+02] [ 4.91882839e-03 -1.62591473e-04 9.99987889e-01 1.01725087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:182.18, Y:121.71, Z:1.01 [[-8.84447942e-01 -4.66619297e-01 4.27424302e-03 1.82175546e+02] [ 4.66612948e-01 -8.84458255e-01 -2.43970330e-03 1.21706435e+02] [ 4.91880216e-03 -1.63373426e-04 9.99987889e-01 1.01184239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.130281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:182.16, Y:121.72, Z:1.01 [[-8.84475097e-01 -4.66567816e-01 4.27501469e-03 1.82164078e+02] [ 4.66561473e-01 -8.84485414e-01 -2.43835037e-03 1.21716385e+02] [ 4.91884394e-03 -1.62103035e-04 9.99987889e-01 1.00953001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.18, Y:121.71, Z:1.01 [[-8.84224308e-01 -4.67042921e-01 4.27590484e-03 1.82178962e+02] [ 4.67036590e-01 -8.84234633e-01 -2.43678840e-03 1.21710737e+02] [ 4.91898792e-03 -1.57663521e-04 9.99987889e-01 1.01072022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.190281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:182.16, Y:121.72, Z:1.01 [[-8.83589153e-01 -4.68243439e-01 4.27679569e-03 1.82162678e+02] [ 4.68237131e-01 -8.83599490e-01 -2.43522387e-03 1.21722602e+02] [ 4.91925209e-03 -1.49182858e-04 9.99987889e-01 1.01293494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.16, Y:121.73, Z:1.02 [[-8.81678758e-01 -4.71830763e-01 4.27768866e-03 1.82163005e+02] [ 4.71824504e-01 -8.81689126e-01 -2.43365427e-03 1.21726177e+02] [ 4.91986453e-03 -1.27382944e-04 9.99987889e-01 1.01729967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.250281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.16, Y:121.73, Z:1.02 [[-8.80730547e-01 -4.73598350e-01 4.27858966e-03 1.82160786e+02] [ 4.73592119e-01 -8.80740932e-01 -2.43206920e-03 1.21728919e+02] [ 4.92015301e-03 -1.15691292e-04 9.99987889e-01 1.01792764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.15, Y:121.74, Z:1.02 [[-8.79027289e-01 -4.76752254e-01 4.27949327e-03 1.82147705e+02] [ 4.76746068e-01 -8.79037701e-01 -2.43047816e-03 1.21740948e+02] [ 4.92057186e-03 -9.62250442e-05 9.99987889e-01 1.01666941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.310281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.15, Y:121.75, Z:1.02 [[-8.78726252e-01 -4.77306874e-01 4.28040436e-03 1.82145953e+02] [ 4.77300702e-01 -8.78736673e-01 -2.42887254e-03 1.21745303e+02] [ 4.92066585e-03 -9.12740546e-05 9.99987889e-01 1.01672169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.16, Y:121.74, Z:1.02 [[-8.78487214e-01 -4.77746675e-01 4.28132338e-03 1.82162692e+02] [ 4.77740517e-01 -8.78497642e-01 -2.42725152e-03 1.21739085e+02] [ 4.92074384e-03 -8.69477803e-05 9.99987889e-01 1.01705696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.370281693 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:182.16, Y:121.75, Z:1.02 [[-8.77546861e-01 -4.79471761e-01 4.28223878e-03 1.82159259e+02] [ 4.79465632e-01 -8.77557305e-01 -2.42563546e-03 1.21745649e+02] [ 4.92093364e-03 -7.54224628e-05 9.99987889e-01 1.01655395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40028169299995 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:182.16, Y:121.75, Z:1.02 [[-8.77056929e-01 -4.80367357e-01 4.28315163e-03 1.82159471e+02] [ 4.80361246e-01 -8.77067385e-01 -2.42402250e-03 1.21747785e+02] [ 4.92103388e-03 -6.85456763e-05 9.99987889e-01 1.01541776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.430281693 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:182.14, Y:121.76, Z:1.02 [[-8.76626431e-01 -4.81152520e-01 4.28406776e-03 1.82141170e+02] [ 4.81146426e-01 -8.76636897e-01 -2.42240230e-03 1.21760888e+02] [ 4.92111684e-03 -6.22779875e-05 9.99987889e-01 1.01899835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:182.15, Y:121.76, Z:1.01 [[-8.75997817e-01 -4.82296033e-01 4.28499269e-03 1.82145261e+02] [ 4.82289961e-01 -8.76008295e-01 -2.42076509e-03 1.21759646e+02] [ 4.92121454e-03 -5.39759800e-05 9.99987889e-01 1.01057166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.490281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.14, Y:121.76, Z:1.01 [[-8.74674132e-01 -4.84692474e-01 4.28592517e-03 1.82143078e+02] [ 4.84686438e-01 -8.74684631e-01 -2.41911301e-03 1.21764908e+02] [ 4.92135875e-03 -3.86057646e-05 9.99987889e-01 1.00915115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52028169299996 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:182.14, Y:121.77, Z:1.01 [[-8.74215699e-01 -4.85518831e-01 4.28685840e-03 1.82139940e+02] [ 4.85512813e-01 -8.74226209e-01 -2.41745812e-03 1.21768904e+02] [ 4.92140541e-03 -3.20551578e-05 9.99987889e-01 1.00835753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.550281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.13, Y:121.78, Z:1.01 [[-8.72554232e-01 -4.88498440e-01 4.28779620e-03 1.82125147e+02] [ 4.88492467e-01 -8.72564768e-01 -2.41579363e-03 1.21779512e+02] [ 4.92149131e-03 -1.33548090e-05 9.99987889e-01 1.01228054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:182.15, Y:121.77, Z:1.01 [[-8.71647469e-01 -4.90114576e-01 4.28862361e-03 1.82149607e+02] [ 4.90108629e-01 -8.71658019e-01 -2.41432387e-03 1.21765593e+02] [ 4.92150848e-03 -2.54785260e-06 9.99987889e-01 1.01397902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.61028169299993 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:182.12, Y:121.78, Z:1.02 [[-8.70885666e-01 -4.91466949e-01 4.28885881e-03 1.82121968e+02] [ 4.91461021e-01 -8.70896227e-01 -2.41390600e-03 1.21781253e+02] [ 4.92150597e-03 5.57079708e-06 9.99987889e-01 1.01552518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64028169299996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:182.14, Y:121.77, Z:1.02 [[-8.68822203e-01 -4.95105622e-01 4.28980495e-03 1.82139421e+02] [ 4.95099746e-01 -8.68832793e-01 -2.41222341e-03 1.21770556e+02] [ 4.92142859e-03 2.80880805e-05 9.99987889e-01 1.01615621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.67028169299994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:182.13, Y:121.78, Z:1.01 [[-8.68136924e-01 -4.96306226e-01 4.29075658e-03 1.82126668e+02] [ 4.96300374e-01 -8.68147527e-01 -2.41052951e-03 1.21776671e+02] [ 4.92137052e-03 3.68344194e-05 9.99987889e-01 1.01433830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70028169299997 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:182.14, Y:121.77, Z:1.02 [[-8.67792383e-01 -4.96908403e-01 4.29170673e-03 1.82140902e+02] [ 4.96902566e-01 -8.67802995e-01 -2.40883667e-03 1.21766327e+02] [ 4.92132713e-03 4.21899713e-05 9.99987889e-01 1.02000293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.73028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:182.15, Y:121.76, Z:1.02 [[-8.67809915e-01 -4.96877777e-01 4.29265702e-03 1.82149295e+02] [ 4.96871948e-01 -8.67820530e-01 -2.40714202e-03 1.21760259e+02] [ 4.92131127e-03 4.39591489e-05 9.99987889e-01 1.01584157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:182.15, Y:121.76, Z:1.02 [[-8.67889295e-01 -4.96739103e-01 4.29359843e-03 1.82148379e+02] [ 4.96733281e-01 -8.67899914e-01 -2.40546167e-03 1.21760303e+02] [ 4.92130058e-03 4.50988036e-05 9.99987889e-01 1.01736169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.79028169299994 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:182.14, Y:121.76, Z:1.02 [[-8.68056287e-01 -4.96447217e-01 4.29453774e-03 1.82144479e+02] [ 4.96441399e-01 -8.68066909e-01 -2.40378351e-03 1.21761711e+02] [ 4.92129774e-03 4.53669314e-05 9.99987889e-01 1.01763909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:182.15, Y:121.76, Z:1.02 [[-8.68409212e-01 -4.95829598e-01 4.29547991e-03 1.82153201e+02] [ 4.95823781e-01 -8.68419834e-01 -2.40209871e-03 1.21755291e+02] [ 4.92131159e-03 4.37964469e-05 9.99987889e-01 1.01601480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.85028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.15, Y:121.76, Z:1.01 [[-8.68972924e-01 -4.94840983e-01 4.29642078e-03 1.82146000e+02] [ 4.94835162e-01 -8.68983544e-01 -2.40041468e-03 1.21756066e+02] [ 4.92134251e-03 4.01247084e-05 9.99987889e-01 1.01416324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.880281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.14, Y:121.76, Z:1.02 [[-8.69446578e-01 -4.94008280e-01 4.29736130e-03 1.82143225e+02] [ 4.94002458e-01 -8.69457197e-01 -2.39872971e-03 1.21756461e+02] [ 4.92136405e-03 3.73397065e-05 9.99987889e-01 1.01507500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.91028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.15, Y:121.75, Z:1.02 [[-8.69974973e-01 -4.93077146e-01 4.29830615e-03 1.82152660e+02] [ 4.93071321e-01 -8.69985590e-01 -2.39703544e-03 1.21750501e+02] [ 4.92138780e-03 3.40106505e-05 9.99987889e-01 1.01682582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.940281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:182.16, Y:121.74, Z:1.02 [[-8.71160609e-01 -4.90979338e-01 4.29924920e-03 1.82160630e+02] [ 4.90973495e-01 -8.71171217e-01 -2.39534281e-03 1.21744338e+02] [ 4.92144599e-03 2.40891083e-05 9.99987889e-01 1.01979109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.97028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:182.15, Y:121.75, Z:1.02 [[-8.71748186e-01 -4.89935311e-01 4.30018599e-03 1.82149356e+02] [ 4.89929464e-01 -8.71758791e-01 -2.39365988e-03 1.21750181e+02] [ 4.92146344e-03 2.01191572e-05 9.99987889e-01 1.02024452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.000281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.15, Y:121.75, Z:1.02 [[-8.71961345e-01 -4.89555832e-01 4.30112451e-03 1.82150374e+02] [ 4.89549989e-01 -8.71971953e-01 -2.39197228e-03 1.21748772e+02] [ 4.92146392e-03 1.99080860e-05 9.99987889e-01 1.01981184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.03028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.16, Y:121.74, Z:1.02 [[-8.72178104e-01 -4.89169549e-01 4.30206847e-03 1.82155309e+02] [ 4.89163710e-01 -8.72188713e-01 -2.39027333e-03 1.21744759e+02] [ 4.92146449e-03 1.96717133e-05 9.99987889e-01 1.02049339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.060281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.16, Y:121.74, Z:1.02 [[-8.72167845e-01 -4.89187831e-01 4.30301063e-03 1.82155839e+02] [ 4.89182000e-01 -8.72178460e-01 -2.38857603e-03 1.21741627e+02] [ 4.92145551e-03 2.17161358e-05 9.99987889e-01 1.02181307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.09028169299995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:182.16, Y:121.74, Z:1.02 [[-8.72200245e-01 -4.89130052e-01 4.30395115e-03 1.82156811e+02] [ 4.89124229e-01 -8.72210864e-01 -2.38688011e-03 1.21740152e+02] [ 4.92144774e-03 2.33293687e-05 9.99987889e-01 1.02033051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.120281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:182.16, Y:121.74, Z:1.02 [[-8.72210074e-01 -4.89112518e-01 4.30489132e-03 1.82164690e+02] [ 4.89106703e-01 -8.72220697e-01 -2.38518324e-03 1.21735148e+02] [ 4.92143829e-03 2.51703495e-05 9.99987889e-01 1.01773783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.15028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:182.17, Y:121.73, Z:1.02 [[-8.72266825e-01 -4.89011294e-01 4.30582874e-03 1.82170956e+02] [ 4.89005486e-01 -8.72277452e-01 -2.38348977e-03 1.21730879e+02] [ 4.92143074e-03 2.65348194e-05 9.99987889e-01 1.01565218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.180281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:182.17, Y:121.73, Z:1.01 [[-8.71990023e-01 -4.89504700e-01 4.30676121e-03 1.82168304e+02] [ 4.89498906e-01 -8.72000658e-01 -2.38180369e-03 1.21729921e+02] [ 4.92140271e-03 3.12458411e-05 9.99987889e-01 1.01160538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.21028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.16, Y:121.73, Z:1.01 [[-8.71819431e-01 -4.89808455e-01 4.30769301e-03 1.82157386e+02] [ 4.89802674e-01 -8.71830073e-01 -2.38011725e-03 1.21734250e+02] [ 4.92137787e-03 3.48870821e-05 9.99987889e-01 1.01174448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.240281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:182.17, Y:121.73, Z:1.01 [[-8.71548310e-01 -4.90290708e-01 4.30863052e-03 1.82166314e+02] [ 4.90284941e-01 -8.71558959e-01 -2.37841891e-03 1.21727358e+02] [ 4.92134222e-03 3.95496790e-05 9.99987889e-01 1.01180431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.27028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.17, Y:121.73, Z:1.01 [[-8.71101249e-01 -4.91084556e-01 4.30956945e-03 1.82165363e+02] [ 4.91078806e-01 -8.71111909e-01 -2.37671640e-03 1.21725078e+02] [ 4.92128598e-03 4.59775912e-05 9.99987889e-01 1.01380121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.300281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.18, Y:121.71, Z:1.01 [[-8.70552269e-01 -4.92057077e-01 4.31050529e-03 1.82182701e+02] [ 4.92051348e-01 -8.70562939e-01 -2.37501790e-03 1.21712298e+02] [ 4.92121052e-03 5.34127130e-05 9.99987889e-01 1.01487172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.33028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.17, Y:121.71, Z:1.01 [[-8.69958901e-01 -4.93105387e-01 4.31143476e-03 1.82172874e+02] [ 4.93099679e-01 -8.69969582e-01 -2.37332942e-03 1.21713611e+02] [ 4.92111861e-03 6.12680412e-05 9.99987889e-01 1.01486842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36028169299993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.19, Y:121.70, Z:1.01 [[-8.68310504e-01 -4.96002291e-01 4.31236119e-03 1.82185819e+02] [ 4.95996627e-01 -8.68321209e-01 -2.37164488e-03 1.21697532e+02] [ 4.92085598e-03 7.95924466e-05 9.99987889e-01 1.01462990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.39028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:182.18, Y:121.69, Z:1.01 [[-8.67775843e-01 -4.96937101e-01 4.31328525e-03 1.82180663e+02] [ 4.96931457e-01 -8.67786558e-01 -2.36996311e-03 1.21694977e+02] [ 4.92073356e-03 8.68103914e-05 9.99987889e-01 1.01468953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:182.17, Y:121.70, Z:1.01 [[-8.67544834e-01 -4.97340274e-01 4.31420492e-03 1.82167800e+02] [ 4.97334644e-01 -8.67555556e-01 -2.36828779e-03 1.21695691e+02] [ 4.92065735e-03 9.10077244e-05 9.99987889e-01 1.01380932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.45028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.17, Y:121.68, Z:1.01 [[-8.67571688e-01 -4.97293421e-01 4.31513080e-03 1.82174491e+02] [ 4.97287798e-01 -8.67582414e-01 -2.36659960e-03 1.21678827e+02] [ 4.92062600e-03 9.26670890e-05 9.99987889e-01 1.01227296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.16, Y:121.68, Z:1.01 [[-8.68451046e-01 -4.95756150e-01 4.31513080e-03 1.82160195e+02] [ 4.95750509e-01 -8.68461762e-01 -2.36659960e-03 1.21680831e+02] [ 4.92078240e-03 8.39523941e-05 9.99987889e-01 1.01280024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.51028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:182.16, Y:121.68, Z:1.01 [[-8.69799261e-01 -4.93386885e-01 4.31605665e-03 1.82158234e+02] [ 4.93381222e-01 -8.69809966e-01 -2.36490988e-03 1.21676969e+02] [ 4.92096461e-03 7.24644375e-05 9.99987889e-01 1.01331106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:182.18, Y:121.66, Z:1.01 [[-8.71412132e-01 -4.90532629e-01 4.31698848e-03 1.82175843e+02] [ 4.90526940e-01 -8.71422823e-01 -2.36320766e-03 1.21662757e+02] [ 4.92115275e-03 5.82713276e-05 9.99987889e-01 1.01382076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.57028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.19, Y:121.65, Z:1.02 [[-8.73232264e-01 -4.87285111e-01 4.31663989e-03 1.82188614e+02] [ 4.87279379e-01 -8.73242932e-01 -2.36384423e-03 1.21652012e+02] [ 4.92134137e-03 3.92245606e-05 9.99987889e-01 1.01559962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:182.20, Y:121.64, Z:1.02 [[-8.76643966e-01 -4.81120283e-01 4.31629694e-03 1.82199313e+02] [ 4.81114473e-01 -8.76654592e-01 -2.36447027e-03 1.21640495e+02] [ 4.92149614e-03 3.83433464e-06 9.99987889e-01 1.01700336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.630281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:182.21, Y:121.63, Z:1.02 [[-8.78012492e-01 -4.78618258e-01 4.31595834e-03 1.82207207e+02] [ 4.78612415e-01 -8.78023099e-01 -2.36508818e-03 1.21633863e+02] [ 4.92148550e-03 -1.09057235e-05 9.99987889e-01 1.01842446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:182.22, Y:121.63, Z:1.02 [[-8.79095764e-01 -4.76625653e-01 4.31573606e-03 1.82216872e+02] [ 4.76619783e-01 -8.79106357e-01 -2.36549370e-03 1.21626409e+02] [ 4.92144599e-03 -2.25303056e-05 9.99987889e-01 1.01820940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.690281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.20, Y:121.63, Z:1.02 [[-8.80155792e-01 -4.74665312e-01 4.31551573e-03 1.82201959e+02] [ 4.74659417e-01 -8.80166371e-01 -2.36589560e-03 1.21632656e+02] [ 4.92138039e-03 -3.39565367e-05 9.99987889e-01 1.01695952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:182.22, Y:121.62, Z:1.01 [[-8.81081087e-01 -4.72945542e-01 4.31639757e-03 1.82218757e+02] [ 4.72939635e-01 -8.81091659e-01 -2.36428565e-03 1.21621881e+02] [ 4.92132026e-03 -4.17318832e-05 9.99987889e-01 1.01053104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.750281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.21, Y:121.63, Z:1.01 [[-8.81817733e-01 -4.71570626e-01 4.31617711e-03 1.82210893e+02] [ 4.71564700e-01 -8.81828295e-01 -2.36468805e-03 1.21627177e+02] [ 4.92124453e-03 -4.98670923e-05 9.99987889e-01 1.00784031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.22, Y:121.63, Z:1.01 [[-8.82506742e-01 -4.70279930e-01 4.31705439e-03 1.82215155e+02] [ 4.70273996e-01 -8.82517300e-01 -2.36308538e-03 1.21625994e+02] [ 4.92118681e-03 -5.52403560e-05 9.99987889e-01 1.00688091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.810281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.22, Y:121.62, Z:1.01 [[-8.83544179e-01 -4.68327928e-01 4.31705439e-03 1.82220239e+02] [ 4.68321970e-01 -8.83554723e-01 -2.36308538e-03 1.21624192e+02] [ 4.92105267e-03 -6.61189089e-05 9.99987889e-01 1.00795284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.24, Y:121.62, Z:1.01 [[-8.85758792e-01 -4.64125764e-01 4.31705439e-03 1.82238432e+02] [ 4.64119757e-01 -8.85769308e-01 -2.36308538e-03 1.21616890e+02] [ 4.92068309e-03 -8.94934148e-05 9.99987889e-01 1.01117803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.870281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.24, Y:121.62, Z:1.01 [[-8.86806895e-01 -4.62120002e-01 4.31683690e-03 1.82237363e+02] [ 4.62113969e-01 -8.86817396e-01 -2.36348261e-03 1.21620427e+02] [ 4.92045865e-03 -1.01082041e-04 9.99987889e-01 1.01242728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.24, Y:121.62, Z:1.01 [[-8.86976047e-01 -4.61795246e-01 4.31770025e-03 1.82239627e+02] [ 4.61789217e-01 -8.86986551e-01 -2.36190436e-03 1.21619273e+02] [ 4.92045826e-03 -1.01085179e-04 9.99987889e-01 1.01241490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.930281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.24, Y:121.62, Z:1.01 [[-8.87702607e-01 -4.60397038e-01 4.31856453e-03 1.82237197e+02] [ 4.60391000e-01 -8.87713105e-01 -2.36032304e-03 1.21623981e+02] [ 4.92033206e-03 -1.07036673e-04 9.99987889e-01 1.01277492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.25, Y:121.62, Z:1.01 [[-8.87865024e-01 -4.60083734e-01 4.31943042e-03 1.82248759e+02] [ 4.60077700e-01 -8.87875524e-01 -2.35873737e-03 1.21620993e+02] [ 4.92033325e-03 -1.06966805e-04 9.99987889e-01 1.01233844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.990281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.24, Y:121.63, Z:1.01 [[-8.88352924e-01 -4.59140965e-01 4.31921421e-03 1.82236497e+02] [ 4.59134918e-01 -8.88363417e-01 -2.35913322e-03 1.21631100e+02] [ 4.92020660e-03 -1.12640835e-04 9.99987889e-01 1.01071748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.25, Y:121.63, Z:1.01 [[-8.89246600e-01 -4.57407719e-01 4.32007898e-03 1.82252783e+02] [ 4.57401660e-01 -8.89257085e-01 -2.35754857e-03 1.21630438e+02] [ 4.92002176e-03 -1.20430758e-04 9.99987889e-01 1.00948614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.050281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.26, Y:121.63, Z:1.01 [[-8.89846250e-01 -4.56240056e-01 4.31997114e-03 1.82257805e+02] [ 4.56233982e-01 -8.89856727e-01 -2.35774616e-03 1.21632345e+02] [ 4.91985362e-03 -1.27113948e-04 9.99987889e-01 1.01149837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.27, Y:121.63, Z:1.01 [[-8.90190832e-01 -4.55567353e-01 4.32083157e-03 1.82273156e+02] [ 4.55561279e-01 -8.90201309e-01 -2.35616828e-03 1.21628178e+02] [ 4.91980326e-03 -1.29035851e-04 9.99987889e-01 1.01316498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.11028169299993 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.26, Y:121.64, Z:1.01 [[-8.90449602e-01 -4.55061354e-01 4.32093824e-03 1.82262892e+02] [ 4.55055274e-01 -8.90460076e-01 -2.35597264e-03 1.21637766e+02] [ 4.91973509e-03 -1.31609160e-04 9.99987889e-01 1.01308795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:182.26, Y:121.65, Z:1.01 [[-8.89665819e-01 -4.56591779e-01 4.32179355e-03 1.82261496e+02] [ 4.56585725e-01 -8.89676308e-01 -2.35440262e-03 1.21646200e+02] [ 4.91999821e-03 -1.21362294e-04 9.99987889e-01 1.00979693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.17028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.26, Y:121.65, Z:1.01 [[-8.89029598e-01 -4.57829325e-01 4.32249258e-03 1.82257382e+02] [ 4.57823292e-01 -8.89040098e-01 -2.35311854e-03 1.21652644e+02] [ 4.92019591e-03 -1.13054248e-04 9.99987889e-01 1.00992894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.26, Y:121.65, Z:1.01 [[-8.88373526e-01 -4.59101063e-01 4.32335818e-03 1.82261706e+02] [ 4.59095053e-01 -8.88384040e-01 -2.35152712e-03 1.21654782e+02] [ 4.92039101e-03 -1.04202084e-04 9.99987889e-01 1.01181118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.23028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.25, Y:121.67, Z:1.02 [[-8.86550092e-01 -4.62612404e-01 4.32422596e-03 1.82247925e+02] [ 4.62606443e-01 -8.86560633e-01 -2.34993027e-03 1.21669568e+02] [ 4.92079540e-03 -8.29161053e-05 9.99987889e-01 1.01868560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:182.26, Y:121.67, Z:1.02 [[-8.85660337e-01 -4.64313538e-01 4.32498942e-03 1.82258820e+02] [ 4.64307604e-01 -8.85670895e-01 -2.34852431e-03 1.21667184e+02] [ 4.92096888e-03 -7.18693571e-05 9.99987889e-01 1.02037250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.29028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:182.25, Y:121.68, Z:1.03 [[-8.85081212e-01 -4.65416519e-01 4.32586634e-03 1.82245071e+02] [ 4.65410606e-01 -8.85091781e-01 -2.34690795e-03 1.21678637e+02] [ 4.92107847e-03 -6.39000577e-05 9.99987889e-01 1.02519848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.32028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.25, Y:121.68, Z:1.02 [[-8.84564349e-01 -4.66398104e-01 4.32674637e-03 1.82253060e+02] [ 4.66392211e-01 -8.84574929e-01 -2.34528441e-03 1.21678696e+02] [ 4.92116756e-03 -5.65941702e-05 9.99987889e-01 1.01902152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.35028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.24, Y:121.69, Z:1.02 [[-8.84342002e-01 -4.66819554e-01 4.32763054e-03 1.82236337e+02] [ 4.66813673e-01 -8.84352589e-01 -2.34365176e-03 1.21691917e+02] [ 4.92121374e-03 -5.23925791e-05 9.99987889e-01 1.01781504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.380281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.25, Y:121.69, Z:1.02 [[-8.84402073e-01 -4.66705729e-01 4.32852020e-03 1.82254787e+02] [ 4.66699855e-01 -8.84412664e-01 -2.34200747e-03 1.21690744e+02] [ 4.92122639e-03 -5.11565086e-05 9.99987889e-01 1.01528972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.41028169299994 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:182.25, Y:121.70, Z:1.02 [[-8.84750176e-01 -4.66045473e-01 4.32941248e-03 1.82254638e+02] [ 4.66039600e-01 -8.84760767e-01 -2.34035685e-03 1.21695460e+02] [ 4.92120702e-03 -5.29534773e-05 9.99987889e-01 1.02078183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.440281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.26, Y:121.70, Z:1.02 [[-8.84576747e-01 -4.66374557e-01 4.33030089e-03 1.82261024e+02] [ 4.66368696e-01 -8.84587345e-01 -2.33871189e-03 1.21697205e+02] [ 4.92124509e-03 -4.92533720e-05 9.99987889e-01 1.01687811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.47028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.27, Y:121.69, Z:1.02 [[-8.84440541e-01 -4.66632800e-01 4.33118957e-03 1.82273427e+02] [ 4.66626950e-01 -8.84451145e-01 -2.33706494e-03 1.21694249e+02] [ 4.92127673e-03 -4.59452026e-05 9.99987889e-01 1.01892498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.500281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.26, Y:121.70, Z:1.02 [[-8.84285451e-01 -4.66926627e-01 4.33207382e-03 1.82259782e+02] [ 4.66920788e-01 -8.84296061e-01 -2.33542471e-03 1.21704243e+02] [ 4.92130780e-03 -4.24467693e-05 9.99987889e-01 1.02034312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.53028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.26, Y:121.71, Z:1.02 [[-8.83977261e-01 -4.67509816e-01 4.33296036e-03 1.82263738e+02] [ 4.67503992e-01 -8.83987879e-01 -2.33377873e-03 1.21706160e+02] [ 4.92134891e-03 -3.73310637e-05 9.99987889e-01 1.01914454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.560281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.27, Y:121.70, Z:1.02 [[-8.83799472e-01 -4.67845820e-01 4.33385275e-03 1.82273114e+02] [ 4.67840009e-01 -8.83810097e-01 -2.33212038e-03 1.21704432e+02] [ 4.92137559e-03 -3.35770562e-05 9.99987889e-01 1.01878581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.59028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.27, Y:121.71, Z:1.02 [[-8.83877279e-01 -4.67698798e-01 4.33474214e-03 1.82271244e+02] [ 4.67692993e-01 -8.83887908e-01 -2.33046608e-03 1.21708963e+02] [ 4.92138235e-03 -3.25174936e-05 9.99987889e-01 1.01807982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.620281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.28, Y:121.71, Z:1.02 [[-8.84096539e-01 -4.67284188e-01 4.33563090e-03 1.82279349e+02] [ 4.67278386e-01 -8.84107169e-01 -2.32881144e-03 1.21706915e+02] [ 4.92137913e-03 -3.29475208e-05 9.99987889e-01 1.01598770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.65028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.25, Y:121.72, Z:1.01 [[-8.83830391e-01 -4.67787383e-01 4.33651903e-03 1.82254289e+02] [ 4.67781595e-01 -8.83841029e-01 -2.32715646e-03 1.21721355e+02] [ 4.92140787e-03 -2.82678129e-05 9.99987889e-01 1.01420243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.680281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.27, Y:121.71, Z:1.02 [[-8.83325105e-01 -4.68740810e-01 4.33741513e-03 1.82267089e+02] [ 4.68735041e-01 -8.83335753e-01 -2.32548509e-03 1.21714530e+02] [ 4.92144363e-03 -2.10609021e-05 9.99987889e-01 1.01531919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.71028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.28, Y:121.71, Z:1.02 [[-8.82543775e-01 -4.70210235e-01 4.33831677e-03 1.82275170e+02] [ 4.70204493e-01 -8.82554437e-01 -2.32380182e-03 1.21710659e+02] [ 4.92147611e-03 -1.09607944e-05 9.99987889e-01 1.01755328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.740281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.25, Y:121.72, Z:1.02 [[-8.81730339e-01 -4.71733804e-01 4.33921187e-03 1.82254518e+02] [ 4.71728088e-01 -8.81741016e-01 -2.32212920e-03 1.21722600e+02] [ 4.92148792e-03 -5.63643527e-07 9.99987889e-01 1.02011414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.77028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.26, Y:121.72, Z:1.02 [[-8.80668370e-01 -4.73713400e-01 4.34011296e-03 1.82261092e+02] [ 4.73707717e-01 -8.80679064e-01 -2.32044382e-03 1.21720386e+02] [ 4.92147195e-03 1.24035253e-05 9.99987889e-01 1.02039737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.800281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.27, Y:121.72, Z:1.02 [[-8.80516537e-01 -4.73995553e-01 4.34102074e-03 1.82267871e+02] [ 4.73989882e-01 -8.80527237e-01 -2.31874433e-03 1.21717172e+02] [ 4.92146150e-03 1.59071778e-05 9.99987889e-01 1.01814461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.83028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.26, Y:121.72, Z:1.02 [[-8.80292668e-01 -4.74411179e-01 4.34192478e-03 1.82256871e+02] [ 4.74405521e-01 -8.80303376e-01 -2.31705024e-03 1.21723613e+02] [ 4.92144558e-03 2.01507471e-05 9.99987889e-01 1.01620707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86028169299993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.26, Y:121.72, Z:1.01 [[-8.79885599e-01 -4.75165732e-01 4.34283154e-03 1.82260673e+02] [ 4.75160092e-01 -8.79896316e-01 -2.31534946e-03 1.21721617e+02] [ 4.92141619e-03 2.62975852e-05 9.99987889e-01 1.01477352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.89028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.28, Y:121.71, Z:1.01 [[-8.79078335e-01 -4.76657542e-01 4.34374211e-03 1.82281532e+02] [ 4.76651928e-01 -8.79089066e-01 -2.31363991e-03 1.21710446e+02] [ 4.92135011e-03 3.65823359e-05 9.99987889e-01 1.01485693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.29, Y:121.70, Z:1.02 [[-8.76902528e-01 -4.80648603e-01 4.34464416e-03 1.82288269e+02] [ 4.80643047e-01 -8.76913289e-01 -2.31194476e-03 1.21704651e+02] [ 4.92110922e-03 6.08728039e-05 9.99987889e-01 1.01714917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.95028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.30, Y:121.70, Z:1.02 [[-8.76061978e-01 -4.82178937e-01 4.34553664e-03 1.82300019e+02] [ 4.82173408e-01 -8.76072752e-01 -2.31026604e-03 1.21696575e+02] [ 4.92096787e-03 7.13659726e-05 9.99987889e-01 1.01745228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.98028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.31, Y:121.69, Z:1.02 [[-8.75392966e-01 -4.83392453e-01 4.34642253e-03 1.82308558e+02] [ 4.83386947e-01 -8.75403752e-01 -2.30859816e-03 1.21690261e+02] [ 4.92083352e-03 8.00733250e-05 9.99987889e-01 1.01849532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.01028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.31, Y:121.69, Z:1.02 [[-8.74729414e-01 -4.84592151e-01 4.34730177e-03 1.82312501e+02] [ 4.84586668e-01 -8.74740212e-01 -2.30694128e-03 1.21686892e+02] [ 4.92068531e-03 8.86950874e-05 9.99987889e-01 1.01902144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.04028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.30, Y:121.69, Z:1.02 [[-8.73863250e-01 -4.86152356e-01 4.34817678e-03 1.82297888e+02] [ 4.86146900e-01 -8.73874063e-01 -2.30529087e-03 1.21691585e+02] [ 4.92048149e-03 9.93436867e-05 9.99987889e-01 1.01862756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.07028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.31, Y:121.68, Z:1.02 [[-8.74198746e-01 -4.85548802e-01 4.34905593e-03 1.82310957e+02] [ 4.85543347e-01 -8.74209558e-01 -2.30363111e-03 1.21682806e+02] [ 4.92051159e-03 9.78237474e-05 9.99987889e-01 1.01734551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.31, Y:121.68, Z:1.02 [[-8.74877870e-01 -4.84324055e-01 4.34993605e-03 1.82314556e+02] [ 4.84318593e-01 -8.74888679e-01 -2.30196798e-03 1.21680021e+02] [ 4.92060827e-03 9.28140708e-05 9.99987889e-01 1.01722919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.130281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.29, Y:121.69, Z:1.02 [[-8.75899960e-01 -4.82473139e-01 4.35081046e-03 1.82293179e+02] [ 4.82467663e-01 -8.75910762e-01 -2.30031412e-03 1.21691126e+02] [ 4.92076148e-03 8.42803098e-05 9.99987889e-01 1.01650648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:182.30, Y:121.69, Z:1.02 [[-8.77158726e-01 -4.80180832e-01 4.35169224e-03 1.82300820e+02] [ 4.80175336e-01 -8.77169518e-01 -2.29864478e-03 1.21687298e+02] [ 4.92093695e-03 7.32989566e-05 9.99987889e-01 1.01587556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.190281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.30, Y:121.69, Z:1.01 [[-8.79349441e-01 -4.76157133e-01 4.35258017e-03 1.82298192e+02] [ 4.76151596e-01 -8.79360212e-01 -2.29696221e-03 1.21688051e+02] [ 4.92120076e-03 5.26555620e-05 9.99987889e-01 1.01482276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.29, Y:121.69, Z:1.01 [[-8.80064781e-01 -4.74833686e-01 4.35346716e-03 1.82294817e+02] [ 4.74828141e-01 -8.80075547e-01 -2.29527986e-03 1.21689200e+02] [ 4.92125619e-03 4.71537499e-05 9.99987889e-01 1.01468223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.250281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.29, Y:121.69, Z:1.02 [[-8.80562225e-01 -4.73910548e-01 4.35435707e-03 1.82292977e+02] [ 4.73904999e-01 -8.80572990e-01 -2.29359036e-03 1.21690104e+02] [ 4.92128589e-03 4.39025533e-05 9.99987889e-01 1.01590929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.29, Y:121.69, Z:1.02 [[-8.80659372e-01 -4.73729988e-01 4.35525008e-03 1.82290914e+02] [ 4.73724446e-01 -8.80670140e-01 -2.29189339e-03 1.21691414e+02] [ 4.92127733e-03 4.48110408e-05 9.99987889e-01 1.02184021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.310281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.30, Y:121.69, Z:1.02 [[-8.80749103e-01 -4.73563134e-01 4.35614531e-03 1.82295603e+02] [ 4.73557599e-01 -8.80759874e-01 -2.29019058e-03 1.21688159e+02] [ 4.92126783e-03 4.58024164e-05 9.99987889e-01 1.02367293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.31, Y:121.68, Z:1.02 [[-8.81024781e-01 -4.73050052e-01 4.35704063e-03 1.82305705e+02] [ 4.73044519e-01 -8.81035553e-01 -2.28848599e-03 1.21681403e+02] [ 4.92127612e-03 4.48613239e-05 9.99987889e-01 1.02357408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.370281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.25, Y:121.71, Z:1.02 [[-8.81558562e-01 -4.72054564e-01 4.35793091e-03 1.82253149e+02] [ 4.72049026e-01 -8.81569332e-01 -2.28678939e-03 1.21707789e+02] [ 4.92130761e-03 4.12182749e-05 9.99987889e-01 1.02206827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.29, Y:121.69, Z:1.02 [[-8.81550700e-01 -4.72069226e-01 4.35985604e-03 1.82289144e+02] [ 4.72063707e-01 -8.81561480e-01 -2.28311758e-03 1.21688003e+02] [ 4.92127069e-03 4.54459060e-05 9.99987889e-01 1.02028981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.430281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.30, Y:121.68, Z:1.02 [[-8.82824958e-01 -4.69681917e-01 4.35791355e-03 1.82300253e+02] [ 4.69676351e-01 -8.82835713e-01 -2.28681931e-03 1.21679644e+02] [ 4.92139939e-03 2.79477724e-05 9.99987889e-01 1.01758468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.30, Y:121.68, Z:1.02 [[-8.83843700e-01 -4.67762029e-01 4.35880816e-03 1.82296719e+02] [ 4.67756447e-01 -8.83854447e-01 -2.28511286e-03 1.21680337e+02] [ 4.92144100e-03 1.91780190e-05 9.99987889e-01 1.01708490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.490281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.31, Y:121.67, Z:1.02 [[-8.84811888e-01 -4.65928017e-01 4.35970043e-03 1.82308178e+02] [ 4.65922421e-01 -8.84822628e-01 -2.28340924e-03 1.21673726e+02] [ 4.92146593e-03 1.08945445e-05 9.99987889e-01 1.01682969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.30, Y:121.68, Z:1.02 [[-8.85755934e-01 -4.64130812e-01 4.36059038e-03 1.82302485e+02] [ 4.64125204e-01 -8.85766667e-01 -2.28170845e-03 1.21676584e+02] [ 4.92147681e-03 2.82310340e-06 9.99987889e-01 1.01630791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.550281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.32, Y:121.67, Z:1.02 [[-8.86606172e-01 -4.62504566e-01 4.36147907e-03 1.82321354e+02] [ 4.62498946e-01 -8.86616900e-01 -2.28000847e-03 1.21666614e+02] [ 4.92147537e-03 -4.29010963e-06 9.99987889e-01 1.01595042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.32, Y:121.67, Z:1.02 [[-8.87689607e-01 -4.60421694e-01 4.36180994e-03 1.82321330e+02] [ 4.60416052e-01 -8.87700323e-01 -2.27937531e-03 1.21665621e+02] [ 4.92145393e-03 -1.51304586e-05 9.99987889e-01 1.01611531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.61028169299993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.31, Y:121.67, Z:1.02 [[-8.87863699e-01 -4.60085881e-01 4.36268880e-03 1.82310043e+02] [ 4.60080244e-01 -8.87874418e-01 -2.27769193e-03 1.21670351e+02] [ 4.92145368e-03 -1.50930576e-05 9.99987889e-01 1.01657714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.32, Y:121.67, Z:1.02 [[-8.87654022e-01 -4.60490278e-01 4.36357263e-03 1.82315580e+02] [ 4.60484654e-01 -8.87664747e-01 -2.27599744e-03 1.21666744e+02] [ 4.92146430e-03 -1.09400531e-05 9.99987889e-01 1.01620883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.67028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.33, Y:121.66, Z:1.02 [[-8.87475799e-01 -4.60833655e-01 4.36445939e-03 1.82325124e+02] [ 4.60828043e-01 -8.87486531e-01 -2.27429572e-03 1.21660651e+02] [ 4.92147093e-03 -7.11713350e-06 9.99987889e-01 1.01746063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.33, Y:121.66, Z:1.02 [[-8.87099507e-01 -4.61557589e-01 4.36534116e-03 1.82328848e+02] [ 4.61551994e-01 -8.87110248e-01 -2.27260197e-03 1.21657923e+02] [ 4.92147557e-03 -1.19216389e-06 9.99987889e-01 1.01886720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.73028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.32, Y:121.66, Z:1.02 [[-8.87302890e-01 -4.61166474e-01 4.36621873e-03 1.82321295e+02] [ 4.61160883e-01 -8.87313633e-01 -2.27091469e-03 1.21662864e+02] [ 4.92147513e-03 -1.45988362e-06 9.99987889e-01 1.01661426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.30, Y:121.67, Z:1.01 [[-8.87813250e-01 -4.60183183e-01 4.36709860e-03 1.82304195e+02] [ 4.60177588e-01 -8.87823991e-01 -2.26922140e-03 1.21672893e+02] [ 4.92147243e-03 -5.00392642e-06 9.99987889e-01 1.01474599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.79028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.31, Y:121.67, Z:1.01 [[-8.87995444e-01 -4.59831504e-01 4.36798903e-03 1.82306458e+02] [ 4.59825913e-01 -8.88006187e-01 -2.26750611e-03 1.21671801e+02] [ 4.92147203e-03 -5.02055296e-06 9.99987889e-01 1.01473361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.82028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.34, Y:121.66, Z:1.01 [[-8.88432219e-01 -4.58987042e-01 4.36888645e-03 1.82337181e+02] [ 4.58981449e-01 -8.88442961e-01 -2.26577572e-03 1.21656599e+02] [ 4.92146810e-03 -7.75031447e-06 9.99987890e-01 1.01200285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.85028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.34, Y:121.66, Z:1.01 [[-8.89017252e-01 -4.57852854e-01 4.36910729e-03 1.82339162e+02] [ 4.57847250e-01 -8.89027988e-01 -2.26534978e-03 1.21655293e+02] [ 4.92145553e-03 -1.35512763e-05 9.99987890e-01 1.01162641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.880281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.33, Y:121.66, Z:1.01 [[-8.89064494e-01 -4.57761105e-01 4.36998206e-03 1.82328927e+02] [ 4.57755508e-01 -8.89075233e-01 -2.26366105e-03 1.21660580e+02] [ 4.92145880e-03 -1.21573039e-05 9.99987890e-01 1.01316647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.91028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.35, Y:121.65, Z:1.02 [[-8.88979297e-01 -4.57926528e-01 4.37086103e-03 1.82349206e+02] [ 4.57920941e-01 -8.88990042e-01 -2.26196258e-03 1.21650245e+02] [ 4.92146460e-03 -9.32910314e-06 9.99987890e-01 1.01595424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.940281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:182.34, Y:121.66, Z:1.02 [[-8.89026786e-01 -4.57834324e-01 4.37107947e-03 1.82338452e+02] [ 4.57828738e-01 -8.89037531e-01 -2.26154038e-03 1.21655854e+02] [ 4.92146451e-03 -9.36417076e-06 9.99987890e-01 1.01866775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.97028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.34, Y:121.65, Z:1.02 [[-8.89192092e-01 -4.57513179e-01 4.37195306e-03 1.82343876e+02] [ 4.57507598e-01 -8.89202840e-01 -2.25985031e-03 1.21652775e+02] [ 4.92146438e-03 -9.23928456e-06 9.99987890e-01 1.02005021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.000281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.35, Y:121.65, Z:1.02 [[-8.89089906e-01 -4.57711719e-01 4.37282966e-03 1.82348019e+02] [ 4.57706148e-01 -8.89100659e-01 -2.25815281e-03 1.21650045e+02] [ 4.92146874e-03 -6.22984488e-06 9.99987890e-01 1.01652087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.03028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.36, Y:121.65, Z:1.01 [[-8.89151511e-01 -4.57592025e-01 4.37370355e-03 1.82355917e+02] [ 4.57586461e-01 -8.89162268e-01 -2.25645894e-03 1.21646666e+02] [ 4.92146979e-03 -4.98634718e-06 9.99987890e-01 1.01467697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.060281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.37, Y:121.64, Z:1.01 [[-8.89485808e-01 -4.56941856e-01 4.37457400e-03 1.82369275e+02] [ 4.56936293e-01 -8.89496565e-01 -2.25477015e-03 1.21640399e+02] [ 4.92146741e-03 -6.68442062e-06 9.99987890e-01 1.01418543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.09028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.34, Y:121.65, Z:1.02 [[-8.90490168e-01 -4.54981445e-01 4.37543801e-03 1.82344059e+02] [ 4.54975867e-01 -8.90500918e-01 -2.25309226e-03 1.21654022e+02] [ 4.92144674e-03 -1.56378066e-05 9.99987890e-01 1.01547255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.120281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.36, Y:121.65, Z:1.02 [[-8.90943888e-01 -4.54092322e-01 4.37630746e-03 1.82362058e+02] [ 4.54086741e-01 -8.90954636e-01 -2.25140223e-03 1.21645801e+02] [ 4.92143588e-03 -1.86498673e-05 9.99987890e-01 1.01664393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.15028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.38, Y:121.64, Z:1.02 [[-8.91349002e-01 -4.53296594e-01 4.37663399e-03 1.82375717e+02] [ 4.53291006e-01 -8.91359747e-01 -2.25076728e-03 1.21639802e+02] [ 4.92142051e-03 -2.23303416e-05 9.99987890e-01 1.01746083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.180281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.36, Y:121.65, Z:1.02 [[-8.91397745e-01 -4.53200725e-01 4.37749747e-03 1.82362021e+02] [ 4.53195145e-01 -8.91408494e-01 -2.24908665e-03 1.21647667e+02] [ 4.92142613e-03 -2.09701700e-05 9.99987890e-01 1.01690029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.21028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.36, Y:121.65, Z:1.01 [[-8.91163564e-01 -4.53661032e-01 4.37836218e-03 1.82364651e+02] [ 4.53655466e-01 -8.91174320e-01 -2.24740204e-03 1.21646273e+02] [ 4.92144266e-03 -1.65348787e-05 9.99987890e-01 1.01379556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.240281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.37, Y:121.64, Z:1.01 [[-8.90577857e-01 -4.54809744e-01 4.37923190e-03 1.82367603e+02] [ 4.54804200e-01 -8.90588624e-01 -2.24570603e-03 1.21643799e+02] [ 4.92146310e-03 -8.28300520e-06 9.99987890e-01 1.01147548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.27028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.36, Y:121.64, Z:1.01 [[-8.88805153e-01 -4.58264351e-01 4.38010039e-03 1.82362284e+02] [ 4.58258857e-01 -8.88815945e-01 -2.24401084e-03 1.21641591e+02] [ 4.92145323e-03 1.27313997e-05 9.99987890e-01 1.01081092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.300281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.36, Y:121.64, Z:1.01 [[-8.88374740e-01 -4.59098169e-01 4.38096982e-03 1.82356017e+02] [ 4.59092693e-01 -8.88385542e-01 -2.24231217e-03 1.21642433e+02] [ 4.92143165e-03 1.92577429e-05 9.99987890e-01 1.01258113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.33028169299996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:182.34, Y:121.65, Z:1.01 [[-8.88289494e-01 -4.59263077e-01 4.38184344e-03 1.82344607e+02] [ 4.59257612e-01 -8.88300301e-01 -2.24060367e-03 1.21646641e+02] [ 4.92141938e-03 2.20902535e-05 9.99987890e-01 1.01415918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36028169299993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.36, Y:121.64, Z:1.01 [[-8.88333396e-01 -4.59178145e-01 4.38272398e-03 1.82363552e+02] [ 4.59172688e-01 -8.88344207e-01 -2.23887996e-03 1.21635931e+02] [ 4.92141221e-03 2.35553128e-05 9.99987890e-01 1.01374939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.39028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.37, Y:121.63, Z:1.01 [[-8.89302169e-01 -4.57299072e-01 4.38305253e-03 1.82374900e+02] [ 4.57293595e-01 -8.89312970e-01 -2.23823658e-03 1.21628658e+02] [ 4.92144897e-03 1.38732067e-05 9.99987890e-01 1.01460634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.38, Y:121.63, Z:1.02 [[-8.90342724e-01 -4.55269826e-01 4.38392074e-03 1.82378607e+02] [ 4.55264333e-01 -8.90353517e-01 -2.23653476e-03 1.21625335e+02] [ 4.92146604e-03 4.56029333e-06 9.99987890e-01 1.01563258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.45028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.39, Y:121.62, Z:1.02 [[-8.91563486e-01 -4.52874513e-01 4.38478407e-03 1.82386387e+02] [ 4.52868999e-01 -8.91574268e-01 -2.23484089e-03 1.21619480e+02] [ 4.92146313e-03 -6.76975644e-06 9.99987890e-01 1.01694125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.39, Y:121.62, Z:1.02 [[-8.92717924e-01 -4.50594578e-01 4.38564388e-03 1.82388352e+02] [ 4.50589044e-01 -8.92728697e-01 -2.23315234e-03 1.21616061e+02] [ 4.92143648e-03 -1.74520351e-05 9.99987890e-01 1.01796976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.51028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.38, Y:121.62, Z:1.02 [[-8.93816930e-01 -4.48410586e-01 4.38650059e-03 1.82379855e+02] [ 4.48405034e-01 -8.93827694e-01 -2.23146825e-03 1.21618492e+02] [ 4.92138969e-03 -2.75951560e-05 9.99987890e-01 1.01729790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.40, Y:121.60, Z:1.01 [[-8.95379768e-01 -4.45281734e-01 4.38735981e-03 1.82403839e+02] [ 4.45276153e-01 -8.95390516e-01 -2.22977764e-03 1.21603771e+02] [ 4.92127962e-03 -4.29110915e-05 9.99987890e-01 1.01410937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.57028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.41, Y:121.60, Z:1.01 [[-8.96122245e-01 -4.43785608e-01 4.38810626e-03 1.82409617e+02] [ 4.43780016e-01 -8.96132988e-01 -2.22830769e-03 1.21600465e+02] [ 4.92121766e-03 -4.94822269e-05 9.99987890e-01 1.01342711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.41, Y:121.60, Z:1.01 [[-8.96755875e-01 -4.42503828e-01 4.38895029e-03 1.82405245e+02] [ 4.42498229e-01 -8.96766614e-01 -2.22664402e-03 1.21602405e+02] [ 4.92116259e-03 -5.46533750e-05 9.99987890e-01 1.01438757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.630281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.42, Y:121.59, Z:1.02 [[-8.97460834e-01 -4.41072308e-01 4.38979453e-03 1.82423413e+02] [ 4.41066700e-01 -8.97471568e-01 -2.22497837e-03 1.21592461e+02] [ 4.92109212e-03 -6.06387567e-05 9.99987890e-01 1.01621191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.41, Y:121.60, Z:1.02 [[-8.99324576e-01 -4.37259682e-01 4.39063481e-03 1.82412724e+02] [ 4.37254037e-01 -8.99335290e-01 -2.22331896e-03 1.21596021e+02] [ 4.92082058e-03 -7.96625830e-05 9.99987890e-01 1.01795635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.690281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.44, Y:121.58, Z:1.02 [[-9.00246286e-01 -4.35358864e-01 4.39147296e-03 1.82437706e+02] [ 4.35353204e-01 -9.00256992e-01 -2.22166223e-03 1.21582786e+02] [ 4.92067458e-03 -8.82013432e-05 9.99987890e-01 1.01772574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.44, Y:121.58, Z:1.02 [[-9.01395478e-01 -4.32974489e-01 4.39136910e-03 1.82443243e+02] [ 4.32968800e-01 -9.01406169e-01 -2.22186750e-03 1.21579851e+02] [ 4.92041914e-03 -1.01455503e-04 9.99987890e-01 1.01708543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.750281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.43, Y:121.59, Z:1.02 [[-9.02611872e-01 -4.30432942e-01 4.39219243e-03 1.82432749e+02] [ 4.30427231e-01 -9.02622551e-01 -2.22023876e-03 1.21585596e+02] [ 4.92015583e-03 -1.13494637e-04 9.99987890e-01 1.01709409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.46, Y:121.57, Z:1.02 [[-9.05215228e-01 -4.24930691e-01 4.39301846e-03 1.82458413e+02] [ 4.24924923e-01 -9.05225877e-01 -2.21860314e-03 1.21574932e+02] [ 4.91942655e-03 -1.41610321e-04 9.99987890e-01 1.01730810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.810281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.47, Y:121.57, Z:1.02 [[-9.06799267e-01 -4.21539787e-01 4.39291608e-03 1.82474870e+02] [ 4.21533978e-01 -9.06809893e-01 -2.21880584e-03 1.21569445e+02] [ 4.91885470e-03 -1.60248118e-04 9.99987890e-01 1.01703014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.47, Y:121.57, Z:1.02 [[-9.08226063e-01 -4.18456824e-01 4.39372512e-03 1.82473616e+02] [ 4.18450987e-01 -9.08236674e-01 -2.21720260e-03 1.21574234e+02] [ 4.91834585e-03 -1.75162575e-04 9.99987890e-01 1.01759313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.870281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.49, Y:121.57, Z:1.02 [[-9.09506825e-01 -4.15665759e-01 4.39453103e-03 1.82494340e+02] [ 4.15659896e-01 -9.09517422e-01 -2.21560413e-03 1.21567818e+02] [ 4.91785330e-03 -1.88476764e-04 9.99987890e-01 1.01825627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.51, Y:121.57, Z:1.02 [[-9.10507013e-01 -4.13470270e-01 4.39483094e-03 1.82505684e+02] [ 4.13464386e-01 -9.10517598e-01 -2.21500907e-03 1.21565980e+02] [ 4.91741131e-03 -1.99675215e-04 9.99987890e-01 1.01887594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.930281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.50, Y:121.57, Z:1.02 [[-9.11267575e-01 -4.11791312e-01 4.39562478e-03 1.82503573e+02] [ 4.11785416e-01 -9.11278153e-01 -2.21343260e-03 1.21569948e+02] [ 4.91710914e-03 -2.06975185e-04 9.99987890e-01 1.01912678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.49, Y:121.58, Z:1.02 [[-9.11951922e-01 -4.10273523e-01 4.39641755e-03 1.82494457e+02] [ 4.10267616e-01 -9.11962494e-01 -2.21185684e-03 1.21580964e+02] [ 4.91683421e-03 -2.13399347e-04 9.99987890e-01 1.01739167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.990281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.52, Y:121.57, Z:1.02 [[-9.11981875e-01 -4.10206929e-01 4.39721572e-03 1.82517752e+02] [ 4.10201029e-01 -9.11992451e-01 -2.21026893e-03 1.21573687e+02] [ 4.91689517e-03 -2.11982788e-04 9.99987890e-01 1.01677298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.52, Y:121.58, Z:1.02 [[-9.12175266e-01 -4.09776703e-01 4.39751352e-03 1.82518810e+02] [ 4.09770801e-01 -9.12185841e-01 -2.20967625e-03 1.21578455e+02] [ 4.91682342e-03 -2.13639383e-04 9.99987890e-01 1.01682121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.050281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.52, Y:121.59, Z:1.02 [[-9.12293545e-01 -4.09513300e-01 4.39830434e-03 1.82522128e+02] [ 4.09507402e-01 -9.12304123e-01 -2.20810103e-03 1.21586328e+02] [ 4.91683792e-03 -2.13298131e-04 9.99987890e-01 1.01766433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.51, Y:121.59, Z:1.02 [[-9.12181718e-01 -4.09762323e-01 4.39909656e-03 1.82514148e+02] [ 4.09756436e-01 -9.12192301e-01 -2.20652160e-03 1.21594975e+02] [ 4.91697143e-03 -2.10190542e-04 9.99987890e-01 1.01778718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.11028169299993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.52, Y:121.60, Z:1.02 [[-9.11933935e-01 -4.10313464e-01 4.39989255e-03 1.82515955e+02] [ 4.10307591e-01 -9.11944526e-01 -2.20493323e-03 1.21598877e+02] [ 4.91717171e-03 -2.05444121e-04 9.99987890e-01 1.01710175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.53, Y:121.60, Z:1.02 [[-9.11643849e-01 -4.10957573e-01 4.40069260e-03 1.82527206e+02] [ 4.10951715e-01 -9.11654449e-01 -2.20333529e-03 1.21597525e+02] [ 4.91738831e-03 -2.00184891e-04 9.99987890e-01 1.01743315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.17028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.53, Y:121.60, Z:1.02 [[-9.10665604e-01 -4.13120787e-01 4.40149044e-03 1.82529451e+02] [ 4.13114962e-01 -9.10676221e-01 -2.20174033e-03 1.21604051e+02] [ 4.91791738e-03 -1.86727628e-04 9.99987890e-01 1.01904696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.52, Y:121.61, Z:1.02 [[-9.09955842e-01 -4.14681789e-01 4.40228633e-03 1.82520889e+02] [ 4.14675990e-01 -9.09966473e-01 -2.20014784e-03 1.21612339e+02] [ 4.91829420e-03 -1.76514938e-04 9.99987890e-01 1.01929725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.23028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.52, Y:121.62, Z:1.02 [[-9.08905777e-01 -4.16978299e-01 4.40308665e-03 1.82520902e+02] [ 4.16972534e-01 -9.08916428e-01 -2.19854500e-03 1.21616357e+02] [ 4.91878334e-03 -1.62304050e-04 9.99987890e-01 1.01812795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.50, Y:121.63, Z:1.01 [[-9.06053340e-01 -4.23140581e-01 4.40389136e-03 1.82498880e+02] [ 4.23134897e-01 -9.06064033e-01 -2.19693191e-03 1.21634978e+02] [ 4.91981861e-03 -1.27097380e-04 9.99987890e-01 1.01381989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.29028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.50, Y:121.64, Z:1.01 [[-9.04853012e-01 -4.25701333e-01 4.40465403e-03 1.82498040e+02] [ 4.25695687e-01 -9.04863726e-01 -2.19540176e-03 1.21639152e+02] [ 4.92019711e-03 -1.11473676e-04 9.99987890e-01 1.01292622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.32028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.49, Y:121.65, Z:1.01 [[-9.03914952e-01 -4.27689550e-01 4.40547720e-03 1.82486221e+02] [ 4.27683936e-01 -9.03925682e-01 -2.19374868e-03 1.21649249e+02] [ 4.92046737e-03 -9.88104042e-05 9.99987890e-01 1.01408194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.35028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.48, Y:121.66, Z:1.02 [[-9.02471517e-01 -4.30726996e-01 4.40630663e-03 1.82479659e+02] [ 4.30721425e-01 -9.02482271e-01 -2.19208144e-03 1.21661683e+02] [ 4.92080226e-03 -8.04003933e-05 9.99987890e-01 1.01738577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.380281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.48, Y:121.66, Z:1.02 [[-9.01990058e-01 -4.31734307e-01 4.40714478e-03 1.82480672e+02] [ 4.31728757e-01 -9.02000822e-01 -2.19039505e-03 1.21664771e+02] [ 4.92091690e-03 -7.30234198e-05 9.99987890e-01 1.01913793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.41028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.46, Y:121.68, Z:1.02 [[-9.01591274e-01 -4.32566462e-01 4.40798747e-03 1.82459944e+02] [ 4.32560930e-01 -9.01602047e-01 -2.18869790e-03 1.21678190e+02] [ 4.92100783e-03 -6.65877681e-05 9.99987890e-01 1.02093718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.440281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.48, Y:121.67, Z:1.02 [[-9.01070805e-01 -4.33649589e-01 4.40883889e-03 1.82481543e+02] [ 4.33644079e-01 -9.01081589e-01 -2.18698148e-03 1.21670928e+02] [ 4.92110717e-03 -5.87582882e-05 9.99987890e-01 1.02106657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.47028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.50, Y:121.67, Z:1.02 [[-9.00426251e-01 -4.34986345e-01 4.40969194e-03 1.82495280e+02] [ 4.34980859e-01 -9.00437048e-01 -2.18526009e-03 1.21673058e+02] [ 4.92120829e-03 -4.95339702e-05 9.99987890e-01 1.01938801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.500281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.48, Y:121.69, Z:1.02 [[-9.00426924e-01 -4.34984944e-01 4.41053518e-03 1.82478091e+02] [ 4.34979466e-01 -9.00437725e-01 -2.18355685e-03 1.21685571e+02] [ 4.92122661e-03 -4.76411360e-05 9.99987890e-01 1.01912454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.53028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.49, Y:121.68, Z:1.02 [[-9.00376882e-01 -4.35088508e-01 4.41138244e-03 1.82493447e+02] [ 4.35083039e-01 -9.00387688e-01 -2.18184379e-03 1.21684663e+02] [ 4.92124960e-03 -4.51640308e-05 9.99987890e-01 1.01920333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.560281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.49, Y:121.69, Z:1.02 [[-9.00539622e-01 -4.34751563e-01 4.41223248e-03 1.82486643e+02] [ 4.34746099e-01 -9.00550430e-01 -2.18012344e-03 1.21691895e+02] [ 4.92124993e-03 -4.50866814e-05 9.99987890e-01 1.01907096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.59028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.49, Y:121.69, Z:1.02 [[-9.00854290e-01 -4.34099152e-01 4.41308185e-03 1.82491465e+02] [ 4.34093688e-01 -9.00865098e-01 -2.17840277e-03 1.21693789e+02] [ 4.92123420e-03 -4.67325001e-05 9.99987890e-01 1.01888523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.620281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.50, Y:121.70, Z:1.02 [[-9.01093525e-01 -4.33602324e-01 4.41393401e-03 1.82495797e+02] [ 4.33596863e-01 -9.01104335e-01 -2.17667473e-03 1.21695998e+02] [ 4.92122629e-03 -4.75195680e-05 9.99987890e-01 1.01794700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.65028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.50, Y:121.70, Z:1.02 [[-9.00854406e-01 -4.34098894e-01 4.41478520e-03 1.82501106e+02] [ 4.34093448e-01 -9.00865222e-01 -2.17494696e-03 1.21700312e+02] [ 4.92126852e-03 -4.28812214e-05 9.99987890e-01 1.01790322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.680281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.51, Y:121.70, Z:1.02 [[-9.00279408e-01 -4.35290121e-01 4.41563542e-03 1.82511837e+02] [ 4.35284698e-01 -9.00290236e-01 -2.17321944e-03 1.21698131e+02] [ 4.92133441e-03 -3.44461818e-05 9.99987890e-01 1.01904865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.71028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.51, Y:121.70, Z:1.02 [[-9.00448545e-01 -4.34940126e-01 4.41648210e-03 1.82514084e+02] [ 4.34934707e-01 -9.00459375e-01 -2.17149744e-03 1.21697108e+02] [ 4.92133407e-03 -3.44403602e-05 9.99987890e-01 1.01903627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.740281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.52, Y:121.70, Z:1.02 [[-8.98205355e-01 -4.39553896e-01 4.41732554e-03 1.82520235e+02] [ 4.39548540e-01 -8.98216217e-01 -2.16978033e-03 1.21697759e+02] [ 4.92144883e-03 -7.27931642e-06 9.99987890e-01 1.01990866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.77028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.54, Y:121.69, Z:1.02 [[-8.97034939e-01 -4.41937551e-01 4.41816774e-03 1.82542125e+02] [ 4.41932233e-01 -8.97045819e-01 -2.16806405e-03 1.21687050e+02] [ 4.92144781e-03 7.70152638e-06 9.99987890e-01 1.01928523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.800281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.55, Y:121.68, Z:1.02 [[-8.96209900e-01 -4.43608259e-01 4.41900154e-03 1.82552615e+02] [ 4.43602970e-01 -8.96220794e-01 -2.16636323e-03 1.21681287e+02] [ 4.92141770e-03 1.87660315e-05 9.99987890e-01 1.01799089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.83028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.55, Y:121.68, Z:1.02 [[-8.95652516e-01 -4.44732543e-01 4.41982507e-03 1.82548052e+02] [ 4.44727276e-01 -8.95663421e-01 -2.16468177e-03 1.21683546e+02] [ 4.92138007e-03 2.68140908e-05 9.99987890e-01 1.01683330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86028169299993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.55, Y:121.68, Z:1.02 [[-8.94870935e-01 -4.46303111e-01 4.42064756e-03 1.82548762e+02] [ 4.46297871e-01 -8.94881854e-01 -2.16300081e-03 1.21684495e+02] [ 4.92131127e-03 3.73190371e-05 9.99987890e-01 1.01648909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.89028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.56, Y:121.68, Z:1.02 [[-8.94772968e-01 -4.46499481e-01 4.42147212e-03 1.82557389e+02] [ 4.46494252e-01 -8.94783891e-01 -2.16131397e-03 1.21680152e+02] [ 4.92128759e-03 4.02765733e-05 9.99987890e-01 1.01644385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.56, Y:121.68, Z:1.02 [[-8.94170530e-01 -4.47704709e-01 4.42229454e-03 1.82560879e+02] [ 4.47699503e-01 -8.94181464e-01 -2.15962988e-03 1.21677409e+02] [ 4.92121028e-03 4.87816726e-05 9.99987890e-01 1.01746475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.95028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.58, Y:121.67, Z:1.02 [[-8.93559215e-01 -4.48923563e-01 4.42311362e-03 1.82575323e+02] [ 4.48918380e-01 -8.93570160e-01 -2.15795103e-03 1.21670423e+02] [ 4.92111741e-03 5.73599722e-05 9.99987890e-01 1.01789729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.57, Y:121.67, Z:1.02 [[-8.92982724e-01 -4.50069198e-01 4.42392764e-03 1.82570054e+02] [ 4.50064038e-01 -8.92993680e-01 -2.15628095e-03 1.21673129e+02] [ 4.92101506e-03 6.55290962e-05 9.99987890e-01 1.01857215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.01028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.58, Y:121.67, Z:1.02 [[-8.92597029e-01 -4.50833634e-01 4.42473957e-03 1.82579433e+02] [ 4.50828491e-01 -8.92607993e-01 -2.15461357e-03 1.21667001e+02] [ 4.92093017e-03 7.15969869e-05 9.99987890e-01 1.02126294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.58, Y:121.67, Z:1.02 [[-8.92719836e-01 -4.50590400e-01 4.42555060e-03 1.82577957e+02] [ 4.50585262e-01 -8.92730803e-01 -2.15294644e-03 1.21666340e+02] [ 4.92092233e-03 7.21098853e-05 9.99987890e-01 1.02140197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.07028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.59, Y:121.66, Z:1.02 [[-8.92987756e-01 -4.50059192e-01 4.42635955e-03 1.82587714e+02] [ 4.50054056e-01 -8.92998723e-01 -2.15128199e-03 1.21660705e+02] [ 4.92093765e-03 7.10325896e-05 9.99987890e-01 1.02031812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.58, Y:121.66, Z:1.02 [[-8.92958581e-01 -4.50117066e-01 4.42716642e-03 1.82582511e+02] [ 4.50111939e-01 -8.92969553e-01 -2.14962022e-03 1.21663107e+02] [ 4.92090556e-03 7.31986377e-05 9.99987890e-01 1.01898094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.130281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.61, Y:121.65, Z:1.02 [[-8.92231908e-01 -4.51555772e-01 4.42797241e-03 1.82606948e+02] [ 4.51550671e-01 -8.92242892e-01 -2.14795870e-03 1.21649022e+02] [ 4.92075005e-03 8.29766229e-05 9.99987890e-01 1.01839349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.60, Y:121.65, Z:1.02 [[-8.91805665e-01 -4.52396996e-01 4.42877294e-03 1.82597921e+02] [ 4.52391914e-01 -8.91816657e-01 -2.14630684e-03 1.21650688e+02] [ 4.92063625e-03 8.94524733e-05 9.99987890e-01 1.01876700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.190281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.60, Y:121.64, Z:1.02 [[-8.91346414e-01 -4.53301169e-01 4.42956888e-03 1.82604320e+02] [ 4.53296105e-01 -8.91357415e-01 -2.14466292e-03 1.21644844e+02] [ 4.92050727e-03 9.62687150e-05 9.99987890e-01 1.01815621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.62, Y:121.63, Z:1.02 [[-8.90491509e-01 -4.54978290e-01 4.43036561e-03 1.82623552e+02] [ 4.54973256e-01 -8.90502523e-01 -2.14301580e-03 1.21631344e+02] [ 4.92027742e-03 1.07360496e-04 9.99987890e-01 1.01873147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.250281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.63, Y:121.63, Z:1.02 [[-8.90341552e-01 -4.55271661e-01 4.43115448e-03 1.82626310e+02] [ 4.55266639e-01 -8.90352572e-01 -2.14138340e-03 1.21627361e+02] [ 4.92020096e-03 1.10794187e-04 9.99987890e-01 1.01963026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.62, Y:121.63, Z:1.02 [[-8.90493437e-01 -4.54974500e-01 4.43193637e-03 1.82620463e+02] [ 4.54969482e-01 -8.90504459e-01 -2.13976391e-03 1.21627689e+02] [ 4.92019712e-03 1.10950077e-04 9.99987890e-01 1.01886976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.310281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.61, Y:121.63, Z:1.02 [[-8.91184639e-01 -4.53619104e-01 4.43271930e-03 1.82606548e+02] [ 4.53614077e-01 -8.91195656e-01 -2.13814079e-03 1.21631399e+02] [ 4.92032169e-03 1.05265647e-04 9.99987890e-01 1.01738059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.62, Y:121.63, Z:1.02 [[-8.91601341e-01 -4.52799507e-01 4.43350852e-03 1.82615574e+02] [ 4.52794478e-01 -8.91612357e-01 -2.13650306e-03 1.21626109e+02] [ 4.92037851e-03 1.02559187e-04 9.99987890e-01 1.01782923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.370281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.62, Y:121.62, Z:1.02 [[-8.91793596e-01 -4.52420733e-01 4.43429941e-03 1.82617960e+02] [ 4.52415708e-01 -8.91804614e-01 -2.13486030e-03 1.21623633e+02] [ 4.92038374e-03 1.02291962e-04 9.99987890e-01 1.01873495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.62, Y:121.62, Z:1.02 [[-8.91547605e-01 -4.52905287e-01 4.43508742e-03 1.82616663e+02] [ 4.52900276e-01 -8.91558629e-01 -2.13322199e-03 1.21620363e+02] [ 4.92028797e-03 1.06783363e-04 9.99987890e-01 1.01640643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.430281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.60, Y:121.63, Z:1.01 [[-8.91309100e-01 -4.53374472e-01 4.43587507e-03 1.82603490e+02] [ 4.53369474e-01 -8.91320131e-01 -2.13158285e-03 1.21625169e+02] [ 4.92019000e-03 1.11191158e-04 9.99987890e-01 1.01398157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.60, Y:121.62, Z:1.01 [[-8.91177214e-01 -4.53633650e-01 4.43666746e-03 1.82604449e+02] [ 4.53628665e-01 -8.91188251e-01 -2.12993231e-03 1.21623644e+02] [ 4.92011488e-03 1.14452392e-04 9.99987890e-01 1.01316044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.490281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.62, Y:121.61, Z:1.02 [[-8.90787646e-01 -4.54398151e-01 4.43746411e-03 1.82615083e+02] [ 4.54393183e-01 -8.90798690e-01 -2.12827129e-03 1.21613457e+02] [ 4.91996975e-03 1.20515667e-04 9.99987890e-01 1.01576597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.63, Y:121.60, Z:1.02 [[-8.90415375e-01 -4.55127194e-01 4.43825730e-03 1.82629016e+02] [ 4.55122243e-01 -8.90426427e-01 -2.12661589e-03 1.21603768e+02] [ 4.91982231e-03 1.26378135e-04 9.99987890e-01 1.01720005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.550281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.64, Y:121.60, Z:1.02 [[-8.89871089e-01 -4.56190464e-01 4.43904252e-03 1.82635009e+02] [ 4.56185535e-01 -8.89882151e-01 -2.12497559e-03 1.21598369e+02] [ 4.91961830e-03 1.34072644e-04 9.99987890e-01 1.01820246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.63, Y:121.60, Z:1.02 [[-8.88974963e-01 -4.57934283e-01 4.43938281e-03 1.82626110e+02] [ 4.57929378e-01 -8.88986036e-01 -2.12426444e-03 1.21598491e+02] [ 4.91932283e-03 1.44505910e-04 9.99987890e-01 1.01595057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.61028169299993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.64, Y:121.59, Z:1.01 [[-8.88810488e-01 -4.58253425e-01 4.44016389e-03 1.82636896e+02] [ 4.58248533e-01 -8.88821566e-01 -2.12263054e-03 1.21589807e+02] [ 4.91921614e-03 1.48082307e-04 9.99987890e-01 1.01489464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.64, Y:121.58, Z:1.02 [[-8.88602696e-01 -4.58656219e-01 4.44094413e-03 1.82638935e+02] [ 4.58651340e-01 -8.88613780e-01 -2.12099688e-03 1.21584563e+02] [ 4.91909256e-03 1.52121433e-04 9.99987890e-01 1.01519655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.67028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.63, Y:121.58, Z:1.02 [[-8.88526434e-01 -4.58803932e-01 4.44172043e-03 1.82631236e+02] [ 4.58799063e-01 -8.88537522e-01 -2.11936994e-03 1.21583102e+02] [ 4.91901052e-03 1.54740953e-04 9.99987890e-01 1.01622061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.64, Y:121.57, Z:1.02 [[-8.87974744e-01 -4.59870763e-01 4.44249810e-03 1.82635773e+02] [ 4.59865915e-01 -8.87985842e-01 -2.11773857e-03 1.21572542e+02] [ 4.91876147e-03 1.62455086e-04 9.99987890e-01 1.01683731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.73028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.64, Y:121.57, Z:1.02 [[-8.88047477e-01 -4.59730286e-01 4.44327592e-03 1.82637554e+02] [ 4.59725445e-01 -8.88058578e-01 -2.11610535e-03 1.21567515e+02] [ 4.91872701e-03 1.63484980e-04 9.99987890e-01 1.01570758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.63, Y:121.56, Z:1.02 [[-8.88884684e-01 -4.58109452e-01 4.44405103e-03 1.82629931e+02] [ 4.58104599e-01 -8.88895779e-01 -2.11447627e-03 1.21561893e+02] [ 4.91895977e-03 1.56314643e-04 9.99987890e-01 1.01746033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.79028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.62, Y:121.56, Z:1.02 [[-8.89767555e-01 -4.56392310e-01 4.44482716e-03 1.82617763e+02] [ 4.56387444e-01 -8.89778645e-01 -2.11284353e-03 1.21564563e+02] [ 4.91919782e-03 1.48623683e-04 9.99987890e-01 1.01873191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.82028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.62, Y:121.56, Z:1.02 [[-8.90829338e-01 -4.54316329e-01 4.44560866e-03 1.82624498e+02] [ 4.54311444e-01 -8.90840420e-01 -2.11119789e-03 1.21558972e+02] [ 4.91947956e-03 1.38973869e-04 9.99987890e-01 1.01905944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.85028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.60, Y:121.56, Z:1.02 [[-8.92755194e-01 -4.50520137e-01 4.44639181e-03 1.82604092e+02] [ 4.50515214e-01 -8.92766258e-01 -2.10954720e-03 1.21562873e+02] [ 4.91998208e-03 1.19857938e-04 9.99987890e-01 1.01788903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.880281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.60, Y:121.56, Z:1.02 [[-8.93560924e-01 -4.48919923e-01 4.44717905e-03 1.82595185e+02] [ 4.48914988e-01 -8.93571984e-01 -2.10788631e-03 1.21563193e+02] [ 4.92014676e-03 1.12880491e-04 9.99987890e-01 1.01681981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.91028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.61, Y:121.55, Z:1.02 [[-8.94007138e-01 -4.48030639e-01 4.44797507e-03 1.82612579e+02] [ 4.48025702e-01 -8.94018196e-01 -2.10620523e-03 1.21551596e+02] [ 4.92021513e-03 1.09844644e-04 9.99987890e-01 1.01591030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.940281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.60, Y:121.55, Z:1.02 [[-8.94091976e-01 -4.47861303e-01 4.44876851e-03 1.82604419e+02] [ 4.47856372e-01 -8.94103037e-01 -2.10452799e-03 1.21551123e+02] [ 4.92019408e-03 1.10767736e-04 9.99987890e-01 1.01665177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.97028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.60, Y:121.55, Z:1.02 [[-8.94279605e-01 -4.47486524e-01 4.44955873e-03 1.82599914e+02] [ 4.47481596e-01 -8.94290668e-01 -2.10285592e-03 1.21550995e+02] [ 4.92019853e-03 1.10554482e-04 9.99987890e-01 1.01820627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.000281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.60, Y:121.55, Z:1.02 [[-8.94762620e-01 -4.46519930e-01 4.45035285e-03 1.82603279e+02] [ 4.46514999e-01 -8.94773681e-01 -2.10117394e-03 1.21547400e+02] [ 4.92027464e-03 1.07097398e-04 9.99987890e-01 1.01713275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.03028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.60, Y:121.55, Z:1.02 [[-8.95360409e-01 -4.45320025e-01 4.45114777e-03 1.82598001e+02] [ 4.45315088e-01 -8.95371468e-01 -2.09948862e-03 1.21548589e+02] [ 4.92037504e-03 1.02364267e-04 9.99987890e-01 1.01655467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.060281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.59, Y:121.55, Z:1.02 [[-8.96449319e-01 -4.43123909e-01 4.45194349e-03 1.82586275e+02] [ 4.43118953e-01 -8.96460369e-01 -2.09779995e-03 1.21552548e+02] [ 4.92057622e-03 9.21691988e-05 9.99987890e-01 1.01610229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.09028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.59, Y:121.55, Z:1.02 [[-8.97112949e-01 -4.41778825e-01 4.45274529e-03 1.82585041e+02] [ 4.41773861e-01 -8.97123995e-01 -2.09609668e-03 1.21552153e+02] [ 4.92067577e-03 8.66710058e-05 9.99987890e-01 1.01597356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.120281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.59, Y:121.55, Z:1.02 [[-8.97844898e-01 -4.40289342e-01 4.45355166e-03 1.82585819e+02] [ 4.40284368e-01 -8.97855940e-01 -2.09438198e-03 1.21550265e+02] [ 4.92078188e-03 8.03990036e-05 9.99987890e-01 1.01570443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.15028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.57, Y:121.55, Z:1.02 [[-8.99373636e-01 -4.37158120e-01 4.45435886e-03 1.82573147e+02] [ 4.37153117e-01 -8.99384664e-01 -2.09266382e-03 1.21553978e+02] [ 4.92100703e-03 6.51501938e-05 9.99987890e-01 1.01768100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.180281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.59, Y:121.55, Z:1.02 [[-9.00260333e-01 -4.35329168e-01 4.45517015e-03 1.82588657e+02] [ 4.35324150e-01 -9.00271355e-01 -2.09093520e-03 1.21546102e+02] [ 4.92110715e-03 5.70571368e-05 9.99987890e-01 1.01877218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.21028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.59, Y:121.55, Z:1.02 [[-9.01068296e-01 -4.33654321e-01 4.45598116e-03 1.82587411e+02] [ 4.33649291e-01 -9.01079313e-01 -2.08920542e-03 1.21545884e+02] [ 4.92118540e-03 4.98163045e-05 9.99987890e-01 1.01922637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.240281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.57, Y:121.55, Z:1.02 [[-9.01912956e-01 -4.31894845e-01 4.45678812e-03 1.82574497e+02] [ 4.31889802e-01 -9.01923966e-01 -2.08748256e-03 1.21550199e+02] [ 4.92125698e-03 4.21137728e-05 9.99987890e-01 1.01843499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.27028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.57, Y:121.55, Z:1.02 [[-9.03025078e-01 -4.29564708e-01 4.45760013e-03 1.82571266e+02] [ 4.29559646e-01 -9.03036079e-01 -2.08574717e-03 1.21548807e+02] [ 4.92133711e-03 3.13231352e-05 9.99987890e-01 1.01991741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.300281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.58, Y:121.54, Z:1.02 [[-9.03689173e-01 -4.28165856e-01 4.45841781e-03 1.82582601e+02] [ 4.28160785e-01 -9.03700171e-01 -2.08399785e-03 1.21543078e+02] [ 4.92136966e-03 2.56333778e-05 9.99987890e-01 1.01940447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.33028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.59, Y:121.54, Z:1.02 [[-9.04373987e-01 -4.26717478e-01 4.45923328e-03 1.82585072e+02] [ 4.26712399e-01 -9.04384981e-01 -2.08225148e-03 1.21541930e+02] [ 4.92139671e-03 1.96760528e-05 9.99987890e-01 1.01831300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36028169299993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.58, Y:121.54, Z:1.02 [[-9.05358363e-01 -4.24624944e-01 4.46004476e-03 1.82583609e+02] [ 4.24619847e-01 -9.05369348e-01 -2.08051190e-03 1.21541837e+02] [ 4.92142506e-03 1.02146747e-05 9.99987890e-01 1.01687947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.39028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.60, Y:121.53, Z:1.02 [[-9.05714834e-01 -4.23864058e-01 4.46085679e-03 1.82603645e+02] [ 4.23858960e-01 -9.05725820e-01 -2.07876935e-03 1.21531219e+02] [ 4.92142878e-03 8.00188348e-06 9.99987890e-01 1.01602010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.61, Y:121.53, Z:1.02 [[-9.06215257e-01 -4.22793101e-01 4.46115845e-03 1.82607777e+02] [ 4.22787994e-01 -9.06226237e-01 -2.07812177e-03 1.21528062e+02] [ 4.92143438e-03 2.89858354e-06 9.99987890e-01 1.01634975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.45028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.62, Y:121.52, Z:1.02 [[-9.06703826e-01 -4.21744310e-01 4.46195790e-03 1.82615912e+02] [ 4.21739198e-01 -9.06714805e-01 -2.07640383e-03 1.21522287e+02] [ 4.92143479e-03 -9.00752154e-07 9.99987890e-01 1.01756377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.60, Y:121.53, Z:1.02 [[-9.06759111e-01 -4.21625424e-01 4.46275377e-03 1.82604895e+02] [ 4.21620320e-01 -9.06770093e-01 -2.07469189e-03 1.21526073e+02] [ 4.92143450e-03 3.41898950e-07 9.99987890e-01 1.01785188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.51028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.61, Y:121.52, Z:1.02 [[-9.06652594e-01 -4.21854418e-01 4.46355110e-03 1.82613454e+02] [ 4.21849325e-01 -9.06663581e-01 -2.07297508e-03 1.21520661e+02] [ 4.92143292e-03 3.47778532e-06 9.99987890e-01 1.01653733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.61, Y:121.52, Z:1.01 [[-9.05999666e-01 -4.23254858e-01 4.46434950e-03 1.82612395e+02] [ 4.23249790e-01 -9.06010665e-01 -2.07125422e-03 1.21519089e+02] [ 4.92141667e-03 1.29793554e-05 9.99987890e-01 1.01402142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.57028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.61, Y:121.52, Z:1.02 [[-9.05910683e-01 -4.23445271e-01 4.46514604e-03 1.82605297e+02] [ 4.23440214e-01 -9.05921687e-01 -2.06953564e-03 1.21520987e+02] [ 4.92140771e-03 1.59079492e-05 9.99987890e-01 1.01572732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.61, Y:121.52, Z:1.02 [[-9.06074910e-01 -4.23093740e-01 4.46594539e-03 1.82607611e+02] [ 4.23088687e-01 -9.06085916e-01 -2.06780924e-03 1.21519996e+02] [ 4.92140736e-03 1.59008990e-05 9.99987890e-01 1.01571494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.630281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.61, Y:121.51, Z:1.02 [[-9.06295246e-01 -4.22621550e-01 4.46674703e-03 1.82613305e+02] [ 4.22616500e-01 -9.06306254e-01 -2.06607614e-03 1.21514199e+02] [ 4.92140906e-03 1.52460144e-05 9.99987890e-01 1.01888547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.61, Y:121.51, Z:1.02 [[-9.06609119e-01 -4.21947800e-01 4.46754651e-03 1.82613851e+02] [ 4.21942751e-01 -9.06620127e-01 -2.06434593e-03 1.21513246e+02] [ 4.92141381e-03 1.34940220e-05 9.99987890e-01 1.02006998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.690281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.62, Y:121.51, Z:1.02 [[-9.06894236e-01 -4.21334640e-01 4.46834452e-03 1.82620100e+02] [ 4.21329591e-01 -9.06905244e-01 -2.06261716e-03 1.21510053e+02] [ 4.92141714e-03 1.20701546e-05 9.99987890e-01 1.02078227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.61, Y:121.51, Z:1.02 [[-9.07136659e-01 -4.20812439e-01 4.46914093e-03 1.82610170e+02] [ 4.20807393e-01 -9.07147668e-01 -2.06089012e-03 1.21513836e+02] [ 4.92141897e-03 1.11385668e-05 9.99987890e-01 1.02166373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.750281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.63, Y:121.50, Z:1.02 [[-9.07303374e-01 -4.20452859e-01 4.46993907e-03 1.82626203e+02] [ 4.20447817e-01 -9.07314385e-01 -2.05915754e-03 1.21504498e+02] [ 4.92141870e-03 1.10955421e-05 9.99987890e-01 1.02382112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.62, Y:121.51, Z:1.02 [[-9.07406282e-01 -4.20230714e-01 4.47073588e-03 1.82621424e+02] [ 4.20225677e-01 -9.07417295e-01 -2.05742609e-03 1.21506194e+02] [ 4.92141670e-03 1.17966527e-05 9.99987890e-01 1.02258003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.810281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.64, Y:121.50, Z:1.02 [[-9.07548336e-01 -4.19923831e-01 4.47152948e-03 1.82643967e+02] [ 4.19918799e-01 -9.07559351e-01 -2.05569987e-03 1.21495718e+02] [ 4.92141576e-03 1.20322916e-05 9.99987890e-01 1.01924213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.63, Y:121.50, Z:1.01 [[-9.07229723e-01 -4.20611730e-01 4.47231805e-03 1.82626975e+02] [ 4.20606716e-01 -9.07240747e-01 -2.05398284e-03 1.21502078e+02] [ 4.92139845e-03 1.76527234e-05 9.99987890e-01 1.01201600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.870281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.62, Y:121.51, Z:1.01 [[-9.06945034e-01 -4.21225232e-01 4.47310558e-03 1.82616797e+02] [ 4.21220233e-01 -9.06956065e-01 -2.05226635e-03 1.21505889e+02] [ 4.92137660e-03 2.28698006e-05 9.99987890e-01 1.01146660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.61, Y:121.51, Z:1.01 [[-9.06661790e-01 -4.21834545e-01 4.47390239e-03 1.82613653e+02] [ 4.21829562e-01 -9.06672827e-01 -2.05052784e-03 1.21506957e+02] [ 4.92134921e-03 2.80890507e-05 9.99987890e-01 1.01213464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.930281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.62, Y:121.50, Z:1.02 [[-9.06141713e-01 -4.22950556e-01 4.47470421e-03 1.82623667e+02] [ 4.22945595e-01 -9.06152761e-01 -2.04877661e-03 1.21500893e+02] [ 4.92129678e-03 3.60744848e-05 9.99987890e-01 1.01936357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.62, Y:121.50, Z:1.02 [[-9.06155343e-01 -4.22921347e-01 4.47540342e-03 1.82621305e+02] [ 4.22916394e-01 -9.06166393e-01 -2.04724809e-03 1.21499784e+02] [ 4.92128510e-03 3.75966805e-05 9.99987890e-01 1.02224906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.990281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.62, Y:121.50, Z:1.02 [[-9.06665188e-01 -4.21827217e-01 4.47620097e-03 1.82620982e+02] [ 4.21822259e-01 -9.06676236e-01 -2.04550280e-03 1.21496397e+02] [ 4.92131380e-03 3.35750241e-05 9.99987890e-01 1.02264842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.63, Y:121.49, Z:1.02 [[-9.07029659e-01 -4.21042937e-01 4.47699960e-03 1.82625171e+02] [ 4.21037978e-01 -9.07040707e-01 -2.04375335e-03 1.21494457e+02] [ 4.92132879e-03 3.12419559e-05 9.99987890e-01 1.02093735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.050281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.65, Y:121.49, Z:1.02 [[-9.07441385e-01 -4.20154830e-01 4.47779727e-03 1.82645783e+02] [ 4.20149869e-01 -9.07452433e-01 -2.04200418e-03 1.21485340e+02] [ 4.92134594e-03 2.83468326e-05 9.99987890e-01 1.01886018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.65, Y:121.48, Z:1.02 [[-9.07781931e-01 -4.19418535e-01 4.47858782e-03 1.82651515e+02] [ 4.19413574e-01 -9.07792978e-01 -2.04026884e-03 1.21483118e+02] [ 4.92135714e-03 2.62613383e-05 9.99987890e-01 1.01777524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.11028169299993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.63, Y:121.49, Z:1.02 [[-9.08486757e-01 -4.17889636e-01 4.47937073e-03 1.82629312e+02] [ 4.17884664e-01 -9.08497800e-01 -2.03854852e-03 1.21493224e+02] [ 4.92138675e-03 1.98659976e-05 9.99987890e-01 1.01820513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.64, Y:121.49, Z:1.02 [[-9.08790678e-01 -4.17228274e-01 4.48015956e-03 1.82644506e+02] [ 4.17223302e-01 -9.08801721e-01 -2.03681343e-03 1.21487161e+02] [ 4.92139286e-03 1.81899109e-05 9.99987890e-01 1.01752189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.17028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.65, Y:121.49, Z:1.02 [[-9.09118114e-01 -4.16514316e-01 4.48095183e-03 1.82647214e+02] [ 4.16509345e-01 -9.09129157e-01 -2.03506894e-03 1.21486491e+02] [ 4.92139931e-03 1.62402763e-05 9.99987890e-01 1.01744591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.63, Y:121.49, Z:1.01 [[-9.09360749e-01 -4.15984306e-01 4.48173905e-03 1.82634702e+02] [ 4.15979337e-01 -9.09371793e-01 -2.03333382e-03 1.21491715e+02] [ 4.92140203e-03 1.52768681e-05 9.99987890e-01 1.01458268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.23028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.64, Y:121.49, Z:1.01 [[-9.09370224e-01 -4.15963584e-01 4.48253024e-03 1.82639347e+02] [ 4.15958623e-01 -9.09381271e-01 -2.03158813e-03 1.21489709e+02] [ 4.92139572e-03 1.70813587e-05 9.99987890e-01 1.01334344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.63, Y:121.49, Z:1.01 [[-9.09205494e-01 -4.16323516e-01 4.48332491e-03 1.82633176e+02] [ 4.16318568e-01 -9.09216547e-01 -2.02983293e-03 1.21493386e+02] [ 4.92138037e-03 2.09561575e-05 9.99987890e-01 1.01363727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.29028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.65, Y:121.49, Z:1.02 [[-9.09158602e-01 -4.16425898e-01 4.48412105e-03 1.82653055e+02] [ 4.16420960e-01 -9.09169660e-01 -2.02807264e-03 1.21485423e+02] [ 4.92136878e-03 2.34423056e-05 9.99987890e-01 1.01575651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.65, Y:121.49, Z:1.02 [[-9.08840109e-01 -4.17120536e-01 4.48491380e-03 1.82646486e+02] [ 4.17115616e-01 -9.08851174e-01 -2.02631802e-03 1.21488451e+02] [ 4.92133803e-03 2.91284909e-05 9.99987890e-01 1.01849523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.35028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.65, Y:121.49, Z:1.02 [[-9.08599192e-01 -4.17645049e-01 4.48570318e-03 1.82646010e+02] [ 4.17640144e-01 -9.08610264e-01 -2.02456902e-03 1.21486839e+02] [ 4.92130718e-03 3.38879421e-05 9.99987890e-01 1.01972976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.380281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.66, Y:121.48, Z:1.02 [[-9.08173912e-01 -4.18569011e-01 4.48649538e-03 1.82657469e+02] [ 4.18564125e-01 -9.08184993e-01 -2.02281198e-03 1.21479824e+02] [ 4.92125418e-03 4.08209427e-05 9.99987890e-01 1.01999057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.41028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.64, Y:121.48, Z:1.02 [[-9.06911124e-01 -4.21298086e-01 4.48728433e-03 1.82643325e+02] [ 4.21293242e-01 -9.06922223e-01 -2.02106030e-03 1.21482802e+02] [ 4.92108672e-03 5.75404907e-05 9.99987890e-01 1.01890025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.440281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.65, Y:121.48, Z:1.02 [[-9.06629507e-01 -4.21903774e-01 4.48807433e-03 1.82652121e+02] [ 4.21898946e-01 -9.06640613e-01 -2.01930445e-03 1.21476917e+02] [ 4.92102263e-03 6.27528347e-05 9.99987890e-01 1.01734650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.47028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.66, Y:121.47, Z:1.02 [[-9.06599546e-01 -4.21968143e-01 4.48886634e-03 1.82663029e+02] [ 4.21963325e-01 -9.06610656e-01 -2.01754230e-03 1.21469834e+02] [ 4.92099264e-03 6.50340348e-05 9.99987890e-01 1.01675347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.500281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.66, Y:121.46, Z:1.02 [[-9.07159887e-01 -4.20762144e-01 4.48965231e-03 1.82663890e+02] [ 4.20757320e-01 -9.07170995e-01 -2.01579177e-03 1.21463389e+02] [ 4.92105122e-03 6.04086389e-05 9.99987890e-01 1.01885572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.53028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.66, Y:121.46, Z:1.02 [[-9.07961188e-01 -4.19030210e-01 4.49043415e-03 1.82661539e+02] [ 4.19025373e-01 -9.07972290e-01 -2.01404861e-03 1.21462040e+02] [ 4.92113699e-03 5.29278807e-05 9.99987890e-01 1.02094390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.560281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.67, Y:121.46, Z:1.02 [[-9.09016810e-01 -4.16735250e-01 4.49121637e-03 1.82666692e+02] [ 4.16730394e-01 -9.09027904e-01 -2.01230277e-03 1.21457826e+02] [ 4.92123850e-03 4.24093203e-05 9.99987890e-01 1.02213825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.59028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.67, Y:121.45, Z:1.02 [[-9.11023081e-01 -4.12330896e-01 4.49199792e-03 1.82670979e+02] [ 4.12325995e-01 -9.11034155e-01 -2.01055664e-03 1.21453188e+02] [ 4.92137815e-03 2.05040099e-05 9.99987890e-01 1.01758285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.620281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.68, Y:121.45, Z:1.01 [[-9.12078825e-01 -4.09990282e-01 4.49277681e-03 1.82681236e+02] [ 4.09985361e-01 -9.12089891e-01 -2.00881461e-03 1.21447556e+02] [ 4.92141078e-03 9.77545062e-06 9.99987890e-01 1.01475812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.65028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.68, Y:121.45, Z:1.01 [[-9.13151597e-01 -4.07595350e-01 4.49355126e-03 1.82677477e+02] [ 4.07590408e-01 -9.13162653e-01 -2.00708075e-03 1.21448298e+02] [ 4.92141997e-03 -1.24059798e-06 9.99987890e-01 1.01282757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.680281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.70, Y:121.44, Z:1.02 [[-9.15168243e-01 -4.03047006e-01 4.49432425e-03 1.82698534e+02] [ 4.03042018e-01 -9.15179278e-01 -2.00534833e-03 1.21439160e+02] [ 4.92136207e-03 -2.38295952e-05 9.99987890e-01 1.01657387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.71028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.72, Y:121.43, Z:1.02 [[-9.16140440e-01 -4.00832255e-01 4.49413202e-03 1.82720431e+02] [ 4.00827238e-01 -9.16151462e-01 -2.00577906e-03 1.21430414e+02] [ 4.92128656e-03 -3.62047881e-05 9.99987890e-01 1.01892938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.740281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.72, Y:121.43, Z:1.02 [[-9.17178280e-01 -3.98451762e-01 4.49394319e-03 1.82721468e+02] [ 3.98446715e-01 -9.17189288e-01 -2.00620203e-03 1.21431576e+02] [ 4.92117129e-03 -4.94480263e-05 9.99987890e-01 1.01981580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.77028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.72, Y:121.43, Z:1.02 [[-9.17930471e-01 -3.96715828e-01 4.49469085e-03 1.82722485e+02] [ 3.96710768e-01 -9.17941473e-01 -2.00452558e-03 1.21432788e+02] [ 4.92109017e-03 -5.69228513e-05 9.99987890e-01 1.01951262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.800281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.73, Y:121.43, Z:1.02 [[-9.18564464e-01 -3.95245640e-01 4.49543886e-03 1.82727173e+02] [ 3.95240571e-01 -9.18575462e-01 -2.00284666e-03 1.21434096e+02] [ 4.92101624e-03 -6.29639554e-05 9.99987890e-01 1.01974230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.83028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.74, Y:121.43, Z:1.02 [[-9.18849033e-01 -3.94583628e-01 4.49618659e-03 1.82737656e+02] [ 3.94578559e-01 -9.18860031e-01 -2.00116667e-03 1.21431300e+02] [ 4.92099375e-03 -6.46712298e-05 9.99987890e-01 1.02046073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86028169299993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.72, Y:121.44, Z:1.02 [[-9.19223355e-01 -3.93710809e-01 4.49693129e-03 1.82721243e+02] [ 3.93705738e-01 -9.19234352e-01 -1.99949182e-03 1.21440640e+02] [ 4.92095526e-03 -6.75119279e-05 9.99987890e-01 1.02191486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.89028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:182.74, Y:121.44, Z:1.02 [[-9.19754856e-01 -3.92467549e-01 4.49767874e-03 1.82744135e+02] [ 3.92462470e-01 -9.19765850e-01 -1.99780906e-03 1.21435575e+02] [ 4.92088654e-03 -7.23244766e-05 9.99987890e-01 1.02061269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.73, Y:121.44, Z:1.02 [[-9.19929865e-01 -3.92057157e-01 4.49777188e-03 1.82730050e+02] [ 3.92052075e-01 -9.19940857e-01 -1.99759936e-03 1.21444523e+02] [ 4.92085724e-03 -7.42905071e-05 9.99987890e-01 1.01894380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.95028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.74, Y:121.44, Z:1.02 [[-9.19935438e-01 -3.92044070e-01 4.49851766e-03 1.82743069e+02] [ 3.92038996e-01 -9.19946434e-01 -1.99591849e-03 1.21440829e+02] [ 4.92088328e-03 -7.25218046e-05 9.99987890e-01 1.01759339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.74, Y:121.45, Z:1.02 [[-9.19674136e-01 -3.92656644e-01 4.49926486e-03 1.82736562e+02] [ 3.92651585e-01 -9.19685140e-01 -1.99423268e-03 1.21446131e+02] [ 4.92095574e-03 -6.74007349e-05 9.99987890e-01 1.01612872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.01028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.73, Y:121.45, Z:1.02 [[-9.19476299e-01 -3.93119684e-01 4.50001144e-03 1.82727537e+02] [ 3.93114640e-01 -9.19487308e-01 -1.99254659e-03 1.21451911e+02] [ 4.92101269e-03 -6.30789860e-05 9.99987890e-01 1.01762005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.73, Y:121.45, Z:1.02 [[-9.19372970e-01 -3.93361266e-01 4.50076362e-03 1.82732747e+02] [ 3.93356233e-01 -9.19383984e-01 -1.99084612e-03 1.21451540e+02] [ 4.92105174e-03 -5.99266897e-05 9.99987890e-01 1.01938536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.07028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.75, Y:121.45, Z:1.02 [[-9.18923147e-01 -3.94410937e-01 4.50151812e-03 1.82747412e+02] [ 3.94405924e-01 -9.18934171e-01 -1.98913865e-03 1.21447162e+02] [ 4.92113686e-03 -5.24401279e-05 9.99987890e-01 1.02162103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.74, Y:121.45, Z:1.02 [[-9.18773718e-01 -3.94758895e-01 4.50226791e-03 1.82743608e+02] [ 3.94753895e-01 -9.18784747e-01 -1.98744011e-03 1.21449670e+02] [ 4.92117475e-03 -4.87199477e-05 9.99987890e-01 1.02093838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.130281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.75, Y:121.45, Z:1.02 [[-9.18935899e-01 -3.94381206e-01 4.50301546e-03 1.82753738e+02] [ 3.94376210e-01 -9.18946931e-01 -1.98574491e-03 1.21447960e+02] [ 4.92117271e-03 -4.88901159e-05 9.99987890e-01 1.01861868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.75, Y:121.45, Z:1.02 [[-9.19274128e-01 -3.93592166e-01 4.50376237e-03 1.82748379e+02] [ 3.93587169e-01 -9.19285159e-01 -1.98404943e-03 1.21452844e+02] [ 4.92114822e-03 -5.12622288e-05 9.99987890e-01 1.01842567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.190281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.76, Y:121.45, Z:1.02 [[-9.19674838e-01 -3.92654940e-01 4.50450914e-03 1.82757322e+02] [ 3.92649939e-01 -9.19685868e-01 -1.98235255e-03 1.21451434e+02] [ 4.92111392e-03 -5.44245199e-05 9.99987890e-01 1.01905822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.76, Y:121.45, Z:1.02 [[-9.19937531e-01 -3.92039082e-01 4.50525612e-03 1.82758234e+02] [ 3.92034082e-01 -9.19948561e-01 -1.98065345e-03 1.21453744e+02] [ 4.92109744e-03 -5.58634972e-05 9.99987890e-01 1.01914339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.250281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.75, Y:121.46, Z:1.02 [[-9.20584895e-01 -3.90516512e-01 4.50600136e-03 1.82748206e+02] [ 3.90511503e-01 -9.20595921e-01 -1.97895657e-03 1.21463561e+02] [ 4.92102169e-03 -6.21521607e-05 9.99987890e-01 1.01771425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:182.75, Y:121.46, Z:1.02 [[-9.21006810e-01 -3.89520404e-01 4.50675110e-03 1.82754079e+02] [ 3.89515392e-01 -9.21017834e-01 -1.97724767e-03 1.21463735e+02] [ 4.92097645e-03 -6.56096493e-05 9.99987890e-01 1.01601164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.310281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.77, Y:121.46, Z:1.01 [[-9.21335147e-01 -3.88743141e-01 4.50750367e-03 1.82770613e+02] [ 3.88738128e-01 -9.21346170e-01 -1.97553056e-03 1.21459985e+02] [ 4.92094520e-03 -6.78872061e-05 9.99987890e-01 1.01466129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.76, Y:121.47, Z:1.01 [[-9.21379727e-01 -3.88637458e-01 4.50825101e-03 1.82759008e+02] [ 3.88632451e-01 -9.21390754e-01 -1.97382363e-03 1.21468980e+02] [ 4.92096259e-03 -6.65884339e-05 9.99987890e-01 1.01375585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.370281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.77, Y:121.47, Z:1.01 [[-9.20771704e-01 -3.90075810e-01 4.50899820e-03 1.82772486e+02] [ 3.90070828e-01 -9.20782743e-01 -1.97211527e-03 1.21468836e+02] [ 4.92108219e-03 -5.70392790e-05 9.99987890e-01 1.01155953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.77, Y:121.47, Z:1.01 [[-9.20151866e-01 -3.91535701e-01 4.50974670e-03 1.82765265e+02] [ 3.91530746e-01 -9.20162916e-01 -1.97040214e-03 1.21473551e+02] [ 4.92118446e-03 -4.73647175e-05 9.99987890e-01 1.01108920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.430281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:182.76, Y:121.48, Z:1.01 [[-9.19409791e-01 -3.93275083e-01 4.51049480e-03 1.82763217e+02] [ 3.93270158e-01 -9.19420854e-01 -1.96868815e-03 1.21476094e+02] [ 4.92127898e-03 -3.61881638e-05 9.99987890e-01 1.01243619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.75, Y:121.48, Z:1.02 [[-9.17845260e-01 -3.96912745e-01 4.51124684e-03 1.82750689e+02] [ 3.96907872e-01 -9.17856346e-01 -1.96696335e-03 1.21484474e+02] [ 4.92138936e-03 -1.48186024e-05 9.99987890e-01 1.01518260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.490281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.74, Y:121.49, Z:1.02 [[-9.17134243e-01 -3.98552911e-01 4.51200437e-03 1.82736694e+02] [ 3.98548066e-01 -9.17145341e-01 -1.96522412e-03 1.21491529e+02] [ 4.92140958e-03 -4.12371967e-06 9.99987890e-01 1.01545326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.74, Y:121.49, Z:1.02 [[-9.17290919e-01 -3.98192170e-01 4.51277136e-03 1.82739022e+02] [ 3.98187329e-01 -9.17302020e-01 -1.96346129e-03 1.21490596e+02] [ 4.92140919e-03 -4.13683851e-06 9.99987890e-01 1.01544087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.550281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.74, Y:121.49, Z:1.01 [[-9.16632013e-01 -3.99706619e-01 4.51354288e-03 1.82736881e+02] [ 3.99701805e-01 -9.16643125e-01 -1.96168613e-03 1.21491907e+02] [ 4.92140698e-03 5.92693419e-06 9.99987890e-01 1.01405438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.75, Y:121.49, Z:1.01 [[-9.16024753e-01 -4.01096338e-01 4.51431516e-03 1.82750996e+02] [ 4.01091550e-01 -9.16035877e-01 -1.95990732e-03 1.21485874e+02] [ 4.92138629e-03 1.53300459e-05 9.99987890e-01 1.01201217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.61028169299993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.76, Y:121.48, Z:1.01 [[-9.16141645e-01 -4.00829266e-01 4.51508437e-03 1.82759143e+02] [ 4.00824484e-01 -9.16152771e-01 -1.95813366e-03 1.21481871e+02] [ 4.92138433e-03 1.58285687e-05 9.99987890e-01 1.01214322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.75, Y:121.48, Z:1.01 [[-9.16604156e-01 -3.99770469e-01 4.51584743e-03 1.82754245e+02] [ 3.99765682e-01 -9.16615280e-01 -1.95637231e-03 1.21479745e+02] [ 4.92139463e-03 1.20618335e-05 9.99987890e-01 1.01258546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.67028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.74, Y:121.48, Z:1.01 [[-9.16858457e-01 -3.99186887e-01 4.51660954e-03 1.82741830e+02] [ 3.99182102e-01 -9.16869581e-01 -1.95461127e-03 1.21482436e+02] [ 4.92139709e-03 1.08478150e-05 9.99987890e-01 1.01200784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.76, Y:121.47, Z:1.01 [[-9.17015702e-01 -3.98825521e-01 4.51737693e-03 1.82762078e+02] [ 3.98820740e-01 -9.17026828e-01 -1.95283610e-03 1.21470809e+02] [ 4.92139672e-03 1.08422417e-05 9.99987890e-01 1.01308346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.73028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.75, Y:121.47, Z:1.02 [[-9.17341584e-01 -3.98075380e-01 4.51766329e-03 1.82747560e+02] [ 3.98070594e-01 -9.17352708e-01 -1.95217344e-03 1.21471724e+02] [ 4.92140283e-03 7.53903329e-06 9.99987890e-01 1.01703648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.77, Y:121.46, Z:1.02 [[-9.17662884e-01 -3.97334135e-01 4.51842686e-03 1.82768749e+02] [ 3.97329348e-01 -9.17674008e-01 -1.95040449e-03 1.21459568e+02] [ 4.92140517e-03 5.48978507e-06 9.99987890e-01 1.01866034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.79028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.74, Y:121.47, Z:1.02 [[-9.18134789e-01 -3.96242465e-01 4.51871179e-03 1.82742612e+02] [ 3.96237668e-01 -9.18145908e-01 -1.94974414e-03 1.21468275e+02] [ 4.92140817e-03 3.55898619e-07 9.99987890e-01 1.01856862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.82028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.76, Y:121.46, Z:1.02 [[-9.18686070e-01 -3.94962629e-01 4.51947532e-03 1.82763009e+02] [ 3.94957825e-01 -9.18697187e-01 -1.94797269e-03 1.21457598e+02] [ 4.92140568e-03 -4.57322999e-06 9.99987890e-01 1.01623073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.85028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.79, Y:121.44, Z:1.01 [[-9.19720980e-01 -3.92546668e-01 4.52024075e-03 1.82786111e+02] [ 3.92541843e-01 -9.19732088e-01 -1.94619489e-03 1.21444758e+02] [ 4.92138278e-03 -1.55726357e-05 9.99987890e-01 1.01165606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.880281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.78, Y:121.45, Z:1.01 [[-9.20170148e-01 -3.91492605e-01 4.52099304e-03 1.82780410e+02] [ 3.91487777e-01 -9.20181254e-01 -1.94444576e-03 1.21445233e+02] [ 4.92136918e-03 -1.93074278e-05 9.99987890e-01 1.01124227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.91028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.78, Y:121.44, Z:1.01 [[-9.20259782e-01 -3.91281852e-01 4.52174026e-03 1.82784442e+02] [ 3.91277030e-01 -9.20270890e-01 -1.94270657e-03 1.21441581e+02] [ 4.92137176e-03 -1.85416204e-05 9.99987890e-01 1.01380210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.940281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.79, Y:121.44, Z:1.02 [[-9.19862628e-01 -3.92214600e-01 4.52248844e-03 1.82786357e+02] [ 3.92209797e-01 -9.19873746e-01 -1.94096330e-03 1.21437913e+02] [ 4.92139252e-03 -1.16553254e-05 9.99987890e-01 1.01824516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.97028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.80, Y:121.43, Z:1.02 [[-9.19797866e-01 -3.92366443e-01 4.52323482e-03 1.82799537e+02] [ 3.92361651e-01 -9.19808988e-01 -1.93922236e-03 1.21430979e+02] [ 4.92139782e-03 -8.94870556e-06 9.99987890e-01 1.01763747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.000281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.78, Y:121.44, Z:1.02 [[-9.19986609e-01 -3.91923683e-01 4.52397695e-03 1.82782411e+02] [ 3.91918894e-01 -9.19997732e-01 -1.93748952e-03 1.21437179e+02] [ 4.92139656e-03 -9.43237078e-06 9.99987890e-01 1.01588773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.03028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.78, Y:121.44, Z:1.01 [[-9.20668746e-01 -3.90318572e-01 4.52472088e-03 1.82778715e+02] [ 3.90313772e-01 -9.20679864e-01 -1.93575062e-03 1.21438386e+02] [ 4.92137882e-03 -1.61242206e-05 9.99987890e-01 1.01282788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.060281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.80, Y:121.43, Z:1.01 [[-9.21342331e-01 -3.88725904e-01 4.52547164e-03 1.82798310e+02] [ 3.88721094e-01 -9.21353445e-01 -1.93399386e-03 1.21430696e+02] [ 4.92135240e-03 -2.27241248e-05 9.99987890e-01 1.01227625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.09028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.81, Y:121.43, Z:1.01 [[-9.22025192e-01 -3.87103421e-01 4.52621833e-03 1.82810077e+02] [ 3.87098599e-01 -9.22036301e-01 -1.93224475e-03 1.21425777e+02] [ 4.92131617e-03 -2.94855619e-05 9.99987890e-01 1.01270083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.120281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.81, Y:121.42, Z:1.01 [[-9.23049604e-01 -3.84654306e-01 4.52695644e-03 1.82805962e+02] [ 3.84649464e-01 -9.23060704e-01 -1.93051394e-03 1.21424920e+02] [ 4.92123610e-03 -4.06687628e-05 9.99987890e-01 1.01453235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.15028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.81, Y:121.42, Z:1.01 [[-9.23390932e-01 -3.83834192e-01 4.52769289e-03 1.82814705e+02] [ 3.83829349e-01 -9.23402031e-01 -1.92878516e-03 1.21419792e+02] [ 4.92121451e-03 -4.31613100e-05 9.99987890e-01 1.01420717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.180281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.84, Y:121.41, Z:1.01 [[-9.23580670e-01 -3.83377412e-01 4.52842809e-03 1.82837291e+02] [ 3.83372571e-01 -9.23591770e-01 -1.92705751e-03 1.21409110e+02] [ 4.92120924e-03 -4.37179480e-05 9.99987890e-01 1.01401243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.21028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.82, Y:121.41, Z:1.01 [[-9.23981547e-01 -3.82410236e-01 4.52915469e-03 1.82821322e+02] [ 3.82405392e-01 -9.23992646e-01 -1.92534827e-03 1.21414839e+02] [ 4.92117851e-03 -4.70131039e-05 9.99987890e-01 1.01397056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.240281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.84, Y:121.40, Z:1.01 [[-9.24318290e-01 -3.81595569e-01 4.52987992e-03 1.82844046e+02] [ 3.81590724e-01 -9.24329389e-01 -1.92364045e-03 1.21404228e+02] [ 4.92115381e-03 -4.94958954e-05 9.99987890e-01 1.01394594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.27028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.83, Y:121.41, Z:1.01 [[-9.24957382e-01 -3.80043841e-01 4.52997010e-03 1.82827889e+02] [ 3.80038978e-01 -9.24968473e-01 -1.92342808e-03 1.21410559e+02] [ 4.92106652e-03 -5.75237953e-05 9.99987890e-01 1.01389771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.300281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.84, Y:121.41, Z:1.01 [[-9.26702821e-01 -3.75767686e-01 4.53069225e-03 1.82837205e+02] [ 3.75762781e-01 -9.26713893e-01 -1.92172552e-03 1.21407076e+02] [ 4.92077781e-03 -7.84029415e-05 9.99987890e-01 1.01211018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.33028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.85, Y:121.40, Z:1.01 [[-9.27742901e-01 -3.73192412e-01 4.53141684e-03 1.82854032e+02] [ 3.73187483e-01 -9.27753963e-01 -1.92001543e-03 1.21399512e+02] [ 4.92057512e-03 -9.02126351e-05 9.99987890e-01 1.01214691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36028169299993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.87, Y:121.39, Z:1.01 [[-9.28530146e-01 -3.71229346e-01 4.53213490e-03 1.82868510e+02] [ 3.71224403e-01 -9.28541201e-01 -1.91831897e-03 1.21392644e+02] [ 4.92041028e-03 -9.87779203e-05 9.99987890e-01 1.01115178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.39028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.87, Y:121.39, Z:1.01 [[-9.29744493e-01 -3.68177446e-01 4.53284495e-03 1.82866407e+02] [ 3.68172475e-01 -9.29755535e-01 -1.91663970e-03 1.21393899e+02] [ 4.92010119e-03 -1.13116468e-04 9.99987890e-01 1.01081805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.87, Y:121.40, Z:1.01 [[-9.30543378e-01 -3.66153614e-01 4.53355210e-03 1.82865986e+02] [ 3.66148627e-01 -9.30554413e-01 -1.91496556e-03 1.21395753e+02] [ 4.91988848e-03 -1.22004643e-04 9.99987890e-01 1.01180600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.45028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.88, Y:121.39, Z:1.01 [[-9.31506514e-01 -3.63696378e-01 4.53426091e-03 1.82882489e+02] [ 3.63691369e-01 -9.31517540e-01 -1.91328577e-03 1.21391463e+02] [ 4.91959867e-03 -1.33166599e-04 9.99987890e-01 1.01253707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.90, Y:121.39, Z:1.01 [[-9.33714689e-01 -3.57989264e-01 4.53496637e-03 1.82904664e+02] [ 3.57984197e-01 -9.33725688e-01 -1.91161218e-03 1.21388766e+02] [ 4.91875124e-03 -1.61454082e-04 9.99987890e-01 1.01384958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.51028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.91, Y:121.39, Z:1.01 [[-9.34837902e-01 -3.55045807e-01 4.53566308e-03 1.82912101e+02] [ 3.55040713e-01 -9.34848888e-01 -1.90995768e-03 1.21389892e+02] [ 4.91828206e-03 -1.75155773e-04 9.99987890e-01 1.01336756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.92, Y:121.39, Z:1.01 [[-9.35720749e-01 -3.52712492e-01 4.53635362e-03 1.82923935e+02] [ 3.52707378e-01 -9.35731726e-01 -1.90831617e-03 1.21390263e+02] [ 4.91789695e-03 -1.85645646e-04 9.99987890e-01 1.01135514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.57028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.91, Y:121.41, Z:1.01 [[-9.36700399e-01 -3.50102525e-01 4.53704075e-03 1.82907183e+02] [ 3.50097389e-01 -9.36711366e-01 -1.90668110e-03 1.21409012e+02] [ 4.91743151e-03 -1.97582826e-04 9.99987890e-01 1.00603017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.93, Y:121.41, Z:1.01 [[-9.36730732e-01 -3.50021349e-01 4.53764423e-03 1.82926603e+02] [ 3.50016219e-01 -9.36741702e-01 -1.90524383e-03 1.21406535e+02] [ 4.91747659e-03 -1.96451376e-04 9.99987890e-01 1.00572809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.630281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.93, Y:121.41, Z:1.01 [[-9.36536103e-01 -3.50541768e-01 4.53833598e-03 1.82928670e+02] [ 3.50536652e-01 -9.36547079e-01 -1.90359462e-03 1.21410862e+02] [ 4.91765473e-03 -1.91931989e-04 9.99987890e-01 1.00661556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.90, Y:121.43, Z:1.01 [[-9.35187868e-01 -3.54122929e-01 4.53902378e-03 1.82903243e+02] [ 3.54117863e-01 -9.35198867e-01 -1.90195319e-03 1.21433224e+02] [ 4.91841513e-03 -1.71334145e-04 9.99987890e-01 1.01189284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.690281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.91, Y:121.44, Z:1.01 [[-9.34208925e-01 -3.56697458e-01 4.53963206e-03 1.82906170e+02] [ 3.56692429e-01 -9.34219941e-01 -1.90050022e-03 1.21438032e+02] [ 4.91891839e-03 -1.56211879e-04 9.99987890e-01 1.01478475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.91, Y:121.44, Z:1.02 [[-9.33081814e-01 -3.59635529e-01 4.54033596e-03 1.82911125e+02] [ 3.59630543e-01 -9.33092850e-01 -1.89881709e-03 1.21440887e+02] [ 4.91943711e-03 -1.38908208e-04 9.99987890e-01 1.01670092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.750281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.90, Y:121.45, Z:1.02 [[-9.31910603e-01 -3.62659630e-01 4.54103947e-03 1.82896182e+02] [ 3.62654688e-01 -9.31921659e-01 -1.89713315e-03 1.21450276e+02] [ 4.91990664e-03 -1.21129247e-04 9.99987890e-01 1.01645829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.89, Y:121.46, Z:1.01 [[-9.28858990e-01 -3.70405656e-01 4.54174713e-03 1.82887027e+02] [ 3.70400815e-01 -9.28870090e-01 -1.89543750e-03 1.21458356e+02] [ 4.92077383e-03 -7.83273203e-05 9.99987890e-01 1.01452535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.810281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.87, Y:121.47, Z:1.01 [[-9.27333035e-01 -3.74209579e-01 4.54246285e-03 1.82866596e+02] [ 3.74204792e-01 -9.27344158e-01 -1.89372071e-03 1.21468371e+02] [ 4.92107481e-03 -5.62984057e-05 9.99987890e-01 1.01427650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.85, Y:121.47, Z:1.02 [[-9.24396608e-01 -3.81405651e-01 4.54318814e-03 1.82850346e+02] [ 3.81400959e-01 -9.24407772e-01 -1.89197907e-03 1.21474547e+02] [ 4.92136994e-03 -1.61627275e-05 9.99987890e-01 1.01891779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.870281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:182.86, Y:121.47, Z:1.03 [[-9.22808173e-01 -3.85232954e-01 4.54392489e-03 1.82855774e+02] [ 3.85228316e-01 -9.22819360e-01 -1.89020798e-03 1.21470021e+02] [ 4.92139226e-03 6.14915645e-06 9.99987890e-01 1.02705949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.85, Y:121.47, Z:1.02 [[-9.21419602e-01 -3.88542485e-01 4.54466533e-03 1.82854605e+02] [ 3.88537896e-01 -9.21430810e-01 -1.88842605e-03 1.21468172e+02] [ 4.92132840e-03 2.57419260e-05 9.99987890e-01 1.02188902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.930281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.89, Y:121.45, Z:1.02 [[-9.18877228e-01 -3.94517401e-01 4.54540481e-03 1.82886962e+02] [ 3.94512894e-01 -9.18888468e-01 -1.88664443e-03 1.21449976e+02] [ 4.92103413e-03 5.96262016e-05 9.99987890e-01 1.01690438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.90, Y:121.44, Z:1.01 [[-9.17861561e-01 -3.96874654e-01 4.54567804e-03 1.82899688e+02] [ 3.96870179e-01 -9.17872815e-01 -1.88598589e-03 1.21442017e+02] [ 4.92085430e-03 7.29701087e-05 9.99987890e-01 1.01494236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.990281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.89, Y:121.44, Z:1.01 [[-9.16974918e-01 -3.98918952e-01 4.54639536e-03 1.82890127e+02] [ 3.98914512e-01 -9.16986184e-01 -1.88425512e-03 1.21442317e+02] [ 4.92064681e-03 8.58084020e-05 9.99987890e-01 1.01423286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.90, Y:121.43, Z:1.01 [[-9.14986765e-01 -4.03458231e-01 4.54711178e-03 1.82896573e+02] [ 4.03453854e-01 -9.14998057e-01 -1.88252465e-03 1.21432009e+02] [ 4.92011851e-03 1.12064631e-04 9.99987890e-01 1.01316173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.050281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.89, Y:121.43, Z:1.01 [[-9.14161104e-01 -4.05325540e-01 4.54782861e-03 1.82892934e+02] [ 4.05321195e-01 -9.14172408e-01 -1.88079134e-03 1.21429328e+02] [ 4.91983219e-03 1.23985036e-04 9.99987890e-01 1.01183063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.90, Y:121.42, Z:1.01 [[-9.13450386e-01 -4.06924689e-01 4.54854418e-03 1.82895445e+02] [ 4.06920373e-01 -9.13461701e-01 -1.87905918e-03 1.21423548e+02] [ 4.91955648e-03 1.34467962e-04 9.99987890e-01 1.01200636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.11028169299993 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.90, Y:121.42, Z:1.01 [[-9.13008569e-01 -4.07915011e-01 4.54925993e-03 1.82900116e+02] [ 4.07910716e-01 -9.13019892e-01 -1.87732474e-03 1.21415732e+02] [ 4.91935375e-03 1.41678295e-04 9.99987890e-01 1.01354423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.92, Y:121.40, Z:1.02 [[-9.12476889e-01 -4.09102952e-01 4.54997313e-03 1.82917523e+02] [ 4.09098680e-01 -9.12488220e-01 -1.87559461e-03 1.21398019e+02] [ 4.91910817e-03 1.49951270e-04 9.99987890e-01 1.01762421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.17028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:182.92, Y:121.39, Z:1.02 [[-9.12732012e-01 -4.08533439e-01 4.55014925e-03 1.82918741e+02] [ 4.08529162e-01 -9.12743342e-01 -1.87516724e-03 1.21393438e+02] [ 4.91918695e-03 1.47343495e-04 9.99987890e-01 1.01687785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:182.90, Y:121.40, Z:1.02 [[-9.13394220e-01 -4.07050719e-01 4.55084950e-03 1.82898032e+02] [ 4.07046432e-01 -9.13405546e-01 -1.87346626e-03 1.21398281e+02] [ 4.91936696e-03 1.41193799e-04 9.99987890e-01 1.01609855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.23028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.89, Y:121.39, Z:1.01 [[-9.15141709e-01 -4.03106607e-01 4.55155517e-03 1.82891394e+02] [ 4.03102280e-01 -9.15153019e-01 -1.87175026e-03 1.21392445e+02] [ 4.91988436e-03 1.21825532e-04 9.99987890e-01 1.01498628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26028169299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:182.89, Y:121.39, Z:1.01 [[-9.16356865e-01 -4.00336574e-01 4.55226789e-03 1.82890603e+02] [ 4.00332221e-01 -9.16368166e-01 -1.87001526e-03 1.21388959e+02] [ 4.92018888e-03 1.08818191e-04 9.99987890e-01 1.01372517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.29028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.87, Y:121.39, Z:1.02 [[-9.19023421e-01 -3.94176637e-01 4.55298196e-03 1.82873388e+02] [ 3.94172217e-01 -9.19034696e-01 -1.86827508e-03 1.21391650e+02] [ 4.92077878e-03 7.76704381e-05 9.99987890e-01 1.01793894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.87, Y:121.39, Z:1.02 [[-9.20338004e-01 -3.91097458e-01 4.55370084e-03 1.82872960e+02] [ 3.91093009e-01 -9.20349268e-01 -1.86652123e-03 1.21390295e+02] [ 4.92098695e-03 6.30901378e-05 9.99987890e-01 1.01779457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.35028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.86, Y:121.39, Z:1.02 [[-9.21695184e-01 -3.87888187e-01 4.55442497e-03 1.82862606e+02] [ 3.87883708e-01 -9.21706435e-01 -1.86475263e-03 1.21392930e+02] [ 4.92115832e-03 4.78537243e-05 9.99987890e-01 1.01744866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.380281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.88, Y:121.38, Z:1.02 [[-9.22935562e-01 -3.84927525e-01 4.55515271e-03 1.82879688e+02] [ 3.84923019e-01 -9.22946802e-01 -1.86297325e-03 1.21384648e+02] [ 4.92127331e-03 3.39788699e-05 9.99987890e-01 1.01615509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.41028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.88, Y:121.38, Z:1.02 [[-9.23084742e-01 -3.84569635e-01 4.55587864e-03 1.82882053e+02] [ 3.84565132e-01 -9.23095984e-01 -1.86119629e-03 1.21383761e+02] [ 4.92127286e-03 3.39901789e-05 9.99987890e-01 1.01614271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.440281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.89, Y:121.38, Z:1.02 [[-9.24982069e-01 -3.79983434e-01 4.55659962e-03 1.82887361e+02] [ 3.79978884e-01 -9.24993292e-01 -1.85942952e-03 1.21380376e+02] [ 4.92137649e-03 1.14726751e-05 9.99987890e-01 1.01552604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.47028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.89, Y:121.38, Z:1.01 [[-9.25899375e-01 -3.77742742e-01 4.55731882e-03 1.82894461e+02] [ 3.77738174e-01 -9.25910590e-01 -1.85766514e-03 1.21376535e+02] [ 4.92138928e-03 1.46229791e-06 9.99987890e-01 1.01420844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.500281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.91, Y:121.37, Z:1.01 [[-9.27362449e-01 -3.74136489e-01 4.55803493e-03 1.82905405e+02] [ 3.74131886e-01 -9.27373650e-01 -1.85590639e-03 1.21368001e+02] [ 4.92136379e-03 -1.57916895e-05 9.99987890e-01 1.01352335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.53028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.90, Y:121.37, Z:1.01 [[-9.28015205e-01 -3.72514426e-01 4.55874620e-03 1.82896074e+02] [ 3.72509812e-01 -9.28026402e-01 -1.85415762e-03 1.21370414e+02] [ 4.92133729e-03 -2.25087751e-05 9.99987890e-01 1.01418438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.560281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.93, Y:121.35, Z:1.02 [[-9.28847969e-01 -3.70433074e-01 4.55945704e-03 1.82934014e+02] [ 3.70428443e-01 -9.28859159e-01 -1.85240800e-03 1.21354854e+02] [ 4.92128661e-03 -3.16528330e-05 9.99987890e-01 1.01765793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.59028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.93, Y:121.36, Z:1.02 [[-9.29243909e-01 -3.69438723e-01 4.55928106e-03 1.82928279e+02] [ 3.69434079e-01 -9.29255093e-01 -1.85284101e-03 1.21356643e+02] [ 4.92124637e-03 -3.73874191e-05 9.99987890e-01 1.01839643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.620281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.94, Y:121.35, Z:1.02 [[-9.29489325e-01 -3.68820826e-01 4.55997488e-03 1.82939766e+02] [ 3.68816183e-01 -9.29500509e-01 -1.85113189e-03 1.21349757e+02] [ 4.92123497e-03 -3.88148003e-05 9.99987890e-01 1.01760617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.65028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.91, Y:121.36, Z:1.02 [[-9.28975286e-01 -3.70113656e-01 4.56066761e-03 1.82913761e+02] [ 3.70109036e-01 -9.28986480e-01 -1.84942363e-03 1.21355836e+02] [ 4.92129549e-03 -3.01245558e-05 9.99987890e-01 1.01619372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.680281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.90, Y:121.36, Z:1.02 [[-9.28334172e-01 -3.71718789e-01 4.56136422e-03 1.82902514e+02] [ 3.71714198e-01 -9.28345378e-01 -1.84770394e-03 1.21359770e+02] [ 4.92134766e-03 -1.97628697e-05 9.99987890e-01 1.01527329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.71028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:182.90, Y:121.36, Z:1.01 [[-9.27623152e-01 -3.73489592e-01 4.56207128e-03 1.82901229e+02] [ 3.73485031e-01 -9.27634370e-01 -1.84595651e-03 1.21359416e+02] [ 4.92137966e-03 -8.48666731e-06 9.99987890e-01 1.01494910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.740281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.90, Y:121.36, Z:1.01 [[-9.26920492e-01 -3.75230039e-01 4.56278240e-03 1.82901541e+02] [ 3.75225507e-01 -9.26931722e-01 -1.84419712e-03 1.21356968e+02] [ 4.92138590e-03 2.64823590e-06 9.99987890e-01 1.01496013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.77028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.90, Y:121.35, Z:1.02 [[-9.25506786e-01 -3.78703530e-01 4.56349414e-03 1.82902359e+02] [ 3.78699049e-01 -9.25518036e-01 -1.84243421e-03 1.21350483e+02] [ 4.92133248e-03 2.30055325e-05 9.99987890e-01 1.01570638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.800281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.90, Y:121.35, Z:1.02 [[-9.25000253e-01 -3.79939075e-01 4.56420521e-03 1.82896869e+02] [ 3.79934618e-01 -9.25011513e-01 -1.84067102e-03 1.21351201e+02] [ 4.92128521e-03 3.14784060e-05 9.99987890e-01 1.01577266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.83028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.88, Y:121.36, Z:1.02 [[-9.24849622e-01 -3.80305586e-01 4.56491774e-03 1.82878052e+02] [ 3.80301142e-01 -9.24860887e-01 -1.83890222e-03 1.21358149e+02] [ 4.92125866e-03 3.53354050e-05 9.99987890e-01 1.01557192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86028169299993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.89, Y:121.35, Z:1.01 [[-9.24975140e-01 -3.80000191e-01 4.56563757e-03 1.82892680e+02] [ 3.79995752e-01 -9.24986407e-01 -1.83711329e-03 1.21349875e+02] [ 4.92125609e-03 3.56387593e-05 9.99987890e-01 1.01463519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.89028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.90, Y:121.35, Z:1.01 [[-9.25348029e-01 -3.79091255e-01 4.56563757e-03 1.82896394e+02] [ 3.79086805e-01 -9.25359292e-01 -1.83711329e-03 1.21346605e+02] [ 4.92128873e-03 3.08037970e-05 9.99987890e-01 1.01434485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.91, Y:121.34, Z:1.01 [[-9.25828142e-01 -3.77917187e-01 4.56635317e-03 1.82909753e+02] [ 3.77912732e-01 -9.25839402e-01 -1.83533285e-03 1.21338102e+02] [ 4.92131352e-03 2.64802001e-05 9.99987890e-01 1.01309281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.95028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.92, Y:121.33, Z:1.01 [[-9.26167057e-01 -3.77085840e-01 4.56635317e-03 1.82924239e+02] [ 3.77081375e-01 -9.26178314e-01 -1.83533285e-03 1.21330383e+02] [ 4.92133531e-03 2.20619076e-05 9.99987890e-01 1.01083259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.92, Y:121.33, Z:1.01 [[-9.26706339e-01 -3.75758579e-01 4.56635317e-03 1.82916304e+02] [ 3.75754097e-01 -9.26717589e-01 -1.83533285e-03 1.21332325e+02] [ 4.92136187e-03 1.50113284e-05 9.99987890e-01 1.00905301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.01028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.92, Y:121.33, Z:1.01 [[-9.28159508e-01 -3.72154633e-01 4.56705375e-03 1.82921771e+02] [ 3.72150116e-01 -9.28170744e-01 -1.83358787e-03 1.21327753e+02] [ 4.92138389e-03 -2.23243698e-06 9.99987890e-01 1.01098182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.94, Y:121.32, Z:1.01 [[-9.28977470e-01 -3.70108088e-01 4.56775517e-03 1.82944271e+02] [ 3.70103555e-01 -9.28988699e-01 -1.83183885e-03 1.21318020e+02] [ 4.92137131e-03 -1.11945968e-05 9.99987890e-01 1.01104695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.07028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.94, Y:121.32, Z:1.01 [[-9.30127880e-01 -3.67207386e-01 4.56749358e-03 1.82939764e+02] [ 3.67202815e-01 -9.30139094e-01 -1.83249086e-03 1.21318947e+02] [ 4.92130852e-03 -2.72543384e-05 9.99987890e-01 1.01253242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.95, Y:121.31, Z:1.01 [[-9.31488389e-01 -3.63742371e-01 4.56818178e-03 1.82947934e+02] [ 3.63737766e-01 -9.31499590e-01 -1.83077365e-03 1.21314966e+02] [ 4.92118940e-03 -4.37241610e-05 9.99987890e-01 1.01247849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.130281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.96, Y:121.31, Z:1.01 [[-9.34181986e-01 -3.56767631e-01 4.56886956e-03 1.82962883e+02] [ 3.56762951e-01 -9.34193155e-01 -1.82905561e-03 1.21308910e+02] [ 4.92075451e-03 -7.86674164e-05 9.99987890e-01 1.01434195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.99, Y:121.30, Z:1.01 [[-9.35520192e-01 -3.53243677e-01 4.56886956e-03 1.82985177e+02] [ 3.53238955e-01 -9.35531344e-01 -1.82905561e-03 1.21301307e+02] [ 4.92042301e-03 -9.72157503e-05 9.99987890e-01 1.01410943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.190281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.00, Y:121.30, Z:1.01 [[-9.38175472e-01 -3.46129906e-01 4.56870122e-03 1.83004871e+02] [ 3.46125097e-01 -9.38186586e-01 -1.82947602e-03 1.21298515e+02] [ 4.91953056e-03 -1.35027379e-04 9.99987890e-01 1.01166888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.02, Y:121.30, Z:1.01 [[-9.39306170e-01 -3.43049628e-01 4.56853563e-03 1.83021150e+02] [ 3.43044781e-01 -9.39317268e-01 -1.82988944e-03 1.21295583e+02] [ 4.91904729e-03 -1.51614134e-04 9.99987890e-01 1.01125056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.250281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.01, Y:121.30, Z:1.01 [[-9.40168132e-01 -3.40680210e-01 4.56918908e-03 1.83008535e+02] [ 3.40675343e-01 -9.40179221e-01 -1.82825632e-03 1.21304409e+02] [ 4.91870738e-03 -1.62258269e-04 9.99987890e-01 1.01092538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.03, Y:121.30, Z:1.01 [[-9.41271526e-01 -3.37619655e-01 4.56984287e-03 1.83027843e+02] [ 3.37614759e-01 -9.41282603e-01 -1.82662068e-03 1.21304829e+02] [ 4.91821663e-03 -1.76499637e-04 9.99987890e-01 1.01122083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.310281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.02, Y:121.31, Z:1.01 [[-9.41660358e-01 -3.36533626e-01 4.57041407e-03 1.83020740e+02] [ 3.36528725e-01 -9.41671432e-01 -1.82519034e-03 1.21311698e+02] [ 4.91806629e-03 -1.80633767e-04 9.99987890e-01 1.01472410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.02, Y:121.32, Z:1.01 [[-9.41636306e-01 -3.36600910e-01 4.57106605e-03 1.83016711e+02] [ 3.36596018e-01 -9.41647384e-01 -1.82355604e-03 1.21317372e+02] [ 4.91814301e-03 -1.78523939e-04 9.99987890e-01 1.01414402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.370281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.02, Y:121.33, Z:1.01 [[-9.40790945e-01 -3.38956484e-01 4.57172192e-03 1.83017193e+02] [ 3.38951627e-01 -9.40802038e-01 -1.82191026e-03 1.21326074e+02] [ 4.91863360e-03 -1.64444091e-04 9.99987890e-01 1.01183245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.02, Y:121.33, Z:1.01 [[-9.40230973e-01 -3.40506698e-01 4.57238018e-03 1.83019183e+02] [ 3.40501867e-01 -9.40242078e-01 -1.82025676e-03 1.21329712e+02] [ 4.91895386e-03 -1.54557799e-04 9.99987890e-01 1.00972536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.430281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.02, Y:121.33, Z:1.01 [[-9.39636145e-01 -3.42144709e-01 4.57303969e-03 1.83016316e+02] [ 3.42139906e-01 -9.39647262e-01 -1.81859835e-03 1.21334689e+02] [ 4.91926803e-03 -1.44201372e-04 9.99987890e-01 1.01057505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.01, Y:121.34, Z:1.01 [[-9.39023308e-01 -3.43823078e-01 4.57370059e-03 1.83010261e+02] [ 3.43818303e-01 -9.39034437e-01 -1.81693470e-03 1.21339957e+02] [ 4.91956644e-03 -1.33622060e-04 9.99987890e-01 1.01051011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.490281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.98, Y:121.36, Z:1.01 [[-9.37523675e-01 -3.47891410e-01 4.57436485e-03 1.82978442e+02] [ 3.47886692e-01 -9.37534828e-01 -1.81526079e-03 1.21358463e+02] [ 4.92014000e-03 -1.10489307e-04 9.99987890e-01 1.00857495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.99, Y:121.36, Z:1.01 [[-9.36680699e-01 -3.50154732e-01 4.57504008e-03 1.82990235e+02] [ 3.50150049e-01 -9.36691867e-01 -1.81355740e-03 1.21356870e+02] [ 4.92042854e-03 -9.67737089e-05 9.99987890e-01 1.00872677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.550281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:182.99, Y:121.36, Z:1.01 [[-9.35855273e-01 -3.52354894e-01 4.57572194e-03 1.82991623e+02] [ 3.52350245e-01 -9.35866455e-01 -1.81183540e-03 1.21358163e+02] [ 4.92067374e-03 -8.33589618e-05 9.99987890e-01 1.00917100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.99, Y:121.36, Z:1.01 [[-9.34162891e-01 -3.56817530e-01 4.57640115e-03 1.82988496e+02] [ 3.56812944e-01 -9.34174099e-01 -1.81011818e-03 1.21360583e+02] [ 4.92103732e-03 -5.80260617e-05 9.99987890e-01 1.01375781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.61028169299993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.99, Y:121.36, Z:1.01 [[-9.33554041e-01 -3.58407454e-01 4.57699613e-03 1.82987536e+02] [ 3.58402894e-01 -9.33565260e-01 -1.80861248e-03 1.21360822e+02] [ 4.92114478e-03 -4.80288279e-05 9.99987890e-01 1.01261459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.99, Y:121.36, Z:1.01 [[-9.33052738e-01 -3.59710486e-01 4.57767825e-03 1.82989675e+02] [ 3.59705950e-01 -9.33063966e-01 -1.80688436e-03 1.21359506e+02] [ 4.92122187e-03 -3.93002893e-05 9.99987890e-01 1.01359738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.67028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.99, Y:121.36, Z:1.01 [[-9.32641158e-01 -3.60776259e-01 4.57836050e-03 1.82990249e+02] [ 3.60771744e-01 -9.32652395e-01 -1.80515400e-03 1.21358611e+02] [ 4.92127559e-03 -3.18178161e-05 9.99987890e-01 1.01237621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.98, Y:121.36, Z:1.01 [[-9.32087344e-01 -3.62204659e-01 4.57904254e-03 1.82983771e+02] [ 3.62200170e-01 -9.32098592e-01 -1.80342224e-03 1.21359022e+02] [ 4.92132704e-03 -2.24170620e-05 9.99987890e-01 1.01375348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.73028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.98, Y:121.36, Z:1.01 [[-9.31965129e-01 -3.62518999e-01 4.57972639e-03 1.82980834e+02] [ 3.62514522e-01 -9.31976381e-01 -1.80168395e-03 1.21359384e+02] [ 4.92134149e-03 -1.88892882e-05 9.99987890e-01 1.01419198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:182.98, Y:121.36, Z:1.01 [[-9.31823553e-01 -3.62882744e-01 4.58041308e-03 1.82977314e+02] [ 3.62878281e-01 -9.31834810e-01 -1.79993647e-03 1.21358508e+02] [ 4.92135424e-03 -1.50907719e-05 9.99987890e-01 1.01343812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.79028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.97, Y:121.35, Z:1.01 [[-9.31007975e-01 -3.64970088e-01 4.58110185e-03 1.82973022e+02] [ 3.64965658e-01 -9.31019245e-01 -1.79818175e-03 1.21353702e+02] [ 4.92137654e-03 -2.17670091e-06 9.99987890e-01 1.00965495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.82028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.97, Y:121.35, Z:1.01 [[-9.30634737e-01 -3.65920749e-01 4.58179247e-03 1.82968840e+02] [ 3.65916339e-01 -9.30646015e-01 -1.79642033e-03 1.21352497e+02] [ 4.92137437e-03 4.74156783e-06 9.99987890e-01 1.00939783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.85028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:182.97, Y:121.34, Z:1.01 [[-9.29978977e-01 -3.67584144e-01 4.58248529e-03 1.82973641e+02] [ 3.67579763e-01 -9.29990267e-01 -1.79465127e-03 1.21344830e+02] [ 4.92135207e-03 1.54409015e-05 9.99987890e-01 1.01207943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.880281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.97, Y:121.34, Z:1.01 [[-9.30030223e-01 -3.67454465e-01 4.58270125e-03 1.82966826e+02] [ 3.67450085e-01 -9.30041513e-01 -1.79409963e-03 1.21344990e+02] [ 4.92135232e-03 1.53470822e-05 9.99987890e-01 1.01237287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.91028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:182.97, Y:121.34, Z:1.01 [[-9.30402674e-01 -3.66510379e-01 4.58339468e-03 1.82965372e+02] [ 3.66505996e-01 -9.30413963e-01 -1.79232636e-03 1.21343577e+02] [ 4.92136062e-03 1.22563992e-05 9.99987890e-01 1.01275536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.940281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.97, Y:121.34, Z:1.01 [[-9.30923944e-01 -3.65184332e-01 4.58409047e-03 1.82974495e+02] [ 3.65179943e-01 -9.30935231e-01 -1.79054503e-03 1.21338792e+02] [ 4.92137031e-03 7.15665484e-06 9.99987890e-01 1.01249633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.97028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:182.97, Y:121.34, Z:1.01 [[-9.32209782e-01 -3.61889350e-01 4.58478451e-03 1.82973803e+02] [ 3.61884929e-01 -9.32221057e-01 -1.78876613e-03 1.21336969e+02] [ 4.92136807e-03 -8.34086381e-06 9.99987890e-01 1.01209998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.000281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:182.99, Y:121.33, Z:1.01 [[-9.32935579e-01 -3.60014138e-01 4.58547659e-03 1.82992401e+02] [ 3.60009704e-01 -9.32946847e-01 -1.78699024e-03 1.21328917e+02] [ 4.92134768e-03 -1.63307107e-05 9.99987890e-01 1.01138110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.03028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:183.00, Y:121.33, Z:1.01 [[-9.33701826e-01 -3.58022161e-01 4.58616393e-03 1.83000414e+02] [ 3.58017711e-01 -9.33713089e-01 -1.78522449e-03 1.21325257e+02] [ 4.92131122e-03 -2.49394559e-05 9.99987890e-01 1.01163557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.060281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:183.02, Y:121.32, Z:1.01 [[-9.34805624e-01 -3.55130127e-01 4.58684457e-03 1.83021517e+02] [ 3.55125650e-01 -9.34816876e-01 -1.78347398e-03 1.21318386e+02] [ 4.92122505e-03 -3.82953413e-05 9.99987890e-01 1.01421426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.09028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.03, Y:121.32, Z:1.02 [[-9.35318223e-01 -3.53777873e-01 4.58684457e-03 1.83027454e+02] [ 3.53773381e-01 -9.35329468e-01 -1.78347398e-03 1.21317690e+02] [ 4.92116452e-03 -4.54121991e-05 9.99987890e-01 1.01615288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.120281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.03, Y:121.32, Z:1.02 [[-9.35760516e-01 -3.52606313e-01 4.58751173e-03 1.83031278e+02] [ 3.52601814e-01 -9.35771760e-01 -1.78175623e-03 1.21318173e+02] [ 4.92112242e-03 -4.97321679e-05 9.99987890e-01 1.01680943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.15028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.02, Y:121.33, Z:1.02 [[-9.36293468e-01 -3.51188683e-01 4.58817706e-03 1.83020115e+02] [ 3.51184176e-01 -9.36304708e-01 -1.78004130e-03 1.21326210e+02] [ 4.92106214e-03 -5.53458578e-05 9.99987890e-01 1.01619063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.180281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.03, Y:121.32, Z:1.01 [[-9.36556651e-01 -3.50486207e-01 4.58884532e-03 1.83029597e+02] [ 3.50481700e-01 -9.36567892e-01 -1.77831688e-03 1.21324495e+02] [ 4.92104073e-03 -5.71881965e-05 9.99987890e-01 1.01333874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.21028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.03, Y:121.33, Z:1.01 [[-9.36728545e-01 -3.50026528e-01 4.58951512e-03 1.83028302e+02] [ 3.50022024e-01 -9.36739786e-01 -1.77658658e-03 1.21327168e+02] [ 4.92103384e-03 -5.77479908e-05 9.99987890e-01 1.01036117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.240281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.02, Y:121.34, Z:1.01 [[-9.36818840e-01 -3.49784778e-01 4.59018372e-03 1.83019354e+02] [ 3.49780280e-01 -9.36830084e-01 -1.77485742e-03 1.21336199e+02] [ 4.92104031e-03 -5.71641279e-05 9.99987890e-01 1.00947525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.27028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.05, Y:121.33, Z:1.01 [[-9.36862082e-01 -3.49668934e-01 4.59085628e-03 1.83045096e+02] [ 3.49664443e-01 -9.36873329e-01 -1.77311606e-03 1.21328783e+02] [ 4.92105441e-03 -5.59059998e-05 9.99987890e-01 1.01200264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.300281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:183.04, Y:121.33, Z:1.01 [[-9.37023911e-01 -3.49235042e-01 4.59085628e-03 1.83036508e+02] [ 3.49230546e-01 -9.37035155e-01 -1.77311606e-03 1.21334408e+02] [ 4.92102799e-03 -5.81848985e-05 9.99987890e-01 1.01396678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.33028169299996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:183.04, Y:121.33, Z:1.01 [[-9.37155639e-01 -3.48881394e-01 4.59152173e-03 1.83038888e+02] [ 3.48876901e-01 -9.37166885e-01 -1.77139121e-03 1.21333569e+02] [ 4.92102754e-03 -5.81933862e-05 9.99987890e-01 1.01395440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36028169299993 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.02, Y:121.34, Z:1.01 [[-9.36864421e-01 -3.49662648e-01 4.59218957e-03 1.83020839e+02] [ 3.49658174e-01 -9.36875675e-01 -1.76965818e-03 1.21343956e+02] [ 4.92109407e-03 -5.22331673e-05 9.99987890e-01 1.01470902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.39028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.03, Y:121.34, Z:1.01 [[-9.36698437e-01 -3.50107046e-01 4.59286237e-03 1.83031293e+02] [ 3.50102586e-01 -9.36709696e-01 -1.76791030e-03 1.21341363e+02] [ 4.92113657e-03 -4.80258260e-05 9.99987890e-01 1.01304197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.04, Y:121.34, Z:1.01 [[-9.36610785e-01 -3.50341456e-01 4.59353819e-03 1.83037511e+02] [ 3.50337008e-01 -9.36622049e-01 -1.76615259e-03 1.21339685e+02] [ 4.92116562e-03 -4.49111387e-05 9.99987890e-01 1.01293474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.45028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:183.04, Y:121.34, Z:1.02 [[-9.36481371e-01 -3.50687233e-01 4.59421033e-03 1.83037761e+02] [ 3.50682797e-01 -9.36492639e-01 -1.76440245e-03 1.21340128e+02] [ 4.92119757e-03 -4.12194968e-05 9.99987890e-01 1.01578245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.06, Y:121.33, Z:1.02 [[-9.36760879e-01 -3.49939913e-01 4.59488135e-03 1.83056172e+02] [ 3.49935476e-01 -9.36772147e-01 -1.76265322e-03 1.21334351e+02] [ 4.92117959e-03 -4.32725891e-05 9.99987890e-01 1.01812180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.51028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.06, Y:121.34, Z:1.02 [[-9.37145668e-01 -3.48908121e-01 4.59554830e-03 1.83056577e+02] [ 3.48903681e-01 -9.37156935e-01 -1.76091266e-03 1.21336973e+02] [ 4.92114669e-03 -4.68279501e-05 9.99987890e-01 1.01921432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.06, Y:121.34, Z:1.02 [[-9.37685030e-01 -3.47455983e-01 4.59621121e-03 1.83056025e+02] [ 3.47451533e-01 -9.37696293e-01 -1.75918066e-03 1.21340801e+02] [ 4.92108806e-03 -5.25967357e-05 9.99987890e-01 1.01935836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.57028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.06, Y:121.35, Z:1.02 [[-9.38543179e-01 -3.45131237e-01 4.59687543e-03 1.83060885e+02] [ 3.45126768e-01 -9.38554434e-01 -1.75744331e-03 1.21346322e+02] [ 4.92096640e-03 -6.29316669e-05 9.99987890e-01 1.01769752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.07, Y:121.35, Z:1.02 [[-9.38757101e-01 -3.44548934e-01 4.59753996e-03 1.83070667e+02] [ 3.44544467e-01 -9.38768357e-01 -1.75570314e-03 1.21346058e+02] [ 4.92095068e-03 -6.41218302e-05 9.99987890e-01 1.01600015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.630281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.06, Y:121.36, Z:1.02 [[-9.38469255e-01 -3.45332181e-01 4.59820210e-03 1.83060010e+02] [ 3.45327731e-01 -9.38480518e-01 -1.75396727e-03 1.21357493e+02] [ 4.92102443e-03 -5.81576538e-05 9.99987890e-01 1.01724696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.05, Y:121.36, Z:1.02 [[-9.38084139e-01 -3.46376959e-01 4.59886598e-03 1.83053804e+02] [ 3.46372531e-01 -9.38095411e-01 -1.75222486e-03 1.21363079e+02] [ 4.92110539e-03 -5.08135069e-05 9.99987890e-01 1.01690657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.690281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.05, Y:121.37, Z:1.02 [[-9.37665091e-01 -3.47509742e-01 4.59953579e-03 1.83054550e+02] [ 3.47505336e-01 -9.37676371e-01 -1.75046485e-03 1.21365580e+02] [ 4.92117962e-03 -4.29865554e-05 9.99987890e-01 1.01581832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.04, Y:121.37, Z:1.01 [[-9.37205458e-01 -3.48747426e-01 4.60020806e-03 1.83041748e+02] [ 3.48743044e-01 -9.37216747e-01 -1.74869635e-03 1.21373130e+02] [ 4.92124539e-03 -3.45972023e-05 9.99987890e-01 1.01445141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.750281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.03, Y:121.38, Z:1.01 [[-9.36381324e-01 -3.50954198e-01 4.60088461e-03 1.83031455e+02] [ 3.50949851e-01 -9.36392626e-01 -1.74691450e-03 1.21382959e+02] [ 4.92132140e-03 -2.10983442e-05 9.99987890e-01 1.01297921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.06, Y:121.38, Z:1.01 [[-9.36343222e-01 -3.51055831e-01 4.60156886e-03 1.83057646e+02] [ 3.51051494e-01 -9.36354528e-01 -1.74511025e-03 1.21376492e+02] [ 4.92133097e-03 -1.86345310e-05 9.99987890e-01 1.01362449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.810281693 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:183.05, Y:121.38, Z:1.01 [[-9.36657639e-01 -3.50216064e-01 4.60182379e-03 1.83052761e+02] [ 3.50211720e-01 -9.36668943e-01 -1.74443775e-03 1.21381960e+02] [ 4.92131555e-03 -2.23283211e-05 9.99987890e-01 1.01460074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.07, Y:121.38, Z:1.02 [[-9.37425044e-01 -3.48156723e-01 4.60250096e-03 1.83067604e+02] [ 3.48152363e-01 -9.37436342e-01 -1.74264927e-03 1.21382384e+02] [ 4.92126673e-03 -3.12314813e-05 9.99987890e-01 1.01553512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.870281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.06, Y:121.39, Z:1.02 [[-9.37838310e-01 -3.47041950e-01 4.60317699e-03 1.83055078e+02] [ 3.47037586e-01 -9.37849606e-01 -1.74086174e-03 1.21389755e+02] [ 4.92123978e-03 -3.51714006e-05 9.99987890e-01 1.01523097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90028169299995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:183.07, Y:121.39, Z:1.01 [[-9.38208791e-01 -3.46039114e-01 4.60385357e-03 1.83068452e+02] [ 3.46034746e-01 -9.38220086e-01 -1.73907062e-03 1.21389727e+02] [ 4.92121435e-03 -3.85180475e-05 9.99987890e-01 1.01388996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.930281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.06, Y:121.40, Z:1.01 [[-9.37954406e-01 -3.46728036e-01 4.60453117e-03 1.83060058e+02] [ 3.46723685e-01 -9.37965707e-01 -1.73727468e-03 1.21395259e+02] [ 4.92125417e-03 -3.29844291e-05 9.99987890e-01 1.01203242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.07, Y:121.39, Z:1.01 [[-9.37390731e-01 -3.48249062e-01 4.60520864e-03 1.83066257e+02] [ 3.48244738e-01 -9.37402043e-01 -1.73547697e-03 1.21394988e+02] [ 4.92131021e-03 -2.30803526e-05 9.99987890e-01 1.01265308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.990281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:183.06, Y:121.40, Z:1.01 [[-9.36533676e-01 -3.50547372e-01 4.60588759e-03 1.83060703e+02] [ 3.50543085e-01 -9.36545001e-01 -1.73367317e-03 1.21398623e+02] [ 4.92135558e-03 -9.08126121e-06 9.99987890e-01 1.01465819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:183.07, Y:121.39, Z:1.02 [[-9.33669468e-01 -3.58106275e-01 4.60656745e-03 1.83072291e+02] [ 3.58102089e-01 -9.33680831e-01 -1.73186482e-03 1.21394985e+02] [ 4.92125539e-03 3.26321220e-05 9.99987890e-01 1.01623846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.050281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.07, Y:121.39, Z:1.02 [[-9.32381430e-01 -3.61446596e-01 4.60724626e-03 1.83070875e+02] [ 3.61442460e-01 -9.32392812e-01 -1.73005711e-03 1.21394885e+02] [ 4.92108655e-03 5.21813011e-05 9.99987890e-01 1.01697859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.09, Y:121.39, Z:1.02 [[-9.31317171e-01 -3.64180030e-01 4.60792287e-03 1.83088090e+02] [ 3.64175935e-01 -9.31328568e-01 -1.72825313e-03 1.21387950e+02] [ 4.92088548e-03 6.85428050e-05 9.99987890e-01 1.01721521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.11028169299993 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:183.10, Y:121.38, Z:1.02 [[-9.30357100e-01 -3.66625732e-01 4.60859579e-03 1.83104943e+02] [ 3.66621677e-01 -9.30368511e-01 -1.72645683e-03 1.21382834e+02] [ 4.92065590e-03 8.33897471e-05 9.99987890e-01 1.01860601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.12, Y:121.38, Z:1.02 [[-9.30651104e-01 -3.65878775e-01 4.60926037e-03 1.83123548e+02] [ 3.65874719e-01 -9.30662514e-01 -1.72468071e-03 1.21377222e+02] [ 4.92068991e-03 8.13358351e-05 9.99987890e-01 1.01789488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.17028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:183.13, Y:121.38, Z:1.02 [[-9.30952828e-01 -3.65110368e-01 4.60991649e-03 1.83127968e+02] [ 3.65106311e-01 -9.30964238e-01 -1.72292518e-03 1.21376918e+02] [ 4.92072524e-03 7.91475380e-05 9.99987890e-01 1.01833373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.10, Y:121.39, Z:1.02 [[-9.31242113e-01 -3.64371884e-01 4.61056743e-03 1.83104128e+02] [ 3.64367827e-01 -9.31253523e-01 -1.72118150e-03 1.21386171e+02] [ 4.92075731e-03 7.71057410e-05 9.99987890e-01 1.01939411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.23028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.12, Y:121.38, Z:1.02 [[-9.31139360e-01 -3.64634377e-01 4.61122417e-03 1.83120484e+02] [ 3.64630332e-01 -9.31150774e-01 -1.71942023e-03 1.21379741e+02] [ 4.92070468e-03 8.03723466e-05 9.99987890e-01 1.01944290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.11, Y:121.38, Z:1.02 [[-9.30398654e-01 -3.66520226e-01 4.61188329e-03 1.83114471e+02] [ 3.66516213e-01 -9.30410079e-01 -1.71765049e-03 1.21380982e+02] [ 4.92049634e-03 9.22302976e-05 9.99987890e-01 1.01904749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.29028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.14, Y:121.37, Z:1.02 [[-9.30145113e-01 -3.67163170e-01 4.61254009e-03 1.83138836e+02] [ 3.67159173e-01 -9.30156545e-01 -1.71588491e-03 1.21371072e+02] [ 4.92039410e-03 9.75144437e-05 9.99987890e-01 1.01887564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.14, Y:121.37, Z:1.02 [[-9.29845601e-01 -3.67921021e-01 4.61319264e-03 1.83136948e+02] [ 3.67917042e-01 -9.29857038e-01 -1.71412871e-03 1.21370867e+02] [ 4.92027364e-03 1.03397152e-04 9.99987890e-01 1.01999157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.35028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.15, Y:121.36, Z:1.02 [[-9.29484774e-01 -3.68831625e-01 4.61383983e-03 1.83154235e+02] [ 3.68827667e-01 -9.29496218e-01 -1.71238495e-03 1.21362933e+02] [ 4.92012840e-03 1.10076045e-04 9.99987890e-01 1.02101996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.380281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:183.15, Y:121.36, Z:1.02 [[-9.29065453e-01 -3.69886592e-01 4.61448361e-03 1.83147850e+02] [ 3.69882655e-01 -9.29076905e-01 -1.71064835e-03 1.21361066e+02] [ 4.91995603e-03 1.17513162e-04 9.99987890e-01 1.02039937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.41028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.14, Y:121.36, Z:1.02 [[-9.29137617e-01 -3.69705275e-01 4.61512464e-03 1.83137052e+02] [ 3.69701344e-01 -9.29149071e-01 -1.70891717e-03 1.21362743e+02] [ 4.91993446e-03 1.18398555e-04 9.99987890e-01 1.01874872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.440281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:183.15, Y:121.36, Z:1.02 [[-9.29422259e-01 -3.68989105e-01 4.61576985e-03 1.83146386e+02] [ 3.68985174e-01 -9.29433713e-01 -1.70717268e-03 1.21356680e+02] [ 4.91998023e-03 1.16466359e-04 9.99987890e-01 1.01712565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.47028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.14, Y:121.35, Z:1.02 [[-9.30079844e-01 -3.67328426e-01 4.61641557e-03 1.83139838e+02] [ 3.67324483e-01 -9.30091294e-01 -1.70542478e-03 1.21353307e+02] [ 4.92013893e-03 1.09541247e-04 9.99987890e-01 1.01671102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.500281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.14, Y:121.35, Z:1.02 [[-9.30566567e-01 -3.66093632e-01 4.61706041e-03 1.83143479e+02] [ 3.66089683e-01 -9.30578015e-01 -1.70367722e-03 1.21349195e+02] [ 4.92024029e-03 1.04873115e-04 9.99987890e-01 1.01807839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.53028169299995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:183.13, Y:121.35, Z:1.02 [[-9.31023445e-01 -3.64930161e-01 4.61770576e-03 1.83134862e+02] [ 3.64926206e-01 -9.31034891e-01 -1.70192626e-03 1.21350293e+02] [ 4.92032940e-03 1.00588597e-04 9.99987890e-01 1.01922113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.560281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.14, Y:121.35, Z:1.02 [[-9.31383713e-01 -3.64009683e-01 4.61835256e-03 1.83144283e+02] [ 3.64005726e-01 -9.31395158e-01 -1.70016926e-03 1.21345675e+02] [ 4.92038929e-03 9.75968140e-05 9.99987890e-01 1.02073036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.59028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.13, Y:121.35, Z:1.02 [[-9.31761762e-01 -3.63040885e-01 4.61899935e-03 1.83131486e+02] [ 3.63036924e-01 -9.31773206e-01 -1.69841027e-03 1.21346812e+02] [ 4.92045220e-03 9.43535707e-05 9.99987890e-01 1.02268388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.620281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:183.15, Y:121.34, Z:1.02 [[-9.31939940e-01 -3.62583241e-01 4.61964717e-03 1.83146323e+02] [ 3.62579284e-01 -9.31951385e-01 -1.69664638e-03 1.21338252e+02] [ 4.92046212e-03 9.38158387e-05 9.99987890e-01 1.02199349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.65028169299995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:183.14, Y:121.34, Z:1.02 [[-9.32040123e-01 -3.62325631e-01 4.62029453e-03 1.83136794e+02] [ 3.62321679e-01 -9.32051570e-01 -1.69488165e-03 1.21336572e+02] [ 4.92045183e-03 9.43351758e-05 9.99987890e-01 1.01887515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.680281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.14, Y:121.33, Z:1.02 [[-9.32209728e-01 -3.61889030e-01 4.62094026e-03 1.83140831e+02] [ 3.61885081e-01 -9.32221176e-01 -1.69311930e-03 1.21333789e+02] [ 4.92045966e-03 9.39070619e-05 9.99987890e-01 1.01873012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.71028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.13, Y:121.34, Z:1.02 [[-9.32603680e-01 -3.60872577e-01 4.62158745e-03 1.83128709e+02] [ 3.60868625e-01 -9.32615127e-01 -1.69135085e-03 1.21336914e+02] [ 4.92052451e-03 9.04258868e-05 9.99987890e-01 1.01946735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.740281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:183.11, Y:121.34, Z:1.02 [[-9.33734724e-01 -3.57935888e-01 4.62223699e-03 1.83105832e+02] [ 3.57931908e-01 -9.33746162e-01 -1.68957387e-03 1.21341226e+02] [ 4.92075518e-03 7.68323129e-05 9.99987890e-01 1.01991997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.77028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.13, Y:121.33, Z:1.02 [[-9.34060179e-01 -3.57085718e-01 4.62289551e-03 1.83134309e+02] [ 3.57081737e-01 -9.34071616e-01 -1.68777016e-03 1.21329181e+02] [ 4.92079410e-03 7.42726642e-05 9.99987890e-01 1.02132771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.800281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.14, Y:121.33, Z:1.02 [[-9.34199763e-01 -3.56720380e-01 4.62314132e-03 1.83137186e+02] [ 3.56716398e-01 -9.34211200e-01 -1.68709657e-03 1.21327311e+02] [ 4.92081213e-03 7.30651027e-05 9.99987890e-01 1.02148743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.83028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.13, Y:121.33, Z:1.02 [[-9.33709265e-01 -3.58002274e-01 4.62379117e-03 1.83126052e+02] [ 3.57998317e-01 -9.33720710e-01 -1.68531365e-03 1.21328119e+02] [ 4.92067570e-03 8.17164859e-05 9.99987890e-01 1.02303442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86028169299993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:183.13, Y:121.32, Z:1.02 [[-9.33435655e-01 -3.58715058e-01 4.62444317e-03 1.83126114e+02] [ 3.58711118e-01 -9.33447106e-01 -1.68352268e-03 1.21324228e+02] [ 4.92057803e-03 8.73790885e-05 9.99987890e-01 1.02317268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.89028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.14, Y:121.31, Z:1.02 [[-9.33208509e-01 -3.59305564e-01 4.62509811e-03 1.83143219e+02] [ 3.59301640e-01 -9.33219965e-01 -1.68172146e-03 1.21313618e+02] [ 4.92048577e-03 9.24085607e-05 9.99987890e-01 1.02357518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.14, Y:121.31, Z:1.02 [[-9.33038391e-01 -3.59747082e-01 4.62574850e-03 1.83139410e+02] [ 3.59743172e-01 -9.33049853e-01 -1.67993059e-03 1.21311419e+02] [ 4.92040408e-03 9.66417060e-05 9.99987890e-01 1.02364428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.95028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.15, Y:121.30, Z:1.02 [[-9.32678421e-01 -3.60679304e-01 4.62639537e-03 1.83150453e+02] [ 3.60675415e-01 -9.32689889e-01 -1.67814727e-03 1.21303600e+02] [ 4.92026517e-03 1.03455326e-04 9.99987890e-01 1.02218287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:183.13, Y:121.31, Z:1.02 [[-9.32943947e-01 -3.59991920e-01 4.62704037e-03 1.83133719e+02] [ 3.59988031e-01 -9.32955415e-01 -1.67636697e-03 1.21307315e+02] [ 4.92030093e-03 1.01722733e-04 9.99987890e-01 1.02110054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.01028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.14, Y:121.30, Z:1.02 [[-9.33273955e-01 -3.59135504e-01 4.62768683e-03 1.83139921e+02] [ 3.59131613e-01 -9.33285423e-01 -1.67458047e-03 1.21301996e+02] [ 4.92035396e-03 9.91063040e-05 9.99987890e-01 1.02037708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.15, Y:121.29, Z:1.02 [[-9.33639740e-01 -3.58183493e-01 4.62833588e-03 1.83145867e+02] [ 3.58179600e-01 -9.33651207e-01 -1.67278467e-03 1.21293527e+02] [ 4.92041523e-03 9.59972515e-05 9.99987890e-01 1.02011639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.07028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.15, Y:121.29, Z:1.02 [[-9.33889441e-01 -3.57531935e-01 4.62898161e-03 1.83150679e+02] [ 3.57528043e-01 -9.33900908e-01 -1.67099585e-03 1.21289791e+02] [ 4.92044451e-03 9.44653554e-05 9.99987890e-01 1.02032689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.13, Y:121.29, Z:1.02 [[-9.34314923e-01 -3.56418563e-01 4.62962451e-03 1.83132971e+02] [ 3.56414666e-01 -9.34326388e-01 -1.66921276e-03 1.21290912e+02] [ 4.92051876e-03 9.04956785e-05 9.99987890e-01 1.01860790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.130281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.14, Y:121.29, Z:1.02 [[-9.34659666e-01 -3.55513529e-01 4.63027059e-03 1.83138701e+02] [ 3.55509629e-01 -9.34671131e-01 -1.66741864e-03 1.21285126e+02] [ 4.92057014e-03 8.76368285e-05 9.99987890e-01 1.01845388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.14, Y:121.28, Z:1.02 [[-9.34942714e-01 -3.54768484e-01 4.63091958e-03 1.83139726e+02] [ 3.54764584e-01 -9.34954178e-01 -1.66561426e-03 1.21281836e+02] [ 4.92060506e-03 8.56323417e-05 9.99987890e-01 1.01799521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.190281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.13, Y:121.28, Z:1.02 [[-9.35316735e-01 -3.53781223e-01 4.63156666e-03 1.83131519e+02] [ 3.53777320e-01 -9.35328199e-01 -1.66381298e-03 1.21281801e+02] [ 4.92066069e-03 8.23511226e-05 9.99987890e-01 1.01765743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.13, Y:121.28, Z:1.02 [[-9.35455330e-01 -3.53414585e-01 4.63221567e-03 1.83133926e+02] [ 3.53410687e-01 -9.35466795e-01 -1.66200410e-03 1.21281016e+02] [ 4.92066044e-03 8.23439240e-05 9.99987890e-01 1.01764504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.250281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.13, Y:121.28, Z:1.02 [[-9.35892051e-01 -3.52256447e-01 4.63286640e-03 1.83126126e+02] [ 3.52252544e-01 -9.35903515e-01 -1.66018821e-03 1.21282938e+02] [ 4.92072794e-03 7.81820239e-05 9.99987890e-01 1.01785075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.13, Y:121.28, Z:1.02 [[-9.36450201e-01 -3.50769941e-01 4.63351907e-03 1.83129237e+02] [ 3.50766028e-01 -9.36461662e-01 -1.65836461e-03 1.21280620e+02] [ 4.92081743e-03 7.23052132e-05 9.99987890e-01 1.01812070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.310281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.14, Y:121.27, Z:1.02 [[-9.37009963e-01 -3.49271890e-01 4.63417327e-03 1.83142075e+02] [ 3.49267968e-01 -9.37021420e-01 -1.65653450e-03 1.21274446e+02] [ 4.92090055e-03 6.63789537e-05 9.99987890e-01 1.01775955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.14, Y:121.27, Z:1.02 [[-9.37953521e-01 -3.46730027e-01 4.63482351e-03 1.83136592e+02] [ 3.46726083e-01 -9.37964970e-01 -1.65471318e-03 1.21273429e+02] [ 4.92104084e-03 5.49701529e-05 9.99987890e-01 1.01512908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.370281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.15, Y:121.27, Z:1.02 [[-9.38150996e-01 -3.46195350e-01 4.63547204e-03 1.83154507e+02] [ 3.46191408e-01 -9.38162447e-01 -1.65289439e-03 1.21265112e+02] [ 4.92105015e-03 5.40960778e-05 9.99987890e-01 1.01547285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.14, Y:121.26, Z:1.02 [[-9.37893582e-01 -3.46892115e-01 4.63555254e-03 1.83142769e+02] [ 3.46888183e-01 -9.37905036e-01 -1.65266861e-03 1.21262547e+02] [ 4.92100578e-03 5.79911213e-05 9.99987890e-01 1.01847832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.430281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:183.14, Y:121.26, Z:1.02 [[-9.37345075e-01 -3.48371519e-01 4.63619600e-03 1.83140600e+02] [ 3.48367614e-01 -9.37356538e-01 -1.65086155e-03 1.21259516e+02] [ 4.92088178e-03 6.76735949e-05 9.99987890e-01 1.02096964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.15, Y:121.25, Z:1.02 [[-9.36674241e-01 -3.50171196e-01 4.63684280e-03 1.83146055e+02] [ 3.50167322e-01 -9.36685714e-01 -1.64904285e-03 1.21253257e+02] [ 4.92071172e-03 7.90548702e-05 9.99987890e-01 1.02342109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.490281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.14, Y:121.25, Z:1.02 [[-9.35256951e-01 -3.53939160e-01 4.63748867e-03 1.83140882e+02] [ 3.53935341e-01 -9.35268443e-01 -1.64722452e-03 1.21245196e+02] [ 4.92031407e-03 1.00792954e-04 9.99987890e-01 1.02248156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.14, Y:121.24, Z:1.02 [[-9.34821446e-01 -3.55087808e-01 4.63813382e-03 1.83137255e+02] [ 3.55084012e-01 -9.34832946e-01 -1.64540593e-03 1.21240274e+02] [ 4.92014389e-03 1.08766410e-04 9.99987890e-01 1.02052258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.550281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.15, Y:121.23, Z:1.02 [[-9.34346974e-01 -3.56334414e-01 4.63878046e-03 1.83149577e+02] [ 3.56330643e-01 -9.34358481e-01 -1.64358089e-03 1.21229302e+02] [ 4.91994830e-03 1.17264794e-04 9.99987890e-01 1.01917812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.14, Y:121.22, Z:1.02 [[-9.34519428e-01 -3.55881893e-01 4.63870024e-03 1.83136694e+02] [ 3.55878115e-01 -9.34530933e-01 -1.64380727e-03 1.21222850e+02] [ 4.92001010e-03 1.14642071e-04 9.99987890e-01 1.02041007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.61028169299993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.14, Y:121.22, Z:1.02 [[-9.35259343e-01 -3.53932816e-01 4.63934241e-03 1.83139887e+02] [ 3.53929023e-01 -9.35270843e-01 -1.64199285e-03 1.21218239e+02] [ 4.92019684e-03 1.06308775e-04 9.99987890e-01 1.01952188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.13, Y:121.22, Z:1.02 [[-9.36240641e-01 -3.51328809e-01 4.63998650e-03 1.83128044e+02] [ 3.51324993e-01 -9.36252134e-01 -1.64017075e-03 1.21219350e+02] [ 4.92043650e-03 9.45487102e-05 9.99987890e-01 1.01872598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.67028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.16, Y:121.20, Z:1.02 [[-9.38445147e-01 -3.45397120e-01 4.64063273e-03 1.83162147e+02] [ 3.45393241e-01 -9.38456619e-01 -1.63834028e-03 1.21201237e+02] [ 4.92091051e-03 6.53506944e-05 9.99987890e-01 1.01665406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.17, Y:121.20, Z:1.02 [[-9.39818158e-01 -3.41643529e-01 4.63999286e-03 1.83169691e+02] [ 3.41639595e-01 -9.39829611e-01 -1.64015046e-03 1.21196952e+02] [ 4.92114948e-03 4.37620938e-05 9.99987890e-01 1.01660645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.73028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.18, Y:121.19, Z:1.02 [[-9.41078311e-01 -3.38156884e-01 4.64054243e-03 1.83181966e+02] [ 3.38152915e-01 -9.41089752e-01 -1.63859407e-03 1.21192204e+02] [ 4.92126879e-03 2.71676105e-05 9.99987890e-01 1.01760417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.18, Y:121.19, Z:1.02 [[-9.42382054e-01 -3.34506399e-01 4.64046467e-03 1.83177489e+02] [ 3.34502384e-01 -9.42393479e-01 -1.63881425e-03 1.21193889e+02] [ 4.92133750e-03 7.85736024e-06 9.99987890e-01 1.01927836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.79028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.20, Y:121.18, Z:1.02 [[-9.43940932e-01 -3.30081773e-01 4.64108655e-03 1.83203728e+02] [ 3.30077714e-01 -9.43952341e-01 -1.63705122e-03 1.21183874e+02] [ 4.92132528e-03 -1.33604214e-05 9.99987890e-01 1.02045986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.21, Y:121.18, Z:1.02 [[-9.44526916e-01 -3.28401228e-01 4.64085390e-03 1.83210093e+02] [ 3.28397146e-01 -9.44538317e-01 -1.63771047e-03 1.21182226e+02] [ 4.92129047e-03 -2.28184495e-05 9.99987890e-01 1.01799460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.85028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.19, Y:121.19, Z:1.02 [[-9.44893660e-01 -3.27344509e-01 4.64146253e-03 1.83191695e+02] [ 3.27340422e-01 -9.44905060e-01 -1.63598374e-03 1.21190644e+02] [ 4.92127172e-03 -2.64923638e-05 9.99987890e-01 1.01525915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.880281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.21, Y:121.19, Z:1.01 [[-9.45084616e-01 -3.26792778e-01 4.64207465e-03 1.83207737e+02] [ 3.26788693e-01 -9.45096016e-01 -1.63424500e-03 1.21186966e+02] [ 4.92126572e-03 -2.75222961e-05 9.99987890e-01 1.01454226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.91028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.20, Y:121.19, Z:1.02 [[-9.45056895e-01 -3.26872939e-01 4.64192116e-03 1.83196310e+02] [ 3.26868852e-01 -9.45068295e-01 -1.63468087e-03 1.21193700e+02] [ 4.92126545e-03 -2.75669843e-05 9.99987890e-01 1.01539088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.940281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.20, Y:121.19, Z:1.02 [[-9.44905563e-01 -3.27310133e-01 4.64253320e-03 1.83198850e+02] [ 3.27306061e-01 -9.44916968e-01 -1.63294081e-03 1.21193779e+02] [ 4.92128647e-03 -2.34456031e-05 9.99987890e-01 1.01546576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.97028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.20, Y:121.20, Z:1.02 [[-9.44603409e-01 -3.28181109e-01 4.64314818e-03 1.83198163e+02] [ 3.28177056e-01 -9.44614821e-01 -1.63119028e-03 1.21195672e+02] [ 4.92131242e-03 -1.70532054e-05 9.99987890e-01 1.01621818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.000281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.20, Y:121.20, Z:1.02 [[-9.44175223e-01 -3.29410964e-01 4.64376331e-03 1.83199482e+02] [ 3.29406934e-01 -9.44186643e-01 -1.62943721e-03 1.21197590e+02] [ 4.92133377e-03 -8.78641318e-06 9.99987890e-01 1.01886421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.03028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.21, Y:121.19, Z:1.02 [[-9.44161870e-01 -3.29449226e-01 4.64437918e-03 1.83212381e+02] [ 3.29445205e-01 -9.44173293e-01 -1.62767990e-03 1.21193217e+02] [ 4.92133667e-03 -6.72484535e-06 9.99987890e-01 1.01928282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.060281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.22, Y:121.19, Z:1.02 [[-9.44566593e-01 -3.28287042e-01 4.64437918e-03 1.83216111e+02] [ 3.28283007e-01 -9.44578011e-01 -1.62767990e-03 1.21192138e+02] [ 4.92132467e-03 -1.27812898e-05 9.99987890e-01 1.01892090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.09028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.20, Y:121.20, Z:1.02 [[-9.45655352e-01 -3.25137479e-01 4.64498840e-03 1.83204924e+02] [ 3.25133414e-01 -9.45666759e-01 -1.62593949e-03 1.21198546e+02] [ 4.92126499e-03 -2.73374410e-05 9.99987890e-01 1.01971630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.120281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.24, Y:121.19, Z:1.02 [[-9.46159802e-01 -3.23666568e-01 4.64560004e-03 1.83236303e+02] [ 3.23662494e-01 -9.46171206e-01 -1.62419003e-03 1.21189529e+02] [ 4.92122901e-03 -3.31368238e-05 9.99987890e-01 1.02099879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.15028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.23, Y:121.19, Z:1.02 [[-9.46899686e-01 -3.21495577e-01 4.64537101e-03 1.83230411e+02] [ 3.21491474e-01 -9.46911079e-01 -1.62484483e-03 1.21193184e+02] [ 4.92113370e-03 -4.51178830e-05 9.99987890e-01 1.02131293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.180281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.25, Y:121.19, Z:1.02 [[-9.47771289e-01 -3.18916916e-01 4.64597232e-03 1.83247399e+02] [ 3.18912790e-01 -9.47782674e-01 -1.62312365e-03 1.21189997e+02] [ 4.92101366e-03 -5.66900020e-05 9.99987890e-01 1.02179492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.21028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.23, Y:121.20, Z:1.02 [[-9.48196012e-01 -3.17651915e-01 4.64589760e-03 1.83232722e+02] [ 3.17647773e-01 -9.48207391e-01 -1.62333750e-03 1.21196414e+02] [ 4.92093071e-03 -6.34831195e-05 9.99987890e-01 1.02111888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.240281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.25, Y:121.19, Z:1.02 [[-9.48299864e-01 -3.17341738e-01 4.64649662e-03 1.83251246e+02] [ 3.17337602e-01 -9.48311245e-01 -1.62162110e-03 1.21191589e+02] [ 4.92093305e-03 -6.32749698e-05 9.99987890e-01 1.01973707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.27028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.24, Y:121.20, Z:1.02 [[-9.48365266e-01 -3.17146234e-01 4.64642201e-03 1.83237962e+02] [ 3.17142093e-01 -9.48376646e-01 -1.62183485e-03 1.21198832e+02] [ 4.92091694e-03 -6.45158377e-05 9.99987890e-01 1.01678933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.300281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.26, Y:121.19, Z:1.02 [[-9.48228465e-01 -3.17555008e-01 4.64701990e-03 1.83255396e+02] [ 3.17550881e-01 -9.48239850e-01 -1.62011991e-03 1.21194547e+02] [ 4.92096665e-03 -6.05785530e-05 9.99987890e-01 1.01638372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.33028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.25, Y:121.20, Z:1.02 [[-9.48311550e-01 -3.17306808e-01 4.64694545e-03 1.83250909e+02] [ 3.17302677e-01 -9.48322933e-01 -1.62033343e-03 1.21199216e+02] [ 4.92094777e-03 -6.20926819e-05 9.99987890e-01 1.01679586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.36028169299993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.25, Y:121.21, Z:1.02 [[-9.48508221e-01 -3.16718417e-01 4.64754022e-03 1.83250062e+02] [ 3.16714287e-01 -9.48519605e-01 -1.61862568e-03 1.21207696e+02] [ 4.92093157e-03 -6.33373733e-05 9.99987890e-01 1.01640779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.39028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.26, Y:121.21, Z:1.02 [[-9.48788371e-01 -3.15878176e-01 4.64813731e-03 1.83260773e+02] [ 3.15874044e-01 -9.48799754e-01 -1.61690922e-03 1.21207250e+02] [ 4.92089787e-03 -6.58787335e-05 9.99987890e-01 1.01562095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.42028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.26, Y:121.21, Z:1.01 [[-9.48929594e-01 -3.15453666e-01 4.64873357e-03 1.83255215e+02] [ 3.15449538e-01 -9.48940978e-01 -1.61519309e-03 1.21212086e+02] [ 4.92089237e-03 -6.62636665e-05 9.99987890e-01 1.01462593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.45028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.27, Y:121.21, Z:1.01 [[-9.48829591e-01 -3.15754321e-01 4.64932940e-03 1.83267855e+02] [ 3.15750205e-01 -9.48840980e-01 -1.61347619e-03 1.21210291e+02] [ 4.92093634e-03 -6.28872459e-05 9.99987890e-01 1.01426421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.48028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.24, Y:121.23, Z:1.01 [[-9.48376766e-01 -3.17111791e-01 4.64992458e-03 1.83238463e+02] [ 3.17107700e-01 -9.48388164e-01 -1.61175907e-03 1.21226625e+02] [ 4.92104125e-03 -5.40279683e-05 9.99987890e-01 1.01317067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.51028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.25, Y:121.22, Z:1.01 [[-9.48274818e-01 -3.17416514e-01 4.65052442e-03 1.83254357e+02] [ 3.17412434e-01 -9.48286220e-01 -1.61002646e-03 1.21224174e+02] [ 4.92107721e-03 -5.06132674e-05 9.99987890e-01 1.01331892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.23, Y:121.24, Z:1.01 [[-9.48126627e-01 -3.17858879e-01 4.65112859e-03 1.83225660e+02] [ 3.17854814e-01 -9.48138034e-01 -1.60827921e-03 1.21236577e+02] [ 4.92111774e-03 -4.64687337e-05 9.99987890e-01 1.01456707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.57028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.25, Y:121.23, Z:1.01 [[-9.47607728e-01 -3.19402496e-01 4.65173646e-03 1.83247679e+02] [ 3.19398458e-01 -9.47619145e-01 -1.60651911e-03 1.21234026e+02] [ 4.92120074e-03 -3.65924766e-05 9.99987890e-01 1.01438532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.26, Y:121.23, Z:1.01 [[-9.47532465e-01 -3.19625702e-01 4.65166040e-03 1.83255571e+02] [ 3.19621666e-01 -9.47543882e-01 -1.60673930e-03 1.21233981e+02] [ 4.92120753e-03 -3.56662047e-05 9.99987890e-01 1.01299060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.630281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.25, Y:121.24, Z:1.01 [[-9.47372165e-01 -3.20100511e-01 4.65226412e-03 1.83254822e+02] [ 3.20096489e-01 -9.47383587e-01 -1.60498933e-03 1.21237144e+02] [ 4.92123658e-03 -3.13488059e-05 9.99987890e-01 1.01217047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.22, Y:121.25, Z:1.01 [[-9.47149504e-01 -3.20758738e-01 4.65286699e-03 1.83216524e+02] [ 3.20754733e-01 -9.47160932e-01 -1.60323971e-03 1.21252848e+02] [ 4.92126698e-03 -2.60785878e-05 9.99987890e-01 1.01233074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.690281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:183.24, Y:121.25, Z:1.01 [[-9.46081203e-01 -3.23896128e-01 4.65347999e-03 1.83239485e+02] [ 3.23892169e-01 -9.46092648e-01 -1.60145846e-03 1.21248312e+02] [ 4.92132940e-03 -7.88402112e-06 9.99987890e-01 1.01196440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.23, Y:121.25, Z:1.01 [[-9.45392407e-01 -3.25901124e-01 4.65340311e-03 1.83230446e+02] [ 3.25897188e-01 -9.45403859e-01 -1.60168184e-03 1.21253103e+02] [ 4.92133517e-03 2.31313757e-06 9.99987890e-01 1.01221816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.750281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.23, Y:121.25, Z:1.01 [[-9.44648850e-01 -3.28050134e-01 4.65401735e-03 1.83231618e+02] [ 3.28046233e-01 -9.44660314e-01 -1.59989505e-03 1.21254093e+02] [ 4.92131127e-03 1.53938411e-05 9.99987890e-01 1.01224801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.21, Y:121.26, Z:1.01 [[-9.42238760e-01 -3.34909621e-01 4.65463398e-03 1.83213093e+02] [ 3.34905812e-01 -9.42250255e-01 -1.59809903e-03 1.21261385e+02] [ 4.92104880e-03 5.30731270e-05 9.99987890e-01 1.01479837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.810281693 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:183.22, Y:121.26, Z:1.02 [[-9.40931751e-01 -3.38564275e-01 4.65525565e-03 1.83216629e+02] [ 3.38560520e-01 -9.40943264e-01 -1.59628606e-03 1.21259847e+02] [ 4.92077688e-03 7.40895321e-05 9.99987890e-01 1.01709783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.22, Y:121.26, Z:1.02 [[-9.39844414e-01 -3.41571076e-01 4.65588157e-03 1.83224877e+02] [ 3.41567366e-01 -9.39855942e-01 -1.59445835e-03 1.21256569e+02] [ 4.92047881e-03 9.17544288e-05 9.99987890e-01 1.01997865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.870281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.24, Y:121.25, Z:1.02 [[-9.38870878e-01 -3.44237987e-01 4.65650486e-03 1.83240929e+02] [ 3.44234320e-01 -9.38882419e-01 -1.59263598e-03 1.21251135e+02] [ 4.92015635e-03 1.07649248e-04 9.99987890e-01 1.02225674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.26, Y:121.24, Z:1.02 [[-9.37298464e-01 -3.48496629e-01 4.65712262e-03 1.83260715e+02] [ 3.48493023e-01 -9.37310025e-01 -1.59082750e-03 1.21241991e+02] [ 4.91956574e-03 1.31894570e-04 9.99987890e-01 1.02249082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.930281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:183.26, Y:121.24, Z:1.02 [[-9.36739650e-01 -3.49995913e-01 4.65719860e-03 1.83259078e+02] [ 3.49992327e-01 -9.36751216e-01 -1.59060505e-03 1.21239763e+02] [ 4.91934172e-03 1.40000952e-04 9.99987890e-01 1.02102567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:183.27, Y:121.23, Z:1.02 [[-9.36178001e-01 -3.51495455e-01 4.65780385e-03 1.83273459e+02] [ 3.51491896e-01 -9.36189576e-01 -1.58883069e-03 1.21231779e+02] [ 4.91905418e-03 1.49751965e-04 9.99987890e-01 1.01977634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.990281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.27, Y:121.23, Z:1.02 [[-9.35089154e-01 -3.54381960e-01 4.65840604e-03 1.83269201e+02] [ 3.54378445e-01 -9.35100743e-01 -1.58706312e-03 1.21227694e+02] [ 4.91850549e-03 1.66793180e-04 9.99987890e-01 1.01879492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.28, Y:121.22, Z:1.02 [[-9.34723628e-01 -3.55344949e-01 4.65900588e-03 1.83280556e+02] [ 3.55341456e-01 -9.34735223e-01 -1.58530027e-03 1.21220547e+02] [ 4.91826534e-03 1.73720314e-04 9.99987890e-01 1.02034126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.050281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:183.30, Y:121.21, Z:1.02 [[-9.34449032e-01 -3.56066418e-01 4.65960397e-03 1.83295614e+02] [ 3.56062942e-01 -9.34460633e-01 -1.58354037e-03 1.21211572e+02] [ 4.91806202e-03 1.79374533e-04 9.99987890e-01 1.02235494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08028169299996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:183.29, Y:121.21, Z:1.03 [[-9.33814536e-01 -3.57727131e-01 4.65967779e-03 1.83290925e+02] [ 3.57723676e-01 -9.33826143e-01 -1.58332311e-03 1.21205962e+02] [ 4.91772657e-03 1.88346934e-04 9.99987890e-01 1.02524908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.11028169299993 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:183.28, Y:121.21, Z:1.02 [[-9.33677451e-01 -3.58084766e-01 4.66026704e-03 1.83281488e+02] [ 3.58081325e-01 -9.33689062e-01 -1.58158687e-03 1.21205789e+02] [ 4.91758252e-03 1.92062600e-04 9.99987890e-01 1.02390699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14028169299996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:183.28, Y:121.21, Z:1.02 [[-9.33812143e-01 -3.57733360e-01 4.66085898e-03 1.83283917e+02] [ 3.57729923e-01 -9.33823755e-01 -1.57984051e-03 1.21205043e+02] [ 4.91758249e-03 1.92054472e-04 9.99987890e-01 1.02389461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.17028169299994 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:183.30, Y:121.20, Z:1.02 [[-9.33943415e-01 -3.57390500e-01 4.66145287e-03 1.83296141e+02] [ 3.57387067e-01 -9.33955028e-01 -1.57808624e-03 1.21197640e+02] [ 4.91758037e-03 1.92099717e-04 9.99987890e-01 1.02151380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.28, Y:121.20, Z:1.02 [[-9.34348960e-01 -3.56328909e-01 4.66145287e-03 1.83283249e+02] [ 3.56325463e-01 -9.34360570e-01 -1.57808624e-03 1.21199136e+02] [ 4.91779551e-03 1.86511115e-04 9.99987890e-01 1.01911421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.23028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.26, Y:121.20, Z:1.02 [[-9.35365067e-01 -3.53653017e-01 4.66204331e-03 1.83255507e+02] [ 3.53649547e-01 -9.35376669e-01 -1.57634001e-03 1.21203159e+02] [ 4.91824394e-03 1.74276119e-04 9.99987890e-01 1.01773342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.27, Y:121.20, Z:1.02 [[-9.35630012e-01 -3.52951470e-01 4.66264273e-03 1.83269309e+02] [ 3.52948000e-01 -9.35641614e-01 -1.57456499e-03 1.21196459e+02] [ 4.91830760e-03 1.72460162e-04 9.99987890e-01 1.01837755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.29028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.25, Y:121.20, Z:1.02 [[-9.36096975e-01 -3.51711124e-01 4.66256768e-03 1.83248118e+02] [ 3.51707637e-01 -9.36108572e-01 -1.57478718e-03 1.21201417e+02] [ 4.91853974e-03 1.65707148e-04 9.99987890e-01 1.01887703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.32028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:183.23, Y:121.20, Z:1.02 [[-9.36838704e-01 -3.49730608e-01 4.66317130e-03 1.83232295e+02] [ 3.49727106e-01 -9.36850296e-01 -1.57299775e-03 1.21200788e+02] [ 4.91881887e-03 1.57192226e-04 9.99987890e-01 1.02036837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.35028169299994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:183.24, Y:121.19, Z:1.02 [[-9.37381204e-01 -3.48273926e-01 4.66378370e-03 1.83240318e+02] [ 3.48270415e-01 -9.37392794e-01 -1.57117995e-03 1.21194594e+02] [ 4.91899824e-03 1.51463337e-04 9.99987890e-01 1.02079833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.380281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.25, Y:121.19, Z:1.02 [[-9.37988356e-01 -3.46635382e-01 4.66432044e-03 1.83247052e+02] [ 3.46631859e-01 -9.37999942e-01 -1.56958491e-03 1.21189718e+02] [ 4.91920597e-03 1.44549692e-04 9.99987890e-01 1.02103890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.41028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.24, Y:121.19, Z:1.02 [[-9.39541447e-01 -3.42403428e-01 4.66493059e-03 1.83235385e+02] [ 3.42399861e-01 -9.39553020e-01 -1.56776942e-03 1.21189616e+02] [ 4.91975924e-03 1.24287235e-04 9.99987890e-01 1.02126626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.440281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:183.22, Y:121.19, Z:1.02 [[-9.40422277e-01 -3.39976724e-01 4.66554188e-03 1.83222249e+02] [ 3.39973137e-01 -9.40433844e-01 -1.56594816e-03 1.21191315e+02] [ 4.92001940e-03 1.13506375e-04 9.99987890e-01 1.02076221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.47028169299995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:183.23, Y:121.18, Z:1.02 [[-9.41166862e-01 -3.37909995e-01 4.66615935e-03 1.83233538e+02] [ 3.37906391e-01 -9.41178423e-01 -1.56410605e-03 1.21184211e+02] [ 4.92021557e-03 1.04640282e-04 9.99987890e-01 1.01994937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.500281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:183.24, Y:121.17, Z:1.02 [[-9.42170488e-01 -3.35101473e-01 4.66623639e-03 1.83244643e+02] [ 3.35097836e-01 -9.42182039e-01 -1.56387621e-03 1.21174760e+02] [ 4.92050133e-03 9.02077068e-05 9.99987890e-01 1.01935819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.53028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.24, Y:121.17, Z:1.02 [[-9.42873108e-01 -3.33119391e-01 4.66623639e-03 1.83239863e+02] [ 3.33115730e-01 -9.42884651e-01 -1.56387621e-03 1.21173560e+02] [ 4.92068016e-03 7.98599202e-05 9.99987890e-01 1.01882908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.560281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:183.25, Y:121.17, Z:1.02 [[-9.43546790e-01 -3.31206393e-01 4.66684636e-03 1.83248584e+02] [ 3.31202717e-01 -9.43558329e-01 -1.56205381e-03 1.21167318e+02] [ 4.92080397e-03 7.18013351e-05 9.99987890e-01 1.01850560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.59028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:183.26, Y:121.16, Z:1.02 [[-9.44102867e-01 -3.29617949e-01 4.66737849e-03 1.83257615e+02] [ 3.29614261e-01 -9.44114402e-01 -1.56046220e-03 1.21160045e+02] [ 4.92089561e-03 6.51976761e-05 9.99987890e-01 1.01798510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.620281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:183.27, Y:121.15, Z:1.02 [[-9.44892801e-01 -3.27346614e-01 4.66790665e-03 1.83272420e+02] [ 3.27342906e-01 -9.44904329e-01 -1.55888070e-03 1.21145972e+02] [ 4.92101952e-03 5.50309785e-05 9.99987890e-01 1.01744574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.65028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:183.27, Y:121.14, Z:1.02 [[-9.45622526e-01 -3.25232611e-01 4.66775701e-03 1.83270010e+02] [ 3.25228875e-01 -9.45634045e-01 -1.55932864e-03 1.21143954e+02] [ 4.92113446e-03 4.35530780e-05 9.99987890e-01 1.01776083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.680281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:183.30, Y:121.13, Z:1.02 [[-9.47247859e-01 -3.20467939e-01 4.66835083e-03 1.83300712e+02] [ 3.20464154e-01 -9.47259363e-01 -1.55754880e-03 1.21129268e+02] [ 4.92128349e-03 2.06543370e-05 9.99987890e-01 1.01746074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.71028169299996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:183.30, Y:121.13, Z:1.02 [[-9.48344797e-01 -3.17207117e-01 4.66812936e-03 1.83300353e+02] [ 3.17203290e-01 -9.48356286e-01 -1.55821229e-03 1.21126297e+02] [ 4.92132585e-03 3.02347578e-06 9.99987890e-01 1.01704549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.740281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:183.33, Y:121.11, Z:1.02 [[-9.49165107e-01 -3.14744027e-01 4.66870860e-03 1.83327594e+02] [ 3.14740179e-01 -9.49176589e-01 -1.55647486e-03 1.21114353e+02] [ 4.92132006e-03 -7.92144556e-06 9.99987890e-01 1.01632510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.77028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:183.32, Y:121.11, Z:1.02 [[-9.49994873e-01 -3.12230599e-01 4.66849237e-03 1.83323906e+02] [ 3.12226717e-01 -9.50006343e-01 -1.55712315e-03 1.21113354e+02] [ 4.92127885e-03 -2.16309593e-05 9.99987890e-01 1.01614069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.800281693 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:183.34, Y:121.11, Z:1.02 [[-9.51063923e-01 -3.08958920e-01 4.66905993e-03 1.83338701e+02] [ 3.08955007e-01 -9.51075383e-01 -1.55541944e-03 1.21107595e+02] [ 4.92118867e-03 -3.67738706e-05 9.99987890e-01 1.01845301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.83028169299996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:183.32, Y:121.11, Z:1.02 [[-9.51547960e-01 -3.07464926e-01 4.66891848e-03 1.83317151e+02] [ 3.07460992e-01 -9.51559414e-01 -1.55584391e-03 1.21114911e+02] [ 4.92112076e-03 -4.49497911e-05 9.99987890e-01 1.02019494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86028169299993 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:183.34, Y:121.11, Z:1.02 [[-9.51712956e-01 -3.06953817e-01 4.66948477e-03 1.83342405e+02] [ 3.06949886e-01 -9.51724410e-01 -1.55414247e-03 1.21106232e+02] [ 4.92111260e-03 -4.57997058e-05 9.99987890e-01 1.02109723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.89028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.35, Y:121.10, Z:1.02 [[-9.52023383e-01 -3.05989666e-01 4.66927158e-03 1.83348023e+02] [ 3.05985720e-01 -9.52034832e-01 -1.55478270e-03 1.21104474e+02] [ 4.92105663e-03 -5.14590581e-05 9.99987890e-01 1.02147356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92028169299994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:183.34, Y:121.11, Z:1.02 [[-9.52761426e-01 -3.03683812e-01 4.66983033e-03 1.83336383e+02] [ 3.03679846e-01 -9.52772868e-01 -1.55310266e-03 1.21111144e+02] [ 4.92093978e-03 -6.16029511e-05 9.99987890e-01 1.02033523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.95028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:183.37, Y:121.10, Z:1.02 [[-9.53293797e-01 -3.02008484e-01 4.67039101e-03 1.83368819e+02] [ 3.02004507e-01 -9.53305235e-01 -1.55141479e-03 1.21102781e+02] [ 4.92084863e-03 -6.84749631e-05 9.99987890e-01 1.01810765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.37, Y:121.11, Z:1.02 [[-9.54086003e-01 -2.99496390e-01 4.67018106e-03 1.83369946e+02] [ 2.99492380e-01 -9.54097430e-01 -1.55204656e-03 1.21105445e+02] [ 4.92064008e-03 -8.21022608e-05 9.99987890e-01 1.01574124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.01028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.37, Y:121.11, Z:1.01 [[-9.55458177e-01 -2.95089572e-01 4.67073110e-03 1.83373345e+02] [ 2.95085517e-01 -9.55469588e-01 -1.55038950e-03 1.21111757e+02] [ 4.92024529e-03 -1.03067222e-04 9.99987890e-01 1.01380371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.04028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.37, Y:121.12, Z:1.01 [[-9.56030296e-01 -2.93230716e-01 4.67128106e-03 1.83372697e+02] [ 2.93226647e-01 -9.56041702e-01 -1.54873069e-03 1.21116106e+02] [ 4.92007490e-03 -1.10889380e-04 9.99987890e-01 1.01412724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.07028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.38, Y:121.12, Z:1.02 [[-9.56611645e-01 -2.91328569e-01 4.67183162e-03 1.83377399e+02] [ 2.91324486e-01 -9.56623045e-01 -1.54706812e-03 1.21117827e+02] [ 4.91988693e-03 -1.18924434e-04 9.99987890e-01 1.01524906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.10028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.37, Y:121.12, Z:1.02 [[-9.57004859e-01 -2.90034255e-01 4.67238210e-03 1.83369428e+02] [ 2.90030164e-01 -9.57016257e-01 -1.54540380e-03 1.21123804e+02] [ 4.91976567e-03 -1.23827194e-04 9.99987890e-01 1.01541531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.130281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:183.39, Y:121.13, Z:1.01 [[-9.57042271e-01 -2.89910770e-01 4.67293403e-03 1.83387492e+02] [ 2.89906686e-01 -9.57053672e-01 -1.54373307e-03 1.21127081e+02] [ 4.91979352e-03 -1.22702989e-04 9.99987890e-01 1.01368364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.16028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.38, Y:121.13, Z:1.01 [[-9.57029528e-01 -2.89952832e-01 4.67300274e-03 1.83383528e+02] [ 2.89948750e-01 -9.57040929e-01 -1.54352506e-03 1.21133362e+02] [ 4.91980435e-03 -1.22267754e-04 9.99987890e-01 1.01334562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.190281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.38, Y:121.14, Z:1.01 [[-9.56954332e-01 -2.90200904e-01 4.67355213e-03 1.83377574e+02] [ 2.90196832e-01 -9.56965737e-01 -1.54185980e-03 1.21139897e+02] [ 4.91987837e-03 -1.19239391e-04 9.99987890e-01 1.01371686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.22028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.38, Y:121.14, Z:1.01 [[-9.56744788e-01 -2.90890981e-01 4.67410434e-03 1.83377378e+02] [ 2.90886926e-01 -9.56756199e-01 -1.54018398e-03 1.21144192e+02] [ 4.92000393e-03 -1.13927158e-04 9.99987890e-01 1.01402187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.250281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.38, Y:121.15, Z:1.01 [[-9.55490899e-01 -2.94983542e-01 4.67465878e-03 1.83376727e+02] [ 2.94979544e-01 -9.55502329e-01 -1.53849932e-03 1.21153180e+02] [ 4.92047934e-03 -9.10933764e-05 9.99987890e-01 1.01482064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.28028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.37, Y:121.16, Z:1.01 [[-9.54519596e-01 -2.98111529e-01 4.67521454e-03 1.83368205e+02] [ 2.98107577e-01 -9.54531043e-01 -1.53680863e-03 1.21160474e+02] [ 4.92077778e-03 -7.31970789e-05 9.99987890e-01 1.01466720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.310281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.36, Y:121.17, Z:1.02 [[-9.53323479e-01 -3.01914694e-01 4.67577336e-03 1.83360195e+02] [ 3.01910796e-01 -9.53334944e-01 -1.53510653e-03 1.21166731e+02] [ 4.92104935e-03 -5.17866405e-05 9.99987890e-01 1.01503490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.34028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:183.33, Y:121.18, Z:1.02 [[-9.50770348e-01 -3.09861060e-01 4.67633644e-03 1.83331007e+02] [ 3.09857266e-01 -9.50781849e-01 -1.53338929e-03 1.21182118e+02] [ 4.92131344e-03 -8.90424673e-06 9.99987890e-01 1.01622021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.370281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:183.32, Y:121.19, Z:1.02 [[-9.49637047e-01 -3.13317101e-01 4.67690828e-03 1.83323422e+02] [ 3.13313358e-01 -9.49648563e-01 -1.53164317e-03 1.21187864e+02] [ 4.92130923e-03 1.08327389e-05 9.99987890e-01 1.01689600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.40028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.32, Y:121.19, Z:1.02 [[-9.48480186e-01 -3.16801922e-01 4.67748896e-03 1.83320462e+02] [ 3.16798229e-01 -9.48491719e-01 -1.52986777e-03 1.21192114e+02] [ 4.92122460e-03 3.07709548e-05 9.99987890e-01 1.01760538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.430281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:183.29, Y:121.21, Z:1.02 [[-9.45907529e-01 -3.24402623e-01 4.67807301e-03 1.83292570e+02] [ 3.24399032e-01 -9.45919094e-01 -1.52807978e-03 1.21205626e+02] [ 4.92079167e-03 7.21401875e-05 9.99987890e-01 1.01755935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.46028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:183.30, Y:121.20, Z:1.02 [[-9.44989169e-01 -3.27068158e-01 4.67866500e-03 1.83304356e+02] [ 3.27064609e-01 -9.45000747e-01 -1.52626506e-03 1.21204287e+02] [ 4.92053462e-03 8.79217817e-05 9.99987890e-01 1.01732969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.490281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.31, Y:121.20, Z:1.02 [[-9.44444890e-01 -3.28636507e-01 4.67926160e-03 1.83314079e+02] [ 3.28632986e-01 -9.44456477e-01 -1.52443378e-03 1.21204138e+02] [ 4.92034352e-03 9.80160168e-05 9.99987890e-01 1.01712244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.52028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.32, Y:121.21, Z:1.02 [[-9.43576980e-01 -3.31120193e-01 4.67985397e-03 1.83320175e+02] [ 3.31116711e-01 -9.43588578e-01 -1.52261310e-03 1.21206235e+02] [ 4.92002470e-03 1.12875187e-04 9.99987890e-01 1.01778249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.550281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.34, Y:121.20, Z:1.02 [[-9.43031800e-01 -3.32669683e-01 4.68044364e-03 1.83335975e+02] [ 3.32666229e-01 -9.43043407e-01 -1.52079831e-03 1.21201244e+02] [ 4.91978501e-03 1.22864368e-04 9.99987890e-01 1.01701712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.58028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.32, Y:121.21, Z:1.02 [[-9.42425332e-01 -3.34383883e-01 4.68102897e-03 1.83321171e+02] [ 3.34380460e-01 -9.42436948e-01 -1.51899454e-03 1.21205961e+02] [ 4.91950195e-03 1.33705688e-04 9.99987890e-01 1.01563797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.61028169299993 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.34, Y:121.20, Z:1.02 [[-9.41496088e-01 -3.36991394e-01 4.68161439e-03 1.83340646e+02] [ 3.36988011e-01 -9.41507716e-01 -1.51718810e-03 1.21199017e+02] [ 4.91905540e-03 1.49221257e-04 9.99987890e-01 1.01515616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.64028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.34, Y:121.20, Z:1.02 [[-9.41627358e-01 -3.36624422e-01 4.68161439e-03 1.83339961e+02] [ 3.36621035e-01 -9.41638985e-01 -1.51718810e-03 1.21198195e+02] [ 4.91911318e-03 1.47304052e-04 9.99987890e-01 1.01556860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.67028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.34, Y:121.20, Z:1.02 [[-9.41953086e-01 -3.35711871e-01 4.68219483e-03 1.83336912e+02] [ 3.35708482e-01 -9.41964712e-01 -1.51539466e-03 1.21197915e+02] [ 4.91919829e-03 1.44421839e-04 9.99987890e-01 1.01611770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.70028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.31, Y:121.21, Z:1.02 [[-9.43309347e-01 -3.31881828e-01 4.68277633e-03 1.83305128e+02] [ 3.31878400e-01 -9.43320962e-01 -1.51359563e-03 1.21205180e+02] [ 4.91969595e-03 1.26323416e-04 9.99987890e-01 1.01506762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.73028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.32, Y:121.20, Z:1.01 [[-9.44078123e-01 -3.29688586e-01 4.68336577e-03 1.83324971e+02] [ 3.29685141e-01 -9.44089732e-01 -1.51176956e-03 1.21197377e+02] [ 4.91993071e-03 1.16807532e-04 9.99987890e-01 1.01251590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.76028169299997 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:183.31, Y:121.20, Z:1.01 [[-9.44992947e-01 -3.27057178e-01 4.68321750e-03 1.83308053e+02] [ 3.27053698e-01 -9.45004546e-01 -1.51222876e-03 1.21201565e+02] [ 4.92024710e-03 1.02618089e-04 9.99987890e-01 1.01103314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.79028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.32, Y:121.20, Z:1.01 [[-9.45982092e-01 -3.24185044e-01 4.68380841e-03 1.83320729e+02] [ 3.24181538e-01 -9.45993684e-01 -1.51039632e-03 1.21195793e+02] [ 4.92050107e-03 8.95963376e-05 9.99987890e-01 1.01089393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.82028169299997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:183.32, Y:121.19, Z:1.02 [[-9.47455256e-01 -3.19854019e-01 4.68440061e-03 1.83318498e+02] [ 3.19850469e-01 -9.47466834e-01 -1.50855742e-03 1.21193437e+02] [ 4.92083236e-03 6.90170786e-05 9.99987890e-01 1.01523319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.85028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.33, Y:121.19, Z:1.02 [[-9.47882492e-01 -3.18585674e-01 4.68499048e-03 1.83332627e+02] [ 3.18582117e-01 -9.47894068e-01 -1.50672327e-03 1.21187434e+02] [ 4.92089513e-03 6.43575837e-05 9.99987890e-01 1.01746659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.880281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.34, Y:121.18, Z:1.02 [[-9.48195655e-01 -3.17652396e-01 4.68557765e-03 1.83339714e+02] [ 3.17648837e-01 -9.48207230e-01 -1.50489509e-03 1.21183979e+02] [ 4.92093213e-03 6.14332994e-05 9.99987890e-01 1.01778931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.91028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.34, Y:121.18, Z:1.02 [[-9.48444642e-01 -3.16908190e-01 4.68616025e-03 1.83336148e+02] [ 3.16904631e-01 -9.48456217e-01 -1.50307870e-03 1.21184090e+02] [ 4.92095577e-03 5.94789391e-05 9.99987890e-01 1.01755375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.940281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.35, Y:121.18, Z:1.01 [[-9.48674625e-01 -3.16219055e-01 4.68674235e-03 1.83348845e+02] [ 3.16215496e-01 -9.48686200e-01 -1.50126147e-03 1.21178421e+02] [ 4.92097527e-03 5.78118906e-05 9.99987890e-01 1.01397158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.97028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.33, Y:121.18, Z:1.01 [[-9.48916603e-01 -3.15492170e-01 4.68732247e-03 1.83332637e+02] [ 3.15488612e-01 -9.48928178e-01 -1.49944799e-03 1.21182923e+02] [ 4.92099647e-03 5.59457634e-05 9.99987890e-01 1.01126219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.000281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:183.36, Y:121.17, Z:1.01 [[-9.49070768e-01 -3.15028095e-01 4.68790355e-03 1.83357486e+02] [ 3.15024540e-01 -9.49082344e-01 -1.49762908e-03 1.21174386e+02] [ 4.92100173e-03 5.54486777e-05 9.99987890e-01 1.01005994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.03028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:183.36, Y:121.17, Z:1.01 [[-9.49191243e-01 -3.14664918e-01 4.68768515e-03 1.83359932e+02] [ 3.14661355e-01 -9.49202817e-01 -1.49831239e-03 1.21173683e+02] [ 4.92103029e-03 5.28483584e-05 9.99987890e-01 1.01004737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.060281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.37, Y:121.17, Z:1.01 [[-9.49657416e-01 -3.13255186e-01 4.68825779e-03 1.83365442e+02] [ 3.13251615e-01 -9.49668988e-01 -1.49651843e-03 1.21170321e+02] [ 4.92108519e-03 4.74244968e-05 9.99987890e-01 1.01003341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.09028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.36, Y:121.17, Z:1.01 [[-9.50051706e-01 -3.12057320e-01 4.68882889e-03 1.83356181e+02] [ 3.12053743e-01 -9.50063276e-01 -1.49472693e-03 1.21172550e+02] [ 4.92112461e-03 4.30987385e-05 9.99987890e-01 1.01030986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.120281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.36, Y:121.17, Z:1.01 [[-9.50628828e-01 -3.10294764e-01 4.68940121e-03 1.83360428e+02] [ 3.10291175e-01 -9.50640394e-01 -1.49292924e-03 1.21170478e+02] [ 4.92118234e-03 3.58582303e-05 9.99987890e-01 1.01050956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.15028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.36, Y:121.17, Z:1.01 [[-9.51851699e-01 -3.06522997e-01 4.68997493e-03 1.83363688e+02] [ 3.06519371e-01 -9.51863253e-01 -1.49112474e-03 1.21167077e+02] [ 4.92127882e-03 1.82385527e-05 9.99987890e-01 1.00936884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.180281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.39, Y:121.16, Z:1.01 [[-9.52311170e-01 -3.05092501e-01 4.69054710e-03 1.83386625e+02] [ 3.05088867e-01 -9.52322721e-01 -1.48932271e-03 1.21158995e+02] [ 4.92129577e-03 1.27350444e-05 9.99987890e-01 1.00948312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.21028169299996 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:183.38, Y:121.16, Z:1.01 [[-9.52917255e-01 -3.03194172e-01 4.69040528e-03 1.83379582e+02] [ 3.03190512e-01 -9.52928798e-01 -1.48976923e-03 1.21160740e+02] [ 4.92131161e-03 2.45957164e-06 9.99987890e-01 1.01005160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.240281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:183.40, Y:121.15, Z:1.01 [[-9.53307598e-01 -3.01964599e-01 4.69096784e-03 1.83399842e+02] [ 3.01960933e-01 -9.53319139e-01 -1.48799573e-03 1.21153945e+02] [ 4.92131146e-03 -2.02861229e-06 9.99987890e-01 1.01027104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.27028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:183.40, Y:121.16, Z:1.01 [[-9.54086381e-01 -2.99494864e-01 4.69082773e-03 1.83395143e+02] [ 2.99491166e-01 -9.54097912e-01 -1.48843729e-03 1.21155638e+02] [ 4.92128827e-03 -1.52362872e-05 9.99987890e-01 1.01064968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.300281693 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:183.41, Y:121.15, Z:1.01 [[-9.54512580e-01 -2.98133738e-01 4.69138395e-03 1.83410171e+02] [ 2.98130032e-01 -9.54524109e-01 -1.48668207e-03 1.21152054e+02] [ 4.92126917e-03 -2.04142887e-05 9.99987890e-01 1.01033212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.33028169299996 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:183.38, Y:121.16, Z:1.01 [[-9.55097854e-01 -2.96253397e-01 4.69193853e-03 1.83384487e+02] [ 2.96249677e-01 -9.55109378e-01 -1.48492976e-03 1.21161989e+02] [ 4.92122998e-03 -2.82679547e-05 9.99987890e-01 1.01014787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.36028169299993 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:183.40, Y:121.16, Z:1.01 [[-9.56042030e-01 -2.93192112e-01 4.69289649e-03 1.83402340e+02] [ 2.93188369e-01 -9.56053547e-01 -1.48189923e-03 1.21159600e+02] [ 4.92114150e-03 -4.08552765e-05 9.99987890e-01 1.00832843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.39028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:183.41, Y:121.16, Z:1.01 [[-9.56621142e-01 -2.91297047e-01 4.69256372e-03 1.83410904e+02] [ 2.91293277e-01 -9.56632650e-01 -1.48295224e-03 1.21158692e+02] [ 4.92103927e-03 -5.17112046e-05 9.99987890e-01 1.00814517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.42028169299994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:183.41, Y:121.16, Z:1.01 [[-9.57105147e-01 -2.89702800e-01 4.69311834e-03 1.83414295e+02] [ 2.89699020e-01 -9.57116651e-01 -1.48119495e-03 1.21159957e+02] [ 4.92096803e-03 -5.80675307e-05 9.99987890e-01 1.00926021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.45028169299997 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:183.44, Y:121.16, Z:1.01 [[-9.57819253e-01 -2.87332993e-01 4.69367113e-03 1.83443525e+02] [ 2.87329192e-01 -9.57830751e-01 -1.47944116e-03 1.21157798e+02] [ 4.92083480e-03 -6.84084961e-05 9.99987890e-01 1.01049693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.48028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:183.43, Y:121.16, Z:1.01 [[-9.58115686e-01 -2.86342982e-01 4.69346487e-03 1.83434957e+02] [ 2.86339166e-01 -9.58127179e-01 -1.48009523e-03 1.21163614e+02] [ 4.92075113e-03 -7.41796463e-05 9.99987890e-01 1.00989385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.51028169299997 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:183.43, Y:121.17, Z:1.01 [[-9.58268471e-01 -2.85831252e-01 4.69400758e-03 1.83431675e+02] [ 2.85827438e-01 -9.58279964e-01 -1.47837206e-03 1.21167259e+02] [ 4.92073835e-03 -7.50011753e-05 9.99987890e-01 1.00865696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.54028169299994 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:183.41, Y:121.18, Z:1.01 [[-9.58227735e-01 -2.85967776e-01 4.69455322e-03 1.83414188e+02] [ 2.85963973e-01 -9.58239232e-01 -1.47663734e-03 1.21177801e+02] [ 4.92077577e-03 -7.24817690e-05 9.99987890e-01 1.00868667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.57028169299997 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:183.44, Y:121.17, Z:1.01 [[-9.58073853e-01 -2.86482894e-01 4.69510405e-03 1.83439819e+02] [ 2.86479106e-01 -9.58085355e-01 -1.47488386e-03 1.21173270e+02] [ 4.92083942e-03 -6.79984510e-05 9.99987890e-01 1.00905969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.60028169299994 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:183.44, Y:121.18, Z:1.01 [[-9.58101172e-01 -2.86391517e-01 4.69496635e-03 1.83442709e+02] [ 2.86387725e-01 -9.58112673e-01 -1.47532205e-03 1.21175817e+02] [ 4.92082648e-03 -6.89270502e-05 9.99987890e-01 1.00918621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.630281693 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:183.45, Y:121.18, Z:1.01 [[-9.58025562e-01 -2.86644335e-01 4.69551052e-03 1.83447363e+02] [ 2.86640555e-01 -9.58037066e-01 -1.47358809e-03 1.21179390e+02] [ 4.92086880e-03 -6.58113210e-05 9.99987890e-01 1.01087455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.66028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:183.45, Y:121.18, Z:1.01 [[-9.57938500e-01 -2.86935146e-01 4.69605387e-03 1.83448244e+02] [ 2.86931378e-01 -9.57950008e-01 -1.47185450e-03 1.21181864e+02] [ 4.92091162e-03 -6.25008861e-05 9.99987890e-01 1.01177705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.690281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:183.44, Y:121.19, Z:1.01 [[-9.57771626e-01 -2.87491660e-01 4.69659693e-03 1.83437498e+02] [ 2.87487907e-01 -9.57783139e-01 -1.47011959e-03 1.21188572e+02] [ 4.92096847e-03 -5.78240066e-05 9.99987890e-01 1.01242166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.72028169299995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:183.43, Y:121.20, Z:1.01 [[-9.57225860e-01 -2.89303628e-01 4.69714266e-03 1.83426266e+02] [ 2.89299906e-01 -9.57237384e-01 -1.46837384e-03 1.21197196e+02] [ 4.92108643e-03 -4.66824866e-05 9.99987890e-01 1.01029160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.750281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:183.43, Y:121.20, Z:1.01 [[-9.56915300e-01 -2.90329193e-01 4.69769379e-03 1.83434531e+02] [ 2.90325491e-01 -9.56926830e-01 -1.46660853e-03 1.21195606e+02] [ 4.92114850e-03 -3.95598832e-05 9.99987890e-01 1.00905856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.78028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:183.41, Y:121.20, Z:1.01 [[-9.56354928e-01 -2.92169777e-01 4.69824623e-03 1.83412965e+02] [ 2.92166106e-01 -9.56366468e-01 -1.46483664e-03 1.21203054e+02] [ 4.92122615e-03 -2.82354375e-05 9.99987890e-01 1.00880803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.810281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:183.42, Y:121.20, Z:1.01 [[-9.55644457e-01 -2.94485302e-01 4.69880182e-03 1.83419447e+02] [ 2.94481668e-01 -9.55656009e-01 -1.46305229e-03 1.21202741e+02] [ 4.92128559e-03 -1.44468115e-05 9.99987890e-01 1.01047532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.84028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:183.42, Y:121.21, Z:1.01 [[-9.54176473e-01 -2.99207578e-01 4.69936116e-03 1.83417646e+02] [ 2.99204010e-01 -9.54188045e-01 -1.46125348e-03 1.21208907e+02] [ 4.92129235e-03 1.17740132e-05 9.99987890e-01 1.01489145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.870281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:183.41, Y:121.21, Z:1.01 [[-9.53633213e-01 -3.00934555e-01 4.69992018e-03 1.83412203e+02] [ 3.00931017e-01 -9.53644794e-01 -1.45945325e-03 1.21212326e+02] [ 4.92125432e-03 2.25686700e-05 9.99987890e-01 1.01498854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.90028169299995 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:183.40, Y:121.22, Z:1.01 [[-9.53127749e-01 -3.02531650e-01 4.70048159e-03 1.83404075e+02] [ 3.02528140e-01 -9.53139339e-01 -1.45764287e-03 1.21215900e+02] [ 4.92119702e-03 3.27080860e-05 9.99987890e-01 1.01357112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.930281693 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:183.41, Y:121.22, Z:1.01 [[-9.52127287e-01 -3.05665714e-01 4.70104645e-03 1.83410466e+02] [ 3.05662251e-01 -9.52138892e-01 -1.45581886e-03 1.21216639e+02] [ 4.92104306e-03 5.08075813e-05 9.99987890e-01 1.00925148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.96028169299996 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:183.40, Y:121.22, Z:1.01 [[-9.51640360e-01 -3.07178319e-01 4.70161231e-03 1.83401059e+02] [ 3.07174884e-01 -9.51651972e-01 -1.45398909e-03 1.21221647e+02] [ 4.92093255e-03 6.05425178e-05 9.99987890e-01 1.01000640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.990281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:183.41, Y:121.22, Z:1.01 [[-9.51120192e-01 -3.08785153e-01 4.70217956e-03 1.83408998e+02] [ 3.08781747e-01 -9.51131812e-01 -1.45215227e-03 1.21220429e+02] [ 4.92079563e-03 7.07758759e-05 9.99987890e-01 1.01274441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.02028169299996 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:183.43, Y:121.21, Z:1.02 [[-9.49826394e-01 -3.12742235e-01 4.70274755e-03 1.83434742e+02] [ 3.12738886e-01 -9.49838031e-01 -1.45031053e-03 1.21211171e+02] [ 4.92042183e-03 9.31888061e-05 9.99987890e-01 1.01716789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.050281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:183.43, Y:121.21, Z:1.02 [[-9.49230283e-01 -3.14546904e-01 4.70267766e-03 1.83432209e+02] [ 3.14543576e-01 -9.49241926e-01 -1.45053711e-03 1.21211067e+02] [ 4.92024076e-03 1.02303300e-04 9.99987890e-01 1.01736695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.08028169299996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:183.45, Y:121.21, Z:1.02 [[-9.48555125e-01 -3.16577091e-01 4.70323322e-03 1.83450093e+02] [ 3.16573797e-01 -9.48566778e-01 -1.44873352e-03 1.21205070e+02] [ 4.91996663e-03 1.14716793e-04 9.99987890e-01 1.01621389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.11028169299993 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:183.45, Y:121.20, Z:1.01 [[-9.47238795e-01 -3.20494211e-01 4.70378588e-03 1.83449933e+02] [ 3.20490974e-01 -9.47250464e-01 -1.44693690e-03 1.21201713e+02] [ 4.91939826e-03 1.36926151e-04 9.99987890e-01 1.01417187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.14028169299996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:183.46, Y:121.19, Z:1.01 [[-9.46747912e-01 -3.21941394e-01 4.70433485e-03 1.83464889e+02] [ 3.21938184e-01 -9.46759588e-01 -1.44514985e-03 1.21194128e+02] [ 4.91912769e-03 1.46312417e-04 9.99987890e-01 1.01408732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.17028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:183.47, Y:121.19, Z:1.01 [[-9.46517800e-01 -3.22617293e-01 4.70488073e-03 1.83470338e+02] [ 3.22614100e-01 -9.46529481e-01 -1.44337050e-03 1.21189475e+02] [ 4.91896460e-03 1.51684991e-04 9.99987890e-01 1.01435100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.20028169299997 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:183.46, Y:121.19, Z:1.01 [[-9.47080604e-01 -3.20961352e-01 4.70542246e-03 1.83463472e+02] [ 3.20958147e-01 -9.47092281e-01 -1.44160228e-03 1.21189158e+02] [ 4.91916791e-03 1.44930118e-04 9.99987890e-01 1.01412420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.23028169299994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:183.46, Y:121.19, Z:1.01 [[-9.47900195e-01 -3.18532691e-01 4.70596449e-03 1.83461089e+02] [ 3.18529465e-01 -9.47911867e-01 -1.43983068e-03 1.21189154e+02] [ 4.91947273e-03 1.34172576e-04 9.99987890e-01 1.01374656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.26028169299997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:183.44, Y:121.19, Z:1.01 [[-9.48932755e-01 -3.15443300e-01 4.70650862e-03 1.83440107e+02] [ 3.15440045e-01 -9.48944419e-01 -1.43804985e-03 1.21194551e+02] [ 4.91983827e-03 1.20008686e-04 9.99987890e-01 1.01324449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.29028169299994 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:183.43, Y:121.20, Z:1.01 [[-9.50883064e-01 -3.09514526e-01 4.70705774e-03 1.83434640e+02] [ 3.09511207e-01 -9.50894710e-01 -1.43625018e-03 1.21196669e+02] [ 4.92045660e-03 9.11811555e-05 9.99987890e-01 1.01341243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.32028169299997 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:183.44, Y:121.20, Z:1.01 [[-9.51795613e-01 -3.06696837e-01 4.70761271e-03 1.83442146e+02] [ 3.06693492e-01 -9.51807252e-01 -1.43442884e-03 1.21195990e+02] [ 4.92067471e-03 7.85111016e-05 9.99987890e-01 1.01336182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.35028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:183.43, Y:121.20, Z:1.01 [[-9.52599817e-01 -3.04189779e-01 4.70816781e-03 1.83430485e+02] [ 3.04186413e-01 -9.52611450e-01 -1.43260454e-03 1.21201088e+02] [ 4.92083822e-03 6.74618522e-05 9.99987890e-01 1.01385589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.380281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:183.44, Y:121.20, Z:1.01 [[-9.53310362e-01 -3.01955595e-01 4.70872426e-03 1.83444751e+02] [ 3.01952211e-01 -9.53321989e-01 -1.43077325e-03 1.21197390e+02] [ 4.92096037e-03 5.78387349e-05 9.99987890e-01 1.01283207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.41028169299994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:183.44, Y:121.20, Z:1.01 [[-9.54220911e-01 -2.99065672e-01 4.70928056e-03 1.83444435e+02] [ 2.99062262e-01 -9.54232530e-01 -1.42893987e-03 1.21199440e+02] [ 4.92109557e-03 4.48437901e-05 9.99987890e-01 1.01201331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.440281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:183.46, Y:121.20, Z:1.01 [[-9.54636366e-01 -2.97736840e-01 4.70983429e-03 1.83460165e+02] [ 2.97733422e-01 -9.54647984e-01 -1.42711245e-03 1.21196549e+02] [ 4.92113776e-03 3.99016373e-05 9.99987890e-01 1.01155050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.47028169299995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:183.45, Y:121.20, Z:1.01 [[-9.55068480e-01 -2.96347786e-01 4.71038526e-03 1.83450468e+02] [ 2.96344360e-01 -9.55080095e-01 -1.42529156e-03 1.21201804e+02] [ 4.92117720e-03 3.46450625e-05 9.99987890e-01 1.01124727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.500281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:183.45, Y:121.20, Z:1.01 [[-9.55872863e-01 -2.93742874e-01 4.71093553e-03 1.83451781e+02] [ 2.93739426e-01 -9.55884472e-01 -1.42347046e-03 1.21204766e+02] [ 4.92124442e-03 2.31307157e-05 9.99987890e-01 1.00985883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.53028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:183.47, Y:121.20, Z:1.01 [[-9.56369766e-01 -2.92120990e-01 4.71148843e-03 1.83469859e+02] [ 2.92117531e-01 -9.56381371e-01 -1.42163809e-03 1.21201067e+02] [ 4.92127009e-03 1.66966775e-05 9.99987890e-01 1.00928481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.560281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:183.47, Y:121.20, Z:1.01 [[-9.56838122e-01 -2.90583216e-01 4.71203774e-03 1.83473018e+02] [ 2.90579747e-01 -9.56849724e-01 -1.41981505e-03 1.21201964e+02] [ 4.92128643e-03 1.06895736e-05 9.99987890e-01 1.01046918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.59028169299995 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:183.46, Y:121.21, Z:1.01 [[-9.57256228e-01 -2.89202879e-01 4.71258314e-03 1.83464417e+02] [ 2.89199402e-01 -9.57267828e-01 -1.41800245e-03 1.21205828e+02] [ 4.92129462e-03 5.48455266e-06 9.99987890e-01 1.01186478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.620281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:183.49, Y:121.20, Z:1.01 [[-9.57472182e-01 -2.88487099e-01 4.71313004e-03 1.83488483e+02] [ 2.88483623e-01 -9.57483782e-01 -1.41618234e-03 1.21199098e+02] [ 4.92129592e-03 3.70563275e-06 9.99987890e-01 1.01268978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.65028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:183.48, Y:121.20, Z:1.01 [[-9.57320312e-01 -2.88990661e-01 4.71367423e-03 1.83478874e+02] [ 2.88987200e-01 -9.57331916e-01 -1.41436872e-03 1.21201970e+02] [ 4.92129014e-03 8.18761568e-06 9.99987890e-01 1.01221001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.680281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:183.46, Y:121.21, Z:1.01 [[-9.56995953e-01 -2.90062963e-01 4.71421574e-03 1.83460538e+02] [ 2.90059524e-01 -9.57007564e-01 -1.41256152e-03 1.21208133e+02] [ 4.92127190e-03 1.55875159e-05 9.99987890e-01 1.01247316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.71028169299996 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:183.47, Y:121.21, Z:1.01 [[-9.56584073e-01 -2.91418398e-01 4.71476338e-03 1.83468051e+02] [ 2.91414984e-01 -9.56595692e-01 -1.41073128e-03 1.21206986e+02] [ 4.92123538e-03 2.44696210e-05 9.99987890e-01 1.01311580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.740281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:183.48, Y:121.20, Z:1.01 [[-9.56675131e-01 -2.91119323e-01 4.71531373e-03 1.83482283e+02] [ 2.91115914e-01 -9.56686751e-01 -1.40888933e-03 1.21201915e+02] [ 4.92123308e-03 2.48534848e-05 9.99987890e-01 1.01244048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.77028169299996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:183.48, Y:121.20, Z:1.01 [[-9.56785311e-01 -2.90756994e-01 4.71585994e-03 1.83483839e+02] [ 2.90753591e-01 -9.56796932e-01 -1.40705866e-03 1.21200038e+02] [ 4.92123247e-03 2.49001544e-05 9.99987890e-01 1.01238517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.800281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:183.48, Y:121.20, Z:1.01 [[-9.56845269e-01 -2.90559611e-01 4.71640298e-03 1.83478404e+02] [ 2.90556214e-01 -9.56856892e-01 -1.40523606e-03 1.21200801e+02] [ 4.92122754e-03 2.57867192e-05 9.99987890e-01 1.01278486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.83028169299996 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:183.48, Y:121.20, Z:1.01 [[-9.56815781e-01 -2.90656690e-01 4.71694695e-03 1.83479526e+02] [ 2.90653303e-01 -9.56827408e-01 -1.40340774e-03 1.21200186e+02] [ 4.92121397e-03 2.81935401e-05 9.99987890e-01 1.01357278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.86028169299993 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:183.48, Y:121.20, Z:1.01 [[-9.56945022e-01 -2.90230891e-01 4.71749204e-03 1.83480965e+02] [ 2.90227508e-01 -9.56956650e-01 -1.40157304e-03 1.21199012e+02] [ 4.92121517e-03 2.79176202e-05 9.99987890e-01 1.01353123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.89028169299996 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:183.49, Y:121.19, Z:1.01 [[-9.57218837e-01 -2.89326526e-01 4.71803679e-03 1.83493226e+02] [ 2.89323141e-01 -9.57230464e-01 -1.39973687e-03 1.21194467e+02] [ 4.92122955e-03 2.51827235e-05 9.99987890e-01 1.01314742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.92028169299994 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:183.49, Y:121.20, Z:1.01 [[-9.57990357e-01 -2.86761591e-01 4.71857900e-03 1.83490527e+02] [ 2.86758184e-01 -9.58001978e-01 -1.39790668e-03 1.21197137e+02] [ 4.92127396e-03 1.39100263e-05 9.99987890e-01 1.01133579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.95028169299997 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:183.49, Y:121.20, Z:1.01 [[-9.58101548e-01 -2.86389863e-01 4.71911950e-03 1.83492966e+02] [ 2.86386461e-01 -9.58113170e-01 -1.39607966e-03 1.21196492e+02] [ 4.92127360e-03 1.39058493e-05 9.99987890e-01 1.01132341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.98028169299994 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:183.50, Y:121.20, Z:1.01 [[-9.58649393e-01 -2.84550640e-01 4.71966047e-03 1.83499625e+02] [ 2.84547225e-01 -9.58661011e-01 -1.39424842e-03 1.21197087e+02] [ 4.92128875e-03 6.37088240e-06 9.99987890e-01 1.00815928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.01028169299997 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:183.49, Y:121.20, Z:1.00 [[-9.59106753e-01 -2.83005222e-01 4.72019999e-03 1.83488114e+02] [ 2.83001797e-01 -9.59118368e-01 -1.39241946e-03 1.21204081e+02] [ 4.92129250e-03 3.46170164e-07 9.99987890e-01 1.00451935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.04028169299994 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:183.50, Y:121.20, Z:1.00 [[-9.59048989e-01 -2.83200904e-01 4.72074118e-03 1.83504800e+02] [ 2.83197490e-01 -9.59060607e-01 -1.39058225e-03 1.21199553e+02] [ 4.92129105e-03 3.26555841e-06 9.99987890e-01 1.00466608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.07028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.51, Y:121.20, Z:1.01 [[-9.58780515e-01 -2.84108488e-01 4.72128184e-03 1.83505369e+02] [ 2.84105094e-01 -9.58792140e-01 -1.38874419e-03 1.21199518e+02] [ 4.92128193e-03 9.83934333e-06 9.99987890e-01 1.00633602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.10028169299994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:183.52, Y:121.20, Z:1.01 [[-9.58418956e-01 -2.85325796e-01 4.72181923e-03 1.83515078e+02] [ 2.85322425e-01 -9.58430587e-01 -1.38691460e-03 1.21197062e+02] [ 4.92125849e-03 1.79956695e-05 9.99987890e-01 1.00802504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.130281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:183.52, Y:121.20, Z:1.01 [[-9.57554996e-01 -2.88211953e-01 4.72235466e-03 1.83516318e+02] [ 2.88208627e-01 -9.57566639e-01 -1.38508909e-03 1.21197744e+02] [ 4.92116852e-03 3.47243790e-05 9.99987890e-01 1.01010701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.16028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:183.50, Y:121.20, Z:1.01 [[-9.57300569e-01 -2.89055903e-01 4.72288823e-03 1.83498324e+02] [ 2.89052596e-01 -9.57312218e-01 -1.38326734e-03 1.21203157e+02] [ 4.92112020e-03 4.09604866e-05 9.99987890e-01 1.00979761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.190281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:183.50, Y:121.20, Z:1.01 [[-9.57078064e-01 -2.89791769e-01 4.72342567e-03 1.83500358e+02] [ 2.89788480e-01 -9.57089718e-01 -1.38142971e-03 1.21203309e+02] [ 4.92106910e-03 4.66582742e-05 9.99987890e-01 1.00760546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.22028169299995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:183.50, Y:121.20, Z:1.01 [[-9.57246184e-01 -2.89235939e-01 4.72396678e-03 1.83503497e+02] [ 2.89232652e-01 -9.57257839e-01 -1.37957683e-03 1.21203342e+02] [ 4.92107743e-03 4.57307813e-05 9.99987890e-01 1.00743007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.250281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:183.51, Y:121.20, Z:1.01 [[-9.57403303e-01 -2.88715422e-01 4.72450716e-03 1.83513468e+02] [ 2.88712139e-01 -9.57414959e-01 -1.37772375e-03 1.21201369e+02] [ 4.92108392e-03 4.49852990e-05 9.99987890e-01 1.00866410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.28028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:183.51, Y:121.20, Z:1.01 [[-9.57568359e-01 -2.88167506e-01 4.72504526e-03 1.83508763e+02] [ 2.88164225e-01 -9.57580016e-01 -1.37587581e-03 1.21203008e+02] [ 4.92109161e-03 4.40938587e-05 9.99987890e-01 1.01063872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.310281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:183.52, Y:121.20, Z:1.01 [[-9.57395174e-01 -2.88742357e-01 4.72558263e-03 1.83524134e+02] [ 2.88739092e-01 -9.57406836e-01 -1.37402767e-03 1.21197043e+02] [ 4.92104510e-03 4.89729805e-05 9.99987890e-01 1.01128733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.34028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:183.53, Y:121.19, Z:1.01 [[-9.57190256e-01 -2.89420935e-01 4.72611801e-03 1.83527278e+02] [ 2.89417687e-01 -9.57201922e-01 -1.37218368e-03 1.21194791e+02] [ 4.92098793e-03 5.43812983e-05 9.99987890e-01 1.01074157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.370281693 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:183.53, Y:121.19, Z:1.01 [[-9.56953796e-01 -2.90201812e-01 4.72664971e-03 1.83531549e+02] [ 2.90198583e-01 -9.56965467e-01 -1.37034973e-03 1.21192308e+02] [ 4.92091852e-03 6.03056710e-05 9.99987890e-01 1.01035685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.40028169299995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:183.54, Y:121.19, Z:1.01 [[-9.56670289e-01 -2.91135042e-01 4.72717998e-03 1.83540424e+02] [ 2.91131833e-01 -9.56681965e-01 -1.36851806e-03 1.21188993e+02] [ 4.92083140e-03 6.70120032e-05 9.99987890e-01 1.01073630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.430281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.54, Y:121.19, Z:1.01 [[-9.55891366e-01 -2.93682387e-01 4.72770777e-03 1.83539065e+02] [ 2.93679219e-01 -9.55903054e-01 -1.36669233e-03 1.21186708e+02] [ 4.92060376e-03 8.20201253e-05 9.99987890e-01 1.01209720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.46028169299996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:183.55, Y:121.18, Z:1.01 [[-9.55537418e-01 -2.94831962e-01 4.72823405e-03 1.83550964e+02] [ 2.94828817e-01 -9.55549112e-01 -1.36486914e-03 1.21181385e+02] [ 4.92046690e-03 8.98361190e-05 9.99987890e-01 1.01229916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.490281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:183.55, Y:121.18, Z:1.01 [[-9.55360599e-01 -2.95404408e-01 4.72875832e-03 1.83545862e+02] [ 2.95401279e-01 -9.55372297e-01 -1.36305032e-03 1.21180983e+02] [ 4.92037578e-03 9.46766863e-05 9.99987890e-01 1.01321518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.52028169299996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:183.54, Y:121.18, Z:1.01 [[-9.55506823e-01 -2.94931086e-01 4.72928128e-03 1.83541602e+02] [ 2.94927960e-01 -9.55518522e-01 -1.36123341e-03 1.21177495e+02] [ 4.92038591e-03 9.41294650e-05 9.99987890e-01 1.01310642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.550281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.55, Y:121.17, Z:1.01 [[-9.55921719e-01 -2.93583541e-01 4.72980608e-03 1.83545987e+02] [ 2.93580408e-01 -9.55933416e-01 -1.35940749e-03 1.21174435e+02] [ 4.92047935e-03 8.90912564e-05 9.99987890e-01 1.01249768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.58028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:183.54, Y:121.17, Z:1.01 [[-9.56436593e-01 -2.91901811e-01 4.73033070e-03 1.83540498e+02] [ 2.91898666e-01 -9.56448287e-01 -1.35757950e-03 1.21174721e+02] [ 4.92059661e-03 8.23385051e-05 9.99987890e-01 1.01168787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.61028169299993 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:183.54, Y:121.18, Z:1.01 [[-9.56916407e-01 -2.90325007e-01 4.73085558e-03 1.83537558e+02] [ 2.90321852e-01 -9.56928098e-01 -1.35574794e-03 1.21175234e+02] [ 4.92069616e-03 7.61333074e-05 9.99987890e-01 1.01159727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.64028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.54, Y:121.17, Z:1.01 [[-9.57742684e-01 -2.87587493e-01 4.73138250e-03 1.83538549e+02] [ 2.87584313e-01 -9.57754368e-01 -1.35390658e-03 1.21174475e+02] [ 4.92086885e-03 6.39772614e-05 9.99987890e-01 1.01022555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.67028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.54, Y:121.17, Z:1.01 [[-9.58081387e-01 -2.86457090e-01 4.73191003e-03 1.83541879e+02] [ 2.86453905e-01 -9.58093071e-01 -1.35206033e-03 1.21173006e+02] [ 4.92091748e-03 6.00902683e-05 9.99987890e-01 1.01049744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.70028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:183.55, Y:121.17, Z:1.01 [[-9.58269162e-01 -2.85828299e-01 4.73243684e-03 1.83550260e+02] [ 2.85825116e-01 -9.58280846e-01 -1.35021388e-03 1.21169917e+02] [ 4.92093292e-03 5.87809863e-05 9.99987890e-01 1.01061771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.73028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:183.53, Y:121.17, Z:1.01 [[-9.58350241e-01 -2.85556327e-01 4.73296160e-03 1.83531784e+02] [ 2.85553149e-01 -9.58361926e-01 -1.34837191e-03 1.21174650e+02] [ 4.92092632e-03 5.92995492e-05 9.99987890e-01 1.01035509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.76028169299997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:183.53, Y:121.17, Z:1.01 [[-9.58347800e-01 -2.85564509e-01 4.73348858e-03 1.83531725e+02] [ 2.85561341e-01 -9.58359488e-01 -1.34651940e-03 1.21173762e+02] [ 4.92090184e-03 6.12674360e-05 9.99987890e-01 1.00711538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.79028169299994 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:183.55, Y:121.17, Z:1.00 [[-9.58375573e-01 -2.85471277e-01 4.73401960e-03 1.83549754e+02] [ 2.85468117e-01 -9.58387263e-01 -1.34464986e-03 1.21168188e+02] [ 4.92088300e-03 6.27320768e-05 9.99987890e-01 1.00472320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.82028169299997 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:183.55, Y:121.17, Z:1.00 [[-9.58344501e-01 -2.85575562e-01 4.73454709e-03 1.83548909e+02] [ 2.85572413e-01 -9.58356194e-01 -1.34278999e-03 1.21167509e+02] [ 4.92085053e-03 6.52006279e-05 9.99987890e-01 1.00470390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.85028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:183.55, Y:121.17, Z:1.01 [[-9.58017285e-01 -2.86671345e-01 4.73507108e-03 1.83551996e+02] [ 2.86668218e-01 -9.58028984e-01 -1.34093970e-03 1.21165463e+02] [ 4.92074432e-03 7.27509817e-05 9.99987890e-01 1.00818084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.880281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.56, Y:121.16, Z:1.01 [[-9.57953895e-01 -2.86883094e-01 4.73559497e-03 1.83555697e+02] [ 2.86879978e-01 -9.57965597e-01 -1.33908700e-03 1.21164170e+02] [ 4.92069848e-03 7.57637737e-05 9.99987890e-01 1.01088756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.91028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:183.56, Y:121.16, Z:1.01 [[-9.58324112e-01 -2.85643948e-01 4.73611751e-03 1.83564041e+02] [ 2.85640827e-01 -9.58335813e-01 -1.33723629e-03 1.21159367e+02] [ 4.92076448e-03 7.13227367e-05 9.99987890e-01 1.01481928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.940281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.57, Y:121.16, Z:1.02 [[-9.58858803e-01 -2.83843901e-01 4.73663783e-03 1.83565187e+02] [ 2.83840766e-01 -9.58870500e-01 -1.33539072e-03 1.21157080e+02] [ 4.92086480e-03 6.39997678e-05 9.99987890e-01 1.01603627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.97028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.58, Y:121.15, Z:1.02 [[-9.59317495e-01 -2.82289750e-01 4.73715621e-03 1.83575553e+02] [ 2.82286606e-01 -9.59329190e-01 -1.33354928e-03 1.21153031e+02] [ 4.92093952e-03 5.79385901e-05 9.99987890e-01 1.01627813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.000281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.57, Y:121.15, Z:1.01 [[-9.59859649e-01 -2.80440739e-01 4.73767239e-03 1.83574303e+02] [ 2.80437581e-01 -9.59871340e-01 -1.33171293e-03 1.21153796e+02] [ 4.92102250e-03 5.03638831e-05 9.99987890e-01 1.01253658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.03028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.56, Y:121.16, Z:1.01 [[-9.60289397e-01 -2.78965633e-01 4.73818708e-03 1.83556216e+02] [ 2.78962466e-01 -9.60301085e-01 -1.32987914e-03 1.21159151e+02] [ 4.92107677e-03 4.47075131e-05 9.99987890e-01 1.00961930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.060281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.58, Y:121.15, Z:1.01 [[-9.60772770e-01 -2.77296285e-01 4.73870585e-03 1.83580137e+02] [ 2.77293108e-01 -9.60784455e-01 -1.32802806e-03 1.21152222e+02] [ 4.92113217e-03 3.80772781e-05 9.99987890e-01 1.00735243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.09028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.60, Y:121.15, Z:1.01 [[-9.62147580e-01 -2.72487759e-01 4.73864131e-03 1.83597790e+02] [ 2.72484522e-01 -9.62159249e-01 -1.32825832e-03 1.21148766e+02] [ 4.92126170e-03 1.32258826e-05 9.99987890e-01 1.00867140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.120281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:183.60, Y:121.15, Z:1.01 [[-9.62889658e-01 -2.69853750e-01 4.73915090e-03 1.83603444e+02] [ 2.69850490e-01 -9.62901321e-01 -1.32643763e-03 1.21149599e+02] [ 4.92127883e-03 1.64911917e-06 9.99987890e-01 1.00935811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.15028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:183.59, Y:121.16, Z:1.01 [[-9.63546955e-01 -2.67497293e-01 4.73965626e-03 1.83593871e+02] [ 2.67494014e-01 -9.63558612e-01 -1.32462940e-03 1.21155096e+02] [ 4.92127139e-03 -8.51294259e-06 9.99987890e-01 1.00933835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.180281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.60, Y:121.15, Z:1.01 [[-9.64052103e-01 -2.65670988e-01 4.74016295e-03 1.83604831e+02] [ 2.65667696e-01 -9.64063756e-01 -1.32281375e-03 1.21154264e+02] [ 4.92125253e-03 -1.59532128e-05 9.99987890e-01 1.00901824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.21028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.61, Y:121.16, Z:1.01 [[-9.64339437e-01 -2.64626106e-01 4.74066986e-03 1.83609208e+02] [ 2.64622810e-01 -9.64351089e-01 -1.32099459e-03 1.21157183e+02] [ 4.92123980e-03 -1.93977977e-05 9.99987890e-01 1.00792735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.240281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.62, Y:121.16, Z:1.01 [[-9.64356818e-01 -2.64562749e-01 4.74117447e-03 1.83620943e+02] [ 2.64559461e-01 -9.64368473e-01 -1.31918098e-03 1.21156648e+02] [ 4.92124534e-03 -1.78386144e-05 9.99987890e-01 1.00803172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.27028169299996 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:183.61, Y:121.16, Z:1.01 [[-9.64303361e-01 -2.64757520e-01 4.74167656e-03 1.83611556e+02] [ 2.64754243e-01 -9.64315019e-01 -1.31737379e-03 1.21162146e+02] [ 4.92125454e-03 -1.49689869e-05 9.99987890e-01 1.00827221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.300281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:183.63, Y:121.16, Z:1.01 [[-9.64175927e-01 -2.65221216e-01 4.74217863e-03 1.83628972e+02] [ 2.65217953e-01 -9.64187589e-01 -1.31556400e-03 1.21159513e+02] [ 4.92126527e-03 -1.07242248e-05 9.99987890e-01 1.00691642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.33028169299996 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:183.61, Y:121.17, Z:1.01 [[-9.63245596e-01 -2.68580396e-01 4.74267968e-03 1.83605913e+02] [ 2.68577183e-01 -9.63257271e-01 -1.31375522e-03 1.21168218e+02] [ 4.92126958e-03 8.30662308e-06 9.99987890e-01 1.00514929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.36028169299993 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:183.61, Y:121.17, Z:1.01 [[-9.62606265e-01 -2.70862845e-01 4.74318220e-03 1.83605194e+02] [ 2.70859669e-01 -9.62617951e-01 -1.31193842e-03 1.21168857e+02] [ 4.92122770e-03 2.18566197e-05 9.99987890e-01 1.00538798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.39028169299996 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:183.60, Y:121.17, Z:1.00 [[-9.61855906e-01 -2.73515473e-01 4.74368983e-03 1.83595055e+02] [ 2.73512338e-01 -9.61867602e-01 -1.31010035e-03 1.21171653e+02] [ 4.92113428e-03 3.73299367e-05 9.99987890e-01 1.00493023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.42028169299994 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:183.61, Y:121.16, Z:1.00 [[-9.60591156e-01 -2.77924672e-01 4.74419975e-03 1.83613319e+02] [ 2.77921600e-01 -9.60602869e-01 -1.30825120e-03 1.21164471e+02] [ 4.92088718e-03 6.18210520e-05 9.99987890e-01 1.00391612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.45028169299997 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:183.62, Y:121.16, Z:1.00 [[-9.60283021e-01 -2.78987468e-01 4.74470817e-03 1.83615073e+02] [ 2.78984417e-01 -9.60294740e-01 -1.30640466e-03 1.21162707e+02] [ 4.92078883e-03 6.91814350e-05 9.99987890e-01 1.00427089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.48028169299994 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:183.60, Y:121.17, Z:1.00 [[-9.60229650e-01 -2.79171100e-01 4.74521290e-03 1.83601075e+02] [ 2.79168061e-01 -9.60241372e-01 -1.30456878e-03 1.21165383e+02] [ 4.92074764e-03 7.20262657e-05 9.99987890e-01 1.00414753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.51028169299997 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:183.60, Y:121.16, Z:1.00 [[-9.60402641e-01 -2.78575384e-01 4.74572006e-03 1.83603360e+02] [ 2.78572347e-01 -9.60414364e-01 -1.30272121e-03 1.21162805e+02] [ 4.92076378e-03 7.08894836e-05 9.99987890e-01 1.00473451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.54028169299994 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:183.61, Y:121.16, Z:1.01 [[-9.61031052e-01 -2.76399694e-01 4.74622952e-03 1.83605609e+02] [ 2.76396639e-01 -9.61042770e-01 -1.30086245e-03 1.21156314e+02] [ 4.92088755e-03 6.16726811e-05 9.99987890e-01 1.00717281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.57028169299997 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:183.62, Y:121.15, Z:1.01 [[-9.61666504e-01 -2.74180603e-01 4.74673790e-03 1.83616088e+02] [ 2.74177530e-01 -9.61678218e-01 -1.29900476e-03 1.21150745e+02] [ 4.92099635e-03 5.22395073e-05 9.99987890e-01 1.00761451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.60028169299994 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:183.63, Y:121.15, Z:1.01 [[-9.62413677e-01 -2.71546272e-01 4.74724366e-03 1.83630037e+02] [ 2.71543177e-01 -9.62425384e-01 -1.29715379e-03 1.21145073e+02] [ 4.92110508e-03 4.06830789e-05 9.99987890e-01 1.00633448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.630281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:183.63, Y:121.14, Z:1.01 [[-9.64029372e-01 -2.65753322e-01 4.74774464e-03 1.83626042e+02] [ 2.65750165e-01 -9.64041063e-01 -1.29531755e-03 1.21142902e+02] [ 4.92125573e-03 1.29897561e-05 9.99987890e-01 1.00670037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.66028169299994 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:183.64, Y:121.14, Z:1.01 [[-9.64912398e-01 -2.62529079e-01 4.74824374e-03 1.83642457e+02] [ 2.62525893e-01 -9.64924081e-01 -1.29348541e-03 1.21136630e+02] [ 4.92127226e-03 -1.56318116e-06 9.99987890e-01 1.00717622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.690281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:183.65, Y:121.13, Z:1.01 [[-9.65732035e-01 -2.59497756e-01 4.74874055e-03 1.83654295e+02] [ 2.59494542e-01 -9.65743711e-01 -1.29165890e-03 1.21131984e+02] [ 4.92124891e-03 -1.51241297e-05 9.99987890e-01 1.00881659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.72028169299995 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:183.66, Y:121.13, Z:1.01 [[-9.66350070e-01 -2.57186677e-01 4.74923215e-03 1.83660608e+02] [ 2.57183444e-01 -9.66361740e-01 -1.28984883e-03 1.21129461e+02] [ 4.92120818e-03 -2.50216313e-05 9.99987890e-01 1.01128726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.750281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:183.68, Y:121.12, Z:1.01 [[-9.67000806e-01 -2.54729037e-01 4.74972040e-03 1.83675518e+02] [ 2.54725783e-01 -9.67012470e-01 -1.28804840e-03 1.21124514e+02] [ 4.92114218e-03 -3.56675991e-05 9.99987890e-01 1.01330232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.78028169299995 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:183.67, Y:121.13, Z:1.01 [[-9.67354344e-01 -2.53383127e-01 4.75020494e-03 1.83666153e+02] [ 2.53379865e-01 -9.67366006e-01 -1.28625897e-03 1.21126668e+02] [ 4.92110310e-03 -4.06619112e-05 9.99987891e-01 1.01253043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.810281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:183.67, Y:121.13, Z:1.01 [[-9.67634454e-01 -2.52311304e-01 4.75068865e-03 1.83672013e+02] [ 2.52308039e-01 -9.67646115e-01 -1.28446994e-03 1.21125121e+02] [ 4.92107170e-03 -4.42604313e-05 9.99987891e-01 1.01116468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.84028169299995 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:183.67, Y:121.12, Z:1.01 [[-9.67729571e-01 -2.51946231e-01 4.75117327e-03 1.83674476e+02] [ 2.51942970e-01 -9.67741233e-01 -1.28267486e-03 1.21124533e+02] [ 4.92107138e-03 -4.42576921e-05 9.99987891e-01 1.01115230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.870281693 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:183.66, Y:121.13, Z:1.01 [[-9.68180764e-01 -2.50206776e-01 4.75165650e-03 1.83660823e+02] [ 2.50203503e-01 -9.68192422e-01 -1.28088225e-03 1.21128787e+02] [ 4.92100323e-03 -5.12444511e-05 9.99987891e-01 1.00726219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.90028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:183.69, Y:121.12, Z:1.01 [[-9.68441890e-01 -2.49194147e-01 4.75214199e-03 1.83692655e+02] [ 2.49190870e-01 -9.68453548e-01 -1.27907851e-03 1.21120751e+02] [ 4.92096764e-03 -5.45228099e-05 9.99987891e-01 1.00556167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.930281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:183.70, Y:121.12, Z:1.00 [[-9.68924454e-01 -2.47311182e-01 4.75202126e-03 1.83697139e+02] [ 2.47307880e-01 -9.68936105e-01 -1.27952688e-03 1.21120945e+02] [ 4.92084627e-03 -6.45525852e-05 9.99987891e-01 1.00453409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.96028169299996 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:183.72, Y:121.12, Z:1.01 [[-9.69688014e-01 -2.44300163e-01 4.75249699e-03 1.83717194e+02] [ 2.44296834e-01 -9.69699657e-01 -1.27775743e-03 1.21118155e+02] [ 4.92065105e-03 -7.80060963e-05 9.99987891e-01 1.00562661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.990281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:183.71, Y:121.12, Z:1.01 [[-9.69978347e-01 -2.43144844e-01 4.75296887e-03 1.83709612e+02] [ 2.43141510e-01 -9.69989989e-01 -1.27599973e-03 1.21121362e+02] [ 4.92058498e-03 -8.20480776e-05 9.99987891e-01 1.00794820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.02028169299996 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:183.71, Y:121.12, Z:1.01 [[-9.70102269e-01 -2.42649938e-01 4.75343890e-03 1.83713326e+02] [ 2.42646607e-01 -9.70113911e-01 -1.27424634e-03 1.21121505e+02] [ 4.92057300e-03 -8.27434474e-05 9.99987891e-01 1.00964974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.050281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:183.72, Y:121.12, Z:1.01 [[-9.70065656e-01 -2.42796259e-01 4.75390978e-03 1.83715446e+02] [ 2.42792937e-01 -9.70077301e-01 -1.27248715e-03 1.21122178e+02] [ 4.92061509e-03 -8.01803637e-05 9.99987891e-01 1.00863875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.08028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:183.71, Y:121.13, Z:1.01 [[-9.70001627e-01 -2.43051928e-01 4.75438002e-03 1.83711936e+02] [ 2.43048618e-01 -9.70013275e-01 -1.27072779e-03 1.21125942e+02] [ 4.92066457e-03 -7.70625286e-05 9.99987891e-01 1.00579782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.11028169299993 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:183.72, Y:121.13, Z:1.01 [[-9.70150619e-01 -2.42456527e-01 4.75485081e-03 1.83715838e+02] [ 2.42453219e-01 -9.70162268e-01 -1.26896373e-03 1.21127095e+02] [ 4.92064538e-03 -7.82570657e-05 9.99987891e-01 1.00667179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.14028169299996 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:183.70, Y:121.13, Z:1.01 [[-9.70287058e-01 -2.41909925e-01 4.75532193e-03 1.83701971e+02] [ 2.41906619e-01 -9.70298708e-01 -1.26719579e-03 1.21133380e+02] [ 4.92062996e-03 -7.91998260e-05 9.99987891e-01 1.00783517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.17028169299994 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:183.71, Y:121.14, Z:1.01 [[-9.70573095e-01 -2.40759735e-01 4.75579521e-03 1.83711225e+02] [ 2.40756424e-01 -9.70584743e-01 -1.26541705e-03 1.21135892e+02] [ 4.92056375e-03 -8.31914924e-05 9.99987891e-01 1.00835686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.20028169299997 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:183.72, Y:121.14, Z:1.01 [[-9.70574450e-01 -2.40754264e-01 4.75626991e-03 1.83723173e+02] [ 2.40750961e-01 -9.70586100e-01 -1.26363030e-03 1.21135071e+02] [ 4.92059385e-03 -8.13707359e-05 9.99987891e-01 1.00778531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.23028169299994 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:183.71, Y:121.14, Z:1.01 [[-9.70500468e-01 -2.41052308e-01 4.75674140e-03 1.83708356e+02] [ 2.41049018e-01 -9.70512122e-01 -1.26185295e-03 1.21141046e+02] [ 4.92064775e-03 -7.80210357e-05 9.99987891e-01 1.00742416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.26028169299997 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:183.72, Y:121.14, Z:1.01 [[-9.70166523e-01 -2.42392835e-01 4.75721368e-03 1.83718778e+02] [ 2.42389570e-01 -9.70178184e-01 -1.26006991e-03 1.21142999e+02] [ 4.92077685e-03 -6.93786635e-05 9.99987891e-01 1.00818765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.29028169299994 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:183.72, Y:121.15, Z:1.01 [[-9.69972527e-01 -2.43167969e-01 4.75768722e-03 1.83715932e+02] [ 2.43164722e-01 -9.69984193e-01 -1.25827942e-03 1.21145816e+02] [ 4.92085465e-03 -6.35947822e-05 9.99987891e-01 1.00759084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.32028169299997 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:183.71, Y:121.15, Z:1.01 [[-9.69587682e-01 -2.44697950e-01 4.75815985e-03 1.83714363e+02] [ 2.44694730e-01 -9.69599356e-01 -1.25648962e-03 1.21148402e+02] [ 4.92096916e-03 -5.39802185e-05 9.99987891e-01 1.00870005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.35028169299994 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:183.70, Y:121.16, Z:1.01 [[-9.68419723e-01 -2.49280153e-01 4.75863374e-03 1.83696696e+02] [ 2.49276997e-01 -9.68431414e-01 -1.25469232e-03 1.21156863e+02] [ 4.92118030e-03 -2.88508587e-05 9.99987891e-01 1.00880926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.380281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.71, Y:121.16, Z:1.01 [[-9.67923179e-01 -2.51201256e-01 4.75911141e-03 1.83705444e+02] [ 2.51198132e-01 -9.67934878e-01 -1.25287788e-03 1.21156158e+02] [ 4.92123442e-03 -1.72096395e-05 9.99987891e-01 1.00825776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.41028169299994 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:183.71, Y:121.16, Z:1.01 [[-9.67428416e-01 -2.53099994e-01 4.75959116e-03 1.83706182e+02] [ 2.53096902e-01 -9.67440124e-01 -1.25105268e-03 1.21157297e+02] [ 4.92126089e-03 -5.66612751e-06 9.99987891e-01 1.00800795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.440281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:183.69, Y:121.16, Z:1.01 [[-9.66931765e-01 -2.54990791e-01 4.76006950e-03 1.83689457e+02] [ 2.54987731e-01 -9.66943482e-01 -1.24923002e-03 1.21162481e+02] [ 4.92126032e-03 5.83913300e-06 9.99987891e-01 1.00654635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.47028169299995 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:183.68, Y:121.16, Z:1.00 [[-9.65960696e-01 -2.58645069e-01 4.76055105e-03 1.83683938e+02] [ 2.58642063e-01 -9.65972426e-01 -1.24739222e-03 1.21163546e+02] [ 4.92119289e-03 2.63468870e-05 9.99987891e-01 1.00365963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.500281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:183.68, Y:121.16, Z:1.00 [[-9.65682196e-01 -2.59682939e-01 4.76103686e-03 1.83684261e+02] [ 2.59679954e-01 -9.65693932e-01 -1.24553524e-03 1.21162683e+02] [ 4.92114865e-03 3.35546272e-05 9.99987891e-01 1.00414511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.53028169299995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:183.69, Y:121.16, Z:1.00 [[-9.65554535e-01 -2.60157198e-01 4.76152375e-03 1.83689910e+02] [ 2.60154228e-01 -9.65566275e-01 -1.24367113e-03 1.21160975e+02] [ 4.92111674e-03 3.78982376e-05 9.99987891e-01 1.00487081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.560281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:183.69, Y:121.16, Z:1.01 [[-9.65851633e-01 -2.59052013e-01 4.76200974e-03 1.83691135e+02] [ 2.59049039e-01 -9.65863372e-01 -1.24180746e-03 1.21161474e+02] [ 4.92114351e-03 3.41922850e-05 9.99987891e-01 1.00675911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.59028169299995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:183.69, Y:121.16, Z:1.01 [[-9.66203715e-01 -2.57735718e-01 4.76249468e-03 1.83693832e+02] [ 2.57732737e-01 -9.66215452e-01 -1.23994488e-03 1.21160630e+02] [ 4.92117403e-03 2.94114421e-05 9.99987891e-01 1.00629636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.620281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:183.70, Y:121.16, Z:1.01 [[-9.66536822e-01 -2.56483694e-01 4.76297905e-03 1.83695551e+02] [ 2.56480707e-01 -9.66548558e-01 -1.23808147e-03 1.21159159e+02] [ 4.92119824e-03 2.49609021e-05 9.99987891e-01 1.00559478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.65028169299995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:183.69, Y:121.16, Z:1.01 [[-9.66829754e-01 -2.55377244e-01 4.76346269e-03 1.83686549e+02] [ 2.55374253e-01 -9.66841488e-01 -1.23621787e-03 1.21160103e+02] [ 4.92121527e-03 2.12535057e-05 9.99987891e-01 1.00635675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.680281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.71, Y:121.15, Z:1.01 [[-9.67068265e-01 -2.54472542e-01 4.76394774e-03 1.83714932e+02] [ 2.54469549e-01 -9.67079999e-01 -1.23434581e-03 1.21149563e+02] [ 4.92122570e-03 1.85829724e-05 9.99987891e-01 1.00949822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.71028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:183.71, Y:121.15, Z:1.01 [[-9.67187215e-01 -2.54020070e-01 4.76388772e-03 1.83712803e+02] [ 2.54017070e-01 -9.67198948e-01 -1.23457743e-03 1.21148269e+02] [ 4.92123463e-03 1.60412882e-05 9.99987891e-01 1.01143310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.740281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:183.71, Y:121.15, Z:1.01 [[-9.67302911e-01 -2.53579138e-01 4.76436393e-03 1.83711158e+02] [ 2.53576142e-01 -9.67314644e-01 -1.23273692e-03 1.21146084e+02] [ 4.92123537e-03 1.56990093e-05 9.99987891e-01 1.01077111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.77028169299996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:183.70, Y:121.14, Z:1.01 [[-9.67626027e-01 -2.52343353e-01 4.76484087e-03 1.83701702e+02] [ 2.52340352e-01 -9.67637759e-01 -1.23089066e-03 1.21144165e+02] [ 4.92124702e-03 1.13197803e-05 9.99987891e-01 1.00506712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.800281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:183.71, Y:121.14, Z:1.00 [[-9.67956178e-01 -2.51073950e-01 4.76531975e-03 1.83713714e+02] [ 2.51070942e-01 -9.67967908e-01 -1.22903391e-03 1.21140006e+02] [ 4.92125499e-03 6.78235192e-06 9.99987891e-01 1.00173041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.83028169299996 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:183.72, Y:121.14, Z:1.00 [[-9.68399129e-01 -2.49360010e-01 4.76579807e-03 1.83724544e+02] [ 2.49356991e-01 -9.68410856e-01 -1.22717634e-03 1.21136746e+02] [ 4.92125929e-03 -1.14329316e-08 9.99987891e-01 1.00287964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.86028169299993 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.73, Y:121.13, Z:1.00 [[-9.69399542e-01 -2.45442071e-01 4.76627230e-03 1.83734496e+02] [ 2.45439013e-01 -9.69411259e-01 -1.22533169e-03 1.21131587e+02] [ 4.92122598e-03 -1.80068110e-05 9.99987891e-01 1.00444912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.89028169299996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:183.75, Y:121.12, Z:1.01 [[-9.69936435e-01 -2.43311715e-01 4.76674289e-03 1.83754696e+02] [ 2.43308641e-01 -9.69948147e-01 -1.22349826e-03 1.21124117e+02] [ 4.92118490e-03 -2.69258066e-05 9.99987891e-01 1.00522465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.92028169299994 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:183.76, Y:121.12, Z:1.01 [[-9.70357118e-01 -2.41628512e-01 4.76720798e-03 1.83762854e+02] [ 2.41625426e-01 -9.70368827e-01 -1.22168343e-03 1.21120396e+02] [ 4.92114356e-03 -3.35905557e-05 9.99987891e-01 1.00541514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.95028169299997 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:183.75, Y:121.12, Z:1.01 [[-9.70725896e-01 -2.40142673e-01 4.76766819e-03 1.83749247e+02] [ 2.40139578e-01 -9.70737604e-01 -1.21988477e-03 1.21122892e+02] [ 4.92110119e-03 -3.92679122e-05 9.99987891e-01 1.00687375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.98028169299994 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:183.76, Y:121.12, Z:1.01 [[-9.71091182e-01 -2.38661229e-01 4.76812939e-03 1.83764512e+02] [ 2.38658125e-01 -9.71102886e-01 -1.21807944e-03 1.21118297e+02] [ 4.92105255e-03 -4.49133809e-05 9.99987891e-01 1.00759391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.01028169299997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:183.75, Y:121.12, Z:1.01 [[-9.71387432e-01 -2.37452559e-01 4.76859043e-03 1.83747309e+02] [ 2.37449449e-01 -9.71399135e-01 -1.21627185e-03 1.21121940e+02] [ 4.92101148e-03 -4.91720247e-05 9.99987891e-01 1.00635153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.04028169299994 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:183.78, Y:121.11, Z:1.01 [[-9.71619580e-01 -2.36500841e-01 4.76905192e-03 1.83775080e+02] [ 2.36497728e-01 -9.71631283e-01 -1.21445962e-03 1.21114934e+02] [ 4.92098076e-03 -5.21227969e-05 9.99987891e-01 1.00557134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.07028169299997 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:183.79, Y:121.11, Z:1.01 [[-9.72086143e-01 -2.34575761e-01 4.76893681e-03 1.83785683e+02] [ 2.34572623e-01 -9.72097839e-01 -1.21491147e-03 1.21113252e+02] [ 4.92086195e-03 -6.23365851e-05 9.99987891e-01 1.00516643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.10028169299994 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:183.80, Y:121.11, Z:1.00 [[-9.73171539e-01 -2.30031320e-01 4.76938973e-03 1.83797702e+02] [ 2.30028137e-01 -9.73183223e-01 -1.21313082e-03 1.21114391e+02] [ 4.92054816e-03 -8.34905526e-05 9.99987891e-01 1.00463971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.130281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:183.81, Y:121.11, Z:1.01 [[-9.73790216e-01 -2.27398028e-01 4.76983930e-03 1.83811112e+02] [ 2.27394821e-01 -9.73801894e-01 -1.21136062e-03 1.21113423e+02] [ 4.92033956e-03 -9.49743709e-05 9.99987891e-01 1.00508474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.16028169299994 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:183.80, Y:121.12, Z:1.01 [[-9.74228575e-01 -2.25512590e-01 4.77028505e-03 1.83795380e+02] [ 2.25509370e-01 -9.74240248e-01 -1.20960273e-03 1.21120077e+02] [ 4.92018433e-03 -1.02685566e-04 9.99987891e-01 1.00627174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.190281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:183.81, Y:121.12, Z:1.01 [[-9.74167627e-01 -2.25775718e-01 4.77073158e-03 1.83806321e+02] [ 2.25772509e-01 -9.74179304e-01 -1.20783902e-03 1.21122001e+02] [ 4.92024869e-03 -9.95376384e-05 9.99987891e-01 1.01097832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.22028169299995 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:183.79, Y:121.13, Z:1.01 [[-9.73772221e-01 -2.27475050e-01 4.77117932e-03 1.83791781e+02] [ 2.27471870e-01 -9.73783905e-01 -1.20606776e-03 1.21127959e+02] [ 4.92044795e-03 -8.91261964e-05 9.99987891e-01 1.01257076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.250281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:183.81, Y:121.12, Z:1.01 [[-9.73231179e-01 -2.29778815e-01 4.77162799e-03 1.83814389e+02] [ 2.29775671e-01 -9.73242873e-01 -1.20429002e-03 1.21124220e+02] [ 4.92067327e-03 -7.56485740e-05 9.99987891e-01 1.01235645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.28028169299995 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:183.81, Y:121.13, Z:1.01 [[-9.72605264e-01 -2.32413915e-01 4.77207572e-03 1.83805089e+02] [ 2.32410812e-01 -9.72616969e-01 -1.20251328e-03 1.21128574e+02] [ 4.92088264e-03 -6.04887555e-05 9.99987891e-01 1.01118080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.310281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:183.79, Y:121.14, Z:1.01 [[-9.71588517e-01 -2.36628350e-01 4.77252163e-03 1.83793381e+02] [ 2.36625306e-01 -9.71600238e-01 -1.20074094e-03 1.21135314e+02] [ 4.92111250e-03 -3.73267166e-05 9.99987891e-01 1.00645877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.34028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:183.77, Y:121.14, Z:1.01 [[-9.71252087e-01 -2.38005466e-01 4.77297137e-03 1.83773944e+02] [ 2.38002448e-01 -9.71263814e-01 -1.19895055e-03 1.21142146e+02] [ 4.92117116e-03 -2.85043516e-05 9.99987891e-01 1.00604168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.370281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:183.78, Y:121.14, Z:1.01 [[-9.71002754e-01 -2.39020640e-01 4.77342658e-03 1.83781328e+02] [ 2.39017643e-01 -9.71014487e-01 -1.19713544e-03 1.21141732e+02] [ 4.92120644e-03 -2.14886413e-05 9.99987891e-01 1.00785090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.40028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:183.77, Y:121.15, Z:1.01 [[-9.70578031e-01 -2.40739476e-01 4.77388412e-03 1.83772913e+02] [ 2.40736509e-01 -9.70589772e-01 -1.19530811e-03 1.21146532e+02] [ 4.92124094e-03 -1.08915931e-05 9.99987891e-01 1.01300075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.430281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:183.78, Y:121.15, Z:1.01 [[-9.70499770e-01 -2.41054769e-01 4.77434232e-03 1.83780898e+02] [ 2.41051815e-01 -9.70511514e-01 -1.19347512e-03 1.21145400e+02] [ 4.92124706e-03 -7.40345002e-06 9.99987891e-01 1.01456075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.46028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:183.79, Y:121.14, Z:1.01 [[-9.70382953e-01 -2.41524587e-01 4.77480081e-03 1.83789504e+02] [ 2.41521647e-01 -9.70394700e-01 -1.19163797e-03 1.21143745e+02] [ 4.92125127e-03 -3.12741683e-06 9.99987891e-01 1.01431579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.490281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:183.78, Y:121.14, Z:1.01 [[-9.70341271e-01 -2.41691982e-01 4.77525655e-03 1.83784904e+02] [ 2.41689053e-01 -9.70353021e-01 -1.18980889e-03 1.21144954e+02] [ 4.92125189e-03 -3.93435799e-07 9.99987891e-01 1.01165360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.52028169299996 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:183.78, Y:121.15, Z:1.01 [[-9.70064241e-01 -2.42801483e-01 4.77571181e-03 1.83783046e+02] [ 2.42798577e-01 -9.70075997e-01 -1.18797873e-03 1.21146079e+02] [ 4.92124639e-03 7.12034282e-06 9.99987891e-01 1.00643518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.550281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:183.78, Y:121.15, Z:1.01 [[-9.70054583e-01 -2.42840061e-01 4.77616834e-03 1.83782319e+02] [ 2.42837164e-01 -9.70066340e-01 -1.18614044e-03 1.21146848e+02] [ 4.92124256e-03 9.21020567e-06 9.99987891e-01 1.00544145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.58028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:183.78, Y:121.15, Z:1.00 [[-9.70232200e-01 -2.42129432e-01 4.77662554e-03 1.83781676e+02] [ 2.42126536e-01 -9.70243958e-01 -1.18429644e-03 1.21147732e+02] [ 4.92124509e-03 7.50525723e-06 9.99987891e-01 1.00449972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.61028169299993 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:183.78, Y:121.15, Z:1.00 [[-9.70828559e-01 -2.39727113e-01 4.77708317e-03 1.83780669e+02] [ 2.39724197e-01 -9.70840312e-01 -1.18244760e-03 1.21149465e+02] [ 4.92124966e-03 -2.77147473e-06 9.99987891e-01 1.00333566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.64028169299996 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:183.78, Y:121.15, Z:1.01 [[-9.71298331e-01 -2.37816583e-01 4.77754124e-03 1.83780350e+02] [ 2.37813653e-01 -9.71310081e-01 -1.18059391e-03 1.21150275e+02] [ 4.92123878e-03 -1.05443615e-05 9.99987891e-01 1.00513463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.67028169299994 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:183.80, Y:121.15, Z:1.01 [[-9.71689386e-01 -2.36213690e-01 4.77799982e-03 1.83796126e+02] [ 2.36210750e-01 -9.71701133e-01 -1.17873504e-03 1.21147009e+02] [ 4.92122120e-03 -1.67494103e-05 9.99987891e-01 1.00554919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.70028169299997 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:183.80, Y:121.15, Z:1.01 [[-9.71983913e-01 -2.34998809e-01 4.77845584e-03 1.83798535e+02] [ 2.34995863e-01 -9.71995658e-01 -1.17688351e-03 1.21146757e+02] [ 4.92120455e-03 -2.09944840e-05 9.99987891e-01 1.00797253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.73028169299994 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:183.78, Y:121.15, Z:1.01 [[-9.72082337e-01 -2.34591332e-01 4.77890893e-03 1.83782492e+02] [ 2.34588390e-01 -9.72094083e-01 -1.17504078e-03 1.21149780e+02] [ 4.92120348e-03 -2.11598314e-05 9.99987891e-01 1.01128052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.76028169299997 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:183.78, Y:121.15, Z:1.01 [[-9.72174008e-01 -2.34211134e-01 4.77936451e-03 1.83784951e+02] [ 2.34208197e-01 -9.72185756e-01 -1.17318483e-03 1.21149252e+02] [ 4.92120305e-03 -2.11734512e-05 9.99987891e-01 1.01126814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.79028169299994 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:183.81, Y:121.14, Z:1.01 [[-9.72211472e-01 -2.34055562e-01 4.77982260e-03 1.83805758e+02] [ 2.34052632e-01 -9.72223222e-01 -1.17131547e-03 1.21142871e+02] [ 4.92120743e-03 -2.00362730e-05 9.99987891e-01 1.01180781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.82028169299997 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:183.83, Y:121.14, Z:1.01 [[-9.72307401e-01 -2.33656736e-01 4.77999243e-03 1.83828311e+02] [ 2.33653804e-01 -9.72319150e-01 -1.17062200e-03 1.21136510e+02] [ 4.92120189e-03 -2.13410144e-05 9.99987891e-01 1.01188889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.85028169299994 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:183.81, Y:121.14, Z:1.01 [[-9.72834729e-01 -2.31451376e-01 4.78015969e-03 1.83812847e+02] [ 2.31448421e-01 -9.72846473e-01 -1.16993860e-03 1.21139956e+02] [ 4.92114540e-03 -3.17964876e-05 9.99987891e-01 1.01247511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.880281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:183.81, Y:121.14, Z:1.01 [[-9.73093998e-01 -2.30358887e-01 4.78060615e-03 1.83814305e+02] [ 2.30355929e-01 -9.73105740e-01 -1.16811142e-03 1.21139294e+02] [ 4.92112014e-03 -3.54412413e-05 9.99987891e-01 1.01047622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.91028169299994 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:183.84, Y:121.13, Z:1.01 [[-9.73310109e-01 -2.29444052e-01 4.78105504e-03 1.83836117e+02] [ 2.29441092e-01 -9.73321851e-01 -1.16627125e-03 1.21132503e+02] [ 4.92109934e-03 -3.81731087e-05 9.99987891e-01 1.00880618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.940281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:183.85, Y:121.13, Z:1.01 [[-9.73539874e-01 -2.28467183e-01 4.78122165e-03 1.83846367e+02] [ 2.28464214e-01 -9.73551614e-01 -1.16558779e-03 1.21129102e+02] [ 4.92106462e-03 -4.24081453e-05 9.99987891e-01 1.00815402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.97028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.86, Y:121.13, Z:1.01 [[-9.74151549e-01 -2.25844850e-01 4.78166179e-03 1.83857763e+02] [ 2.25841858e-01 -9.74163283e-01 -1.16377941e-03 1.21126325e+02] [ 4.92095293e-03 -5.37981288e-05 9.99987891e-01 1.01161172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.000281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:183.84, Y:121.13, Z:1.01 [[-9.74545072e-01 -2.24140656e-01 4.78209858e-03 1.83844453e+02] [ 2.24137653e-01 -9.74556803e-01 -1.16198178e-03 1.21131081e+02] [ 4.92087407e-03 -6.05552667e-05 9.99987891e-01 1.01325361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.03028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.86, Y:121.13, Z:1.01 [[-9.74962845e-01 -2.22316394e-01 4.78253578e-03 1.83858662e+02] [ 2.22313377e-01 -9.74974572e-01 -1.16017957e-03 1.21129874e+02] [ 4.92077771e-03 -6.79102977e-05 9.99987891e-01 1.01346733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.060281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:183.86, Y:121.13, Z:1.01 [[-9.75392841e-01 -2.20422160e-01 4.78297307e-03 1.83859373e+02] [ 2.20419129e-01 -9.75404565e-01 -1.15837395e-03 1.21132366e+02] [ 4.92066506e-03 -7.56108956e-05 9.99987891e-01 1.01227757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.09028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:183.87, Y:121.14, Z:1.01 [[-9.76131633e-01 -2.17127047e-01 4.78340833e-03 1.83873447e+02] [ 2.17123986e-01 -9.76143349e-01 -1.15657378e-03 1.21136245e+02] [ 4.92041568e-03 -9.03755727e-05 9.99987891e-01 1.01001979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.120281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.89, Y:121.14, Z:1.01 [[-9.76383623e-01 -2.15991054e-01 4.78384165e-03 1.83886530e+02] [ 2.15987988e-01 -9.76395338e-01 -1.15477872e-03 1.21137432e+02] [ 4.92034255e-03 -9.42547033e-05 9.99987891e-01 1.01015402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.15028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:183.87, Y:121.14, Z:1.01 [[-9.76605606e-01 -2.14985117e-01 4.78427121e-03 1.83874128e+02] [ 2.14982047e-01 -9.76617320e-01 -1.15299628e-03 1.21144555e+02] [ 4.92027917e-03 -9.74902102e-05 9.99987891e-01 1.01046881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.180281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.89, Y:121.14, Z:1.01 [[-9.76593366e-01 -2.15040704e-01 4.78470101e-03 1.83890226e+02] [ 2.15037644e-01 -9.76605082e-01 -1.15120991e-03 1.21144343e+02] [ 4.92032032e-03 -9.53731317e-05 9.99987891e-01 1.01010615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.21028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.89, Y:121.15, Z:1.01 [[-9.76457373e-01 -2.15657378e-01 4.78486179e-03 1.83888377e+02] [ 2.15654328e-01 -9.76469092e-01 -1.15054129e-03 1.21148074e+02] [ 4.92039236e-03 -9.15783762e-05 9.99987891e-01 1.00877265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.240281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.88, Y:121.16, Z:1.01 [[-9.75392418e-01 -2.20423983e-01 4.78528991e-03 1.83877060e+02] [ 2.20420999e-01 -9.75404154e-01 -1.14875789e-03 1.21157862e+02] [ 4.92080545e-03 -6.57113495e-05 9.99987891e-01 1.00740346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.27028169299996 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:183.87, Y:121.16, Z:1.01 [[-9.74800119e-01 -2.23028755e-01 4.78572057e-03 1.83865696e+02] [ 2.23025811e-01 -9.74811865e-01 -1.14696095e-03 1.21164701e+02] [ 4.92098247e-03 -5.07184532e-05 9.99987891e-01 1.00853422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.300281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:183.86, Y:121.17, Z:1.01 [[-9.74288047e-01 -2.25255176e-01 4.78615544e-03 1.83857490e+02] [ 2.25252268e-01 -9.74299802e-01 -1.14514342e-03 1.21170716e+02] [ 4.92109978e-03 -3.76071742e-05 9.99987891e-01 1.01072957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.33028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.85, Y:121.18, Z:1.01 [[-9.73591390e-01 -2.28247439e-01 4.78659387e-03 1.83852335e+02] [ 2.28244576e-01 -9.73603157e-01 -1.14330786e-03 1.21178461e+02] [ 4.92119999e-03 -2.06005991e-05 9.99987891e-01 1.01462551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.36028169299993 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:183.85, Y:121.18, Z:1.01 [[-9.73488329e-01 -2.28686592e-01 4.78703497e-03 1.83854680e+02] [ 2.28683743e-01 -9.73500099e-01 -1.14145797e-03 1.21180846e+02] [ 4.92121515e-03 -1.64789291e-05 9.99987891e-01 1.01414729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.39028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.86, Y:121.18, Z:1.01 [[-9.73498381e-01 -2.28643789e-01 4.78747699e-03 1.83860239e+02] [ 2.28640950e-01 -9.73510153e-01 -1.13960105e-03 1.21182691e+02] [ 4.92122016e-03 -1.47864888e-05 9.99987891e-01 1.01261743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.42028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.85, Y:121.19, Z:1.01 [[-9.73408974e-01 -2.29024113e-01 4.78791814e-03 1.83847280e+02] [ 2.29021287e-01 -9.73420750e-01 -1.13774459e-03 1.21189367e+02] [ 4.92122981e-03 -1.09556157e-05 9.99987891e-01 1.01164541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.45028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.85, Y:121.20, Z:1.01 [[-9.72931397e-01 -2.31044517e-01 4.78836087e-03 1.83849853e+02] [ 2.31041725e-01 -9.72943180e-01 -1.13587822e-03 1.21195245e+02] [ 4.92124149e-03 1.17956781e-06 9.99987891e-01 1.01479127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.48028169299994 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:183.88, Y:121.19, Z:1.02 [[-9.72571085e-01 -2.32556555e-01 4.78880581e-03 1.83877871e+02] [ 2.32553790e-01 -9.72582875e-01 -1.13399927e-03 1.21190422e+02] [ 4.92122949e-03 1.07600373e-05 9.99987891e-01 1.01758673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.51028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:183.87, Y:121.19, Z:1.02 [[-9.72208998e-01 -2.34065654e-01 4.78897060e-03 1.83869700e+02] [ 2.34062911e-01 -9.72220792e-01 -1.13330291e-03 1.21193760e+02] [ 4.92120408e-03 1.91131131e-05 9.99987891e-01 1.01846806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.54028169299994 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:183.88, Y:121.19, Z:1.02 [[-9.71810719e-01 -2.35713783e-01 4.78940820e-03 1.83877697e+02] [ 2.35711070e-01 -9.71822521e-01 -1.13145056e-03 1.21193688e+02] [ 4.92115324e-03 2.93607488e-05 9.99987891e-01 1.01706031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.57028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.90, Y:121.19, Z:1.01 [[-9.70818389e-01 -2.39768038e-01 4.78984604e-03 1.83900567e+02] [ 2.39765383e-01 -9.70830204e-01 -1.12959398e-03 1.21191526e+02] [ 4.92096774e-03 5.18086625e-05 9.99987891e-01 1.01096793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.60028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:183.90, Y:121.19, Z:1.01 [[-9.70353372e-01 -2.41643104e-01 4.79000803e-03 1.83904974e+02] [ 2.41640475e-01 -9.70365192e-01 -1.12890667e-03 1.21190602e+02] [ 4.92084957e-03 6.20214144e-05 9.99987891e-01 1.00929138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.630281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:183.92, Y:121.19, Z:1.01 [[-9.69887852e-01 -2.43504840e-01 4.79043724e-03 1.83920767e+02] [ 2.43502243e-01 -9.69899679e-01 -1.12708239e-03 1.21186051e+02] [ 4.92069356e-03 7.33386902e-05 9.99987891e-01 1.00846600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.66028169299994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:183.92, Y:121.19, Z:1.01 [[-9.69373086e-01 -2.45546061e-01 4.79086329e-03 1.83920400e+02] [ 2.45543497e-01 -9.69384921e-01 -1.12526845e-03 1.21185160e+02] [ 4.92049587e-03 8.55603757e-05 9.99987891e-01 1.00828971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.690281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:183.94, Y:121.18, Z:1.01 [[-9.68532881e-01 -2.48839510e-01 4.79128685e-03 1.83937006e+02] [ 2.48836996e-01 -9.68544727e-01 -1.12346207e-03 1.21179923e+02] [ 4.92013737e-03 1.04139467e-04 9.99987891e-01 1.01149907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.72028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.94, Y:121.18, Z:1.01 [[-9.68377022e-01 -2.49445351e-01 4.79170788e-03 1.83942397e+02] [ 2.49442853e-01 -9.68388871e-01 -1.12166347e-03 1.21177877e+02] [ 4.92003032e-03 1.09064147e-04 9.99987891e-01 1.01347318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.750281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.95, Y:121.18, Z:1.02 [[-9.68385740e-01 -2.49411496e-01 4.79212557e-03 1.83947028e+02] [ 2.49409007e-01 -9.68397591e-01 -1.11987609e-03 1.21175324e+02] [ 4.91999283e-03 1.10727246e-04 9.99987891e-01 1.01511428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.78028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:183.95, Y:121.17, Z:1.02 [[-9.68541100e-01 -2.48807494e-01 4.79254166e-03 1.83952227e+02] [ 2.48805006e-01 -9.68552951e-01 -1.11809257e-03 1.21172712e+02] [ 4.92002018e-03 1.09489748e-04 9.99987891e-01 1.01607182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.810281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:183.95, Y:121.17, Z:1.02 [[-9.68797390e-01 -2.47807676e-01 4.79295636e-03 1.83950794e+02] [ 2.47805184e-01 -9.68809241e-01 -1.11631207e-03 1.21171656e+02] [ 4.92009111e-03 1.06239218e-04 9.99987891e-01 1.01594991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.84028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:183.95, Y:121.17, Z:1.01 [[-9.69620409e-01 -2.44567551e-01 4.79337039e-03 1.83954757e+02] [ 2.44565028e-01 -9.69632252e-01 -1.11453141e-03 1.21169886e+02] [ 4.92038474e-03 9.16183666e-05 9.99987891e-01 1.01210732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.870281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.95, Y:121.17, Z:1.01 [[-9.70124885e-01 -2.42558709e-01 4.79378409e-03 1.83949803e+02] [ 2.42556171e-01 -9.70136725e-01 -1.11274917e-03 1.21170455e+02] [ 4.92053300e-03 8.32562565e-05 9.99987891e-01 1.01071807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.90028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.94, Y:121.17, Z:1.01 [[-9.70632038e-01 -2.40521229e-01 4.79419799e-03 1.83937062e+02] [ 2.40518675e-01 -9.70643875e-01 -1.11096302e-03 1.21172287e+02] [ 4.92066911e-03 7.47578447e-05 9.99987891e-01 1.00840728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.930281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:183.93, Y:121.17, Z:1.01 [[-9.71609215e-01 -2.36542901e-01 4.79461446e-03 1.83929775e+02] [ 2.36540308e-01 -9.71621044e-01 -1.10916274e-03 1.21172488e+02] [ 4.92091288e-03 5.64468382e-05 9.99987891e-01 1.00576804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.96028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.92, Y:121.17, Z:1.00 [[-9.72283726e-01 -2.33754921e-01 4.79503401e-03 1.83922231e+02] [ 2.33752302e-01 -9.72295549e-01 -1.10734602e-03 1.21174002e+02] [ 4.92103780e-03 4.41957264e-05 9.99987891e-01 1.00498258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.990281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:183.91, Y:121.18, Z:1.01 [[-9.72985812e-01 -2.30815108e-01 4.79545591e-03 1.83913456e+02] [ 2.30812462e-01 -9.72997629e-01 -1.10551589e-03 1.21176624e+02] [ 4.92113700e-03 3.11997138e-05 9.99987891e-01 1.00581905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.02028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.91, Y:121.18, Z:1.01 [[-9.73733934e-01 -2.27638367e-01 4.79588056e-03 1.83906698e+02] [ 2.27635692e-01 -9.73745744e-01 -1.10367063e-03 1.21178708e+02] [ 4.92120606e-03 1.70320460e-05 9.99987891e-01 1.00795757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.050281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:183.91, Y:121.18, Z:1.01 [[-9.75043194e-01 -2.21963433e-01 4.79630777e-03 1.83914781e+02] [ 2.21960698e-01 -9.75054990e-01 -1.10181092e-03 1.21179566e+02] [ 4.92122557e-03 -9.72141384e-06 9.99987891e-01 1.01139853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.08028169299996 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:183.90, Y:121.19, Z:1.01 [[-9.75784921e-01 -2.18679627e-01 4.79673491e-03 1.83898928e+02] [ 2.18676862e-01 -9.75796711e-01 -1.09994822e-03 1.21185538e+02] [ 4.92117442e-03 -2.43779531e-05 9.99987891e-01 1.01231053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.11028169299993 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:183.93, Y:121.18, Z:1.01 [[-9.76276539e-01 -2.16474263e-01 4.79716371e-03 1.83932042e+02] [ 2.16471480e-01 -9.76288325e-01 -1.09807494e-03 1.21180390e+02] [ 4.92111988e-03 -3.35756738e-05 9.99987891e-01 1.01148566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.14028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.94, Y:121.18, Z:1.01 [[-9.76755540e-01 -2.14302594e-01 4.79732328e-03 1.83941897e+02] [ 2.14299788e-01 -9.76767320e-01 -1.09737736e-03 1.21180316e+02] [ 4.92103941e-03 -4.38040564e-05 9.99987891e-01 1.00931695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.17028169299994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:183.93, Y:121.19, Z:1.01 [[-9.77266483e-01 -2.11960380e-01 4.79774325e-03 1.83926029e+02] [ 2.11957555e-01 -9.77278259e-01 -1.09553815e-03 1.21187110e+02] [ 4.92094085e-03 -5.37147842e-05 9.99987891e-01 1.00578587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.20028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:183.93, Y:121.19, Z:1.00 [[-9.77440456e-01 -2.11156656e-01 4.79816434e-03 1.83931079e+02] [ 2.11153831e-01 -9.77452231e-01 -1.09369077e-03 1.21189008e+02] [ 4.92091653e-03 -5.58668257e-05 9.99987891e-01 1.00479206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.23028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:183.92, Y:121.19, Z:1.01 [[-9.77610185e-01 -2.10369434e-01 4.79858754e-03 1.83920650e+02] [ 2.10366609e-01 -9.77621961e-01 -1.09183081e-03 1.21194884e+02] [ 4.92089239e-03 -5.79223269e-05 9.99987891e-01 1.00553438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.26028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.95, Y:121.19, Z:1.01 [[-9.77744042e-01 -2.09746413e-01 4.79901174e-03 1.83950965e+02] [ 2.09743590e-01 -9.77755818e-01 -1.08996313e-03 1.21194163e+02] [ 4.92087750e-03 -5.91430071e-05 9.99987891e-01 1.00682367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.29028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.93, Y:121.20, Z:1.01 [[-9.77816471e-01 -2.09408495e-01 4.79916954e-03 1.83925550e+02] [ 2.09405670e-01 -9.77828246e-01 -1.08926786e-03 1.21201988e+02] [ 4.92086548e-03 -6.01307396e-05 9.99987891e-01 1.00871970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.32028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.95, Y:121.20, Z:1.01 [[-9.77790235e-01 -2.09530953e-01 4.79959103e-03 1.83948619e+02] [ 2.09528139e-01 -9.77802013e-01 -1.08740750e-03 1.21198598e+02] [ 4.92089530e-03 -5.76070603e-05 9.99987891e-01 1.01018717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.35028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.95, Y:121.20, Z:1.01 [[-9.77869275e-01 -2.09161766e-01 4.79974905e-03 1.83954950e+02] [ 2.09158951e-01 -9.77881052e-01 -1.08670957e-03 1.21199355e+02] [ 4.92088174e-03 -5.87494294e-05 9.99987891e-01 1.01176620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.380281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.95, Y:121.21, Z:1.01 [[-9.78006875e-01 -2.08517412e-01 4.80016708e-03 1.83947558e+02] [ 2.08514598e-01 -9.78018653e-01 -1.08485989e-03 1.21205256e+02] [ 4.92086512e-03 -6.00955222e-05 9.99987891e-01 1.00893453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.41028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.94, Y:121.21, Z:1.01 [[-9.78072694e-01 -2.08208452e-01 4.80058546e-03 1.83939875e+02] [ 2.08205644e-01 -9.78084473e-01 -1.08300539e-03 1.21208545e+02] [ 4.92086897e-03 -5.97490127e-05 9.99987891e-01 1.00620615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.440281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.96, Y:121.21, Z:1.00 [[-9.78059956e-01 -2.08268273e-01 4.80100650e-03 1.83961687e+02] [ 2.08265474e-01 -9.78071737e-01 -1.08113566e-03 1.21205441e+02] [ 4.92089502e-03 -5.75316028e-05 9.99987891e-01 1.00448892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.47028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.96, Y:121.21, Z:1.00 [[-9.78018996e-01 -2.08460525e-01 4.80142546e-03 1.83958261e+02] [ 2.08457738e-01 -9.78030780e-01 -1.07927178e-03 1.21208145e+02] [ 4.92092745e-03 -5.46540075e-05 9.99987891e-01 1.00387499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.500281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.95, Y:121.21, Z:1.00 [[-9.78172416e-01 -2.07739421e-01 4.80184168e-03 1.83953586e+02] [ 2.07736635e-01 -9.78184200e-01 -1.07741679e-03 1.21214292e+02] [ 4.92090760e-03 -5.63809515e-05 9.99987891e-01 1.00427293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.53028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.94, Y:121.22, Z:1.00 [[-9.78466567e-01 -2.06349500e-01 4.80225949e-03 1.83944985e+02] [ 2.06346706e-01 -9.78478349e-01 -1.07555131e-03 1.21218966e+02] [ 4.92084641e-03 -6.14605744e-05 9.99987891e-01 1.00369432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.560281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.96, Y:121.22, Z:1.00 [[-9.78779921e-01 -2.04857999e-01 4.80267968e-03 1.83961642e+02] [ 2.04855196e-01 -9.78791702e-01 -1.07367173e-03 1.21218219e+02] [ 4.92077326e-03 -6.70344445e-05 9.99987891e-01 1.00411387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.59028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.97, Y:121.22, Z:1.01 [[-9.79166282e-01 -2.03003260e-01 4.80309885e-03 1.83970315e+02] [ 2.03000444e-01 -9.79178059e-01 -1.07179327e-03 1.21221887e+02] [ 4.92066654e-03 -7.44326319e-05 9.99987891e-01 1.00801808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.620281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:183.95, Y:121.23, Z:1.01 [[-9.79154470e-01 -2.03060213e-01 4.80351433e-03 1.83952657e+02] [ 2.03057407e-01 -9.79166250e-01 -1.06992794e-03 1.21227626e+02] [ 4.92069891e-03 -7.22355629e-05 9.99987891e-01 1.01027882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.65028169299995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:183.96, Y:121.23, Z:1.01 [[-9.79234339e-01 -2.02674697e-01 4.80393155e-03 1.83955083e+02] [ 2.02671895e-01 -9.79246119e-01 -1.06805138e-03 1.21227161e+02] [ 4.92069831e-03 -7.22506725e-05 9.99987891e-01 1.01026645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.680281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:183.96, Y:121.23, Z:1.01 [[-9.79158567e-01 -2.03040435e-01 4.80435130e-03 1.83961941e+02] [ 2.03037648e-01 -9.79170351e-01 -1.06615989e-03 1.21226548e+02] [ 4.92075191e-03 -6.84754028e-05 9.99987891e-01 1.01156117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.71028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.99, Y:121.22, Z:1.01 [[-9.78851901e-01 -2.04513741e-01 4.80476952e-03 1.83988301e+02] [ 2.04510980e-01 -9.78863691e-01 -1.06427179e-03 1.21221616e+02] [ 4.92087263e-03 -5.91363369e-05 9.99987891e-01 1.01206783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.740281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.98, Y:121.23, Z:1.01 [[-9.78052166e-01 -2.08304762e-01 4.80492410e-03 1.83984353e+02] [ 2.08302050e-01 -9.78063968e-01 -1.06357341e-03 1.21225467e+02] [ 4.92107054e-03 -3.93547329e-05 9.99987891e-01 1.00930032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.77028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.98, Y:121.23, Z:1.01 [[-9.77671674e-01 -2.10083332e-01 4.80533439e-03 1.83977860e+02] [ 2.10080651e-01 -9.77683483e-01 -1.06171644e-03 1.21227799e+02] [ 4.92114499e-03 -2.85023140e-05 9.99987891e-01 1.00777398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.800281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.00, Y:121.22, Z:1.01 [[-9.77290388e-01 -2.11849954e-01 4.80574638e-03 1.84000301e+02] [ 2.11847304e-01 -9.77302203e-01 -1.05984834e-03 1.21223161e+02] [ 4.92119535e-03 -1.76951866e-05 9.99987891e-01 1.00692716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.83028169299996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:184.01, Y:121.22, Z:1.01 [[-9.76503494e-01 -2.15447969e-01 4.80615598e-03 1.84011183e+02] [ 2.15445371e-01 -9.76515321e-01 -1.05798763e-03 1.21220362e+02] [ 4.92122624e-03 2.33544351e-06 9.99987891e-01 1.00744330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.86028169299993 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.01, Y:121.22, Z:1.01 [[-9.76266345e-01 -2.16520025e-01 4.80656052e-03 1.84011725e+02] [ 2.16517449e-01 -9.76278177e-01 -1.05614655e-03 1.21220211e+02] [ 4.92121702e-03 9.62389021e-06 9.99987891e-01 1.01026704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.89028169299996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:184.02, Y:121.22, Z:1.01 [[-9.76161030e-01 -2.16994322e-01 4.80696335e-03 1.84020059e+02] [ 2.16991761e-01 -9.76172866e-01 -1.05430991e-03 1.21218315e+02] [ 4.92120645e-03 1.38951943e-05 9.99987891e-01 1.01272155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.92028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:184.03, Y:121.22, Z:1.01 [[-9.76177937e-01 -2.16918246e-01 4.80736488e-03 1.84031382e+02] [ 2.16915694e-01 -9.76189774e-01 -1.05247585e-03 1.21215261e+02] [ 4.92120165e-03 1.53891856e-05 9.99987891e-01 1.01409800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.95028169299997 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:184.03, Y:121.21, Z:1.01 [[-9.76106724e-01 -2.17238463e-01 4.80776341e-03 1.84034019e+02] [ 2.17235923e-01 -9.76118564e-01 -1.05065221e-03 1.21212256e+02] [ 4.92118918e-03 1.88702345e-05 9.99987891e-01 1.01175953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.98028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:184.04, Y:121.21, Z:1.01 [[-9.75967288e-01 -2.17864029e-01 4.80815980e-03 1.84037672e+02] [ 2.17861506e-01 -9.75979131e-01 -1.04883500e-03 1.21209808e+02] [ 4.92116705e-03 2.38842842e-05 9.99987891e-01 1.01065790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.01028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:184.03, Y:121.21, Z:1.01 [[-9.75703719e-01 -2.19041392e-01 4.80855526e-03 1.84026618e+02] [ 2.19038892e-01 -9.75715567e-01 -1.04701885e-03 1.21210310e+02] [ 4.92112268e-03 3.16804331e-05 9.99987891e-01 1.00989838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.04028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:184.02, Y:121.21, Z:1.01 [[-9.75464316e-01 -2.20105070e-01 4.80895171e-03 1.84023696e+02] [ 2.20102592e-01 -9.75476169e-01 -1.04519476e-03 1.21208867e+02] [ 4.92107046e-03 3.89125465e-05 9.99987891e-01 1.00923286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.07028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:184.06, Y:121.20, Z:1.01 [[-9.75164392e-01 -2.21430075e-01 4.80935009e-03 1.84058889e+02] [ 2.21427622e-01 -9.75176251e-01 -1.04335843e-03 1.21199226e+02] [ 4.92099492e-03 4.74769651e-05 9.99987891e-01 1.00896861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.10028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:184.06, Y:121.19, Z:1.01 [[-9.74810421e-01 -2.22983208e-01 4.80949736e-03 1.84064780e+02] [ 2.22980777e-01 -9.74822284e-01 -1.04267911e-03 1.21194292e+02] [ 4.92090514e-03 5.60109936e-05 9.99987891e-01 1.00925748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.130281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:184.06, Y:121.19, Z:1.01 [[-9.74798893e-01 -2.23033594e-01 4.80988529e-03 1.84060243e+02] [ 2.23031173e-01 -9.74810757e-01 -1.04088654e-03 1.21193170e+02] [ 4.92088058e-03 5.80993082e-05 9.99987891e-01 1.00919625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.16028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.06, Y:121.19, Z:1.01 [[-9.74812204e-01 -2.22975397e-01 4.81027285e-03 1.84062097e+02] [ 2.22972984e-01 -9.74824071e-01 -1.03909239e-03 1.21190272e+02] [ 4.92086180e-03 5.96409510e-05 9.99987891e-01 1.00876894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.190281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:184.06, Y:121.19, Z:1.01 [[-9.74784216e-01 -2.23097713e-01 4.81066069e-03 1.84063039e+02] [ 2.23095310e-01 -9.74796085e-01 -1.03729371e-03 1.21185148e+02] [ 4.92083106e-03 6.20983030e-05 9.99987891e-01 1.00995018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.22028169299995 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:184.07, Y:121.18, Z:1.01 [[-9.74789530e-01 -2.23074486e-01 4.81104798e-03 1.84070387e+02] [ 2.23072092e-01 -9.74801400e-01 -1.03549430e-03 1.21181978e+02] [ 4.92080867e-03 6.38215341e-05 9.99987891e-01 1.01061721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.250281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:184.07, Y:121.18, Z:1.01 [[-9.74827758e-01 -2.22907361e-01 4.81143391e-03 1.84065684e+02] [ 2.22904973e-01 -9.74839630e-01 -1.03369795e-03 1.21182026e+02] [ 4.92079534e-03 6.48150881e-05 9.99987891e-01 1.01076551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.28028169299995 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:184.08, Y:121.18, Z:1.01 [[-9.74913987e-01 -2.22529918e-01 4.81181930e-03 1.84075812e+02] [ 2.22527535e-01 -9.74925860e-01 -1.03190088e-03 1.21179389e+02] [ 4.92079588e-03 6.47476850e-05 9.99987891e-01 1.01050376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.310281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:184.06, Y:121.18, Z:1.01 [[-9.75263153e-01 -2.20994625e-01 4.81220401e-03 1.84057511e+02] [ 2.20992233e-01 -9.75275024e-01 -1.03010366e-03 1.21180823e+02] [ 4.92086975e-03 5.88375658e-05 9.99987891e-01 1.01111773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.34028169299995 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:184.07, Y:121.18, Z:1.01 [[-9.75474904e-01 -2.20058060e-01 4.81258974e-03 1.84065344e+02] [ 2.20055665e-01 -9.75486774e-01 -1.02829840e-03 1.21177902e+02] [ 4.92090299e-03 5.59583461e-05 9.99987891e-01 1.01068856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.370281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:184.06, Y:121.18, Z:1.01 [[-9.75682017e-01 -2.19137938e-01 4.81297686e-03 1.84061260e+02] [ 2.19135541e-01 -9.75693887e-01 -1.02648325e-03 1.21177719e+02] [ 4.92093352e-03 5.31730366e-05 9.99987891e-01 1.00948945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.40028169299995 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:184.06, Y:121.18, Z:1.01 [[-9.76072900e-01 -2.17390261e-01 4.81336343e-03 1.84064657e+02] [ 2.17387851e-01 -9.76084767e-01 -1.02466736e-03 1.21175467e+02] [ 4.92100342e-03 4.62166965e-05 9.99987891e-01 1.00940535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.430281693 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:184.06, Y:121.17, Z:1.01 [[-9.76392362e-01 -2.15950882e-01 4.81375001e-03 1.84064183e+02] [ 2.15948464e-01 -9.76404227e-01 -1.02284804e-03 1.21174461e+02] [ 4.92105079e-03 4.08209080e-05 9.99987891e-01 1.01215855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.46028169299996 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:184.06, Y:121.17, Z:1.01 [[-9.76602961e-01 -2.14996466e-01 4.81413602e-03 1.84058391e+02] [ 2.14994045e-01 -9.76614826e-01 -1.02102797e-03 1.21174751e+02] [ 4.92107402e-03 3.78716383e-05 9.99987891e-01 1.01478844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.490281693 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:184.08, Y:121.17, Z:1.01 [[-9.76692111e-01 -2.14591101e-01 4.81452287e-03 1.84077894e+02] [ 2.14588684e-01 -9.76703977e-01 -1.01920055e-03 1.21168835e+02] [ 4.92107501e-03 3.76969848e-05 9.99987891e-01 1.01269592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.52028169299996 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:184.05, Y:121.17, Z:1.01 [[-9.76859510e-01 -2.13827774e-01 4.81461896e-03 1.84054430e+02] [ 2.13825350e-01 -9.76871374e-01 -1.01874646e-03 1.21173136e+02] [ 4.92109973e-03 3.43154115e-05 9.99987891e-01 1.00915660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.550281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:184.06, Y:121.17, Z:1.01 [[-9.77043698e-01 -2.12984571e-01 4.81500469e-03 1.84059182e+02] [ 2.12982145e-01 -9.77055562e-01 -1.01692008e-03 1.21172089e+02] [ 4.92111540e-03 3.19346737e-05 9.99987891e-01 1.00561965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.58028169299996 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:184.05, Y:121.17, Z:1.00 [[-9.77290866e-01 -2.11847530e-01 4.81539298e-03 1.84049985e+02] [ 2.11845100e-01 -9.77302729e-01 -1.01507809e-03 1.21174435e+02] [ 4.92113848e-03 2.80908633e-05 9.99987891e-01 1.00423266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.61028169299993 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:184.07, Y:121.17, Z:1.01 [[-9.77839500e-01 -2.09300549e-01 4.81578198e-03 1.84066956e+02] [ 2.09298097e-01 -9.77851359e-01 -1.01322919e-03 1.21170953e+02] [ 4.92118838e-03 1.71584768e-05 9.99987891e-01 1.00716506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.64028169299996 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:184.08, Y:121.17, Z:1.01 [[-9.78104645e-01 -2.08057944e-01 4.81616982e-03 1.84075249e+02] [ 2.08055487e-01 -9.78116502e-01 -1.01138229e-03 1.21168966e+02] [ 4.92120130e-03 1.27928371e-05 9.99987891e-01 1.00999491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.67028169299994 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:184.06, Y:121.17, Z:1.01 [[-9.78200497e-01 -2.07606814e-01 4.81655402e-03 1.84062002e+02] [ 2.07604360e-01 -9.78212355e-01 -1.00954929e-03 1.21171927e+02] [ 4.92120196e-03 1.23959992e-05 9.99987891e-01 1.01167413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.70028169299997 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:184.07, Y:121.17, Z:1.01 [[-9.78173792e-01 -2.07732592e-01 4.81693892e-03 1.84066708e+02] [ 2.07730148e-01 -9.78185652e-01 -1.00770945e-03 1.21171792e+02] [ 4.92119463e-03 1.49084601e-05 9.99987891e-01 1.01030927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.73028169299994 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:184.06, Y:121.17, Z:1.01 [[-9.78180603e-01 -2.07700508e-01 4.81732509e-03 1.84056618e+02] [ 2.07698073e-01 -9.78192465e-01 -1.00585996e-03 1.21174721e+02] [ 4.92118873e-03 1.66364346e-05 9.99987891e-01 1.00900221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.76028169299997 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:184.07, Y:121.17, Z:1.01 [[-9.78232692e-01 -2.07455033e-01 4.81771210e-03 1.84067968e+02] [ 2.07452605e-01 -9.78244555e-01 -1.00400289e-03 1.21173089e+02] [ 4.92118608e-03 1.72984702e-05 9.99987891e-01 1.00852705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.79028169299994 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:184.09, Y:121.17, Z:1.01 [[-9.78341386e-01 -2.06941826e-01 4.81809897e-03 1.84085749e+02] [ 2.06939400e-01 -9.78353249e-01 -1.00214288e-03 1.21169900e+02] [ 4.92118806e-03 1.66166575e-05 9.99987891e-01 1.00860082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.82028169299997 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:184.08, Y:121.17, Z:1.01 [[-9.78308914e-01 -2.07095271e-01 4.81848174e-03 1.84075746e+02] [ 2.07092856e-01 -9.78320780e-01 -1.00029909e-03 1.21172921e+02] [ 4.92117802e-03 1.92716271e-05 9.99987891e-01 1.00637055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.85028169299994 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:184.08, Y:121.17, Z:1.00 [[-9.78274319e-01 -2.07258617e-01 4.81886336e-03 1.84084501e+02] [ 2.07256214e-01 -9.78286188e-01 -9.98457286e-04 1.21171467e+02] [ 4.92116634e-03 2.19742507e-05 9.99987891e-01 1.00422821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.880281693 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:184.10, Y:121.17, Z:1.00 [[-9.78198985e-01 -2.07613872e-01 4.81924509e-03 1.84104339e+02] [ 2.07611482e-01 -9.78210856e-01 -9.96611351e-04 1.21167738e+02] [ 4.92114821e-03 2.56464032e-05 9.99987891e-01 1.00258202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.91028169299994 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:184.10, Y:121.17, Z:1.00 [[-9.78171481e-01 -2.07743412e-01 4.81962286e-03 1.84095952e+02] [ 2.07741032e-01 -9.78183354e-01 -9.94781112e-04 1.21169399e+02] [ 4.92113407e-03 2.81669130e-05 9.99987891e-01 1.00249425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.940281693 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:184.09, Y:121.17, Z:1.00 [[-9.78018378e-01 -2.08462995e-01 4.81999906e-03 1.84091998e+02] [ 2.08460633e-01 -9.78030254e-01 -9.92954928e-04 1.21170170e+02] [ 4.92109927e-03 3.36518892e-05 9.99987891e-01 1.00421896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.97028169299995 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:184.10, Y:121.17, Z:1.01 [[-9.78116276e-01 -2.08003161e-01 4.82037693e-03 1.84104694e+02] [ 2.08000802e-01 -9.78128153e-01 -9.91117129e-04 1.21167901e+02] [ 4.92110188e-03 3.32144741e-05 9.99987891e-01 1.00508961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.000281693 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:184.10, Y:121.17, Z:1.01 [[-9.78367690e-01 -2.06817369e-01 4.82075354e-03 1.84096480e+02] [ 2.06815005e-01 -9.78379566e-01 -9.89281914e-04 1.21169998e+02] [ 4.92112744e-03 2.91227068e-05 9.99987891e-01 1.00664439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.03028169299995 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:184.11, Y:121.17, Z:1.01 [[-9.78727251e-01 -2.05109055e-01 4.82112958e-03 1.84108082e+02] [ 2.05106679e-01 -9.78739125e-01 -9.87445946e-04 1.21168356e+02] [ 4.92116225e-03 2.24056214e-05 9.99987891e-01 1.00748119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.060281693 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:184.11, Y:121.17, Z:1.01 [[-9.79249908e-01 -2.02599041e-01 4.82150504e-03 1.84110303e+02] [ 2.02596644e-01 -9.79261777e-01 -9.85609223e-04 1.21167798e+02] [ 4.92119908e-03 1.16629985e-05 9.99987891e-01 1.00776092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.09028169299995 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:184.10, Y:121.17, Z:1.01 [[-9.79313909e-01 -2.02289439e-01 4.82187863e-03 1.84099420e+02] [ 2.02287047e-01 -9.79325780e-01 -9.83778128e-04 1.21168981e+02] [ 4.92119797e-03 1.19759862e-05 9.99987891e-01 1.00753541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.120281693 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:184.11, Y:121.17, Z:1.01 [[-9.79209528e-01 -2.02794097e-01 4.82225337e-03 1.84109688e+02] [ 2.02791720e-01 -9.79221402e-01 -9.81937773e-04 1.21165599e+02] [ 4.92118489e-03 1.63902341e-05 9.99987891e-01 1.00756677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.15028169299995 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:184.12, Y:121.16, Z:1.01 [[-9.78891475e-01 -2.04323815e-01 4.82262810e-03 1.84119177e+02] [ 2.04321466e-01 -9.78903355e-01 -9.80093914e-04 1.21162908e+02] [ 4.92114335e-03 2.59608670e-05 9.99987891e-01 1.00727721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.180281693 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:184.12, Y:121.16, Z:1.01 [[-9.77949010e-01 -2.08788105e-01 4.82300008e-03 1.84124079e+02] [ 2.08785819e-01 -9.77960902e-01 -9.78259958e-04 1.21159931e+02] [ 4.92095455e-03 5.02856655e-05 9.99987891e-01 1.00707174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.21028169299996 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:184.14, Y:121.15, Z:1.01 [[-9.77510747e-01 -2.10830440e-01 4.82336991e-03 1.84142288e+02] [ 2.10828188e-01 -9.77522645e-01 -9.76433102e-04 1.21154228e+02] [ 4.92081513e-03 6.24284879e-05 9.99987891e-01 1.00752879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.240281693 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:184.14, Y:121.15, Z:1.01 [[-9.77085966e-01 -2.12790381e-01 4.82373652e-03 1.84140292e+02] [ 2.12788162e-01 -9.77097870e-01 -9.74618632e-04 1.21151937e+02] [ 4.92065215e-03 7.41478385e-05 9.99987891e-01 1.00927210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.27028169299996 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:184.16, Y:121.15, Z:1.01 [[-9.76722482e-01 -2.14452609e-01 4.82410078e-03 1.84158303e+02] [ 2.14450420e-01 -9.76734391e-01 -9.72812296e-04 1.21145900e+02] [ 4.92048727e-03 8.43627955e-05 9.99987891e-01 1.01034962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.300281693 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:184.14, Y:121.14, Z:1.01 [[-9.76316326e-01 -2.16294142e-01 4.82446278e-03 1.84136023e+02] [ 2.16291983e-01 -9.76328241e-01 -9.71013705e-04 1.21144987e+02] [ 4.92028383e-03 9.54760896e-05 9.99987891e-01 1.01023528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.33028169299996 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:184.15, Y:121.14, Z:1.01 [[-9.76291646e-01 -2.16405504e-01 4.82482516e-03 1.84148720e+02] [ 2.16403356e-01 -9.76303564e-01 -9.69209733e-04 1.21138656e+02] [ 4.92023632e-03 9.78769889e-05 9.99987891e-01 1.00773215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.36028169299993 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:184.16, Y:121.13, Z:1.01 [[-9.76330855e-01 -2.16228537e-01 4.82518857e-03 1.84155833e+02] [ 2.16226395e-01 -9.76342773e-01 -9.67397101e-04 1.21133464e+02] [ 4.92021685e-03 9.88334935e-05 9.99987891e-01 1.00605087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.39028169299996 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:184.15, Y:121.13, Z:1.01 [[-9.76459411e-01 -2.15647241e-01 4.82554907e-03 1.84153019e+02] [ 2.15645102e-01 -9.76471330e-01 -9.65595485e-04 1.21127637e+02] [ 4.92023832e-03 9.77412220e-05 9.99987891e-01 1.00784617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.42028169299994 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:184.15, Y:121.13, Z:1.01 [[-9.76606160e-01 -2.14981672e-01 4.82590879e-03 1.84149487e+02] [ 2.14979533e-01 -9.76618079e-01 -9.63794323e-04 1.21125388e+02] [ 4.92026788e-03 9.62241451e-05 9.99987891e-01 1.00932241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.45028169299997 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:184.15, Y:121.12, Z:1.01 [[-9.76796550e-01 -2.14114941e-01 4.82626900e-03 1.84148726e+02] [ 2.14112800e-01 -9.76808468e-01 -9.61987175e-04 1.21122188e+02] [ 4.92031625e-03 9.37002170e-05 9.99987891e-01 1.00943149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.48028169299994 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:184.15, Y:121.11, Z:1.01 [[-9.77134245e-01 -2.12568507e-01 4.82662952e-03 1.84150283e+02] [ 2.12566356e-01 -9.77146162e-01 -9.60174872e-04 1.21114355e+02] [ 4.92042545e-03 8.77593015e-05 9.99987891e-01 1.00718025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.51028169299997 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:184.14, Y:121.11, Z:1.01 [[-9.77342957e-01 -2.11606816e-01 4.82698966e-03 1.84136314e+02] [ 2.11604662e-01 -9.77354873e-01 -9.58360968e-04 1.21114078e+02] [ 4.92047758e-03 8.47661743e-05 9.99987891e-01 1.00636025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.54028169299994 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:184.14, Y:121.11, Z:1.01 [[-9.77585375e-01 -2.10484041e-01 4.82735117e-03 1.84142645e+02] [ 2.10481883e-01 -9.77597290e-01 -9.56536508e-04 1.21109480e+02] [ 4.92054110e-03 8.09738628e-05 9.99987891e-01 1.00600473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.57028169299997 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:184.15, Y:121.11, Z:1.01 [[-9.77665051e-01 -2.10113637e-01 4.82771354e-03 1.84145113e+02] [ 2.10111484e-01 -9.77676968e-01 -9.54704086e-04 1.21109067e+02] [ 4.92054069e-03 8.09772357e-05 9.99987891e-01 1.00599235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.60028169299994 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:184.14, Y:121.10, Z:1.00 [[-9.78075515e-01 -2.08194562e-01 4.82807457e-03 1.84138728e+02] [ 2.08192395e-01 -9.78087429e-01 -9.52874843e-04 1.21104581e+02] [ 4.92066240e-03 7.31848525e-05 9.99987891e-01 1.00467009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.630281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:184.14, Y:121.10, Z:1.01 [[-9.78394484e-01 -2.06690394e-01 4.82843596e-03 1.84136387e+02] [ 2.06688217e-01 -9.78406396e-01 -9.51040039e-04 1.21102294e+02] [ 4.92074347e-03 6.74884917e-05 9.99987891e-01 1.00587563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.66028169299994 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:184.14, Y:121.10, Z:1.01 [[-9.78834718e-01 -2.04595402e-01 4.82879821e-03 1.84142706e+02] [ 2.04593208e-01 -9.78846627e-01 -9.49197186e-04 1.21098497e+02] [ 4.92085422e-03 5.88321587e-05 9.99987891e-01 1.00839740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.690281693 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:184.11, Y:121.10, Z:1.01 [[-9.79328951e-01 -2.02216432e-01 4.82915976e-03 1.84113954e+02] [ 2.02214219e-01 -9.79340856e-01 -9.47354195e-04 1.21102507e+02] [ 4.92096404e-03 4.87533781e-05 9.99987891e-01 1.01149756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.72028169299995 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:184.12, Y:121.10, Z:1.01 [[-9.80424571e-01 -1.96835812e-01 4.82952421e-03 1.84119994e+02] [ 1.96833543e-01 -9.80436465e-01 -9.45492573e-04 1.21100583e+02] [ 4.92114845e-03 2.36282110e-05 9.99987891e-01 1.01017041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.750281693 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:184.12, Y:121.10, Z:1.01 [[-9.80991114e-01 -1.93992544e-01 4.82989170e-03 1.84124370e+02] [ 1.93990249e-01 -9.81003004e-01 -9.43611599e-04 1.21099659e+02] [ 4.92119188e-03 1.12772991e-05 9.99987891e-01 1.00845363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.78028169299995 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:184.13, Y:121.10, Z:1.01 [[-9.81510654e-01 -1.91346559e-01 4.83025765e-03 1.84131935e+02] [ 1.91344242e-01 -9.81522539e-01 -9.41734611e-04 1.21097966e+02] [ 4.92120443e-03 -8.05683341e-08 9.99987891e-01 1.00754609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.810281693 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:184.12, Y:121.10, Z:1.01 [[-9.82358263e-01 -1.86946271e-01 4.83062194e-03 1.84123158e+02] [ 1.86943910e-01 -9.82370140e-01 -9.39862228e-04 1.21099185e+02] [ 4.92116249e-03 -2.02260722e-05 9.99987891e-01 1.00738821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.84028169299995 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:184.13, Y:121.10, Z:1.01 [[-9.82712643e-01 -1.85074369e-01 4.83098631e-03 1.84132076e+02] [ 1.85071994e-01 -9.82724518e-01 -9.37985595e-04 1.21098585e+02] [ 4.92112578e-03 -2.76900345e-05 9.99987891e-01 1.00773333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.870281693 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:184.15, Y:121.10, Z:1.01 [[-9.83021693e-01 -1.83425758e-01 4.83135062e-03 1.84151229e+02] [ 1.83423372e-01 -9.83033565e-01 -9.36105333e-04 1.21096692e+02] [ 4.92108566e-03 -3.40292258e-05 9.99987891e-01 1.00848726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.90028169299995 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:184.16, Y:121.10, Z:1.01 [[-9.83500920e-01 -1.80838592e-01 4.83148564e-03 1.84162239e+02] [ 1.80836178e-01 -9.83512787e-01 -9.35407954e-04 1.21097384e+02] [ 4.92098576e-03 -4.62671851e-05 9.99987891e-01 1.00769848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.930281693 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:184.17, Y:121.10, Z:1.01 [[-9.83560142e-01 -1.80516203e-01 4.83184257e-03 1.84165183e+02] [ 1.80513795e-01 -9.83572010e-01 -9.33560573e-04 1.21097528e+02] [ 4.92098792e-03 -4.59987299e-05 9.99987891e-01 1.00642460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.96028169299996 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:184.15, Y:121.10, Z:1.01 [[-9.83522354e-01 -1.80721968e-01 4.83219780e-03 1.84151392e+02] [ 1.80719571e-01 -9.83534223e-01 -9.31718266e-04 1.21100856e+02] [ 4.92101387e-03 -4.30930295e-05 9.99987891e-01 1.00611466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.990281693 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:184.14, Y:121.11, Z:1.01 [[-9.83259760e-01 -1.82145246e-01 4.83255438e-03 1.84139201e+02] [ 1.82142876e-01 -9.83271635e-01 -9.29865085e-04 1.21105383e+02] [ 4.92108415e-03 -3.40835673e-05 9.99987891e-01 1.00591079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.02028169299996 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:184.16, Y:121.10, Z:1.01 [[-9.83097619e-01 -1.83018347e-01 4.83291444e-03 1.84159303e+02] [ 1.83015997e-01 -9.83109497e-01 -9.27989907e-04 1.21102392e+02] [ 4.92112327e-03 -2.78040145e-05 9.99987891e-01 1.00509627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.050281693 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:184.15, Y:121.10, Z:1.00 [[-9.82952998e-01 -1.83793488e-01 4.83304880e-03 1.84152297e+02] [ 1.83791151e-01 -9.82964879e-01 -9.27289633e-04 1.21103850e+02] [ 4.92114702e-03 -2.32105252e-05 9.99987891e-01 1.00411278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.08028169299996 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:184.16, Y:121.10, Z:1.00 [[-9.82771862e-01 -1.84759587e-01 4.83340642e-03 1.84161934e+02] [ 1.84757270e-01 -9.82783748e-01 -9.25421819e-04 1.21102423e+02] [ 4.92117383e-03 -1.64715520e-05 9.99987891e-01 1.00280885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.11028169299993 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:184.14, Y:121.11, Z:1.00 [[-9.82601776e-01 -1.85662019e-01 4.83376373e-03 1.84138820e+02] [ 1.85659722e-01 -9.82613665e-01 -9.23551679e-04 1.21107776e+02] [ 4.92119077e-03 -1.00482877e-05 9.99987891e-01 1.00220165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.14028169299996 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:184.17, Y:121.11, Z:1.00 [[-9.82413362e-01 -1.86656416e-01 4.83412285e-03 1.84165183e+02] [ 1.86654140e-01 -9.82425255e-01 -9.21668119e-04 1.21105910e+02] [ 4.92119964e-03 -3.15003092e-06 9.99987891e-01 1.00193836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.17028169299994 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:184.16, Y:121.11, Z:1.00 [[-9.82549585e-01 -1.85938007e-01 4.83425711e-03 1.84161216e+02] [ 1.85935726e-01 -9.82561478e-01 -9.20963368e-04 1.21108433e+02] [ 4.92119690e-03 -6.03107130e-06 9.99987891e-01 1.00261853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.20028169299997 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:184.17, Y:121.11, Z:1.00 [[-9.82766162e-01 -1.84789872e-01 4.83461324e-03 1.84169482e+02] [ 1.84787587e-01 -9.82778054e-01 -9.19090073e-04 1.21108313e+02] [ 4.92119032e-03 -9.87410978e-06 9.99987891e-01 1.00239444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.23028169299994 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:184.15, Y:121.11, Z:1.00 [[-9.82940150e-01 -1.83862136e-01 4.83496875e-03 1.84151771e+02] [ 1.83859849e-01 -9.82952041e-01 -9.17216005e-04 1.21113284e+02] [ 4.92118370e-03 -1.26118140e-05 9.99987891e-01 1.00289430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.26028169299997 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:184.17, Y:121.11, Z:1.01 [[-9.82879791e-01 -1.84184517e-01 4.83532565e-03 1.84173061e+02] [ 1.84182243e-01 -9.82891685e-01 -9.15330692e-04 1.21113580e+02] [ 4.92119111e-03 -9.07891736e-06 9.99987891e-01 1.00511959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.29028169299994 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:184.17, Y:121.12, Z:1.01 [[-9.82704117e-01 -1.85119519e-01 4.83545913e-03 1.84166259e+02] [ 1.85117259e-01 -9.82716014e-01 -9.14624958e-04 1.21116294e+02] [ 4.92119806e-03 -3.67876977e-06 9.99987891e-01 1.00566359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.32028169299997 meters Centerline goodness : 0.998492 Centerline is valid? [True, True] Translation: X:184.17, Y:121.12, Z:1.00 [[-9.82430548e-01 -1.86565895e-01 4.83581411e-03 1.84167442e+02] [ 1.86563662e-01 -9.82442450e-01 -9.12744238e-04 1.21117243e+02] [ 4.92119601e-03 5.47936861e-06 9.99987891e-01 1.00482820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.35028169299994 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:184.19, Y:121.12, Z:1.00 [[-9.81833168e-01 -1.89684587e-01 4.83616992e-03 1.84185656e+02] [ 1.89682401e-01 -9.81845078e-01 -9.10855078e-04 1.21117113e+02] [ 4.92114480e-03 2.30285971e-05 9.99987891e-01 1.00336170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.380281693 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:184.19, Y:121.12, Z:1.00 [[-9.81639430e-01 -1.90684655e-01 4.83652314e-03 1.84189154e+02] [ 1.90682490e-01 -9.81651344e-01 -9.08975656e-04 1.21119419e+02] [ 4.92110715e-03 2.99539322e-05 9.99987891e-01 1.00384670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.41028169299994 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:184.21, Y:121.12, Z:1.00 [[-9.81507737e-01 -1.91361352e-01 4.83687356e-03 1.84207874e+02] [ 1.91359205e-01 -9.81519654e-01 -9.07107133e-04 1.21118547e+02] [ 4.92107172e-03 3.52476124e-05 9.99987891e-01 1.00464658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.440281693 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:184.22, Y:121.12, Z:1.01 [[-9.81386957e-01 -1.91979797e-01 4.83722111e-03 1.84217371e+02] [ 1.91977667e-01 -9.81398877e-01 -9.05250007e-04 1.21118437e+02] [ 4.92103308e-03 4.02378760e-05 9.99987891e-01 1.00580333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.47028169299995 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:184.07, Y:121.15, Z:1.01 [[-9.81131958e-01 -1.93278762e-01 4.83756503e-03 1.84071572e+02] [ 1.93276656e-01 -9.81143882e-01 -9.03408393e-04 1.21147382e+02] [ 4.92095699e-03 4.86255487e-05 9.99987891e-01 1.00789333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.500281693 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:184.21, Y:121.12, Z:1.01 [[-9.80712196e-01 -1.95397496e-01 4.83822064e-03 1.84212736e+02] [ 1.95395434e-01 -9.80724128e-01 -8.99890541e-04 1.21122438e+02] [ 4.92079608e-03 6.28325922e-05 9.99987891e-01 1.00593142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.53028169299995 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:184.21, Y:121.12, Z:1.01 [[-9.80438732e-01 -1.96765063e-01 4.83756214e-03 1.84213964e+02] [ 1.96763000e-01 -9.80450665e-01 -9.03416656e-04 1.21122982e+02] [ 4.92075185e-03 6.61085581e-05 9.99987891e-01 1.00506871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.560281693 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:184.24, Y:121.12, Z:1.01 [[-9.80018445e-01 -1.98847787e-01 4.83790598e-03 1.84235657e+02] [ 1.98845758e-01 -9.80030383e-01 -9.01571558e-04 1.21118472e+02] [ 4.92057036e-03 7.84403269e-05 9.99987891e-01 1.00580279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.59028169299995 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:184.24, Y:121.12, Z:1.01 [[-9.78850051e-01 -2.04521812e-01 4.83803367e-03 1.84235429e+02] [ 2.04519856e-01 -9.78862001e-01 -9.00885837e-04 1.21115346e+02] [ 4.92001813e-03 1.07641802e-04 9.99987891e-01 1.00902708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.620281693 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:184.27, Y:121.11, Z:1.01 [[-9.78213198e-01 -2.07546453e-01 4.83837224e-03 1.84269375e+02] [ 2.07544543e-01 -9.78225155e-01 -8.99063788e-04 1.21107381e+02] [ 4.91961494e-03 1.24701694e-04 9.99987891e-01 1.00820539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.65028169299995 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:184.27, Y:121.11, Z:1.01 [[-9.77765042e-01 -2.09647589e-01 4.83845566e-03 1.84274388e+02] [ 2.09645707e-01 -9.77777004e-01 -8.98614672e-04 1.21105520e+02] [ 4.91932308e-03 1.35727443e-04 9.99987891e-01 1.00550105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.680281693 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:184.27, Y:121.10, Z:1.00 [[-9.77493061e-01 -2.10912069e-01 4.83878546e-03 1.84271890e+02] [ 2.10910212e-01 -9.77505027e-01 -8.96835234e-04 1.21103109e+02] [ 4.91909049e-03 1.43899048e-04 9.99987891e-01 1.00118909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.71028169299996 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:184.27, Y:121.10, Z:1.00 [[-9.77679209e-01 -2.10047488e-01 4.83911472e-03 1.84273027e+02] [ 2.10045628e-01 -9.77691175e-01 -8.95055103e-04 1.21100703e+02] [ 4.91916383e-03 1.41358127e-04 9.99987891e-01 1.00034773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.740281693 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:184.27, Y:121.10, Z:1.00 [[-9.77993383e-01 -2.08579777e-01 4.83944401e-03 1.84266097e+02] [ 2.08577909e-01 -9.78005347e-01 -8.93271144e-04 1.21100477e+02] [ 4.91932041e-03 1.35787842e-04 9.99987891e-01 1.00058415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.77028169299996 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:184.26, Y:121.10, Z:1.00 [[-9.78357457e-01 -2.06865324e-01 4.83977379e-03 1.84256670e+02] [ 2.06863444e-01 -9.78369420e-01 -8.91480760e-04 1.21101168e+02] [ 4.91950313e-03 1.28985423e-04 9.99987891e-01 1.00124875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.800281693 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:184.25, Y:121.10, Z:1.00 [[-9.79017498e-01 -2.03718708e-01 4.84010536e-03 1.84251903e+02] [ 2.03716797e-01 -9.79029456e-01 -8.89676926e-04 1.21101150e+02] [ 4.91984955e-03 1.15001486e-04 9.99987891e-01 1.00071944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.83028169299996 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:184.25, Y:121.10, Z:1.00 [[-9.79345667e-01 -2.02135188e-01 4.84043852e-03 1.84253125e+02] [ 2.02133267e-01 -9.79357623e-01 -8.87860630e-04 1.21100111e+02] [ 4.91998824e-03 1.08891191e-04 9.99987891e-01 9.99485160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.86028169299993 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:184.25, Y:121.10, Z:1.00 [[-9.79688402e-01 -2.00467460e-01 4.84077207e-03 1.84251303e+02] [ 2.00465528e-01 -9.79700356e-01 -8.86038277e-04 1.21098930e+02] [ 4.92012797e-03 1.02366509e-04 9.99987891e-01 9.99634917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.89028169299996 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:184.26, Y:121.10, Z:1.00 [[-9.79940568e-01 -1.99231138e-01 4.84110554e-03 1.84264717e+02] [ 1.99229200e-01 -9.79952521e-01 -8.84212516e-04 1.21095096e+02] [ 4.92021625e-03 9.80138709e-05 9.99987891e-01 1.00113540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.92028169299994 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:184.25, Y:121.10, Z:1.00 [[-9.80230073e-01 -1.97801833e-01 4.84143735e-03 1.84252137e+02] [ 1.97799887e-01 -9.80242024e-01 -8.82391987e-04 1.21095819e+02] [ 4.92031910e-03 9.26885975e-05 9.99987891e-01 1.00494227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.95028169299997 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:184.27, Y:121.09, Z:1.01 [[-9.80467807e-01 -1.96620031e-01 4.84176896e-03 1.84267776e+02] [ 1.96618079e-01 -9.80479758e-01 -8.80568659e-04 1.21092519e+02] [ 4.92039389e-03 8.86100896e-05 9.99987891e-01 1.00593992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.98028169299994 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:184.25, Y:121.10, Z:1.01 [[-9.80730820e-01 -1.95303897e-01 4.84210010e-03 1.84251729e+02] [ 1.95301938e-01 -9.80742770e-01 -8.78744004e-04 1.21095228e+02] [ 4.92047679e-03 8.38602071e-05 9.99987891e-01 1.00728810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.01028169299997 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:184.26, Y:121.09, Z:1.01 [[-9.81016569e-01 -1.93863464e-01 4.84243114e-03 1.84258078e+02] [ 1.93861497e-01 -9.81028517e-01 -8.76915935e-04 1.21093124e+02] [ 4.92056500e-03 7.84918859e-05 9.99987891e-01 1.00702490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.04028169299994 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:184.24, Y:121.10, Z:1.01 [[-9.81076755e-01 -1.93558646e-01 4.84276329e-03 1.84242046e+02] [ 1.93556684e-01 -9.81088704e-01 -8.75077801e-04 1.21095243e+02] [ 4.92055923e-03 7.88307144e-05 9.99987891e-01 1.00608544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.07028169299997 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:184.26, Y:121.09, Z:1.00 [[-9.81059428e-01 -1.93646436e-01 4.84309643e-03 1.84262579e+02] [ 1.93644485e-01 -9.81071379e-01 -8.73230108e-04 1.21090420e+02] [ 4.92052120e-03 8.11482822e-05 9.99987891e-01 1.00441574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.10028169299994 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:184.26, Y:121.09, Z:1.00 [[-9.81105472e-01 -1.93413021e-01 4.84322093e-03 1.84264977e+02] [ 1.93411070e-01 -9.81117423e-01 -8.72539048e-04 1.21088694e+02] [ 4.92052885e-03 8.06797092e-05 9.99987891e-01 1.00283732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.130281693 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:184.27, Y:121.09, Z:1.00 [[-9.81044906e-01 -1.93719986e-01 4.84355082e-03 1.84265597e+02] [ 1.93718047e-01 -9.81056859e-01 -8.70703941e-04 1.21085330e+02] [ 4.92047151e-03 8.40835420e-05 9.99987891e-01 1.00196432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.16028169299994 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:184.26, Y:121.08, Z:1.00 [[-9.81010183e-01 -1.93895739e-01 4.84388028e-03 1.84263314e+02] [ 1.93893812e-01 -9.81022138e-01 -8.68867211e-04 1.21084320e+02] [ 4.92042344e-03 8.68308315e-05 9.99987891e-01 1.00265550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.190281693 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:184.27, Y:121.08, Z:1.00 [[-9.80921057e-01 -1.94346117e-01 4.84420965e-03 1.84274196e+02] [ 1.94344204e-01 -9.80933014e-01 -8.67027025e-04 1.21080972e+02] [ 4.92034850e-03 9.09590021e-05 9.99987891e-01 1.00275126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.22028169299995 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:184.28, Y:121.08, Z:1.00 [[-9.80833534e-01 -1.94787341e-01 4.84453782e-03 1.84281386e+02] [ 1.94785443e-01 -9.80845494e-01 -8.65189437e-04 1.21076453e+02] [ 4.92027104e-03 9.50386308e-05 9.99987891e-01 1.00388540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.250281693 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:184.26, Y:121.08, Z:1.00 [[-9.80956235e-01 -1.94168465e-01 4.84486364e-03 1.84260700e+02] [ 1.94166568e-01 -9.80968194e-01 -8.63361053e-04 1.21077800e+02] [ 4.92029463e-03 9.37911390e-05 9.99987891e-01 1.00358653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.28028169299995 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:184.26, Y:121.07, Z:1.00 [[-9.81091713e-01 -1.93482751e-01 4.84519091e-03 1.84262993e+02] [ 1.93480855e-01 -9.81103673e-01 -8.61520494e-04 1.21074692e+02] [ 4.92032395e-03 9.22210632e-05 9.99987891e-01 1.00288061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.310281693 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:184.28, Y:121.07, Z:1.00 [[-9.81154547e-01 -1.93163857e-01 4.84552019e-03 1.84277166e+02] [ 1.93161966e-01 -9.81166508e-01 -8.59664495e-04 1.21069608e+02] [ 4.92031823e-03 9.25064771e-05 9.99987891e-01 1.00257685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.34028169299995 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:184.28, Y:121.06, Z:1.00 [[-9.81006184e-01 -1.93915923e-01 4.84584724e-03 1.84278885e+02] [ 1.93914051e-01 -9.81018147e-01 -8.57816984e-04 1.21063164e+02] [ 4.92020845e-03 9.81541004e-05 9.99987891e-01 1.00415313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.370281693 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:184.27, Y:121.06, Z:1.00 [[-9.80897767e-01 -1.94463586e-01 4.84617203e-03 1.84271816e+02] [ 1.94461729e-01 -9.80909732e-01 -8.55978167e-04 1.21061031e+02] [ 4.92011389e-03 1.02767922e-04 9.99987891e-01 1.00387156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.40028169299995 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:184.27, Y:121.06, Z:1.00 [[-9.80851011e-01 -1.94699272e-01 4.84649719e-03 1.84274310e+02] [ 1.94697427e-01 -9.80862978e-01 -8.54133152e-04 1.21057019e+02] [ 4.92004877e-03 1.05823168e-04 9.99987891e-01 1.00289067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.430281693 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:184.27, Y:121.05, Z:1.00 [[-9.80895419e-01 -1.94475410e-01 4.84682272e-03 1.84272669e+02] [ 1.94473572e-01 -9.80907388e-01 -8.52281900e-04 1.21051082e+02] [ 4.92003209e-03 1.06579517e-04 9.99987891e-01 1.00097251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.46028169299996 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:184.28, Y:121.05, Z:1.00 [[-9.80969762e-01 -1.94100052e-01 4.84714776e-03 1.84275160e+02] [ 1.94098219e-01 -9.80981732e-01 -8.50429286e-04 1.21050719e+02] [ 4.92003177e-03 1.06577331e-04 9.99987891e-01 1.00096013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.490281693 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:184.27, Y:121.05, Z:1.00 [[-9.81196715e-01 -1.92949498e-01 4.84747247e-03 1.84271556e+02] [ 1.92947659e-01 -9.81208684e-01 -8.48574402e-04 1.21048308e+02] [ 4.92011408e-03 1.02690051e-04 9.99987891e-01 1.00206241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.52028169299996 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:184.28, Y:121.05, Z:1.00 [[-9.81484653e-01 -1.91479440e-01 4.84779716e-03 1.84276237e+02] [ 1.91477592e-01 -9.81496620e-01 -8.46715376e-04 1.21045284e+02] [ 4.92022512e-03 9.72063828e-05 9.99987891e-01 1.00348048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.550281693 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:184.27, Y:121.04, Z:1.01 [[-9.81849422e-01 -1.89600125e-01 4.84812152e-03 1.84270894e+02] [ 1.89598264e-01 -9.81861388e-01 -8.44854065e-04 1.21044512e+02] [ 4.92036776e-03 8.96759480e-05 9.99987891e-01 1.00569412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.58028169299996 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:184.26, Y:121.04, Z:1.00 [[-9.82561871e-01 -1.85872704e-01 4.84844576e-03 1.84261196e+02] [ 1.85870807e-01 -9.82573831e-01 -8.42989210e-04 1.21043200e+02] [ 4.92064461e-03 7.28954711e-05 9.99987891e-01 1.00383174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.61028169299993 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:184.26, Y:121.04, Z:1.00 [[-9.82884516e-01 -1.84158949e-01 4.84877151e-03 1.84262445e+02] [ 1.84157040e-01 -9.82896473e-01 -8.41111359e-04 1.21041441e+02] [ 4.92073860e-03 6.62200787e-05 9.99987891e-01 1.00290339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.64028169299996 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:184.27, Y:121.04, Z:1.00 [[-9.83134355e-01 -1.82820477e-01 4.84909812e-03 1.84273384e+02] [ 1.82818561e-01 -9.83146311e-01 -8.39224190e-04 1.21038329e+02] [ 4.92080030e-03 6.14350091e-05 9.99987891e-01 1.00194037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.67028169299994 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:184.26, Y:121.04, Z:1.00 [[-9.83379218e-01 -1.81498750e-01 4.84942301e-03 1.84259546e+02] [ 1.81496827e-01 -9.83391174e-01 -8.37342607e-04 1.21039720e+02] [ 4.92085642e-03 5.67295721e-05 9.99987891e-01 1.00354972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.70028169299997 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:184.27, Y:121.04, Z:1.01 [[-9.83734992e-01 -1.79560425e-01 4.84974815e-03 1.84265631e+02] [ 1.79558488e-01 -9.83746945e-01 -8.35455185e-04 1.21037816e+02] [ 4.92093962e-03 4.89469446e-05 9.99987891e-01 1.00761955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.73028169299994 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:184.28, Y:121.04, Z:1.01 [[-9.83907274e-01 -1.78613975e-01 4.85007415e-03 1.84278476e+02] [ 1.78612036e-01 -9.83919227e-01 -8.33558351e-04 1.21035567e+02] [ 4.92096638e-03 4.61374942e-05 9.99987891e-01 1.00669076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.76028169299997 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:184.28, Y:121.04, Z:1.00 [[-9.84039887e-01 -1.77881911e-01 4.85039760e-03 1.84279465e+02] [ 1.77879973e-01 -9.84051840e-01 -8.31671959e-04 1.21035987e+02] [ 4.92098208e-03 4.43902120e-05 9.99987891e-01 1.00478958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.79028169299994 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:184.28, Y:121.04, Z:1.00 [[-9.84016563e-01 -1.78010881e-01 4.85071923e-03 1.84276624e+02] [ 1.78008953e-01 -9.84028518e-01 -8.29791787e-04 1.21037347e+02] [ 4.92095803e-03 4.69425916e-05 9.99987891e-01 1.00355040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.82028169299997 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:184.27, Y:121.04, Z:1.01 [[-9.83873916e-01 -1.78797607e-01 4.85104106e-03 1.84272225e+02] [ 1.78795698e-01 -9.83885874e-01 -8.27906082e-04 1.21038074e+02] [ 4.92089840e-03 5.27900735e-05 9.99987891e-01 1.00509402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.85028169299994 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:184.29, Y:121.04, Z:1.01 [[-9.83600363e-01 -1.80296396e-01 4.85136362e-03 1.84286032e+02] [ 1.80294514e-01 -9.83612325e-01 -8.26011635e-04 1.21035026e+02] [ 4.92078797e-03 6.22089018e-05 9.99987891e-01 1.00596613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.880281693 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:184.30, Y:121.03, Z:1.01 [[-9.83207933e-01 -1.82424290e-01 4.85168494e-03 1.84300067e+02] [ 1.82422444e-01 -9.83219901e-01 -8.24119943e-04 1.21030905e+02] [ 4.92061268e-03 7.47749570e-05 9.99987891e-01 1.00690869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.91028169299994 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:184.30, Y:121.02, Z:1.00 [[-9.82112522e-01 -1.88232444e-01 4.85200269e-03 1.84301900e+02] [ 1.88230678e-01 -9.82124501e-01 -8.22244943e-04 1.21024660e+02] [ 4.92004390e-03 1.05758702e-04 9.99987891e-01 1.00385111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.940281693 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:184.30, Y:121.02, Z:1.00 [[-9.81706231e-01 -1.90340039e-01 4.85231834e-03 1.84299259e+02] [ 1.90338308e-01 -9.81718216e-01 -8.20377971e-04 1.21022129e+02] [ 4.91976008e-03 1.18211893e-04 9.99987891e-01 1.00173955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.97028169299995 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:184.30, Y:121.02, Z:1.00 [[-9.81473547e-01 -1.91536234e-01 4.85263374e-03 1.84298711e+02] [ 1.91534527e-01 -9.81485535e-01 -8.18508072e-04 1.21019398e+02] [ 4.91956377e-03 1.26102885e-04 9.99987891e-01 9.99852321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.000281693 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:184.30, Y:121.01, Z:1.00 [[-9.81467314e-01 -1.91568162e-01 4.85294921e-03 1.84303651e+02] [ 1.91566464e-01 -9.81479303e-01 -8.16633339e-04 1.21013417e+02] [ 4.91951016e-03 1.28163393e-04 9.99987891e-01 9.97734546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.03028169299995 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:184.31, Y:121.01, Z:1.00 [[-9.81777497e-01 -1.89972082e-01 4.85326396e-03 1.84309516e+02] [ 1.89970374e-01 -9.81789485e-01 -8.14758485e-04 1.21009047e+02] [ 4.91966489e-03 1.22064821e-04 9.99987891e-01 9.99122279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.060281693 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:184.31, Y:121.01, Z:1.00 [[-9.82089960e-01 -1.88350080e-01 4.85357704e-03 1.84307388e+02] [ 1.88348361e-01 -9.82101947e-01 -8.12889143e-04 1.21006000e+02] [ 4.91981520e-03 1.15833017e-04 9.99987891e-01 1.00020061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.09028169299995 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:184.29, Y:121.00, Z:1.00 [[-9.82423306e-01 -1.86603557e-01 4.85388940e-03 1.84291071e+02] [ 1.86601827e-01 -9.82435291e-01 -8.11019681e-04 1.21004425e+02] [ 4.91997140e-03 1.08979993e-04 9.99987891e-01 1.00078150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.120281693 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:184.29, Y:121.00, Z:1.00 [[-9.82958714e-01 -1.83762357e-01 4.85420372e-03 1.84293036e+02] [ 1.83760601e-01 -9.82970695e-01 -8.09134028e-04 1.20996076e+02] [ 4.92022838e-03 9.66660493e-05 9.99987891e-01 1.00112804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.15028169299995 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:184.29, Y:120.99, Z:1.00 [[-9.83256686e-01 -1.82161255e-01 4.85451926e-03 1.84289270e+02] [ 1.82159489e-01 -9.83268666e-01 -8.07236406e-04 1.20993897e+02] [ 4.92034388e-03 9.05761565e-05 9.99987891e-01 1.00107107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.180281693 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:184.30, Y:120.99, Z:1.00 [[-9.83598865e-01 -1.80304472e-01 4.85483481e-03 1.84300933e+02] [ 1.80302692e-01 -9.83610843e-01 -8.05334158e-04 1.20989723e+02] [ 4.92047351e-03 8.32140239e-05 9.99987891e-01 1.00188113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.21028169299996 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:184.30, Y:120.99, Z:1.00 [[-9.84005626e-01 -1.78071209e-01 4.85514914e-03 1.84298597e+02] [ 1.78069412e-01 -9.84017601e-01 -8.03434691e-04 1.20988114e+02] [ 4.92062080e-03 7.39692986e-05 9.99987891e-01 1.00313795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.240281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:184.32, Y:120.98, Z:1.00 [[-9.84685893e-01 -1.74270240e-01 4.85546214e-03 1.84317003e+02] [ 1.74268406e-01 -9.84697862e-01 -8.01538643e-04 1.20981400e+02] [ 4.92084752e-03 5.68898532e-05 9.99987891e-01 1.00411940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.27028169299996 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:184.31, Y:120.98, Z:1.00 [[-9.85025245e-01 -1.72341775e-01 4.85577298e-03 1.84309871e+02] [ 1.72339927e-01 -9.85037213e-01 -7.99651099e-04 1.20981402e+02] [ 4.92093037e-03 4.91670391e-05 9.99987891e-01 1.00321585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.300281693 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:184.32, Y:120.98, Z:1.00 [[-9.85748165e-01 -1.68157589e-01 4.85608231e-03 1.84323881e+02] [ 1.68155699e-01 -9.85760125e-01 -7.97768209e-04 1.20976891e+02] [ 4.92108308e-03 3.01793662e-05 9.99987891e-01 1.00390457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.33028169299996 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:184.35, Y:120.97, Z:1.01 [[-9.86121260e-01 -1.65955647e-01 4.85639054e-03 1.84346598e+02] [ 1.65953740e-01 -9.86133218e-01 -7.95887407e-04 1.20972469e+02] [ 4.92113004e-03 2.10946796e-05 9.99987891e-01 1.00593792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.36028169299993 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:184.35, Y:120.97, Z:1.01 [[-9.86506404e-01 -1.63650623e-01 4.85669438e-03 1.84349123e+02] [ 1.63648697e-01 -9.86518359e-01 -7.94028995e-04 1.20972021e+02] [ 4.92116151e-03 1.14770193e-05 9.99987891e-01 1.00810898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.39028169299996 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:184.34, Y:120.97, Z:1.01 [[-9.86998630e-01 -1.60655265e-01 4.85699531e-03 1.84344333e+02] [ 1.60653312e-01 -9.87010581e-01 -7.92183952e-04 1.20973958e+02] [ 4.92117428e-03 -1.59209529e-06 9.99987891e-01 1.00865330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.42028169299994 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:184.37, Y:120.97, Z:1.01 [[-9.87897028e-01 -1.55035054e-01 4.85729628e-03 1.84373626e+02] [ 1.55033042e-01 -9.87908969e-01 -7.90334211e-04 1.20973289e+02] [ 4.92109607e-03 -2.77273985e-05 9.99987891e-01 1.00635348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.45028169299997 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:184.39, Y:120.97, Z:1.00 [[-9.88438874e-01 -1.51542073e-01 4.85729628e-03 1.84388637e+02] [ 1.51540018e-01 -9.88450807e-01 -7.90334211e-04 1.20973011e+02] [ 4.92096731e-03 -4.51222892e-05 9.99987891e-01 1.00325060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.48028169299994 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:184.38, Y:120.98, Z:1.00 [[-9.88967003e-01 -1.48056307e-01 4.85758996e-03 1.84382855e+02] [ 1.48054220e-01 -9.88978931e-01 -7.88525039e-04 1.20976274e+02] [ 4.92080023e-03 -6.06385520e-05 9.99987891e-01 1.00081396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.51028169299997 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:184.39, Y:120.98, Z:1.00 [[-9.89500153e-01 -1.44450160e-01 4.85788254e-03 1.84389350e+02] [ 1.44448038e-01 -9.89512074e-01 -7.86718382e-04 1.20978128e+02] [ 4.92057503e-03 -7.67463566e-05 9.99987891e-01 1.00010668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.54028169299994 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:184.41, Y:120.98, Z:1.00 [[-9.90199595e-01 -1.39574927e-01 4.85817497e-03 1.84413208e+02] [ 1.39572755e-01 -9.90211508e-01 -7.84908403e-04 1.20981088e+02] [ 4.92017429e-03 -9.91471188e-05 9.99987891e-01 1.00123068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.57028169299997 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:184.42, Y:120.98, Z:1.00 [[-9.90393704e-01 -1.38190830e-01 4.85846425e-03 1.84420838e+02] [ 1.38188651e-01 -9.90405616e-01 -7.83113695e-04 1.20983263e+02] [ 4.92006941e-03 -1.04206255e-04 9.99987891e-01 1.00191383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.60028169299994 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:184.42, Y:120.99, Z:1.00 [[-9.90396788e-01 -1.38168718e-01 4.85875035e-03 1.84415487e+02] [ 1.38166547e-01 -9.90408701e-01 -7.81334572e-04 1.20987285e+02] [ 4.92010462e-03 -1.02514493e-04 9.99987891e-01 1.00280630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.630281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:184.42, Y:120.99, Z:1.00 [[-9.90272013e-01 -1.39060167e-01 4.85903621e-03 1.84416411e+02] [ 1.39058015e-01 -9.90283929e-01 -7.79552799e-04 1.20989827e+02] [ 4.92023021e-03 -9.62813893e-05 9.99987891e-01 1.00195332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.66028169299994 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:184.42, Y:120.99, Z:1.00 [[-9.89859626e-01 -1.41965872e-01 4.85932241e-03 1.84415176e+02] [ 1.41963764e-01 -9.89871550e-01 -7.77764659e-04 1.20994483e+02] [ 4.92052104e-03 -8.00301358e-05 9.99987891e-01 1.00127343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.690281693 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:184.41, Y:121.00, Z:1.00 [[-9.89747196e-01 -1.42747582e-01 4.85960864e-03 1.84405157e+02] [ 1.42745492e-01 -9.89759123e-01 -7.75972111e-04 1.20998124e+02] [ 4.92061013e-03 -7.43289947e-05 9.99987891e-01 1.00128975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.72028169299995 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:184.40, Y:121.00, Z:1.00 [[-9.89715467e-01 -1.42967396e-01 4.85989595e-03 1.84400653e+02] [ 1.42965318e-01 -9.89727396e-01 -7.74168495e-04 1.21001126e+02] [ 4.92065302e-03 -7.14099650e-05 9.99987891e-01 1.00174439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.750281693 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:184.40, Y:121.01, Z:1.00 [[-9.89761910e-01 -1.42645508e-01 4.86018473e-03 1.84402067e+02] [ 1.42643434e-01 -9.89773840e-01 -7.72351302e-04 1.21005953e+02] [ 4.92065614e-03 -7.11704581e-05 9.99987891e-01 1.00382276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.78028169299995 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:184.40, Y:121.01, Z:1.00 [[-9.89822764e-01 -1.42222612e-01 4.86047376e-03 1.84397058e+02] [ 1.42220543e-01 -9.89834695e-01 -7.70528086e-04 1.21009256e+02] [ 4.92065208e-03 -7.14270232e-05 9.99987891e-01 1.00329066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.810281693 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:184.40, Y:121.01, Z:1.00 [[-9.89873081e-01 -1.41871972e-01 4.86076314e-03 1.84397832e+02] [ 1.41869908e-01 -9.89885013e-01 -7.68698207e-04 1.21011480e+02] [ 4.92065332e-03 -7.13176433e-05 9.99987891e-01 1.00225264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.84028169299995 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:184.41, Y:121.01, Z:1.00 [[-9.89846216e-01 -1.42059278e-01 4.86105288e-03 1.84407476e+02] [ 1.42057225e-01 -9.89858150e-01 -7.66861617e-04 1.21012006e+02] [ 4.92069262e-03 -6.85273871e-05 9.99987891e-01 1.00252362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.870281693 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:184.40, Y:121.02, Z:1.00 [[-9.89521072e-01 -1.44306670e-01 4.86134140e-03 1.84400218e+02] [ 1.44304653e-01 -9.89533012e-01 -7.65028224e-04 1.21016979e+02] [ 4.92085647e-03 -5.54973664e-05 9.99987891e-01 1.00225515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.90028169299995 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:184.39, Y:121.02, Z:1.00 [[-9.89373636e-01 -1.45314052e-01 4.86162965e-03 1.84393512e+02] [ 1.45312056e-01 -9.89385579e-01 -7.63192022e-04 1.21020341e+02] [ 4.92092879e-03 -4.86286667e-05 9.99987891e-01 1.00357993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.930281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:184.42, Y:121.02, Z:1.00 [[-9.89191985e-01 -1.46545484e-01 4.86191929e-03 1.84421240e+02] [ 1.46543512e-01 -9.89203932e-01 -7.61342368e-04 1.21018339e+02] [ 4.92100097e-03 -4.06310389e-05 9.99987891e-01 1.00485907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.96028169299996 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:184.40, Y:121.02, Z:1.01 [[-9.89063184e-01 -1.47412270e-01 4.86220653e-03 1.84395912e+02] [ 1.47410317e-01 -9.89075134e-01 -7.59503519e-04 1.21024186e+02] [ 4.92104772e-03 -3.44575614e-05 9.99987891e-01 1.00710762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.990281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:184.39, Y:121.03, Z:1.01 [[-9.88665322e-01 -1.50057444e-01 4.86249350e-03 1.84393231e+02] [ 1.50055533e-01 -9.88677280e-01 -7.57661845e-04 1.21027270e+02] [ 4.92112964e-03 -1.94299401e-05 9.99987891e-01 1.00887613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.02028169299996 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:184.39, Y:121.03, Z:1.01 [[-9.88534149e-01 -1.50919153e-01 4.86278333e-03 1.84386297e+02] [ 1.50917261e-01 -9.88546109e-01 -7.55797072e-04 1.21029472e+02] [ 4.92114979e-03 -1.32532758e-05 9.99987891e-01 1.00757007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.050281693 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:184.39, Y:121.03, Z:1.00 [[-9.88480017e-01 -1.51273286e-01 4.86307404e-03 1.84386355e+02] [ 1.51271407e-01 -9.88491979e-01 -7.53921886e-04 1.21030861e+02] [ 4.92115792e-03 -9.59266456e-06 9.99987891e-01 1.00460783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.08028169299996 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:184.39, Y:121.03, Z:1.00 [[-9.88561946e-01 -1.50736948e-01 4.86336529e-03 1.84394575e+02] [ 1.50735072e-01 -9.88573909e-01 -7.52038383e-04 1.21032469e+02] [ 4.92115601e-03 -1.03568098e-05 9.99987891e-01 1.00120775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.11028169299993 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:184.39, Y:121.03, Z:1.00 [[-9.88776278e-01 -1.49324536e-01 4.86365562e-03 1.84393567e+02] [ 1.49322653e-01 -9.88788240e-01 -7.50156042e-04 1.21033742e+02] [ 4.92114218e-03 -1.54825394e-05 9.99987891e-01 1.00174370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.14028169299996 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:184.40, Y:121.03, Z:1.00 [[-9.89027118e-01 -1.47653997e-01 4.86394502e-03 1.84403702e+02] [ 1.47652102e-01 -9.89039078e-01 -7.48274862e-04 1.21033169e+02] [ 4.92111747e-03 -2.18924217e-05 9.99987891e-01 1.00133949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.17028169299994 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:184.41, Y:121.03, Z:1.00 [[-9.89323520e-01 -1.45654772e-01 4.86423326e-03 1.84410966e+02] [ 1.45652862e-01 -9.89335477e-01 -7.46396404e-04 1.21033531e+02] [ 4.92107473e-03 -2.99380201e-05 9.99987891e-01 1.00256023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.20028169299997 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:184.42, Y:121.04, Z:1.00 [[-9.89797989e-01 -1.42394797e-01 4.86451949e-03 1.84420318e+02] [ 1.42392857e-01 -9.89809941e-01 -7.44526287e-04 1.21036504e+02] [ 4.92096642e-03 -4.42577916e-05 9.99987891e-01 1.00465147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.23028169299994 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:184.43, Y:121.04, Z:1.00 [[-9.90007141e-01 -1.40933295e-01 4.86480386e-03 1.84429764e+02] [ 1.40931347e-01 -9.90019093e-01 -7.42663525e-04 1.21037542e+02] [ 4.92091472e-03 -4.96388313e-05 9.99987891e-01 1.00445321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.26028169299997 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:184.43, Y:121.04, Z:1.00 [[-9.90201853e-01 -1.39558668e-01 4.86508620e-03 1.84427891e+02] [ 1.39556713e-01 -9.90213803e-01 -7.40809297e-04 1.21040544e+02] [ 4.92086187e-03 -5.45953000e-05 9.99987891e-01 1.00400677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.29028169299994 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:184.43, Y:121.05, Z:1.00 [[-9.90479597e-01 -1.37573604e-01 4.86536761e-03 1.84433948e+02] [ 1.37571633e-01 -9.90491545e-01 -7.38956483e-04 1.21045530e+02] [ 4.92076639e-03 -6.25847508e-05 9.99987891e-01 1.00148988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.32028169299997 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:184.44, Y:121.05, Z:1.00 [[-9.90566005e-01 -1.36950048e-01 4.86564854e-03 1.84439095e+02] [ 1.36948079e-01 -9.90577953e-01 -7.37102041e-04 1.21048232e+02] [ 4.92075033e-03 -6.38070018e-05 9.99987891e-01 1.00193270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.35028169299994 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:184.44, Y:121.05, Z:1.00 [[-9.90593541e-01 -1.36750718e-01 4.86592826e-03 1.84440775e+02] [ 1.36748756e-01 -9.90605490e-01 -7.35250861e-04 1.21051411e+02] [ 4.92076133e-03 -6.29251160e-05 9.99987891e-01 1.00224910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.380281693 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:184.44, Y:121.05, Z:1.00 [[-9.90645511e-01 -1.36373720e-01 4.86620727e-03 1.84443265e+02] [ 1.36371763e-01 -9.90657461e-01 -7.33399575e-04 1.21051110e+02] [ 4.92076097e-03 -6.29257343e-05 9.99987891e-01 1.00223672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.41028169299994 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:184.46, Y:121.05, Z:1.00 [[-9.90621933e-01 -1.36544880e-01 4.86648567e-03 1.84455288e+02] [ 1.36542933e-01 -9.90633884e-01 -7.31547567e-04 1.21052293e+02] [ 4.92079468e-03 -6.02028365e-05 9.99987891e-01 1.00291338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.440281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:184.45, Y:121.06, Z:1.00 [[-9.90309774e-01 -1.38790727e-01 4.86676246e-03 1.84453097e+02] [ 1.38788817e-01 -9.90321732e-01 -7.29701549e-04 1.21056406e+02] [ 4.92093643e-03 -4.71783736e-05 9.99987891e-01 1.00323105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.47028169299995 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:184.45, Y:121.06, Z:1.00 [[-9.90055123e-01 -1.40595752e-01 4.86703813e-03 1.84447821e+02] [ 1.40593873e-01 -9.90067085e-01 -7.27858154e-04 1.21058629e+02] [ 4.92102802e-03 -3.63439546e-05 9.99987891e-01 1.00355886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.500281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:184.44, Y:121.06, Z:1.00 [[-9.89753214e-01 -1.42705585e-01 4.86731442e-03 1.84438277e+02] [ 1.42703740e-01 -9.89765182e-01 -7.26005831e-04 1.21061244e+02] [ 4.92110343e-03 -2.39826327e-05 9.99987891e-01 1.00382506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.53028169299995 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:184.44, Y:121.06, Z:1.00 [[-9.89428821e-01 -1.44937625e-01 4.86759202e-03 1.84441715e+02] [ 1.44935817e-01 -9.89440794e-01 -7.24139839e-04 1.21061974e+02] [ 4.92114922e-03 -1.09964028e-05 9.99987891e-01 1.00464690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.560281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:184.43, Y:121.06, Z:1.01 [[-9.88691635e-01 -1.49883803e-01 4.86787011e-03 1.84433098e+02] [ 1.49882063e-01 -9.88703619e-01 -7.22265623e-04 1.21064408e+02] [ 4.92113671e-03 1.55084354e-05 9.99987891e-01 1.00778445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.59028169299995 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:184.43, Y:121.07, Z:1.01 [[-9.88346815e-01 -1.52140967e-01 4.86814859e-03 1.84430020e+02] [ 1.52139264e-01 -9.88358804e-01 -7.20383748e-04 1.21065222e+02] [ 4.92107739e-03 2.86475600e-05 9.99987891e-01 1.00879358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.620281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:184.46, Y:121.06, Z:1.01 [[-9.87790061e-01 -1.55714786e-01 4.86842811e-03 1.84456663e+02] [ 1.55713136e-01 -9.87802057e-01 -7.18489700e-04 1.21060885e+02] [ 4.92092277e-03 4.83612254e-05 9.99987891e-01 1.01004614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.65028169299995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:184.46, Y:121.06, Z:1.01 [[-9.87679888e-01 -1.56412072e-01 4.86853179e-03 1.84461713e+02] [ 1.56410434e-01 -9.87691886e-01 -7.17786479e-04 1.21059749e+02] [ 4.92087982e-03 5.25459018e-05 9.99987891e-01 1.01020678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.680281693 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:184.47, Y:121.06, Z:1.01 [[-9.87609074e-01 -1.56858569e-01 4.86880565e-03 1.84469341e+02] [ 1.56856946e-01 -9.87621074e-01 -7.15924055e-04 1.21058295e+02] [ 4.92083389e-03 5.66528900e-05 9.99987891e-01 1.00956510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.71028169299996 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:184.45, Y:121.06, Z:1.01 [[-9.87562909e-01 -1.57148949e-01 4.86907798e-03 1.84452119e+02] [ 1.57147338e-01 -9.87574911e-01 -7.14067069e-04 1.21060596e+02] [ 4.92079414e-03 5.99764895e-05 9.99987891e-01 1.00818229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.740281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:184.47, Y:121.06, Z:1.00 [[-9.87403731e-01 -1.58146012e-01 4.86935100e-03 1.84465529e+02] [ 1.58144422e-01 -9.87415735e-01 -7.12200403e-04 1.21056418e+02] [ 4.92070546e-03 6.68313653e-05 9.99987891e-01 1.00431841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.77028169299996 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:184.46, Y:121.06, Z:1.00 [[-9.87378303e-01 -1.58304692e-01 4.86945328e-03 1.84460428e+02] [ 1.58303108e-01 -9.87390308e-01 -7.11500419e-04 1.21055427e+02] [ 4.92068483e-03 6.83295117e-05 9.99987891e-01 1.00470804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.800281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:184.47, Y:121.05, Z:1.01 [[-9.87368909e-01 -1.58363261e-01 4.86972582e-03 1.84470494e+02] [ 1.58361687e-01 -9.87380916e-01 -7.09630185e-04 1.21051596e+02] [ 4.92065369e-03 7.05112130e-05 9.99987891e-01 1.00553531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.83028169299996 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:184.45, Y:121.05, Z:1.01 [[-9.87376596e-01 -1.58315319e-01 4.86999754e-03 1.84454958e+02] [ 1.58313753e-01 -9.87388604e-01 -7.07760476e-04 1.21051773e+02] [ 4.92062940e-03 7.21614611e-05 9.99987891e-01 1.00732652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.86028169299993 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.48, Y:121.05, Z:1.01 [[-9.87504815e-01 -1.57513560e-01 4.87026955e-03 1.84475632e+02] [ 1.57511993e-01 -9.87516822e-01 -7.05883781e-04 1.21045106e+02] [ 4.92065937e-03 7.00622326e-05 9.99987891e-01 1.00801495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.89028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:184.47, Y:121.04, Z:1.01 [[-9.87699669e-01 -1.56287055e-01 4.87037115e-03 1.84469877e+02] [ 1.56285478e-01 -9.87711675e-01 -7.05182079e-04 1.21044754e+02] [ 4.92073327e-03 6.46601745e-05 9.99987891e-01 1.00801540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.92028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:184.47, Y:121.04, Z:1.01 [[-9.87947737e-01 -1.54711170e-01 4.87064103e-03 1.84465191e+02] [ 1.54709582e-01 -9.87959741e-01 -7.03313039e-04 1.21044368e+02] [ 4.92080764e-03 5.86983141e-05 9.99987891e-01 1.00770646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.95028169299997 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:184.46, Y:121.04, Z:1.01 [[-9.88522965e-01 -1.50992123e-01 4.87091169e-03 1.84456060e+02] [ 1.50990500e-01 -9.88534965e-01 -7.01433565e-04 1.21044118e+02] [ 4.92097746e-03 4.20782021e-05 9.99987891e-01 1.00805284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.98028169299994 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:184.46, Y:121.04, Z:1.01 [[-9.88881700e-01 -1.48624547e-01 4.87118343e-03 1.84455814e+02] [ 1.48622904e-01 -9.88893697e-01 -6.99541317e-04 1.21043535e+02] [ 4.92105160e-03 3.22058225e-05 9.99987891e-01 1.00799617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.01028169299997 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:184.46, Y:121.04, Z:1.01 [[-9.89256846e-01 -1.46106679e-01 4.87145595e-03 1.84459821e+02] [ 1.46105015e-01 -9.89268840e-01 -6.97638374e-04 1.21042039e+02] [ 4.92110920e-03 2.16006090e-05 9.99987891e-01 1.00824957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.04028169299994 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:184.46, Y:121.04, Z:1.01 [[-9.89524408e-01 -1.44283444e-01 4.87172782e-03 1.84456778e+02] [ 1.44281767e-01 -9.89536400e-01 -6.95734675e-04 1.21041877e+02] [ 4.92113500e-03 1.44550565e-05 9.99987891e-01 1.00750792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.07028169299997 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:184.47, Y:121.04, Z:1.01 [[-9.89692870e-01 -1.43123327e-01 4.87199926e-03 1.84468947e+02] [ 1.43121646e-01 -9.89704862e-01 -6.93828615e-04 1.21039932e+02] [ 4.92114441e-03 1.06113209e-05 9.99987891e-01 1.00628119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.10028169299994 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:184.48, Y:121.04, Z:1.00 [[-9.89817548e-01 -1.42258504e-01 4.87226955e-03 1.84479085e+02] [ 1.42256822e-01 -9.89829540e-01 -6.91925354e-04 1.21038421e+02] [ 4.92114859e-03 8.23372390e-06 9.99987891e-01 1.00344319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.130281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:184.48, Y:121.04, Z:1.00 [[-9.89871685e-01 -1.41881309e-01 4.87253728e-03 1.84476341e+02] [ 1.41879632e-01 -9.89883677e-01 -6.90034803e-04 1.21038706e+02] [ 4.92114816e-03 8.26788179e-06 9.99987891e-01 1.00423780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.16028169299994 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:184.47, Y:121.04, Z:1.01 [[-9.89952272e-01 -1.41317919e-01 4.87280410e-03 1.84467362e+02] [ 1.41316243e-01 -9.89964265e-01 -6.88145429e-04 1.21039626e+02] [ 4.92114921e-03 7.37523901e-06 9.99987891e-01 1.00536463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.190281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:184.48, Y:121.04, Z:1.01 [[-9.90078960e-01 -1.40427581e-01 4.87307185e-03 1.84476503e+02] [ 1.40425904e-01 -9.90090953e-01 -6.86244103e-04 1.21038735e+02] [ 4.92115195e-03 4.86967185e-06 9.99987891e-01 1.00601027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.22028169299995 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:184.47, Y:121.04, Z:1.01 [[-9.90502673e-01 -1.37407082e-01 4.87333936e-03 1.84473128e+02] [ 1.37405379e-01 -9.90514661e-01 -6.84339124e-04 1.21041855e+02] [ 4.92114713e-03 -8.21669094e-06 9.99987891e-01 1.00919982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.250281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:184.50, Y:121.04, Z:1.01 [[-9.90819102e-01 -1.35106456e-01 4.87360603e-03 1.84503162e+02] [ 1.35104734e-01 -9.90831088e-01 -6.82434691e-04 1.21039501e+02] [ 4.92112170e-03 -1.77220806e-05 9.99987891e-01 1.01021329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.28028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:184.51, Y:121.04, Z:1.01 [[-9.91168121e-01 -1.32521709e-01 4.87367190e-03 1.84509870e+02] [ 1.32519958e-01 -9.91180103e-01 -6.81963945e-04 1.21040705e+02] [ 4.92106165e-03 -3.00821267e-05 9.99987891e-01 1.01054759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.310281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:184.52, Y:121.04, Z:1.01 [[-9.91622570e-01 -1.29077200e-01 4.87393240e-03 1.84516848e+02] [ 1.29075416e-01 -9.91634547e-01 -6.80097063e-04 1.21043516e+02] [ 4.92094478e-03 -4.52947451e-05 9.99987891e-01 1.00899008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.34028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:184.52, Y:121.05, Z:1.01 [[-9.91708572e-01 -1.28414759e-01 4.87419146e-03 1.84515272e+02] [ 1.28412976e-01 -9.91720549e-01 -6.78235357e-04 1.21045241e+02] [ 4.92093126e-03 -4.67023849e-05 9.99987891e-01 1.00862330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.370281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.52, Y:121.04, Z:1.01 [[-9.91695397e-01 -1.28516455e-01 4.87444980e-03 1.84523616e+02] [ 1.28514683e-01 -9.91707376e-01 -6.76373552e-04 1.21044498e+02] [ 4.92095295e-03 -4.43181689e-05 9.99987891e-01 1.00929067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.40028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:184.51, Y:121.05, Z:1.01 [[-9.91393929e-01 -1.30821694e-01 4.87470734e-03 1.84514845e+02] [ 1.30819959e-01 -9.91405913e-01 -6.74512270e-04 1.21045401e+02] [ 4.92105452e-03 -3.09983542e-05 9.99987891e-01 1.00708753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.430281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:184.52, Y:121.05, Z:1.01 [[-9.91284699e-01 -1.31646802e-01 4.87496465e-03 1.84519649e+02] [ 1.31645086e-01 -9.91296686e-01 -6.72647490e-04 1.21045497e+02] [ 4.92108819e-03 -2.50200243e-05 9.99987891e-01 1.00558541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.46028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.50, Y:121.05, Z:1.01 [[-9.91237778e-01 -1.31999619e-01 4.87522205e-03 1.84504564e+02] [ 1.31997917e-01 -9.91249767e-01 -6.70776693e-04 1.21048942e+02] [ 4.92110499e-03 -2.13800444e-05 9.99987891e-01 1.00504553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.490281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:184.51, Y:121.05, Z:1.00 [[-9.91360016e-01 -1.31078404e-01 4.87548027e-03 1.84508446e+02] [ 1.31076699e-01 -9.91372005e-01 -6.68894527e-04 1.21049275e+02] [ 4.92109228e-03 -2.40534272e-05 9.99987891e-01 1.00454464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.52028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:184.52, Y:121.05, Z:1.00 [[-9.91486346e-01 -1.30119376e-01 4.87573929e-03 1.84524026e+02] [ 1.30117669e-01 -9.91498335e-01 -6.67001152e-04 1.21046250e+02] [ 4.92107716e-03 -2.69027029e-05 9.99987891e-01 1.00318807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.550281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:184.52, Y:121.05, Z:1.00 [[-9.91662776e-01 -1.28767873e-01 4.87583553e-03 1.84516718e+02] [ 1.28766153e-01 -9.91674762e-01 -6.66296876e-04 1.21046051e+02] [ 4.92104067e-03 -3.28992268e-05 9.99987891e-01 1.00328111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.58028169299996 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:184.42, Y:121.06, Z:1.00 [[-9.91864603e-01 -1.27203904e-01 4.87609181e-03 1.84415829e+02] [ 1.27202174e-01 -9.91876588e-01 -6.64416037e-04 1.21059434e+02] [ 4.92099762e-03 -3.87612683e-05 9.99987891e-01 1.00424799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.61028169299993 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:184.52, Y:121.05, Z:1.01 [[-9.92146054e-01 -1.24989697e-01 4.87675686e-03 1.84523476e+02] [ 1.24987965e-01 -9.92158039e-01 -6.59522728e-04 1.21045851e+02] [ 4.92094706e-03 -4.48069586e-05 9.99987891e-01 1.00517988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.64028169299996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:184.55, Y:121.04, Z:1.01 [[-9.92344033e-01 -1.23408035e-01 4.87609175e-03 1.84553047e+02] [ 1.23406260e-01 -9.92356012e-01 -6.64403951e-04 1.21043020e+02] [ 4.92081175e-03 -5.75770502e-05 9.99987891e-01 1.00628574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.67028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:184.55, Y:121.04, Z:1.01 [[-9.92578897e-01 -1.21504553e-01 4.87615484e-03 1.84548473e+02] [ 1.21502757e-01 -9.92590872e-01 -6.63940658e-04 1.21044518e+02] [ 4.92069859e-03 -6.65472302e-05 9.99987891e-01 1.00659307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.70028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:184.56, Y:121.04, Z:1.00 [[-9.92886987e-01 -1.18960718e-01 4.87640544e-03 1.84556475e+02] [ 1.18958900e-01 -9.92898959e-01 -6.62094937e-04 1.21044847e+02] [ 4.92054117e-03 -7.72936192e-05 9.99987891e-01 1.00477060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.73028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:184.56, Y:121.04, Z:1.01 [[-9.93016979e-01 -1.17870679e-01 4.87665543e-03 1.84564842e+02] [ 1.17868857e-01 -9.93028951e-01 -6.60248511e-04 1.21044785e+02] [ 4.92048396e-03 -8.08321795e-05 9.99987891e-01 1.00567885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.76028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.56, Y:121.05, Z:1.01 [[-9.93133414e-01 -1.16885575e-01 4.87690374e-03 1.84557722e+02] [ 1.16883751e-01 -9.93145385e-01 -6.58409249e-04 1.21046975e+02] [ 4.92043298e-03 -8.38574260e-05 9.99987891e-01 1.00726056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.79028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.56, Y:121.05, Z:1.01 [[-9.93286097e-01 -1.15580897e-01 4.87715172e-03 1.84560645e+02] [ 1.15579066e-01 -9.93298066e-01 -6.56567184e-04 1.21047490e+02] [ 4.92035199e-03 -8.84624180e-05 9.99987891e-01 1.00885308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.82028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:184.58, Y:121.05, Z:1.01 [[-9.93543395e-01 -1.13347846e-01 4.87739989e-03 1.84584234e+02] [ 1.13345997e-01 -9.93555362e-01 -6.54718358e-04 1.21046376e+02] [ 4.92017773e-03 -9.76573449e-05 9.99987891e-01 1.00817250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.85028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:184.59, Y:121.05, Z:1.01 [[-9.93744848e-01 -1.11567863e-01 4.87749193e-03 1.84586670e+02] [ 1.11565996e-01 -9.93756812e-01 -6.54031999e-04 1.21047796e+02] [ 4.92000978e-03 -1.05778686e-04 9.99987891e-01 1.00572639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.880281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:184.59, Y:121.05, Z:1.00 [[-9.93939147e-01 -1.09823399e-01 4.87773543e-03 1.84585400e+02] [ 1.09821520e-01 -9.93951110e-01 -6.52210899e-04 1.21050211e+02] [ 4.91985856e-03 -1.12577625e-04 9.99987891e-01 1.00287530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.91028169299994 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:184.58, Y:121.06, Z:1.00 [[-9.94223342e-01 -1.07220112e-01 4.87797861e-03 1.84580461e+02] [ 1.07218211e-01 -9.94235300e-01 -6.50387053e-04 1.21055656e+02] [ 4.91959310e-03 -1.23621851e-04 9.99987891e-01 1.00349398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.940281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:184.59, Y:121.06, Z:1.01 [[-9.94278062e-01 -1.06711474e-01 4.87822213e-03 1.84585368e+02] [ 1.06709575e-01 -9.94290021e-01 -6.48555378e-04 1.21056588e+02] [ 4.91957588e-03 -1.24291373e-04 9.99987891e-01 1.00513482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.97028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.61, Y:121.05, Z:1.01 [[-9.94260525e-01 -1.06874739e-01 4.87846551e-03 1.84606677e+02] [ 1.06872852e-01 -9.94272485e-01 -6.46719439e-04 1.21054438e+02] [ 4.91964200e-03 -1.21632087e-04 9.99987891e-01 1.00705142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.000281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:184.61, Y:121.06, Z:1.01 [[-9.94188626e-01 -1.07541506e-01 4.87855577e-03 1.84606762e+02] [ 1.07539630e-01 -9.94200589e-01 -6.46037816e-04 1.21055663e+02] [ 4.91973890e-03 -1.17645367e-04 9.99987891e-01 1.00739376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.03028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:184.58, Y:121.06, Z:1.01 [[-9.93926632e-01 -1.09936564e-01 4.87879502e-03 1.84579125e+02] [ 1.09934726e-01 -9.93938600e-01 -6.44226011e-04 1.21062220e+02] [ 4.92004668e-03 -1.03964397e-04 9.99987891e-01 1.00895852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.060281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.58, Y:121.06, Z:1.01 [[-9.93811079e-01 -1.10976276e-01 4.87903642e-03 1.84581247e+02] [ 1.10974459e-01 -9.93823051e-01 -6.42392548e-04 1.21063134e+02] [ 4.92018919e-03 -9.69684031e-05 9.99987891e-01 1.00927817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.09028169299995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:184.60, Y:121.06, Z:1.01 [[-9.93695416e-01 -1.12007202e-01 4.87927982e-03 1.84599471e+02] [ 1.12005407e-01 -9.93707391e-01 -6.40538424e-04 1.21061299e+02] [ 4.92032134e-03 -8.99943743e-05 9.99987891e-01 1.00851499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.120281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.59, Y:121.07, Z:1.01 [[-9.93542989e-01 -1.13351314e-01 4.87937025e-03 1.84589465e+02] [ 1.13349539e-01 -9.93554967e-01 -6.39848857e-04 1.21065192e+02] [ 4.92045025e-03 -8.26429797e-05 9.99987891e-01 1.00620622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.15028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.57, Y:121.07, Z:1.01 [[-9.93506552e-01 -1.13670230e-01 4.87961110e-03 1.84566527e+02] [ 1.13668467e-01 -9.93518532e-01 -6.38006752e-04 1.21069818e+02] [ 4.92050643e-03 -7.92059747e-05 9.99987891e-01 1.00626934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.180281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:184.57, Y:121.07, Z:1.01 [[-9.93500502e-01 -1.13723086e-01 4.87985468e-03 1.84567064e+02] [ 1.13721333e-01 -9.93512483e-01 -6.36138228e-04 1.21070673e+02] [ 4.92054014e-03 -7.70600677e-05 9.99987891e-01 1.00638314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.21028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:184.58, Y:121.07, Z:1.01 [[-9.93512462e-01 -1.13618543e-01 4.88010007e-03 1.84577392e+02] [ 1.13616798e-01 -9.93524444e-01 -6.34250161e-04 1.21070260e+02] [ 4.92056129e-03 -7.56740941e-05 9.99987891e-01 1.00702213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.240281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.60, Y:121.07, Z:1.01 [[-9.93573159e-01 -1.13086519e-01 4.88034419e-03 1.84598520e+02] [ 1.13084777e-01 -9.93585142e-01 -6.32366117e-04 1.21070031e+02] [ 4.92054956e-03 -7.64093674e-05 9.99987891e-01 1.00588247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.27028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.60, Y:121.07, Z:1.01 [[-9.93616031e-01 -1.12709205e-01 4.88043454e-03 1.84601002e+02] [ 1.12707462e-01 -9.93628013e-01 -6.31668088e-04 1.21069784e+02] [ 4.92053128e-03 -7.75741487e-05 9.99987891e-01 1.00587016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.300281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:184.60, Y:121.07, Z:1.01 [[-9.93662451e-01 -1.12299211e-01 4.88067371e-03 1.84595911e+02] [ 1.12297472e-01 -9.93674434e-01 -6.29814665e-04 1.21072759e+02] [ 4.92052837e-03 -7.77358662e-05 9.99987891e-01 1.00524377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.33028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.58, Y:121.08, Z:1.01 [[-9.93725226e-01 -1.11742344e-01 4.88091284e-03 1.84584458e+02] [ 1.11740608e-01 -9.93737210e-01 -6.27955931e-04 1.21075841e+02] [ 4.92051398e-03 -7.86194823e-05 9.99987891e-01 1.00529844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.36028169299993 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.59, Y:121.08, Z:1.01 [[-9.93720411e-01 -1.11785151e-01 4.88115321e-03 1.84585893e+02] [ 1.11783423e-01 -9.93732396e-01 -6.26081938e-04 1.21077167e+02] [ 4.92054674e-03 -7.65183842e-05 9.99987891e-01 1.00551378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.39028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:184.58, Y:121.08, Z:1.00 [[-9.93624690e-01 -1.12632799e-01 4.88139426e-03 1.84576445e+02] [ 1.12631092e-01 -9.93636678e-01 -6.24196853e-04 1.21080779e+02] [ 4.92063742e-03 -7.04206405e-05 9.99987891e-01 1.00141054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.42028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:184.59, Y:121.08, Z:1.00 [[-9.93545253e-01 -1.13331370e-01 4.88163572e-03 1.84593839e+02] [ 1.13329680e-01 -9.93557244e-01 -6.22302771e-04 1.21080535e+02] [ 4.92071095e-03 -6.50517519e-05 9.99987891e-01 9.99985981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.45028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:184.57, Y:121.09, Z:1.00 [[-9.93466469e-01 -1.14019925e-01 4.88169578e-03 1.84573700e+02] [ 1.14018246e-01 -9.93478461e-01 -6.21831250e-04 1.21085092e+02] [ 4.92076076e-03 -6.11661086e-05 9.99987891e-01 9.99654011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.48028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.56, Y:121.09, Z:1.00 [[-9.93110843e-01 -1.17076987e-01 4.88193668e-03 1.84562241e+02] [ 1.17075354e-01 -9.93122841e-01 -6.19934181e-04 1.21088308e+02] [ 4.92094285e-03 -4.41088943e-05 9.99987891e-01 1.00329268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.51028169299997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:184.56, Y:121.09, Z:1.01 [[-9.92859305e-01 -1.19191299e-01 4.88218028e-03 1.84562776e+02] [ 1.19189701e-01 -9.92871308e-01 -6.18009758e-04 1.21088495e+02] [ 4.92103811e-03 -3.16911324e-05 9.99987891e-01 1.00514779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.54028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:184.57, Y:121.09, Z:1.01 [[-9.92587437e-01 -1.21434518e-01 4.88242458e-03 1.84567856e+02] [ 1.21432957e-01 -9.92599445e-01 -6.16073641e-04 1.21087949e+02] [ 4.92110454e-03 -1.86197004e-05 9.99987891e-01 1.00647350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.57028169299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:184.60, Y:121.08, Z:1.01 [[-9.91956369e-01 -1.26486051e-01 4.88266804e-03 1.84600580e+02] [ 1.26484561e-01 -9.91968386e-01 -6.14138097e-04 1.21083475e+02] [ 4.92113223e-03 8.38392365e-06 9.99987891e-01 1.01015335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.60028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.60, Y:121.08, Z:1.01 [[-9.91659141e-01 -1.28795600e-01 4.88272789e-03 1.84596690e+02] [ 1.28794139e-01 -9.91671162e-01 -6.13661812e-04 1.21082912e+02] [ 4.92109739e-03 2.03233915e-05 9.99987891e-01 1.01104821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.630281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:184.61, Y:121.08, Z:1.01 [[-9.91338015e-01 -1.31244416e-01 4.88296510e-03 1.84610019e+02] [ 1.31242994e-01 -9.91350040e-01 -6.11768499e-04 1.21079509e+02] [ 4.92101885e-03 3.43855919e-05 9.99987891e-01 1.00995216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.66028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.62, Y:121.08, Z:1.01 [[-9.91137754e-01 -1.32748293e-01 4.88305358e-03 1.84619903e+02] [ 1.32746894e-01 -9.91149781e-01 -6.11061479e-04 1.21076232e+02] [ 4.92095485e-03 4.25640937e-05 9.99987891e-01 1.00813400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.690281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:184.62, Y:121.07, Z:1.01 [[-9.90898531e-01 -1.34522320e-01 4.88328777e-03 1.84620756e+02] [ 1.34520951e-01 -9.90910562e-01 -6.09184146e-04 1.21071084e+02] [ 4.92085030e-03 5.32648392e-05 9.99987891e-01 1.00512900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.72028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:184.62, Y:121.07, Z:1.01 [[-9.90966795e-01 -1.34018518e-01 4.88352066e-03 1.84624360e+02] [ 1.34017152e-01 -9.90978826e-01 -6.07311421e-04 1.21068196e+02] [ 4.92085655e-03 5.26500796e-05 9.99987891e-01 1.00550239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.750281693 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:184.62, Y:121.07, Z:1.01 [[-9.91131597e-01 -1.32794226e-01 4.88375276e-03 1.84624731e+02] [ 1.32792854e-01 -9.91143628e-01 -6.05439234e-04 1.21065701e+02] [ 4.92089926e-03 4.84575140e-05 9.99987891e-01 1.00629231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.78028169299995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:184.61, Y:121.06, Z:1.00 [[-9.91586552e-01 -1.29353228e-01 4.88398421e-03 1.84614200e+02] [ 1.29351824e-01 -9.91598579e-01 -6.03566331e-04 1.21062366e+02] [ 4.92102506e-03 3.32640085e-05 9.99987891e-01 1.00351268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.810281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:184.61, Y:121.06, Z:1.00 [[-9.91937782e-01 -1.26631672e-01 4.88421614e-03 1.84611989e+02] [ 1.26630244e-01 -9.91949807e-01 -6.01683627e-04 1.21060524e+02] [ 4.92108946e-03 2.16567589e-05 9.99987891e-01 1.00202489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.84028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:184.62, Y:121.06, Z:1.00 [[-9.92334910e-01 -1.23481044e-01 4.88444878e-03 1.84616392e+02] [ 1.23479587e-01 -9.92346931e-01 -5.99789097e-04 1.21058413e+02] [ 4.92113034e-03 7.93805945e-06 9.99987891e-01 1.00204264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.870281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:184.62, Y:121.06, Z:1.00 [[-9.92727563e-01 -1.20283519e-01 4.88468096e-03 1.84615596e+02] [ 1.20282033e-01 -9.92739581e-01 -5.97892250e-04 1.21058094e+02] [ 4.92113271e-03 -6.00476078e-06 9.99987891e-01 1.00410731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.90028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:184.62, Y:121.06, Z:1.01 [[-9.93437255e-01 -1.14274052e-01 4.88491248e-03 1.84624998e+02] [ 1.14272503e-01 -9.93449264e-01 -5.95994668e-04 1.21056847e+02] [ 4.92101943e-03 -3.38721311e-05 9.99987891e-01 1.00561012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.930281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:184.65, Y:121.05, Z:1.00 [[-9.93653908e-01 -1.12374586e-01 4.88514291e-03 1.84648641e+02] [ 1.12373023e-01 -9.93665915e-01 -5.94099868e-04 1.21054112e+02] [ 4.92096173e-03 -4.13713798e-05 9.99987891e-01 1.00351582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.96028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:184.61, Y:121.06, Z:1.00 [[-9.93833015e-01 -1.10779384e-01 4.88522806e-03 1.84610248e+02] [ 1.10777806e-01 -9.93845021e-01 -5.93398900e-04 1.21059342e+02] [ 4.92089594e-03 -4.85645728e-05 9.99987891e-01 1.00131163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.990281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.63, Y:121.06, Z:1.00 [[-9.93969852e-01 -1.09544808e-01 4.88545683e-03 1.84628262e+02] [ 1.09543223e-01 -9.93981857e-01 -5.91509399e-04 1.21058573e+02] [ 4.92085223e-03 -5.27738226e-05 9.99987891e-01 1.00182503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.02028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:184.65, Y:121.06, Z:1.00 [[-9.94003131e-01 -1.09242422e-01 4.88554302e-03 1.84647697e+02] [ 1.09240838e-01 -9.94015136e-01 -5.90796666e-04 1.21057346e+02] [ 4.92084377e-03 -5.35529243e-05 9.99987891e-01 1.00281836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.050281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:184.65, Y:121.06, Z:1.00 [[-9.94045108e-01 -1.08859790e-01 4.88562814e-03 1.84653639e+02] [ 1.08858205e-01 -9.94057113e-01 -5.90091872e-04 1.21058354e+02] [ 4.92083068e-03 -5.47372300e-05 9.99987891e-01 1.00331943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.08028169299996 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:184.61, Y:121.07, Z:1.01 [[-9.94125770e-01 -1.08120687e-01 4.88585338e-03 1.84612901e+02] [ 1.08119101e-01 -9.94137774e-01 -5.88221050e-04 1.21065283e+02] [ 4.92081026e-03 -5.65116269e-05 9.99987891e-01 1.00520914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.11028169299993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:184.63, Y:121.07, Z:1.00 [[-9.93797780e-01 -1.11094971e-01 4.88677513e-03 1.84626327e+02] [ 1.11093460e-01 -9.93809794e-01 -5.80548467e-04 1.21067291e+02] [ 4.92102100e-03 -3.40590210e-05 9.99987891e-01 1.00190673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.14028169299996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:184.64, Y:121.07, Z:1.00 [[-9.93621793e-01 -1.12658151e-01 4.88613011e-03 1.84640621e+02] [ 1.12656632e-01 -9.93633806e-01 -5.85927383e-04 1.21066176e+02] [ 4.92103355e-03 -3.17352574e-05 9.99987891e-01 1.00251382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.17028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.64, Y:121.07, Z:1.00 [[-9.93370103e-01 -1.14856264e-01 4.88635782e-03 1.84637236e+02] [ 1.14854781e-01 -9.93382121e-01 -5.84022173e-04 1.21066402e+02] [ 4.92109910e-03 -1.89286081e-05 9.99987891e-01 1.00388285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.20028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:184.62, Y:121.07, Z:1.01 [[-9.93083367e-01 -1.17309622e-01 4.88658429e-03 1.84621349e+02] [ 1.17308177e-01 -9.93095390e-01 -5.82121061e-04 1.21067510e+02] [ 4.92113273e-03 -4.85844594e-06 9.99987891e-01 1.00550099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.23028169299994 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:184.65, Y:121.06, Z:1.00 [[-9.92388748e-01 -1.23047516e-01 4.88681213e-03 1.84653721e+02] [ 1.23046150e-01 -9.92400780e-01 -5.80202037e-04 1.21059681e+02] [ 4.92106859e-03 2.55174475e-05 9.99987891e-01 1.00426382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.26028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:184.66, Y:121.06, Z:1.00 [[-9.92093810e-01 -1.25403316e-01 4.88686861e-03 1.84657861e+02] [ 1.25401981e-01 -9.92105845e-01 -5.79725961e-04 1.21057076e+02] [ 4.92099047e-03 3.76804701e-05 9.99987891e-01 1.00370349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.29028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:184.67, Y:121.05, Z:1.00 [[-9.91841567e-01 -1.27382976e-01 4.88709157e-03 1.84670606e+02] [ 1.27381675e-01 -9.91853606e-01 -5.77840243e-04 1.21053436e+02] [ 4.92088641e-03 4.93999369e-05 9.99987891e-01 1.00481028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.32028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:184.69, Y:121.05, Z:1.01 [[-9.91528156e-01 -1.29799961e-01 4.88731285e-03 1.84688294e+02] [ 1.29798698e-01 -9.91540199e-01 -5.75962625e-04 1.21046853e+02] [ 4.92072708e-03 6.32836871e-05 9.99987891e-01 1.00698214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.35028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:184.67, Y:121.05, Z:1.01 [[-9.91577580e-01 -1.29421857e-01 4.88739465e-03 1.84672619e+02] [ 1.29420593e-01 -9.91589622e-01 -5.75267694e-04 1.21046129e+02] [ 4.92074202e-03 6.21069652e-05 9.99987891e-01 1.00572532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.380281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:184.67, Y:121.04, Z:1.00 [[-9.91672104e-01 -1.28695570e-01 4.88761294e-03 1.84674774e+02] [ 1.28694307e-01 -9.91684147e-01 -5.73407027e-04 1.21042940e+02] [ 4.92076321e-03 6.03762078e-05 9.99987891e-01 1.00348695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.41028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:184.68, Y:121.04, Z:1.00 [[-9.91734194e-01 -1.28216213e-01 4.88783196e-03 1.84677476e+02] [ 1.28214953e-01 -9.91746237e-01 -5.71533904e-04 1.21040200e+02] [ 4.92076887e-03 5.98834283e-05 9.99987891e-01 1.00109011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.440281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:184.67, Y:121.04, Z:1.00 [[-9.91805453e-01 -1.27663818e-01 4.88805027e-03 1.84673081e+02] [ 1.27662561e-01 -9.91817496e-01 -5.69660697e-04 1.21036050e+02] [ 4.92077884e-03 5.90284299e-05 9.99987891e-01 9.99368354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.47028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:184.68, Y:121.03, Z:1.00 [[-9.91833567e-01 -1.27445206e-01 4.88826833e-03 1.84677308e+02] [ 1.27443955e-01 -9.91845611e-01 -5.67783343e-04 1.21033277e+02] [ 4.92076875e-03 5.98336700e-05 9.99987891e-01 1.00075970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.500281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:184.68, Y:121.03, Z:1.00 [[-9.91846307e-01 -1.27346009e-01 4.88848599e-03 1.84677914e+02] [ 1.27344766e-01 -9.91858352e-01 -5.65903088e-04 1.21031007e+02] [ 4.92075116e-03 6.12342162e-05 9.99987891e-01 1.00302199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.53028169299995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:184.67, Y:121.03, Z:1.01 [[-9.91777732e-01 -1.27878967e-01 4.88870293e-03 1.84672188e+02] [ 1.27877740e-01 -9.91789779e-01 -5.64022750e-04 1.21029552e+02] [ 4.92069224e-03 6.57710767e-05 9.99987891e-01 1.00534030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.560281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:184.68, Y:121.03, Z:1.01 [[-9.91556670e-01 -1.29581902e-01 4.88891983e-03 1.84675463e+02] [ 1.29580705e-01 -9.91568719e-01 -5.62136326e-04 1.21025071e+02] [ 4.92054267e-03 7.61196562e-05 9.99987891e-01 1.00572663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.59028169299995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:184.69, Y:121.02, Z:1.01 [[-9.91527616e-01 -1.29804019e-01 4.88913659e-03 1.84690590e+02] [ 1.29802834e-01 -9.91539667e-01 -5.60244764e-04 1.21021677e+02] [ 4.92049488e-03 7.91256282e-05 9.99987891e-01 1.00529064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.620281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:184.70, Y:121.02, Z:1.01 [[-9.91631962e-01 -1.29004445e-01 4.88935149e-03 1.84698857e+02] [ 1.29003260e-01 -9.91644012e-01 -5.58362910e-04 1.21017583e+02] [ 4.92052743e-03 7.70517719e-05 9.99987891e-01 1.00557203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.65028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:184.70, Y:121.02, Z:1.01 [[-9.91742174e-01 -1.28154408e-01 4.88956419e-03 1.84698687e+02] [ 1.28153222e-01 -9.91754225e-01 -5.56494085e-04 1.21015771e+02] [ 4.92056311e-03 7.47147509e-05 9.99987891e-01 1.00642112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.680281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:184.69, Y:121.01, Z:1.01 [[-9.91851613e-01 -1.27304626e-01 4.88977586e-03 1.84691475e+02] [ 1.27303439e-01 -9.91863664e-01 -5.54627960e-04 1.21014339e+02] [ 4.92059770e-03 7.23766443e-05 9.99987891e-01 1.00650722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.71028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:184.70, Y:121.01, Z:1.01 [[-9.91843622e-01 -1.27366858e-01 4.88998775e-03 1.84700935e+02] [ 1.27365681e-01 -9.91855674e-01 -5.52753383e-04 1.21011453e+02] [ 4.92056456e-03 7.45717020e-05 9.99987891e-01 1.00510579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.740281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.69, Y:121.01, Z:1.00 [[-9.91623091e-01 -1.29072586e-01 4.89019915e-03 1.84687166e+02] [ 1.29071438e-01 -9.91635145e-01 -5.50876838e-04 1.21009918e+02] [ 4.92039644e-03 8.49228428e-05 9.99987891e-01 1.00333448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.77028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:184.69, Y:121.01, Z:1.00 [[-9.91542728e-01 -1.29688485e-01 4.89041045e-03 1.84687848e+02] [ 1.29687354e-01 -9.91554784e-01 -5.48994578e-04 1.21007768e+02] [ 4.92030815e-03 8.98728110e-05 9.99987891e-01 1.00370938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.800281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.70, Y:121.00, Z:1.00 [[-9.91515856e-01 -1.29893764e-01 4.89062243e-03 1.84704585e+02] [ 1.29892645e-01 -9.91527913e-01 -5.47099580e-04 1.21002846e+02] [ 4.92025348e-03 9.27979765e-05 9.99987891e-01 1.00448271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.83028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.71, Y:121.00, Z:1.01 [[-9.91518033e-01 -1.29877133e-01 4.89083267e-03 1.84708226e+02] [ 1.29876023e-01 -9.91530091e-01 -5.45213691e-04 1.20998684e+02] [ 4.92021855e-03 9.46126918e-05 9.99987891e-01 1.00509011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.86028169299993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:184.71, Y:120.99, Z:1.01 [[-9.91515626e-01 -1.29895499e-01 4.89104096e-03 1.84712439e+02] [ 1.29894398e-01 -9.91527685e-01 -5.43338710e-04 1.20991576e+02] [ 4.92017977e-03 9.65900013e-05 9.99987891e-01 1.00670008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.89028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.70, Y:120.99, Z:1.01 [[-9.91566098e-01 -1.29509645e-01 4.89124822e-03 1.84700147e+02] [ 1.29508549e-01 -9.91578158e-01 -5.41466449e-04 1.20990592e+02] [ 4.92018002e-03 9.65586871e-05 9.99987891e-01 1.00619957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.92028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.71, Y:120.99, Z:1.01 [[-9.91661913e-01 -1.28773923e-01 4.89145566e-03 1.84711291e+02] [ 1.28772828e-01 -9.91673973e-01 -5.39585977e-04 1.20987045e+02] [ 4.92021387e-03 9.47997135e-05 9.99987891e-01 1.00540904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.95028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:184.70, Y:120.99, Z:1.00 [[-9.91746339e-01 -1.28122092e-01 4.89166285e-03 1.84700280e+02] [ 1.28120998e-01 -9.91758398e-01 -5.37701038e-04 1.20985625e+02] [ 4.92023910e-03 9.34616888e-05 9.99987891e-01 1.00422589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.98028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.70, Y:120.98, Z:1.00 [[-9.91882821e-01 -1.27061164e-01 4.89186960e-03 1.84702516e+02] [ 1.27060066e-01 -9.91894880e-01 -5.35813477e-04 1.20978316e+02] [ 4.92030149e-03 9.00970915e-05 9.99987891e-01 1.00330628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.01028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:184.71, Y:120.97, Z:1.00 [[-9.91968239e-01 -1.26392569e-01 4.89207662e-03 1.84709926e+02] [ 1.26391472e-01 -9.91980298e-01 -5.33916631e-04 1.20974355e+02] [ 4.92032672e-03 8.86884263e-05 9.99987891e-01 1.00182285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.04028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:184.71, Y:120.97, Z:1.00 [[-9.92053369e-01 -1.25722628e-01 4.89228245e-03 1.84709340e+02] [ 1.25721532e-01 -9.92065428e-01 -5.32023851e-04 1.20967972e+02] [ 4.92035172e-03 8.72691924e-05 9.99987891e-01 9.99099616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.07028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.71, Y:120.96, Z:1.00 [[-9.92161622e-01 -1.24865444e-01 4.89248732e-03 1.84707718e+02] [ 1.24864348e-01 -9.92173681e-01 -5.30133206e-04 1.20964959e+02] [ 4.92039247e-03 8.49194160e-05 9.99987891e-01 9.99259605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.10028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.70, Y:120.96, Z:1.00 [[-9.92284093e-01 -1.23888419e-01 4.89269190e-03 1.84696327e+02] [ 1.23887320e-01 -9.92296152e-01 -5.28238345e-04 1.20963506e+02] [ 4.92044196e-03 8.19799797e-05 9.99987891e-01 9.99894066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.130281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:184.70, Y:120.96, Z:1.00 [[-9.92471716e-01 -1.22376271e-01 4.89289712e-03 1.84703345e+02] [ 1.22375163e-01 -9.92483774e-01 -5.26330585e-04 1.20960367e+02] [ 4.92053137e-03 7.64008637e-05 9.99987891e-01 1.00197436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.16028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:184.71, Y:120.96, Z:1.01 [[-9.92937104e-01 -1.18540988e-01 4.89310228e-03 1.84709633e+02] [ 1.18539843e-01 -9.92949158e-01 -5.24416269e-04 1.20956868e+02] [ 4.92076661e-03 5.93152059e-05 9.99987891e-01 1.00632762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.190281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:184.71, Y:120.96, Z:1.01 [[-9.92983177e-01 -1.18154412e-01 4.89330601e-03 1.84712159e+02] [ 1.18153272e-01 -9.92995232e-01 -5.22508349e-04 1.20956672e+02] [ 4.92076620e-03 5.93181151e-05 9.99987891e-01 1.00631524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.22028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.70, Y:120.96, Z:1.01 [[-9.93288631e-01 -1.15558423e-01 4.89350869e-03 1.84699055e+02] [ 1.15557261e-01 -9.93300684e-01 -5.20603248e-04 1.20957315e+02] [ 4.92088562e-03 4.83711725e-05 9.99987891e-01 1.00763741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.250281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.72, Y:120.96, Z:1.01 [[-9.93634414e-01 -1.12546452e-01 4.89369902e-03 1.84716053e+02] [ 1.12545262e-01 -9.93646464e-01 -5.18807907e-04 1.20955003e+02] [ 4.92099672e-03 3.52572460e-05 9.99987891e-01 1.00805246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.28028169299995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:184.73, Y:120.95, Z:1.01 [[-9.93998371e-01 -1.09285348e-01 4.89390138e-03 1.84732942e+02] [ 1.09284128e-01 -9.94010419e-01 -5.16891968e-04 1.20952673e+02] [ 4.92107768e-03 2.10359701e-05 9.99987891e-01 1.00757093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.310281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:184.76, Y:120.95, Z:1.00 [[-9.94651928e-01 -1.03167781e-01 4.89410076e-03 1.84762865e+02] [ 1.03166495e-01 -9.94663968e-01 -5.14997203e-04 1.20950883e+02] [ 4.92111680e-03 -7.33573695e-06 9.99987891e-01 1.00385337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.34028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:184.77, Y:120.95, Z:1.00 [[-9.95053547e-01 -9.92193812e-02 4.89412520e-03 1.84768463e+02] [ 9.92180494e-02 -9.95065583e-01 -5.14764846e-04 1.20952536e+02] [ 4.92105020e-03 -2.66330301e-05 9.99987891e-01 1.00099965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.370281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:184.78, Y:120.95, Z:1.00 [[-9.95444063e-01 -9.52216493e-02 4.89431842e-03 1.84778936e+02] [ 9.52202783e-02 -9.95456094e-01 -5.12921122e-04 1.20953765e+02] [ 4.92092030e-03 -4.45459231e-05 9.99987891e-01 9.99330370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.40028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.80, Y:120.96, Z:1.00 [[-9.96030097e-01 -8.88824509e-02 4.89451020e-03 1.84796169e+02] [ 8.88810123e-02 -9.96042120e-01 -5.11084537e-04 1.20956878e+02] [ 4.92056476e-03 -7.40265590e-05 9.99987891e-01 1.00126675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.430281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.81, Y:120.96, Z:1.00 [[-9.96255623e-01 -8.63178802e-02 4.89469981e-03 1.84805345e+02] [ 8.63164196e-02 -9.96267643e-01 -5.09262137e-04 1.20959454e+02] [ 4.92038947e-03 -8.48623043e-05 9.99987891e-01 1.00365010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.46028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.81, Y:120.96, Z:1.00 [[-9.96435061e-01 -8.42211893e-02 4.89488732e-03 1.84812730e+02] [ 8.42197123e-02 -9.96447080e-01 -5.07453390e-04 1.20962593e+02] [ 4.92023451e-03 -9.33983472e-05 9.99987891e-01 1.00448993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.490281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.81, Y:120.97, Z:1.00 [[-9.96551809e-01 -8.28283134e-02 4.89507351e-03 1.84810564e+02] [ 8.28268285e-02 -9.96563827e-01 -5.05650934e-04 1.20966775e+02] [ 4.92013541e-03 -9.84639394e-05 9.99987891e-01 1.00411572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.52028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:184.82, Y:120.97, Z:1.00 [[-9.96595779e-01 -8.22975677e-02 4.89525904e-03 1.84820807e+02] [ 8.22960852e-02 -9.96607797e-01 -5.03848411e-04 1.20972541e+02] [ 4.92011882e-03 -9.92725446e-05 9.99987891e-01 1.00197886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.550281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.81, Y:120.98, Z:1.00 [[-9.96537351e-01 -8.30020645e-02 4.89544378e-03 1.84812017e+02] [ 8.30005994e-02 -9.96549371e-01 -5.02046979e-04 1.20977183e+02] [ 4.92022236e-03 -9.39837986e-05 9.99987891e-01 1.00209705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.58028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.79, Y:120.98, Z:1.00 [[-9.96458071e-01 -8.39484740e-02 4.89562819e-03 1.84789401e+02] [ 8.39470291e-02 -9.96470093e-01 -5.00242309e-04 1.20982891e+02] [ 4.92034165e-03 -8.74970440e-05 9.99987891e-01 1.00421762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.61028169299993 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.81, Y:120.98, Z:1.01 [[-9.96361016e-01 -8.50926407e-02 4.89581433e-03 1.84806832e+02] [ 8.50912186e-02 -9.96373041e-01 -4.98413863e-04 1.20984199e+02] [ 4.92046876e-03 -8.00093352e-05 9.99987891e-01 1.00551634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.64028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.79, Y:120.99, Z:1.00 [[-9.96175727e-01 -8.72350260e-02 4.89600054e-03 1.84792672e+02] [ 8.72336388e-02 -9.96187756e-01 -4.96577923e-04 1.20990634e+02] [ 4.92065478e-03 -6.75829309e-05 9.99987891e-01 1.00468622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.67028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.77, Y:121.00, Z:1.00 [[-9.96124255e-01 -8.78208175e-02 4.89618624e-03 1.84771959e+02] [ 8.78194464e-02 -9.96136286e-01 -4.94740106e-04 1.20995171e+02] [ 4.92071726e-03 -6.28422541e-05 9.99987891e-01 1.00343821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.70028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:184.80, Y:120.99, Z:1.00 [[-9.96048980e-01 -8.86704868e-02 4.89637400e-03 1.84801674e+02] [ 8.86691352e-02 -9.96061013e-01 -4.92874862e-04 1.20994074e+02] [ 4.92079070e-03 -5.67702558e-05 9.99987891e-01 1.00225967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.73028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.79, Y:121.00, Z:1.00 [[-9.95902079e-01 -9.03054429e-02 4.89644398e-03 1.84787400e+02] [ 9.03041144e-02 -9.95914115e-01 -4.92178644e-04 1.20998330e+02] [ 4.92088409e-03 -4.79926979e-05 9.99987891e-01 1.00076338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.76028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.80, Y:121.00, Z:1.00 [[-9.95819707e-01 -9.12092862e-02 4.89662985e-03 1.84795190e+02] [ 9.12079777e-02 -9.95831745e-01 -4.90322528e-04 1.20999127e+02] [ 4.92094141e-03 -4.16611305e-05 9.99987891e-01 9.99503069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.79028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.79, Y:121.00, Z:1.00 [[-9.95749550e-01 -9.19720377e-02 4.89681580e-03 1.84791647e+02] [ 9.19707476e-02 -9.95761589e-01 -4.88458358e-04 1.21001151e+02] [ 4.92098559e-03 -3.60183800e-05 9.99987891e-01 9.99005874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.82028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.79, Y:121.00, Z:1.00 [[-9.95685024e-01 -9.26679648e-02 4.89700110e-03 1.84788515e+02] [ 9.26666924e-02 -9.95697066e-01 -4.86593496e-04 1.21002524e+02] [ 4.92102126e-03 -3.07049629e-05 9.99987891e-01 9.98855413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.85028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.80, Y:121.00, Z:1.00 [[-9.95493746e-01 -9.47006868e-02 4.89718652e-03 1.84798636e+02] [ 9.46994482e-02 -9.95505791e-01 -4.84720216e-04 1.21001080e+02] [ 4.92108087e-03 -1.87750828e-05 9.99987891e-01 1.00161265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.880281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.80, Y:121.00, Z:1.00 [[-9.95399522e-01 -9.56859872e-02 4.89737106e-03 1.84803328e+02] [ 9.56847696e-02 -9.95411569e-01 -4.82848407e-04 1.20999990e+02] [ 4.92110164e-03 -1.20232509e-05 9.99987891e-01 1.00281009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.91028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:184.77, Y:121.00, Z:1.00 [[-9.95298262e-01 -9.67335660e-02 4.89755423e-03 1.84773252e+02] [ 9.67323703e-02 -9.95310312e-01 -4.80983334e-04 1.21002709e+02] [ 4.92111346e-03 -4.96984754e-06 9.99987891e-01 1.00316340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.940281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.77, Y:121.00, Z:1.00 [[-9.95144016e-01 -9.83076832e-02 4.89773875e-03 1.84767574e+02] [ 9.83065158e-02 -9.95156068e-01 -4.79096984e-04 1.21000448e+02] [ 4.92111335e-03 4.70913595e-06 9.99987891e-01 1.00234597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.97028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.78, Y:121.00, Z:1.00 [[-9.95074856e-01 -9.90052593e-02 4.89792528e-03 1.84783261e+02] [ 9.90041099e-02 -9.95086910e-01 -4.77182394e-04 1.20996554e+02] [ 4.92110490e-03 1.00825312e-05 9.99987891e-01 1.00209152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.000281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.80, Y:120.99, Z:1.00 [[-9.95039834e-01 -9.93566120e-02 4.89811072e-03 1.84795750e+02] [ 9.93554763e-02 -9.95051890e-01 -4.75271298e-04 1.20992847e+02] [ 4.92109567e-03 1.37402496e-05 9.99987891e-01 1.00146749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.03028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.80, Y:120.99, Z:1.00 [[-9.95016333e-01 -9.95916834e-02 4.89829380e-03 1.84798712e+02] [ 9.95905598e-02 -9.95028390e-01 -4.73376833e-04 1.20990569e+02] [ 4.92108579e-03 1.68061413e-05 9.99987891e-01 1.00219536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.060281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.79, Y:120.99, Z:1.00 [[-9.95029376e-01 -9.94612812e-02 4.89847540e-03 1.84793102e+02] [ 9.94601653e-02 -9.95041433e-01 -4.71490199e-04 1.20986535e+02] [ 4.92108100e-03 1.80565747e-05 9.99987891e-01 1.00429825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.09028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.80, Y:120.98, Z:1.00 [[-9.95105460e-01 -9.86971443e-02 4.89865675e-03 1.84800835e+02] [ 9.86960284e-02 -9.95117517e-01 -4.69598447e-04 1.20983568e+02] [ 4.92108716e-03 1.61779865e-05 9.99987891e-01 1.00463496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.120281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.81, Y:120.98, Z:1.00 [[-9.95206825e-01 -9.76697388e-02 4.89883748e-03 1.84813453e+02] [ 9.76686198e-02 -9.95218881e-01 -4.67705348e-04 1.20980704e+02] [ 4.92109622e-03 1.29991416e-05 9.99987891e-01 1.00486260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.15028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.81, Y:120.98, Z:1.01 [[-9.95299824e-01 -9.67174212e-02 4.89901651e-03 1.84805179e+02] [ 9.67162999e-02 -9.95311881e-01 -4.65822601e-04 1.20980182e+02] [ 4.92110249e-03 1.01815962e-05 9.99987891e-01 1.00517396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.180281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.81, Y:120.98, Z:1.00 [[-9.95400210e-01 -9.56787377e-02 4.89919480e-03 1.84805250e+02] [ 9.56776132e-02 -9.95412266e-01 -4.63939787e-04 1.20976204e+02] [ 4.92110777e-03 6.93750437e-06 9.99987891e-01 1.00495038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.21028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.81, Y:120.97, Z:1.00 [[-9.95382230e-01 -9.58655979e-02 4.89937323e-03 1.84811344e+02] [ 9.58644849e-02 -9.95394287e-01 -4.62047758e-04 1.20972863e+02] [ 4.92110261e-03 9.76176336e-06 9.99987891e-01 1.00426594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.240281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:184.81, Y:120.97, Z:1.00 [[-9.95360953e-01 -9.60862484e-02 4.89955079e-03 1.84806554e+02] [ 9.60851474e-02 -9.95373012e-01 -4.60157233e-04 1.20970471e+02] [ 4.92109541e-03 1.27515175e-05 9.99987891e-01 1.00277684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.27028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:184.82, Y:120.96, Z:1.00 [[-9.95308765e-01 -9.66253330e-02 4.89972782e-03 1.84824038e+02] [ 9.66242479e-02 -9.95320825e-01 -4.58264429e-04 1.20964924e+02] [ 4.92108109e-03 1.73179123e-05 9.99987891e-01 1.00058919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.300281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:184.82, Y:120.96, Z:1.00 [[-9.95331724e-01 -9.63885363e-02 4.89990359e-03 1.84820547e+02] [ 9.63874575e-02 -9.95343785e-01 -4.56377245e-04 1.20963805e+02] [ 4.92107812e-03 1.80424995e-05 9.99987891e-01 1.00147490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.33028169299996 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:184.84, Y:120.96, Z:1.00 [[-9.95415217e-01 -9.55224374e-02 4.90007800e-03 1.84839192e+02] [ 9.55213574e-02 -9.95427277e-01 -4.54496909e-04 1.20960087e+02] [ 4.92108595e-03 1.56489628e-05 9.99987891e-01 1.00284440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.36028169299993 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:184.83, Y:120.96, Z:1.00 [[-9.95642497e-01 -9.31236036e-02 4.90025105e-03 1.84826179e+02] [ 9.31225038e-02 -9.95654556e-01 -4.52623373e-04 1.20958322e+02] [ 4.92110721e-03 5.67258197e-06 9.99987891e-01 1.00287346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.39028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:184.85, Y:120.96, Z:1.00 [[-9.95791130e-01 -9.15205461e-02 4.90042333e-03 1.84845532e+02] [ 9.15194361e-02 -9.95803188e-01 -4.50750397e-04 1.20955469e+02] [ 4.92111010e-03 -3.69267032e-07 9.99987891e-01 1.00162251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.42028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:184.85, Y:120.95, Z:1.00 [[-9.96044795e-01 -8.87172488e-02 4.90059478e-03 1.84851180e+02] [ 8.87161141e-02 -9.96056851e-01 -4.48878606e-04 1.20953067e+02] [ 4.92109428e-03 -1.23414732e-05 9.99987891e-01 1.00099514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.45028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:184.86, Y:120.95, Z:1.00 [[-9.96220859e-01 -8.67178304e-02 4.90076429e-03 1.84859413e+02] [ 8.67166806e-02 -9.96232913e-01 -4.47020307e-04 1.20951120e+02] [ 4.92106731e-03 -2.03529423e-05 9.99987891e-01 1.00181590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.48028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:184.87, Y:120.95, Z:1.00 [[-9.96359355e-01 -8.51117852e-02 4.90093254e-03 1.84870472e+02] [ 8.51106251e-02 -9.96371408e-01 -4.45168037e-04 1.20949244e+02] [ 4.92103810e-03 -2.64259066e-05 9.99987891e-01 1.00332274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.51028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:184.88, Y:120.95, Z:1.00 [[-9.96551850e-01 -8.28274727e-02 4.90109918e-03 1.84878367e+02] [ 8.28262940e-02 -9.96563901e-01 -4.43325678e-04 1.20947904e+02] [ 4.92097807e-03 -3.58571428e-05 9.99987891e-01 1.00405557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.54028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:184.86, Y:120.95, Z:1.00 [[-9.96652525e-01 -8.16071200e-02 4.90126431e-03 1.84864514e+02] [ 8.16059356e-02 -9.96664576e-01 -4.41492527e-04 1.20949268e+02] [ 4.92094545e-03 -4.00423817e-05 9.99987891e-01 1.00257676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.57028169299997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:184.87, Y:120.95, Z:1.00 [[-9.96750804e-01 -8.03978268e-02 4.90142939e-03 1.84867943e+02] [ 8.03966368e-02 -9.96762854e-01 -4.39652138e-04 1.20949097e+02] [ 4.92090983e-03 -4.41651832e-05 9.99987891e-01 1.00109045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.60028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:184.87, Y:120.95, Z:1.00 [[-9.96802616e-01 -7.97528607e-02 4.90159474e-03 1.84871104e+02] [ 7.97516720e-02 -9.96814666e-01 -4.37800841e-04 1.20949640e+02] [ 4.92089740e-03 -4.54906472e-05 9.99987891e-01 9.99162941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.630281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:184.87, Y:120.95, Z:1.00 [[-9.96847958e-01 -7.91841001e-02 4.90175927e-03 1.84865189e+02] [ 7.91829136e-02 -9.96860008e-01 -4.35950986e-04 1.20952229e+02] [ 4.92088817e-03 -4.64412693e-05 9.99987891e-01 1.00023455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.66028169299994 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:184.88, Y:120.95, Z:1.00 [[-9.96881693e-01 -7.87582451e-02 4.90192357e-03 1.84877081e+02] [ 7.87570626e-02 -9.96893744e-01 -4.34095606e-04 1.20951788e+02] [ 4.92088555e-03 -4.66808614e-05 9.99987891e-01 1.00270309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.690281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:184.88, Y:120.95, Z:1.01 [[-9.96874868e-01 -7.88445748e-02 4.90208717e-03 1.84880421e+02] [ 7.88434025e-02 -9.96886920e-01 -4.32240165e-04 1.20951535e+02] [ 4.92090638e-03 -4.43921251e-05 9.99987891e-01 1.00506680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.72028169299995 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:184.88, Y:120.95, Z:1.01 [[-9.96806435e-01 -7.97050797e-02 4.90224944e-03 1.84876540e+02] [ 7.97039269e-02 -9.96818488e-01 -4.30391954e-04 1.20951544e+02] [ 4.92095730e-03 -3.82889384e-05 9.99987891e-01 1.00604625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.750281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:184.85, Y:120.95, Z:1.00 [[-9.96532083e-01 -8.30648731e-02 4.90241135e-03 1.84847245e+02] [ 8.30637700e-02 -9.96544142e-01 -4.28539737e-04 1.20952534e+02] [ 4.92106591e-03 -1.98408287e-05 9.99987891e-01 1.00263197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.78028169299995 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:184.88, Y:120.95, Z:1.00 [[-9.96385427e-01 -8.48059308e-02 4.90257477e-03 1.84877441e+02] [ 8.48048581e-02 -9.96397488e-01 -4.26661884e-04 1.20948771e+02] [ 4.92109665e-03 -9.35752602e-06 9.99987891e-01 1.00119739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.810281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:184.86, Y:120.95, Z:1.01 [[-9.96227056e-01 -8.66464982e-02 4.90271723e-03 1.84855421e+02] [ 8.66454558e-02 -9.96239120e-01 -4.25018555e-04 1.20947527e+02] [ 4.92110507e-03 1.38318577e-06 9.99987891e-01 1.00553732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.84028169299995 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:184.88, Y:120.94, Z:1.01 [[-9.96266181e-01 -8.61954694e-02 4.90287926e-03 1.84879306e+02] [ 8.61944308e-02 -9.96278245e-01 -4.23141214e-04 1.20944261e+02] [ 4.92110480e-03 1.03960577e-06 9.99987891e-01 1.00941201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.870281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:184.90, Y:120.94, Z:1.01 [[-9.96358178e-01 -8.51254474e-02 4.90304075e-03 1.84898466e+02] [ 8.51244051e-02 -9.96370242e-01 -4.21261633e-04 1.20941660e+02] [ 4.92110398e-03 -2.35904618e-06 9.99987891e-01 1.01111720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.90028169299995 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:184.89, Y:120.94, Z:1.01 [[-9.96469859e-01 -8.38079824e-02 4.90319926e-03 1.84894349e+02] [ 8.38069333e-02 -9.96481923e-01 -4.19408506e-04 1.20940945e+02] [ 4.92109921e-03 -7.00584232e-06 9.99987891e-01 1.01115960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.930281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:184.90, Y:120.94, Z:1.01 [[-9.96729490e-01 -8.06615190e-02 4.90335651e-03 1.84902177e+02] [ 8.06604409e-02 -9.96741551e-01 -4.17561985e-04 1.20938384e+02] [ 4.92106035e-03 -2.06894469e-05 9.99987891e-01 1.00702041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.96028169299996 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:184.92, Y:120.94, Z:1.00 [[-9.96868242e-01 -7.89282254e-02 4.90349342e-03 1.84922570e+02] [ 7.89271342e-02 -9.96880301e-01 -4.15947919e-04 1.20936586e+02] [ 4.92102603e-03 -2.76265866e-05 9.99987891e-01 1.00480489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.990281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:184.92, Y:120.94, Z:1.00 [[-9.96990268e-01 -7.73715740e-02 4.90364803e-03 1.84918693e+02] [ 7.73704730e-02 -9.97002326e-01 -4.14117145e-04 1.20937292e+02] [ 4.92098939e-03 -3.34731954e-05 9.99987891e-01 1.00299320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.02028169299996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:184.93, Y:120.94, Z:1.00 [[-9.97061275e-01 -7.64510690e-02 4.90380137e-03 1.84927755e+02] [ 7.64499658e-02 -9.97073334e-01 -4.12293411e-04 1.20936863e+02] [ 4.92096985e-03 -3.61863475e-05 9.99987891e-01 1.00207465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.050281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:184.92, Y:120.94, Z:1.00 [[-9.97064462e-01 -7.64094917e-02 4.90395402e-03 1.84917006e+02] [ 7.64083969e-02 -9.97076521e-01 -4.10469621e-04 1.20936141e+02] [ 4.92098119e-03 -3.45614061e-05 9.99987891e-01 1.00278405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.08028169299996 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:184.92, Y:120.94, Z:1.00 [[-9.97093002e-01 -7.60361411e-02 4.90410632e-03 1.84919538e+02] [ 7.60350508e-02 -9.97105062e-01 -4.08641934e-04 1.20936004e+02] [ 4.92098079e-03 -3.45700398e-05 9.99987891e-01 1.00277166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.11028169299993 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:184.92, Y:120.93, Z:1.00 [[-9.97078923e-01 -7.62205341e-02 4.90425864e-03 1.84921572e+02] [ 7.62194551e-02 -9.97090983e-01 -4.06805584e-04 1.20934885e+02] [ 4.92099901e-03 -3.18173517e-05 9.99987891e-01 1.00288531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.14028169299996 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:184.93, Y:120.93, Z:1.00 [[-9.97079532e-01 -7.62125510e-02 4.90441033e-03 1.84934423e+02] [ 7.62114810e-02 -9.97091594e-01 -4.04968575e-04 1.20933479e+02] [ 4.92101000e-03 -3.00135028e-05 9.99987891e-01 1.00357437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.17028169299994 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:184.94, Y:120.93, Z:1.00 [[-9.97230711e-01 -7.42081874e-02 4.90456079e-03 1.84936315e+02] [ 7.42071021e-02 -9.97242771e-01 -4.03138058e-04 1.20932412e+02] [ 4.92095393e-03 -3.80684087e-05 9.99987891e-01 1.00461975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.20028169299997 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:184.92, Y:120.93, Z:1.01 [[-9.97342733e-01 -7.26871205e-02 4.90471004e-03 1.84917007e+02] [ 7.26860258e-02 -9.97354792e-01 -4.01313986e-04 1.20933077e+02] [ 4.92090642e-03 -4.37437072e-05 9.99987891e-01 1.00604027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.23028169299994 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:184.94, Y:120.93, Z:1.01 [[-9.97436233e-01 -7.13926032e-02 4.90485977e-03 1.84942198e+02] [ 7.13915019e-02 -9.97448291e-01 -3.99475605e-04 1.20930230e+02] [ 4.92086360e-03 -4.82861376e-05 9.99987891e-01 1.00776661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.26028169299997 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:184.95, Y:120.93, Z:1.01 [[-9.97519355e-01 -7.02216283e-02 4.90499943e-03 1.84951408e+02] [ 7.02205214e-02 -9.97531413e-01 -3.97753352e-04 1.20928548e+02] [ 4.92082190e-03 -5.23350507e-05 9.99987891e-01 1.00914711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.29028169299994 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:184.95, Y:120.93, Z:1.01 [[-9.97649069e-01 -6.83540420e-02 4.90514615e-03 1.84949841e+02] [ 6.83529213e-02 -9.97661126e-01 -3.95935575e-04 1.20927711e+02] [ 4.92073743e-03 -5.97236881e-05 9.99987891e-01 1.00723047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.32028169299997 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:184.96, Y:120.93, Z:1.00 [[-9.97743296e-01 -6.69645739e-02 4.90529204e-03 1.84960844e+02] [ 6.69634454e-02 -9.97755352e-01 -3.94119779e-04 1.20925944e+02] [ 4.92067345e-03 -6.47551113e-05 9.99987891e-01 1.00441961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.35028169299994 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:184.95, Y:120.93, Z:1.00 [[-9.97817071e-01 -6.58561254e-02 4.90543708e-03 1.84954063e+02] [ 6.58549924e-02 -9.97829127e-01 -3.92306278e-04 1.20925375e+02] [ 4.92062377e-03 -6.84023795e-05 9.99987891e-01 1.00145484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.380281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:184.95, Y:120.92, Z:1.00 [[-9.97865983e-01 -6.51107926e-02 4.90558144e-03 1.84954768e+02] [ 6.51096596e-02 -9.97878039e-01 -3.90492723e-04 1.20924111e+02] [ 4.92059728e-03 -7.02586671e-05 9.99987891e-01 1.00040818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.41028169299994 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:184.96, Y:120.92, Z:1.00 [[-9.97821594e-01 -6.57875426e-02 4.90572568e-03 1.84959825e+02] [ 6.57864266e-02 -9.97833651e-01 -3.88672098e-04 1.20921814e+02] [ 4.92066795e-03 -6.50952499e-05 9.99987891e-01 1.00204272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.440281693 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:184.93, Y:120.92, Z:1.00 [[-9.97771279e-01 -6.65462751e-02 4.90586921e-03 1.84927198e+02] [ 6.65451772e-02 -9.97783338e-01 -3.86852011e-04 1.20923409e+02] [ 4.92073811e-03 -5.95278904e-05 9.99987891e-01 1.00320912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.47028169299995 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:184.95, Y:120.92, Z:1.00 [[-9.97650989e-01 -6.83259505e-02 4.90601372e-03 1.84949781e+02] [ 6.83248833e-02 -9.97663050e-01 -3.85010506e-04 1.20917703e+02] [ 4.92085483e-03 -4.89032967e-05 9.99987891e-01 1.00372074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.500281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:184.98, Y:120.91, Z:1.00 [[-9.97594827e-01 -6.91410981e-02 4.90615832e-03 1.84984640e+02] [ 6.91400498e-02 -9.97606890e-01 -3.83158991e-04 1.20912350e+02] [ 4.92090938e-03 -4.30253962e-05 9.99987891e-01 1.00462858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.53028169299995 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:184.95, Y:120.91, Z:1.01 [[-9.97564963e-01 -6.95706360e-02 4.90615832e-03 1.84952189e+02] [ 6.95695929e-02 -9.97577027e-01 -3.83158991e-04 1.20912919e+02] [ 4.92092745e-03 -4.09065471e-05 9.99987891e-01 1.00645464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.560281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:184.97, Y:120.91, Z:1.01 [[-9.97563352e-01 -6.95937267e-02 4.90629939e-03 1.84972760e+02] [ 6.95926928e-02 -9.97575417e-01 -3.81343997e-04 1.20909600e+02] [ 4.92094281e-03 -3.89722094e-05 9.99987891e-01 1.00704233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.59028169299995 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:184.96, Y:120.91, Z:1.00 [[-9.97677067e-01 -6.79440773e-02 4.90644063e-03 1.84957846e+02] [ 6.79430325e-02 -9.97689130e-01 -3.79518095e-04 1.20908535e+02] [ 4.92088849e-03 -4.52780443e-05 9.99987891e-01 1.00292590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.620281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:184.96, Y:120.91, Z:1.00 [[-9.97820761e-01 -6.58001127e-02 4.90658114e-03 1.84963546e+02] [ 6.57990509e-02 -9.97832823e-01 -3.77692734e-04 1.20907519e+02] [ 4.92079993e-03 -5.40212687e-05 9.99987891e-01 1.00018566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.65028169299995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:184.98, Y:120.91, Z:1.00 [[-9.97953204e-01 -6.37599133e-02 4.90672167e-03 1.84982558e+02] [ 6.37588359e-02 -9.97965265e-01 -3.75858140e-04 1.20906086e+02] [ 4.92070247e-03 -6.22419739e-05 9.99987891e-01 9.97815342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.680281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:184.98, Y:120.91, Z:1.00 [[-9.98118281e-01 -6.11213544e-02 4.90686053e-03 1.84983925e+02] [ 6.11202541e-02 -9.98130340e-01 -3.74036504e-04 1.20905540e+02] [ 4.92054798e-03 -7.34241102e-05 9.99987891e-01 9.97359603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.71028169299996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:185.00, Y:120.90, Z:1.00 [[-9.98155860e-01 -6.05045490e-02 4.90699798e-03 1.85003249e+02] [ 6.05034501e-02 -9.98167919e-01 -3.72224453e-04 1.20903675e+02] [ 4.92052924e-03 -7.46477115e-05 9.99987891e-01 9.97208265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.740281693 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:185.01, Y:120.90, Z:1.00 [[-9.98168725e-01 -6.02919340e-02 4.90713401e-03 1.85006201e+02] [ 6.02908414e-02 -9.98180784e-01 -3.70422465e-04 1.20903014e+02] [ 4.92054036e-03 -7.38888817e-05 9.99987891e-01 9.97082482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.77028169299996 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:185.00, Y:120.90, Z:1.00 [[-9.98123000e-01 -6.10442097e-02 4.90726852e-03 1.85000450e+02] [ 6.10431349e-02 -9.98135061e-01 -3.68631837e-04 1.20903685e+02] [ 4.92061960e-03 -6.83848610e-05 9.99987891e-01 9.97519111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.800281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:185.00, Y:120.90, Z:1.00 [[-9.98088667e-01 -6.16029998e-02 4.90740276e-03 1.85002102e+02] [ 6.16019406e-02 -9.98100730e-01 -3.66836049e-04 1.20903873e+02] [ 4.92068047e-03 -6.38293698e-05 9.99987891e-01 9.98296542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.83028169299996 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:185.00, Y:120.90, Z:1.00 [[-9.98050542e-01 -6.22176220e-02 4.90753681e-03 1.85001110e+02] [ 6.22165791e-02 -9.98062605e-01 -3.65033913e-04 1.20903483e+02] [ 4.92074051e-03 -5.89921430e-05 9.99987891e-01 9.99479625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.86028169299993 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:184.99, Y:120.90, Z:1.00 [[-9.97948995e-01 -6.38256909e-02 4.90767038e-03 1.84989002e+02] [ 6.38246763e-02 -9.97961061e-01 -3.63229144e-04 1.20902531e+02] [ 4.92084729e-03 -4.92536853e-05 9.99987891e-01 9.99513352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.89028169299996 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:184.98, Y:120.90, Z:1.00 [[-9.97960582e-01 -6.36442511e-02 4.90780412e-03 1.84982434e+02] [ 6.36432433e-02 -9.97972648e-01 -3.61413006e-04 1.20902032e+02] [ 4.92085614e-03 -4.83273623e-05 9.99987891e-01 9.99571773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.92028169299994 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:185.02, Y:120.90, Z:1.00 [[-9.98012616e-01 -6.28230089e-02 4.90793833e-03 1.85018461e+02] [ 6.28220002e-02 -9.98024683e-01 -3.59581228e-04 1.20898687e+02] [ 4.92083357e-03 -5.05401000e-05 9.99987891e-01 9.99944986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.95028169299997 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:185.00, Y:120.90, Z:1.00 [[-9.98096237e-01 -6.14801747e-02 4.90805405e-03 1.85003921e+02] [ 6.14791576e-02 -9.98108303e-01 -3.57994632e-04 1.20899606e+02] [ 4.92077908e-03 -5.55700668e-05 9.99987891e-01 1.00064502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.98028169299994 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:185.02, Y:120.90, Z:1.00 [[-9.98155743e-01 -6.05063891e-02 4.90818498e-03 1.85016805e+02] [ 6.05053690e-02 -9.98167808e-01 -3.56190521e-04 1.20898959e+02] [ 4.92074405e-03 -5.85620705e-05 9.99987891e-01 1.00302789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.01028169299997 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:185.02, Y:120.90, Z:1.00 [[-9.98129731e-01 -6.09339773e-02 4.90831557e-03 1.85020962e+02] [ 6.09329713e-02 -9.98141797e-01 -3.54381756e-04 1.20898538e+02] [ 4.92078882e-03 -5.46407152e-05 9.99987891e-01 1.00390431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.04028169299994 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:185.04, Y:120.90, Z:1.00 [[-9.98091619e-01 -6.15550783e-02 4.90844495e-03 1.85036044e+02] [ 6.15540887e-02 -9.98103687e-01 -3.52580711e-04 1.20896138e+02] [ 4.92084013e-03 -4.97729970e-05 9.99987891e-01 1.00421651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.07028169299997 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:185.03, Y:120.89, Z:1.00 [[-9.98007482e-01 -6.29044614e-02 4.90857299e-03 1.85031324e+02] [ 6.29034969e-02 -9.98019552e-01 -3.50789035e-04 1.20894426e+02] [ 4.92091801e-03 -4.13236763e-05 9.99987891e-01 1.00467478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.10028169299994 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:185.02, Y:120.89, Z:1.01 [[-9.97785182e-01 -6.63372849e-02 4.90870015e-03 1.85017035e+02] [ 6.63363707e-02 -9.97797256e-01 -3.49000431e-04 1.20892550e+02] [ 4.92103928e-03 -2.26021055e-05 9.99987891e-01 1.00549733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.130281693 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:185.03, Y:120.89, Z:1.01 [[-9.97701526e-01 -6.75837899e-02 4.90882773e-03 1.85025267e+02] [ 6.75828997e-02 -9.97713602e-01 -3.47196663e-04 1.20891168e+02] [ 4.92106906e-03 -1.46458285e-05 9.99987891e-01 1.00550326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.16028169299994 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:185.00, Y:120.89, Z:1.00 [[-9.97622998e-01 -6.87332216e-02 4.90895513e-03 1.85001114e+02] [ 6.87323541e-02 -9.97635076e-01 -3.45385913e-04 1.20891425e+02] [ 4.92108531e-03 -7.16088703e-06 9.99987891e-01 1.00440711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.190281693 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:185.01, Y:120.89, Z:1.00 [[-9.97500900e-01 -7.04830185e-02 4.90908282e-03 1.85006848e+02] [ 7.04821812e-02 -9.97512979e-01 -3.43561401e-04 1.20886785e+02] [ 4.92108908e-03 3.30005799e-06 9.99987891e-01 1.00249647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.22028169299995 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:185.02, Y:120.88, Z:1.00 [[-9.97485835e-01 -7.06958921e-02 4.90921086e-03 1.85018465e+02] [ 7.06950665e-02 -9.97497915e-01 -3.41721992e-04 1.20884176e+02] [ 4.92108594e-03 6.19414120e-06 9.99987891e-01 1.00196973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.250281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:185.01, Y:120.88, Z:1.00 [[-9.97514126e-01 -7.02955646e-02 4.90933763e-03 1.85008015e+02] [ 7.02947431e-02 -9.97526207e-01 -3.39890887e-04 1.20883314e+02] [ 4.92108577e-03 6.05466652e-06 9.99987891e-01 1.00212913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.28028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:185.04, Y:120.88, Z:1.00 [[-9.97699651e-01 -6.76114131e-02 4.90946389e-03 1.85040110e+02] [ 6.76105682e-02 -9.97711730e-01 -3.38057343e-04 1.20877104e+02] [ 4.92108625e-03 -5.34805052e-06 9.99987891e-01 1.00251819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.310281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:185.04, Y:120.87, Z:1.00 [[-9.97836464e-01 -6.55613306e-02 4.90958871e-03 1.85043582e+02] [ 6.55604698e-02 -9.97848542e-01 -3.36234694e-04 1.20874966e+02] [ 4.92106993e-03 -1.36322956e-05 9.99987891e-01 1.00098103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.34028169299995 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:185.02, Y:120.88, Z:1.00 [[-9.97952880e-01 -6.37647553e-02 4.90971152e-03 1.85015659e+02] [ 6.37638816e-02 -9.97964957e-01 -3.34431760e-04 1.20876170e+02] [ 4.92104501e-03 -2.06848738e-05 9.99987891e-01 9.99101278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.370281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:185.04, Y:120.87, Z:1.00 [[-9.98047068e-01 -6.22731392e-02 4.90983492e-03 1.85036022e+02] [ 6.22722565e-02 -9.98059144e-01 -3.32610202e-04 1.20874514e+02] [ 4.92101832e-03 -2.62141372e-05 9.99987891e-01 9.97668039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.40028169299995 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:185.06, Y:120.87, Z:1.00 [[-9.98117870e-01 -6.11278133e-02 4.90995820e-03 1.85063757e+02] [ 6.11269257e-02 -9.98129946e-01 -3.30780334e-04 1.20869427e+02] [ 4.92099619e-03 -3.00271126e-05 9.99987891e-01 9.98068001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.430281693 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:185.06, Y:120.87, Z:1.00 [[-9.98096431e-01 -6.14768667e-02 4.91007891e-03 1.85056388e+02] [ 6.14759922e-02 -9.98108508e-01 -3.28978689e-04 1.20867359e+02] [ 4.92101612e-03 -2.65004824e-05 9.99987891e-01 1.00378674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.46028169299996 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:185.06, Y:120.86, Z:1.00 [[-9.98060062e-01 -6.20645120e-02 4.91019834e-03 1.85057183e+02] [ 6.20636534e-02 -9.98072140e-01 -3.27186420e-04 1.20863706e+02] [ 4.92103882e-03 -2.18068507e-05 9.99987891e-01 9.98335437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.490281693 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:185.06, Y:120.86, Z:1.00 [[-9.98060164e-01 -6.20628532e-02 4.91031758e-03 1.85055408e+02] [ 6.20620034e-02 -9.98072243e-01 -3.25386996e-04 1.20860931e+02] [ 4.92104612e-03 -2.00116526e-05 9.99987891e-01 9.97892504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.52028169299996 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:185.06, Y:120.86, Z:1.00 [[-9.98122598e-01 -6.10505336e-02 4.91043640e-03 1.85056120e+02] [ 6.10496805e-02 -9.98134676e-01 -3.23583796e-04 1.20856695e+02] [ 4.92103181e-03 -2.31957257e-05 9.99987891e-01 9.99608614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.550281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:185.08, Y:120.85, Z:1.00 [[-9.98229713e-01 -5.92733220e-02 4.91055477e-03 1.85083672e+02] [ 5.92724563e-02 -9.98241791e-01 -3.21777385e-04 1.20853159e+02] [ 4.92099380e-03 -3.01471037e-05 9.99987891e-01 1.00082792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.58028169299996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:185.07, Y:120.85, Z:1.00 [[-9.98350708e-01 -5.71992026e-02 4.91067153e-03 1.85067928e+02] [ 5.71983206e-02 -9.98362785e-01 -3.19985515e-04 1.20852697e+02] [ 4.92093462e-03 -3.85756013e-05 9.99987891e-01 1.00144106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.61028169299993 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:185.10, Y:120.85, Z:1.00 [[-9.98557000e-01 -5.34771217e-02 4.91078737e-03 1.85099002e+02] [ 5.34762035e-02 -9.98569073e-01 -3.18197859e-04 1.20848225e+02] [ 4.92077670e-03 -5.51284349e-05 9.99987891e-01 1.00239642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.64028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:185.11, Y:120.85, Z:1.00 [[-9.98642152e-01 -5.18626595e-02 4.91090211e-03 1.85105394e+02] [ 5.18617305e-02 -9.98654225e-01 -3.16416919e-04 1.20846887e+02] [ 4.92070337e-03 -6.12993906e-05 9.99987891e-01 1.00302793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.67028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:185.11, Y:120.85, Z:1.00 [[-9.98711677e-01 -5.05061265e-02 4.91101496e-03 1.85105576e+02] [ 5.05051898e-02 -9.98723749e-01 -3.14655611e-04 1.20845423e+02] [ 4.92063931e-03 -6.62184904e-05 9.99987891e-01 1.00432168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.70028169299997 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:185.13, Y:120.84, Z:1.00 [[-9.98760884e-01 -4.95235085e-02 4.91112711e-03 1.85126847e+02] [ 4.95225685e-02 -9.98772956e-01 -3.12895368e-04 1.20842971e+02] [ 4.92059662e-03 -6.92960249e-05 9.99987891e-01 1.00482955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.73028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:185.12, Y:120.84, Z:1.00 [[-9.98818510e-01 -4.83473245e-02 4.91123803e-03 1.85122331e+02] [ 4.83463789e-02 -9.98830582e-01 -3.11144622e-04 1.20842411e+02] [ 4.92053775e-03 -7.33364329e-05 9.99987891e-01 1.00438801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.76028169299997 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:185.13, Y:120.84, Z:1.00 [[-9.98840446e-01 -4.78919750e-02 4.91134786e-03 1.85127203e+02] [ 4.78910325e-02 -9.98852518e-01 -3.09401109e-04 1.20842078e+02] [ 4.92053001e-03 -7.38328218e-05 9.99987891e-01 1.00446994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.79028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:185.13, Y:120.84, Z:1.00 [[-9.98854975e-01 -4.75879965e-02 4.91145727e-03 1.85128854e+02] [ 4.75870589e-02 -9.98867047e-01 -3.07654598e-04 1.20841160e+02] [ 4.92053348e-03 -7.35805192e-05 9.99987891e-01 1.00499900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.82028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:185.13, Y:120.84, Z:1.00 [[-9.98875331e-01 -4.71587642e-02 4.91156598e-03 1.85134473e+02] [ 4.71578299e-02 -9.98887404e-01 -3.05909133e-04 1.20839701e+02] [ 4.92052769e-03 -7.39462931e-05 9.99987891e-01 1.00356855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.85028169299994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:185.12, Y:120.84, Z:1.00 [[-9.98900021e-01 -4.66328524e-02 4.91167399e-03 1.85123887e+02] [ 4.66319204e-02 -9.98912094e-01 -3.04164963e-04 1.20838453e+02] [ 4.92051463e-03 -7.47895976e-05 9.99987891e-01 1.00119815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.880281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:185.12, Y:120.84, Z:1.00 [[-9.98923913e-01 -4.61182326e-02 4.91178175e-03 1.85121073e+02] [ 4.61173030e-02 -9.98935985e-01 -3.02414820e-04 1.20837907e+02] [ 4.92050237e-03 -7.55712682e-05 9.99987891e-01 9.99717172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.91028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:185.12, Y:120.84, Z:1.00 [[-9.98950112e-01 -4.55471952e-02 4.91188954e-03 1.85120579e+02] [ 4.55462674e-02 -9.98962185e-01 -3.00653751e-04 1.20837238e+02] [ 4.92048584e-03 -7.66198645e-05 9.99987891e-01 1.00017051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.940281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:185.13, Y:120.83, Z:1.00 [[-9.99035838e-01 -4.36264355e-02 4.91199700e-03 1.85134490e+02] [ 4.36254931e-02 -9.99047910e-01 -2.98887705e-04 1.20833733e+02] [ 4.92035974e-03 -8.43112371e-05 9.99987891e-01 9.99297152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.97028169299995 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:185.15, Y:120.83, Z:1.00 [[-9.99101917e-01 -4.20859900e-02 4.91210353e-03 1.85149870e+02] [ 4.20850377e-02 -9.99113988e-01 -2.97126559e-04 1.20831811e+02] [ 4.92025621e-03 -9.01336526e-05 9.99987891e-01 9.97893947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.000281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:185.15, Y:120.83, Z:1.00 [[-9.99116755e-01 -4.17322343e-02 4.91220857e-03 1.85152436e+02] [ 4.17312862e-02 -9.99128827e-01 -2.95379780e-04 1.20831731e+02] [ 4.92025604e-03 -9.01261059e-05 9.99987891e-01 9.97881565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.03028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:185.15, Y:120.83, Z:1.00 [[-9.99166022e-01 -4.05355378e-02 4.91231254e-03 1.85147284e+02] [ 4.05345838e-02 -9.99178093e-01 -2.93640493e-04 1.20831495e+02] [ 4.92017795e-03 -9.42770592e-05 9.99987891e-01 9.96934016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.060281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:185.17, Y:120.83, Z:1.00 [[-9.99204002e-01 -3.95882584e-02 4.91241613e-03 1.85169384e+02] [ 3.95873016e-02 -9.99216073e-01 -2.91897143e-04 1.20828012e+02] [ 4.92012085e-03 -9.71954945e-05 9.99987891e-01 9.97602106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.09028169299995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:185.15, Y:120.83, Z:1.00 [[-9.99192576e-01 -3.98755959e-02 4.91251869e-03 1.85148922e+02] [ 3.98746511e-02 -9.99204648e-01 -2.90160719e-04 1.20828007e+02] [ 4.92018184e-03 -9.40414672e-05 9.99987891e-01 9.99451798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.120281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:185.14, Y:120.83, Z:1.00 [[-9.99171608e-01 -4.03975764e-02 4.91262076e-03 1.85140807e+02] [ 4.03966464e-02 -9.99183681e-01 -2.88422109e-04 1.20827791e+02] [ 4.92026205e-03 -8.97297783e-05 9.99987891e-01 1.00046053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.15028169299995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:185.15, Y:120.83, Z:1.00 [[-9.99160448e-01 -4.06726383e-02 4.91272337e-03 1.85154748e+02] [ 4.06717203e-02 -9.99172522e-01 -2.86663751e-04 1.20826817e+02] [ 4.92031757e-03 -8.66141713e-05 9.99987891e-01 1.00149858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.180281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:185.19, Y:120.82, Z:1.00 [[-9.99189123e-01 -3.99620023e-02 4.91282534e-03 1.85188687e+02] [ 3.99610844e-02 -9.99201196e-01 -2.84905357e-04 1.20824528e+02] [ 4.92028634e-03 -8.83525058e-05 9.99987891e-01 1.00032249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.21028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:185.17, Y:120.83, Z:1.00 [[-9.99221367e-01 -3.91474452e-02 4.91292522e-03 1.85172269e+02] [ 3.91465259e-02 -9.99233441e-01 -2.83172496e-04 1.20825113e+02] [ 4.92024465e-03 -9.06280543e-05 9.99987891e-01 9.98975672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.240281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:185.16, Y:120.83, Z:1.00 [[-9.99247990e-01 -3.84618858e-02 4.91302406e-03 1.85159463e+02] [ 3.84609667e-02 -9.99260064e-01 -2.81447009e-04 1.20826248e+02] [ 4.92021372e-03 -9.22757028e-05 9.99987891e-01 9.98164265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.27028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:185.17, Y:120.83, Z:1.00 [[-9.99280218e-01 -3.76152596e-02 4.91312346e-03 1.85173596e+02] [ 3.76143389e-02 -9.99292291e-01 -2.79700990e-04 1.20826247e+02] [ 4.92016743e-03 -9.46957756e-05 9.99987891e-01 9.98488741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.300281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:185.19, Y:120.83, Z:1.00 [[-9.99334870e-01 -3.61341655e-02 4.91322233e-03 1.85189481e+02] [ 3.61332355e-02 -9.99346943e-01 -2.77953308e-04 1.20827034e+02] [ 4.92005733e-03 -1.00237813e-04 9.99987891e-01 1.00028388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.33028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:185.18, Y:120.83, Z:1.00 [[-9.99369778e-01 -3.51554471e-02 4.91331980e-03 1.85178437e+02] [ 3.51545138e-02 -9.99381851e-01 -2.76219526e-04 1.20828122e+02] [ 4.91999326e-03 -1.03320078e-04 9.99987891e-01 1.00108993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.36028169299993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:185.20, Y:120.83, Z:1.00 [[-9.99402557e-01 -3.42109207e-02 4.91341666e-03 1.85197799e+02] [ 3.42099845e-02 -9.99414630e-01 -2.74485711e-04 1.20828003e+02] [ 4.91993090e-03 -1.06233813e-04 9.99987891e-01 1.00098400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.39028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:185.20, Y:120.83, Z:1.00 [[-9.99455840e-01 -3.26172069e-02 4.91351281e-03 1.85203916e+02] [ 3.26162599e-02 -9.99467911e-01 -2.72753711e-04 1.20831073e+02] [ 4.91979485e-03 -1.12344878e-04 9.99987891e-01 9.97518103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.42028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:185.19, Y:120.83, Z:1.00 [[-9.99481055e-01 -3.18351695e-02 4.91360771e-03 1.85193818e+02] [ 3.18342215e-02 -9.99493126e-01 -2.71033261e-04 1.20834242e+02] [ 4.91974552e-03 -1.14471733e-04 9.99987891e-01 9.96812772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.45028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:185.20, Y:120.84, Z:1.00 [[-9.99511594e-01 -3.08614516e-02 4.91370229e-03 1.85204480e+02] [ 3.08605004e-02 -9.99523665e-01 -2.69307535e-04 1.20836105e+02] [ 4.91967294e-03 -1.17536692e-04 9.99987891e-01 9.97272449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.48028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:185.22, Y:120.84, Z:1.00 [[-9.99533051e-01 -3.01584817e-02 4.91379642e-03 1.85216636e+02] [ 3.01575305e-02 -9.99545122e-01 -2.67578878e-04 1.20838145e+02] [ 4.91963102e-03 -1.19265967e-04 9.99987891e-01 9.98920767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.51028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:185.23, Y:120.84, Z:1.00 [[-9.99556603e-01 -2.93675261e-02 4.91388941e-03 1.85228140e+02] [ 2.93665738e-02 -9.99568674e-01 -2.65860150e-04 1.20843441e+02] [ 4.91957758e-03 -1.21438172e-04 9.99987891e-01 1.00007841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.54028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:185.21, Y:120.85, Z:1.00 [[-9.99561830e-01 -2.91890523e-02 4.91398126e-03 1.85205616e+02] [ 2.91881062e-02 -9.99573902e-01 -2.64151518e-04 1.20848160e+02] [ 4.91959775e-03 -1.20605968e-04 9.99987891e-01 1.00072568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.57028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:185.22, Y:120.85, Z:1.00 [[-9.99561357e-01 -2.92052265e-02 4.91407300e-03 1.85220917e+02] [ 2.92042891e-02 -9.99573429e-01 -2.62433777e-04 1.20850506e+02] [ 4.91964124e-03 -1.18806654e-04 9.99987891e-01 1.00063359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.60028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:185.19, Y:120.85, Z:1.00 [[-9.99555417e-01 -2.94078031e-02 4.91416453e-03 1.85193959e+02] [ 2.94068765e-02 -9.99567490e-01 -2.60708419e-04 1.20854461e+02] [ 4.91970597e-03 -1.16082283e-04 9.99987891e-01 1.00029679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.630281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:185.22, Y:120.86, Z:1.00 [[-9.99507370e-01 -3.09978716e-02 4.91425597e-03 1.85216755e+02] [ 3.09969728e-02 -9.99519445e-01 -2.58973236e-04 1.20858177e+02] [ 4.91992202e-03 -1.06518599e-04 9.99987891e-01 9.98900987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.66028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:185.22, Y:120.86, Z:1.00 [[-9.99481818e-01 -3.18110839e-02 4.91434711e-03 1.85221053e+02] [ 3.18102034e-02 -9.99493894e-01 -2.57232151e-04 1.20860788e+02] [ 4.92004276e-03 -1.00772477e-04 9.99987891e-01 9.99426299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.690281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.20, Y:120.86, Z:1.00 [[-9.99461748e-01 -3.24355052e-02 4.91443696e-03 1.85203216e+02] [ 3.24346408e-02 -9.99473826e-01 -2.55503800e-04 1.20864157e+02] [ 4.92013851e-03 -9.59682767e-05 9.99987891e-01 9.99423787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.72028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:185.22, Y:120.87, Z:1.00 [[-9.99434291e-01 -3.32707968e-02 4.91452677e-03 1.85222717e+02] [ 3.32699510e-02 -9.99446370e-01 -2.53764515e-04 1.20865303e+02] [ 4.92024889e-03 -9.01148934e-05 9.99987891e-01 9.99750048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.750281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:185.21, Y:120.87, Z:1.00 [[-9.99406938e-01 -3.40825287e-02 4.91461609e-03 1.85206231e+02] [ 3.40817013e-02 -9.99419018e-01 -2.52022795e-04 1.20868230e+02] [ 4.92035036e-03 -8.43748523e-05 9.99987891e-01 9.99098412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.78028169299995 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:185.17, Y:120.87, Z:1.00 [[-9.99318320e-01 -3.65888186e-02 4.91470485e-03 1.85171879e+02] [ 3.65880301e-02 -9.99330403e-01 -2.50279714e-04 1.20873710e+02] [ 4.92057142e-03 -7.02897342e-05 9.99987891e-01 9.97891177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.810281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:185.19, Y:120.87, Z:1.00 [[-9.99276504e-01 -3.77135716e-02 4.91479469e-03 1.85194757e+02] [ 3.77128054e-02 -9.99288588e-01 -2.48502952e-04 1.20874029e+02] [ 4.92067018e-03 -6.29724654e-05 9.99987891e-01 9.98548002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.84028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:185.20, Y:120.87, Z:1.00 [[-9.99246921e-01 -3.84894163e-02 4.91488440e-03 1.85201076e+02] [ 3.84886683e-02 -9.99259006e-01 -2.46715773e-04 1.20874924e+02] [ 4.92073845e-03 -5.73626209e-05 9.99987891e-01 9.99865025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.870281693 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:185.19, Y:120.88, Z:1.00 [[-9.99250983e-01 -3.83837982e-02 4.91497273e-03 1.85188569e+02] [ 3.83830577e-02 -9.99263069e-01 -2.44943385e-04 1.20878554e+02] [ 4.92075259e-03 -5.61082362e-05 9.99987891e-01 1.00030414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.90028169299995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:185.22, Y:120.88, Z:1.00 [[-9.99326241e-01 -3.63717708e-02 4.91506079e-03 1.85215249e+02] [ 3.63710147e-02 -9.99338326e-01 -2.43163454e-04 1.20879739e+02] [ 4.92065291e-03 -6.42338724e-05 9.99987891e-01 9.97363137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.930281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:185.19, Y:120.88, Z:1.00 [[-9.99416570e-01 -3.37988227e-02 4.91514793e-03 1.85192546e+02] [ 3.37980442e-02 -9.99428654e-01 -2.41389067e-04 1.20884414e+02] [ 4.92049835e-03 -7.51258462e-05 9.99987891e-01 9.96141866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.96028169299996 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:185.20, Y:120.89, Z:1.00 [[-9.99520028e-01 -3.05868330e-02 4.91523446e-03 1.85197361e+02] [ 3.05860244e-02 -9.99532109e-01 -2.39614087e-04 1.20888247e+02] [ 4.92026371e-03 -8.91615982e-05 9.99987891e-01 9.95913594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.990281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:185.22, Y:120.90, Z:1.00 [[-9.99671521e-01 -2.51533337e-02 4.91532107e-03 1.85223276e+02] [ 2.51524682e-02 -9.99683598e-01 -2.37824211e-04 1.20895374e+02] [ 4.91974792e-03 -1.14113634e-04 9.99987891e-01 9.96454423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.02028169299996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:185.24, Y:120.90, Z:1.00 [[-9.99706317e-01 -2.37301205e-02 4.91540628e-03 1.85237195e+02] [ 2.37292466e-02 -9.99718394e-01 -2.36049730e-04 1.20897903e+02] [ 4.91962356e-03 -1.19341518e-04 9.99987891e-01 9.97595273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.050281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:185.25, Y:120.90, Z:1.00 [[-9.99710710e-01 -2.35442923e-02 4.91548985e-03 1.85247352e+02] [ 2.35434247e-02 -9.99722788e-01 -2.34296375e-04 1.20900437e+02] [ 4.91964356e-03 -1.18501131e-04 9.99987891e-01 9.98341125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.08028169299996 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:185.22, Y:120.91, Z:1.00 [[-9.99639678e-01 -2.63884717e-02 4.91557230e-03 1.85218657e+02] [ 2.63876470e-02 -9.99651758e-01 -2.32553776e-04 1.20908010e+02] [ 4.91999723e-03 -1.02759595e-04 9.99987891e-01 1.00071200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.11028169299993 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:185.22, Y:120.91, Z:1.00 [[-9.99595407e-01 -2.80153233e-02 4.91565479e-03 1.85219707e+02] [ 2.80145270e-02 -9.99607490e-01 -2.30796822e-04 1.20910799e+02] [ 4.92019119e-03 -9.29936998e-05 9.99987891e-01 1.00219555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.14028169299996 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:185.18, Y:120.92, Z:1.00 [[-9.99536289e-01 -3.00506502e-02 4.91573758e-03 1.85180903e+02] [ 3.00498872e-02 -9.99548374e-01 -2.29019719e-04 1.20915079e+02] [ 4.92039970e-03 -8.11961607e-05 9.99987891e-01 1.00334518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.17028169299994 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:185.19, Y:120.92, Z:1.00 [[-9.99473161e-01 -3.20816844e-02 4.91582095e-03 1.85190876e+02] [ 3.20809548e-02 -9.99485248e-01 -2.27215967e-04 1.20917589e+02] [ 4.92057999e-03 -6.93920313e-05 9.99987891e-01 1.00223916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.20028169299997 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:185.20, Y:120.92, Z:1.00 [[-9.99324317e-01 -3.64244882e-02 4.91590465e-03 1.85204609e+02] [ 3.64238201e-02 -9.99336407e-01 -2.25390381e-04 1.20923093e+02] [ 4.92085222e-03 -4.61820615e-05 9.99987891e-01 1.00139951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.23028169299994 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:185.18, Y:120.93, Z:1.00 [[-9.99277394e-01 -3.76898224e-02 4.91598716e-03 1.85183995e+02] [ 3.76891786e-02 -9.99289486e-01 -2.23576181e-04 1.20926129e+02] [ 4.92092083e-03 -3.81351057e-05 9.99987891e-01 1.00101062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.26028169299997 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:185.20, Y:120.93, Z:1.00 [[-9.99259903e-01 -3.81507395e-02 4.91606934e-03 1.85198401e+02] [ 3.81501102e-02 -9.99271995e-01 -2.21754356e-04 1.20926953e+02] [ 4.92095051e-03 -3.40416489e-05 9.99987891e-01 1.00029872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.29028169299994 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:185.18, Y:120.93, Z:1.00 [[-9.99264604e-01 -3.80273813e-02 4.91615119e-03 1.85180060e+02] [ 3.80267595e-02 -9.99276697e-01 -2.19924839e-04 1.20929127e+02] [ 4.92095848e-03 -3.28178088e-05 9.99987892e-01 9.99557135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.32028169299997 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:185.19, Y:120.93, Z:1.00 [[-9.99301440e-01 -3.70467757e-02 4.91623261e-03 1.85185287e+02] [ 3.70461511e-02 -9.99313532e-01 -2.18089367e-04 1.20934390e+02] [ 4.92093728e-03 -3.58095225e-05 9.99987892e-01 9.97909540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.35028169299994 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:185.20, Y:120.94, Z:1.00 [[-9.99332966e-01 -3.61863544e-02 4.91631387e-03 1.85198854e+02] [ 3.61857285e-02 -9.99345059e-01 -2.16241896e-04 1.20937468e+02] [ 4.92091898e-03 -3.81972569e-05 9.99987892e-01 9.97068282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.380281693 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:185.21, Y:120.94, Z:1.00 [[-9.99357589e-01 -3.54998289e-02 4.91639406e-03 1.85206522e+02] [ 3.54992037e-02 -9.99369682e-01 -2.14403086e-04 1.20940900e+02] [ 4.92090644e-03 -3.97372769e-05 9.99987892e-01 9.96209298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.41028169299994 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:185.21, Y:120.94, Z:1.00 [[-9.99375107e-01 -3.50031967e-02 4.91647312e-03 1.85209968e+02] [ 3.50025745e-02 -9.99387200e-01 -2.12574639e-04 1.20943747e+02] [ 4.92090109e-03 -4.03525866e-05 9.99987892e-01 9.95909211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.440281693 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:185.20, Y:120.95, Z:0.99 [[-9.99333637e-01 -3.61677964e-02 4.91655133e-03 1.85199905e+02] [ 3.61671972e-02 -9.99345731e-01 -2.10749998e-04 1.20948597e+02] [ 4.92095694e-03 -3.27916801e-05 9.99987892e-01 9.94567786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.47028169299995 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:185.19, Y:120.95, Z:0.99 [[-9.99299781e-01 -3.70914294e-02 4.91662919e-03 1.85190171e+02] [ 3.70908504e-02 -9.99311876e-01 -2.08917644e-04 1.20951236e+02] [ 4.92099499e-03 -2.64093977e-05 9.99987892e-01 9.94338418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.500281693 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:185.20, Y:120.95, Z:0.99 [[-9.99266273e-01 -3.79834294e-02 4.91670705e-03 1.85198215e+02] [ 3.79828703e-02 -9.99278369e-01 -2.07068811e-04 1.20953386e+02] [ 4.92102419e-03 -2.01662323e-05 9.99987892e-01 9.94554527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.53028169299995 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:185.18, Y:120.96, Z:0.99 [[-9.99236530e-01 -3.87580110e-02 4.91678442e-03 1.85184201e+02] [ 3.87574704e-02 -9.99248626e-01 -2.05215120e-04 1.20957032e+02] [ 4.92104381e-03 -1.44963173e-05 9.99987892e-01 9.94446991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.560281693 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:185.19, Y:120.96, Z:0.99 [[-9.99224875e-01 -3.90573019e-02 4.91686142e-03 1.85189454e+02] [ 3.90567741e-02 -9.99236972e-01 -2.03353470e-04 1.20959551e+02] [ 4.92105216e-03 -1.11591000e-05 9.99987892e-01 9.92624534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.59028169299995 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:185.18, Y:120.97, Z:0.99 [[-9.99195424e-01 -3.98036139e-02 4.91693810e-03 1.85175232e+02] [ 3.98031043e-02 -9.99207522e-01 -2.01482262e-04 1.20965721e+02] [ 4.92106125e-03 -5.61075451e-06 9.99987892e-01 9.90533442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.620281693 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:185.19, Y:120.97, Z:0.99 [[-9.99195718e-01 -3.97962293e-02 4.91701445e-03 1.85186810e+02] [ 3.97957289e-02 -9.99207816e-01 -1.99601397e-04 1.20968677e+02] [ 4.92106265e-03 -3.76468778e-06 9.99987892e-01 9.90514199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.65028169299995 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:185.17, Y:120.97, Z:0.99 [[-9.99198751e-01 -3.97199874e-02 4.91709029e-03 1.85170440e+02] [ 3.97194953e-02 -9.99210850e-01 -1.97715166e-04 1.20973051e+02] [ 4.92106321e-03 -2.25240245e-06 9.99987892e-01 9.91004162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.680281693 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:185.18, Y:120.98, Z:0.99 [[-9.99140167e-01 -4.11673114e-02 4.91716569e-03 1.85179086e+02] [ 4.11668462e-02 -9.99152267e-01 -1.95821971e-04 1.20978800e+02] [ 4.92105871e-03 6.77060698e-06 9.99987892e-01 9.90589907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.71028169299996 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:185.19, Y:120.98, Z:0.99 [[-9.99090817e-01 -4.23480793e-02 4.91724071e-03 1.85187783e+02] [ 4.23476378e-02 -9.99102918e-01 -1.93919535e-04 1.20980700e+02] [ 4.92104166e-03 1.44903021e-05 9.99987892e-01 9.88059908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.740281693 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:185.17, Y:120.98, Z:0.99 [[-9.99025780e-01 -4.38555597e-02 4.91731467e-03 1.85169292e+02] [ 4.38551458e-02 -9.99037882e-01 -1.92025645e-04 1.20983489e+02] [ 4.92100503e-03 2.38109823e-05 9.99987892e-01 9.86110504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.77028169299996 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:185.17, Y:120.99, Z:0.98 [[-9.98936362e-01 -4.58471831e-02 4.91738830e-03 1.85174916e+02] [ 4.58468026e-02 -9.98948464e-01 -1.90121219e-04 1.20985791e+02] [ 4.92093402e-03 3.55275318e-05 9.99987892e-01 9.84298433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.800281693 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:185.19, Y:120.99, Z:0.98 [[-9.98678269e-01 -5.11618400e-02 4.91746168e-03 1.85194464e+02] [ 5.11615334e-02 -9.98690374e-01 -1.88203881e-04 1.20989303e+02] [ 4.92065050e-03 6.36297538e-05 9.99987892e-01 9.84770655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.83028169299996 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:185.22, Y:120.99, Z:0.99 [[-9.98504213e-01 -5.44532345e-02 4.91748882e-03 1.85218380e+02] [ 5.44529713e-02 -9.98516319e-01 -1.87492280e-04 1.20989394e+02] [ 4.92040239e-03 8.05600454e-05 9.99987892e-01 9.86433111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.86028169299993 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:185.23, Y:120.99, Z:0.99 [[-9.98315238e-01 -5.78143937e-02 4.91751548e-03 1.85225945e+02] [ 5.78141748e-02 -9.98327344e-01 -1.86790226e-04 1.20988928e+02] [ 4.92008934e-03 9.78265708e-05 9.99987892e-01 9.87202026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.89028169299996 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:185.23, Y:120.99, Z:0.99 [[-9.98336985e-01 -5.74376349e-02 4.91758540e-03 1.85228456e+02] [ 5.74374205e-02 -9.98349092e-01 -1.84931048e-04 1.20988907e+02] [ 4.92008892e-03 9.78299155e-05 9.99987892e-01 9.87189645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.92028169299994 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:185.24, Y:120.99, Z:0.99 [[-9.98128630e-01 -6.09512547e-02 4.91765449e-03 1.85242984e+02] [ 6.09510921e-02 -9.98140737e-01 -1.83075194e-04 1.20987282e+02] [ 4.91966994e-03 1.17003819e-04 9.99987892e-01 9.87083954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.95028169299997 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:185.26, Y:120.98, Z:0.99 [[-9.97855731e-01 -6.52668066e-02 4.91768011e-03 1.85262489e+02] [ 6.52666997e-02 -9.97867839e-01 -1.82384326e-04 1.20984237e+02] [ 4.91909847e-03 1.38967506e-04 9.99987892e-01 9.85330458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.98028169299994 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:185.27, Y:120.98, Z:0.98 [[-9.97852687e-01 -6.53133338e-02 4.91770537e-03 1.85265940e+02] [ 6.53132308e-02 -9.97864795e-01 -1.81700791e-04 1.20983655e+02] [ 4.91907254e-03 1.39880603e-04 9.99987892e-01 9.84687383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.01028169299997 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:185.25, Y:120.98, Z:0.98 [[-9.98005612e-01 -6.29334040e-02 4.91777182e-03 1.85253494e+02] [ 6.29332812e-02 -9.98017720e-01 -1.79884175e-04 1.20982920e+02] [ 4.91934414e-03 1.29966100e-04 9.99987892e-01 9.84714875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.04028169299994 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:185.26, Y:120.98, Z:0.99 [[-9.98118360e-01 -6.11191866e-02 4.91783792e-03 1.85258620e+02] [ 6.11190507e-02 -9.98130467e-01 -1.78058463e-04 1.20982096e+02] [ 4.91952665e-03 1.22850164e-04 9.99987892e-01 9.85319366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.07028169299997 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:185.25, Y:120.98, Z:0.99 [[-9.98244578e-01 -5.90218375e-02 4.91790365e-03 1.85245634e+02] [ 5.90216851e-02 -9.98256685e-01 -1.76224163e-04 1.20982270e+02] [ 4.91973127e-03 1.14348145e-04 9.99987892e-01 9.86465332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.10028169299994 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:185.25, Y:120.98, Z:0.99 [[-9.98384850e-01 -5.65995123e-02 4.91796896e-03 1.85254637e+02] [ 5.65993397e-02 -9.98396957e-01 -1.74382076e-04 1.20981919e+02] [ 4.91995519e-03 1.04253373e-04 9.99987892e-01 9.87944668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.130281693 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:185.24, Y:120.98, Z:0.99 [[-9.98676437e-01 -5.11975401e-02 4.91803380e-03 1.85238093e+02] [ 5.11973111e-02 -9.98688543e-01 -1.72533959e-04 1.20982390e+02] [ 4.92041732e-03 7.94845070e-05 9.99987892e-01 9.91246297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.16028169299994 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:185.22, Y:120.98, Z:0.99 [[-9.98797103e-01 -4.87868825e-02 4.91809018e-03 1.85224495e+02] [ 4.87866322e-02 -9.98809209e-01 -1.70911692e-04 1.20982970e+02] [ 4.92057201e-03 6.92309543e-05 9.99987892e-01 9.93191683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.190281693 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:185.23, Y:120.98, Z:1.00 [[-9.98877598e-01 -4.71100396e-02 4.91815478e-03 1.85233901e+02] [ 4.71097783e-02 -9.98889704e-01 -1.69031938e-04 1.20983780e+02] [ 4.92065727e-03 6.28509648e-05 9.99987892e-01 9.95635057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.22028169299995 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:185.24, Y:120.98, Z:1.00 [[-9.98918379e-01 -4.62372396e-02 4.91821888e-03 1.85243460e+02] [ 4.62369770e-02 -9.98930485e-01 -1.67145907e-04 1.20984712e+02] [ 4.92068714e-03 6.04384549e-05 9.99987892e-01 9.96286100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.250281693 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:185.25, Y:120.99, Z:0.99 [[-9.98932475e-01 -4.59316887e-02 4.91828193e-03 1.85247510e+02] [ 4.59314316e-02 -9.98944581e-01 -1.65269529e-04 1.20985428e+02] [ 4.92068219e-03 6.08106302e-05 9.99987892e-01 9.92577308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.28028169299995 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:185.24, Y:120.99, Z:0.99 [[-9.98921154e-01 -4.61772408e-02 4.91833631e-03 1.85243948e+02] [ 4.61769948e-02 -9.98933260e-01 -1.63634924e-04 1.20985500e+02] [ 4.92064594e-03 6.36556031e-05 9.99987892e-01 9.88367875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.310281693 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:185.23, Y:120.99, Z:0.99 [[-9.98925647e-01 -4.60799515e-02 4.91835567e-03 1.85227831e+02] [ 4.60797072e-02 -9.98937753e-01 -1.63051141e-04 1.20985852e+02] [ 4.92064455e-03 6.37604222e-05 9.99987892e-01 9.85838294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.34028169299995 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:185.25, Y:120.99, Z:0.98 [[-9.98912751e-01 -4.63586599e-02 4.91841758e-03 1.85249457e+02] [ 4.63584282e-02 -9.98924857e-01 -1.61161574e-04 1.20985534e+02] [ 4.92060082e-03 6.70237576e-05 9.99987892e-01 9.84597080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.370281693 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:185.25, Y:120.99, Z:0.99 [[-9.98840961e-01 -4.78805070e-02 4.91844063e-03 1.85249705e+02] [ 4.78802972e-02 -9.98853068e-01 -1.60455042e-04 1.20986251e+02] [ 4.92048218e-03 7.52273308e-05 9.99987892e-01 9.85525686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.40028169299995 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:185.26, Y:120.99, Z:0.99 [[-9.98799679e-01 -4.87340694e-02 4.91850118e-03 1.85256051e+02] [ 4.87338792e-02 -9.98811786e-01 -1.58577039e-04 1.20986552e+02] [ 4.92038505e-03 8.13109468e-05 9.99987892e-01 9.85927722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.430281693 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:185.27, Y:120.99, Z:0.99 [[-9.98778688e-01 -4.91623934e-02 4.91856096e-03 1.85269958e+02] [ 4.91622177e-02 -9.98790795e-01 -1.56700555e-04 1.20986782e+02] [ 4.92031719e-03 8.52981903e-05 9.99987892e-01 9.85881051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.46028169299996 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:185.27, Y:120.99, Z:0.99 [[-9.98778472e-01 -4.91667620e-02 4.91861971e-03 1.85270340e+02] [ 4.91665955e-02 -9.98790580e-01 -1.54834248e-04 1.20987612e+02] [ 4.92028373e-03 8.71866722e-05 9.99987892e-01 9.86099079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.490281693 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:185.27, Y:120.99, Z:0.98 [[-9.98820918e-01 -4.82967985e-02 4.91867757e-03 1.85265644e+02] [ 4.82966306e-02 -9.98833025e-01 -1.52974042e-04 1.20989299e+02] [ 4.92032575e-03 8.47618802e-05 9.99987892e-01 9.84801395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.52028169299996 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:185.28, Y:120.99, Z:0.98 [[-9.98853538e-01 -4.76173851e-02 4.91873490e-03 1.85282740e+02] [ 4.76172181e-02 -9.98865646e-01 -1.51107692e-04 1.20989313e+02] [ 4.92035067e-03 8.32820204e-05 9.99987892e-01 9.84016232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.550281693 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:185.27, Y:120.99, Z:0.98 [[-9.98897319e-01 -4.66899641e-02 4.91875619e-03 1.85269444e+02] [ 4.66897894e-02 -9.98909426e-01 -1.50411692e-04 1.20990459e+02] [ 4.92041463e-03 7.94098542e-05 9.99987892e-01 9.82693170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.58028169299996 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:185.27, Y:120.99, Z:0.98 [[-9.98937781e-01 -4.58161007e-02 4.91881243e-03 1.85272031e+02] [ 4.58159245e-02 -9.98949888e-01 -1.48549304e-04 1.20991239e+02] [ 4.92045308e-03 7.69684267e-05 9.99987892e-01 9.81598648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.61028169299993 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:185.27, Y:121.00, Z:0.98 [[-9.99024579e-01 -4.38827524e-02 4.91886829e-03 1.85266056e+02] [ 4.38825620e-02 -9.99036686e-01 -1.46676115e-04 1.20995456e+02] [ 4.92056642e-03 6.93194986e-05 9.99987892e-01 9.81026564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.64028169299996 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:185.26, Y:121.00, Z:0.98 [[-9.99116032e-01 -4.17487705e-02 4.91892361e-03 1.85256109e+02] [ 4.17485635e-02 -9.99128138e-01 -1.44796696e-04 1.20998761e+02] [ 4.92068007e-03 6.06892946e-05 9.99987892e-01 9.80575684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.67028169299994 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:185.27, Y:121.00, Z:0.98 [[-9.99213053e-01 -3.93583224e-02 4.91897863e-03 1.85269625e+02] [ 3.93580957e-02 -9.99225160e-01 -1.42902803e-04 1.21001713e+02] [ 4.92079162e-03 5.08112861e-05 9.99987892e-01 9.80967458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.70028169299997 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:185.25, Y:121.01, Z:0.98 [[-9.99352346e-01 -3.56467706e-02 4.91899912e-03 1.85253855e+02] [ 3.56465025e-02 -9.99364451e-01 -1.42194095e-04 1.21009143e+02] [ 4.92094162e-03 3.32431119e-05 9.99987892e-01 9.79049223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.73028169299994 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:185.26, Y:121.01, Z:0.98 [[-9.99376171e-01 -3.49724328e-02 4.91905332e-03 1.85257953e+02] [ 3.49721659e-02 -9.99388277e-01 -1.40293825e-04 1.21012584e+02] [ 4.92095063e-03 3.18236425e-05 9.99987892e-01 9.78933028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.76028169299997 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:185.28, Y:121.02, Z:0.98 [[-9.99373028e-01 -3.50621494e-02 4.91910711e-03 1.85277233e+02] [ 3.50618930e-02 -9.99385133e-01 -1.38381662e-04 1.21015045e+02] [ 4.92093447e-03 3.41783063e-05 9.99987892e-01 9.79155837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.79028169299994 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:185.26, Y:121.02, Z:0.98 [[-9.99346446e-01 -3.58117733e-02 4.91912698e-03 1.85256308e+02] [ 3.58115295e-02 -9.99358552e-01 -1.37671536e-04 1.21019001e+02] [ 4.92090188e-03 3.85799002e-05 9.99987892e-01 9.80232472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.82028169299997 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:185.29, Y:121.02, Z:0.98 [[-9.99262445e-01 -3.80836829e-02 4.91917954e-03 1.85294372e+02] [ 3.80834760e-02 -9.99274552e-01 -1.35767062e-04 1.21020938e+02] [ 4.92078145e-03 5.16725295e-05 9.99987892e-01 9.80170635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.85028169299994 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:185.31, Y:121.02, Z:0.98 [[-9.99093617e-01 -4.22817565e-02 4.91912663e-03 1.85311964e+02] [ 4.22815912e-02 -9.99105724e-01 -1.37657967e-04 1.21024833e+02] [ 4.92054799e-03 7.04553051e-05 9.99987892e-01 9.78351376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.880281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:185.30, Y:121.03, Z:0.98 [[-9.99060149e-01 -4.30652989e-02 4.91913952e-03 1.85301750e+02] [ 4.30651452e-02 -9.99072257e-01 -1.37195685e-04 1.21026629e+02] [ 4.92048420e-03 7.47767163e-05 9.99987892e-01 9.78740349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.91028169299994 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:185.32, Y:121.03, Z:0.98 [[-9.99047125e-01 -4.33663992e-02 4.91919047e-03 1.85321105e+02] [ 4.33662584e-02 -9.99059232e-01 -1.35343811e-04 1.21027475e+02] [ 4.92043203e-03 7.81120404e-05 9.99987892e-01 9.79176319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.940281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:185.33, Y:121.03, Z:0.98 [[-9.99065067e-01 -4.29510680e-02 4.91920940e-03 1.85327917e+02] [ 4.29509256e-02 -9.99077174e-01 -1.34652346e-04 1.21029088e+02] [ 4.92045329e-03 7.67581417e-05 9.99987892e-01 9.80079467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.97028169299995 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:185.33, Y:121.03, Z:0.98 [[-9.99120460e-01 -4.16426036e-02 4.91925896e-03 1.85329483e+02] [ 4.16424543e-02 -9.99132568e-01 -1.32816942e-04 1.21034491e+02] [ 4.92052268e-03 7.21498919e-05 9.99987892e-01 9.80480888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.000281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:185.31, Y:121.04, Z:0.98 [[-9.99177072e-01 -4.02613927e-02 4.91930777e-03 1.85312302e+02] [ 4.02612357e-02 -9.99189179e-01 -1.30983590e-04 1.21038314e+02] [ 4.92059268e-03 6.71816099e-05 9.99987892e-01 9.80226604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.03028169299995 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:185.30, Y:121.04, Z:0.98 [[-9.99237185e-01 -3.87407908e-02 4.91935626e-03 1.85301585e+02] [ 3.87406244e-02 -9.99249292e-01 -1.29136470e-04 1.21041410e+02] [ 4.92066611e-03 6.15409707e-05 9.99987892e-01 9.80214445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.060281693 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:185.32, Y:121.04, Z:0.98 [[-9.99241290e-01 -3.86347398e-02 4.91940462e-03 1.85319722e+02] [ 3.86345814e-02 -9.99253398e-01 -1.27267098e-04 1.21044756e+02] [ 4.92064871e-03 6.28885988e-05 9.99987892e-01 9.79827312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.09028169299995 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:185.33, Y:121.05, Z:0.98 [[-9.99196878e-01 -3.97667887e-02 4.91942557e-03 1.85328692e+02] [ 3.97666480e-02 -9.99208986e-01 -1.26451973e-04 1.21046009e+02] [ 4.92056283e-03 6.92786487e-05 9.99987892e-01 9.78998281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.120281693 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:185.35, Y:121.05, Z:0.98 [[-9.99105011e-01 -4.20116072e-02 4.91944624e-03 1.85346192e+02] [ 4.20114977e-02 -9.99117119e-01 -1.25642698e-04 1.21047194e+02] [ 4.92038141e-03 8.11430554e-05 9.99987892e-01 9.77297610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.15028169299995 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:185.35, Y:121.05, Z:0.98 [[-9.98999260e-01 -4.44553348e-02 4.91946372e-03 1.85350537e+02] [ 4.44552583e-02 -9.99011369e-01 -1.24954422e-04 1.21048354e+02] [ 4.92015508e-03 9.38666552e-05 9.99987892e-01 9.76340173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.180281693 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:185.37, Y:121.05, Z:0.98 [[-9.98754448e-01 -4.96522992e-02 4.91950953e-03 1.85373131e+02] [ 4.96522947e-02 -9.98766557e-01 -1.23124251e-04 1.21049344e+02] [ 4.91955499e-03 1.21294043e-04 9.99987892e-01 9.75752723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.21028169299996 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:185.39, Y:121.05, Z:0.98 [[-9.98661003e-01 -5.14975702e-02 4.91952643e-03 1.85386442e+02] [ 5.14975915e-02 -9.98673111e-01 -1.22445270e-04 1.21050199e+02] [ 4.91930440e-03 1.31062446e-04 9.99987892e-01 9.75521973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.240281693 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:185.38, Y:121.05, Z:0.97 [[-9.98585844e-01 -5.29349635e-02 4.91954306e-03 1.85379662e+02] [ 5.29350054e-02 -9.98597952e-01 -1.21773371e-04 1.21051777e+02] [ 4.91909170e-03 1.38814874e-04 9.99987892e-01 9.74767801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.27028169299996 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:185.39, Y:121.05, Z:0.97 [[-9.98492070e-01 -5.46752671e-02 4.91958685e-03 1.85394928e+02] [ 5.46753389e-02 -9.98504178e-01 -1.19977676e-04 1.21052194e+02] [ 4.91878784e-03 1.49183321e-04 9.99987892e-01 9.73912971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.300281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:185.41, Y:121.05, Z:0.97 [[-9.98193100e-01 -5.98860035e-02 4.91960312e-03 1.85411725e+02] [ 5.98861419e-02 -9.98205207e-01 -1.19306935e-04 1.21051674e+02] [ 4.91791827e-03 1.75524691e-04 9.99987892e-01 9.68566537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.33028169299996 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:185.43, Y:121.05, Z:0.97 [[-9.98017334e-01 -6.27471066e-02 4.91961915e-03 1.85426097e+02] [ 6.27472830e-02 -9.98029441e-01 -1.18642402e-04 1.21050664e+02] [ 4.91736921e-03 1.90285561e-04 9.99987892e-01 9.68233679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.36028169299993 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:185.41, Y:121.05, Z:0.97 [[-9.97850670e-01 -6.53440020e-02 4.91963494e-03 1.85414259e+02] [ 6.53442132e-02 -9.97862776e-01 -1.17983879e-04 1.21049654e+02] [ 4.91683012e-03 2.03739381e-04 9.99987892e-01 9.69367345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.39028169299996 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:185.44, Y:121.05, Z:0.97 [[-9.97669930e-01 -6.80478266e-02 4.91967658e-03 1.85437174e+02] [ 6.80480792e-02 -9.97682036e-01 -1.16221124e-04 1.21047093e+02] [ 4.91618154e-03 2.18824221e-04 9.99987892e-01 9.70595362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.42028169299994 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:185.46, Y:121.04, Z:0.97 [[-9.97407740e-01 -7.17885563e-02 4.91969203e-03 1.85457456e+02] [ 7.17888575e-02 -9.97419845e-01 -1.15563369e-04 1.21042540e+02] [ 4.91529459e-03 2.37915271e-04 9.99987892e-01 9.72401959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.45028169299997 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:185.44, Y:121.04, Z:0.97 [[-9.97418366e-01 -7.16407694e-02 4.91970719e-03 1.85444883e+02] [ 7.16410720e-02 -9.97430471e-01 -1.14914369e-04 1.21041080e+02] [ 4.91529841e-03 2.37835395e-04 9.99987892e-01 9.73864067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.48028169299994 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:185.46, Y:121.04, Z:0.98 [[-9.97498274e-01 -7.05194231e-02 4.91974709e-03 1.85458699e+02] [ 7.05197206e-02 -9.97510379e-01 -1.13180172e-04 1.21039429e+02] [ 4.91548018e-03 2.34042164e-04 9.99987892e-01 9.76285894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.51028169299997 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:185.46, Y:121.04, Z:0.98 [[-9.97645342e-01 -6.84073586e-02 4.91976194e-03 1.85457904e+02] [ 6.84076337e-02 -9.97657448e-01 -1.12530828e-04 1.21037873e+02] [ 4.91593508e-03 2.24283416e-04 9.99987892e-01 9.77508158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.54028169299994 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:185.44, Y:121.04, Z:0.98 [[-9.97818847e-01 -6.58281466e-02 4.91980094e-03 1.85440407e+02] [ 6.58283990e-02 -9.97830952e-01 -1.10798993e-04 1.21036361e+02] [ 4.91642335e-03 2.13305296e-04 9.99987892e-01 9.75627685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.57028169299997 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:185.44, Y:121.03, Z:0.97 [[-9.98106096e-01 -6.13189694e-02 4.91983963e-03 1.85443362e+02] [ 6.13191756e-02 -9.98118203e-01 -1.09053549e-04 1.21031592e+02] [ 4.91726854e-03 1.92833498e-04 9.99987892e-01 9.72288874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.60028169299994 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:185.43, Y:121.03, Z:0.97 [[-9.98265804e-01 -5.86615751e-02 4.91987795e-03 1.85430322e+02] [ 5.86617578e-02 -9.98277911e-01 -1.07296733e-04 1.21029729e+02] [ 4.91769967e-03 1.81498029e-04 9.99987892e-01 9.72929506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.630281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:185.44, Y:121.03, Z:0.97 [[-9.98440413e-01 -5.56105766e-02 4.91991582e-03 1.85439814e+02] [ 5.56107309e-02 -9.98452520e-01 -1.05530871e-04 1.21026840e+02] [ 4.91817099e-03 1.68233829e-04 9.99987892e-01 9.74866536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.66028169299994 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:185.42, Y:121.02, Z:0.98 [[-9.98700281e-01 -5.07301004e-02 4.91995318e-03 1.85421616e+02] [ 5.07302043e-02 -9.98712389e-01 -1.03759736e-04 1.21020368e+02] [ 4.91888193e-03 1.45965352e-04 9.99987892e-01 9.75640845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.690281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:185.41, Y:121.02, Z:0.97 [[-9.98837920e-01 -4.79437595e-02 4.91999005e-03 1.85405343e+02] [ 4.79438384e-02 -9.98850028e-01 -1.01980534e-04 1.21017732e+02] [ 4.91922153e-03 1.34021184e-04 9.99987892e-01 9.72036647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.72028169299995 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:185.40, Y:121.02, Z:0.97 [[-9.98990510e-01 -4.46514818e-02 4.92002679e-03 1.85402164e+02] [ 4.46515297e-02 -9.99002618e-01 -1.00176396e-04 1.21015644e+02] [ 4.91959267e-03 1.19611453e-04 9.99987892e-01 9.67403328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.750281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:185.40, Y:121.01, Z:0.96 [[-9.99162597e-01 -4.06189257e-02 4.92006316e-03 1.85396133e+02] [ 4.06189337e-02 -9.99174706e-01 -9.83568993e-05 1.21014531e+02] [ 4.91999781e-03 1.01573184e-04 9.99987892e-01 9.64893826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.78028169299995 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:185.36, Y:121.01, Z:0.97 [[-9.99535763e-01 -3.00674516e-02 4.92009904e-03 1.85356815e+02] [ 3.00673406e-02 -9.99547871e-01 -9.65282936e-05 1.21012576e+02] [ 4.92077688e-03 5.14508121e-05 9.99987892e-01 9.67451255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.810281693 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:185.36, Y:121.01, Z:0.97 [[-9.99547240e-01 -2.96834412e-02 4.92013486e-03 1.85359316e+02] [ 2.96833348e-02 -9.99559348e-01 -9.46666372e-05 1.21012601e+02] [ 4.92077682e-03 5.14222340e-05 9.99987892e-01 9.67438875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.84028169299995 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:185.35, Y:121.01, Z:0.97 [[-9.99720186e-01 -2.31374348e-02 4.92017050e-03 1.85347728e+02] [ 2.31372584e-02 -9.99732294e-01 -9.27763961e-05 1.21011455e+02] [ 4.92099995e-03 2.10888202e-05 9.99987892e-01 9.69685230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.870281693 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:185.35, Y:121.01, Z:0.97 [[-9.99855067e-01 -1.62983780e-02 4.92020559e-03 1.85354362e+02] [ 1.62981282e-02 -9.99867173e-01 -9.08763229e-05 1.21010650e+02] [ 4.92103319e-03 -1.06730105e-05 9.99987892e-01 9.72558502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.90028169299995 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:185.38, Y:121.01, Z:0.97 [[-9.99939539e-01 -9.83411051e-03 4.92024008e-03 1.85380155e+02] [ 9.83379178e-03 -9.99951643e-01 -8.89692032e-05 1.21010113e+02] [ 4.92087709e-03 -4.05792076e-05 9.99987892e-01 9.72763913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.930281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:185.42, Y:121.01, Z:0.97 [[-9.99987842e-01 -3.25739342e-04 4.92024854e-03 1.85416540e+02] [ 3.25307847e-04 -9.99999943e-01 -8.84986314e-05 1.21011040e+02] [ 4.92027709e-03 -8.68969601e-05 9.99987892e-01 9.70422104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.96028169299996 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:185.40, Y:121.01, Z:0.97 [[-9.99982543e-01 3.27186538e-03 4.92021470e-03 1.85404210e+02] [-3.27234947e-03 -9.99994642e-01 -9.03419686e-05 1.21013405e+02] [ 4.91989275e-03 -1.06441053e-04 9.99987892e-01 9.68031615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.990281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:185.40, Y:121.02, Z:0.97 [[-9.99954598e-01 8.16047268e-03 4.92024760e-03 1.85404344e+02] [-8.16100692e-03 -9.99966695e-01 -8.85127133e-05 1.21018957e+02] [ 4.91936143e-03 -1.28662869e-04 9.99987892e-01 9.65684362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.02028169299996 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:185.41, Y:121.02, Z:0.97 [[-9.99936429e-01 1.01454243e-02 4.92028002e-03 1.85413583e+02] [-1.01459735e-02 -9.99948525e-01 -8.66724492e-05 1.21021913e+02] [ 4.91914742e-03 -1.36587970e-04 9.99987892e-01 9.65776137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.050281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:185.43, Y:121.03, Z:0.97 [[-9.99920702e-01 1.15922685e-02 4.92029204e-03 1.85432916e+02] [-1.15928318e-02 -9.99932797e-01 -8.59849949e-05 1.21025572e+02] [ 4.91896462e-03 -1.43018294e-04 9.99987892e-01 9.66980569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.08028169299996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:185.44, Y:121.03, Z:0.97 [[-9.99908900e-01 1.25691067e-02 4.92030384e-03 1.85438559e+02] [-1.25696785e-02 -9.99920995e-01 -8.53038818e-05 1.21029549e+02] [ 4.91884292e-03 -1.47142748e-04 9.99987892e-01 9.67975348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.11028169299993 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:185.42, Y:121.03, Z:0.97 [[-9.99909884e-01 1.24905315e-02 4.92033456e-03 1.85421605e+02] [-1.24910934e-02 -9.99921980e-01 -8.34938730e-05 1.21033904e+02] [ 4.91890779e-03 -1.44946708e-04 9.99987892e-01 9.67849860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.14028169299996 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:185.40, Y:121.04, Z:0.97 [[-9.99942130e-01 9.56696750e-03 4.92036477e-03 1.85403909e+02] [-9.56748512e-03 -9.99954227e-01 -8.16736763e-05 1.21042926e+02] [ 4.91935818e-03 -1.28744467e-04 9.99987892e-01 9.67424979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.17028169299994 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:185.42, Y:121.05, Z:0.97 [[-9.99962887e-01 7.07213815e-03 4.92039473e-03 1.85418969e+02] [-7.07261652e-03 -9.99974986e-01 -7.98273785e-05 1.21046906e+02] [ 4.91970709e-03 -1.14624481e-04 9.99987892e-01 9.66645747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.20028169299997 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:185.41, Y:121.05, Z:0.97 [[-9.99975702e-01 4.93806621e-03 4.92040586e-03 1.85411157e+02] [-4.93851534e-03 -9.99987802e-01 -7.91352718e-05 1.21051117e+02] [ 4.91995506e-03 -1.03432849e-04 9.99987892e-01 9.67051089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.23028169299994 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:185.40, Y:121.06, Z:0.97 [[-9.99984111e-01 2.75091199e-03 4.92043492e-03 1.85400691e+02] [-2.75132556e-03 -9.99996212e-01 -7.72850369e-05 1.21055242e+02] [ 4.92020368e-03 -9.08215273e-05 9.99987892e-01 9.67941156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.26028169299997 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:185.39, Y:121.06, Z:0.97 [[-9.99985897e-01 -1.99871896e-03 4.92046352e-03 1.85388573e+02] [ 1.99837205e-03 -9.99998000e-01 -7.54192680e-05 1.21064210e+02] [ 4.92060442e-03 -6.55852876e-05 9.99987892e-01 9.68963817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.29028169299994 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:185.38, Y:121.07, Z:0.97 [[-9.99979391e-01 -4.12384584e-03 4.92049168e-03 1.85376515e+02] [ 4.12353393e-03 -9.99991496e-01 -7.35345523e-05 1.21069505e+02] [ 4.92075308e-03 -5.32432224e-05 9.99987892e-01 9.68611441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.32028169299997 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:185.37, Y:121.07, Z:0.97 [[-9.99968284e-01 -6.26250785e-03 4.92051941e-03 1.85373390e+02] [ 6.26223120e-03 -9.99980390e-01 -7.16295592e-05 1.21073817e+02] [ 4.92087150e-03 -4.08138573e-05 9.99987892e-01 9.68551408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.35028169299994 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:185.38, Y:121.08, Z:0.97 [[-9.99945318e-01 -9.22767869e-03 4.92054660e-03 1.85382156e+02] [ 9.22744738e-03 -9.99957424e-01 -6.97103643e-05 1.21077083e+02] [ 4.92098037e-03 -2.43024675e-05 9.99987892e-01 9.67722733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.380281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:185.40, Y:121.08, Z:0.97 [[-9.99906220e-01 -1.27804579e-02 4.92055667e-03 1.85404353e+02] [ 1.27802731e-02 -9.99918327e-01 -6.89926211e-05 1.21079876e+02] [ 4.92103655e-03 -6.10009287e-06 9.99987892e-01 9.67686785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.41028169299994 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:185.44, Y:121.09, Z:0.97 [[-9.99763414e-01 -2.11873365e-02 4.92056326e-03 1.85438457e+02] [ 2.11872559e-02 -9.99775523e-01 -6.85190932e-05 1.21085473e+02] [ 4.92091044e-03 3.57503502e-05 9.99987892e-01 9.70039565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.440281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:185.45, Y:121.09, Z:0.97 [[-9.99675918e-01 -2.49769299e-02 4.92053667e-03 1.85446750e+02] [ 2.49768861e-02 -9.99688026e-01 -7.03782885e-05 1.21088254e+02] [ 4.92075943e-03 5.25442036e-05 9.99987892e-01 9.69631700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.47028169299995 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:185.45, Y:121.09, Z:0.97 [[-9.99584080e-01 -2.84157549e-02 4.92054638e-03 1.85450741e+02] [ 2.84157561e-02 -9.99596188e-01 -6.96927707e-05 1.21090667e+02] [ 4.92053978e-03 7.01572614e-05 9.99987892e-01 9.67226810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.500281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:185.46, Y:121.09, Z:0.96 [[-9.99377857e-01 -3.49240048e-02 4.92057160e-03 1.85462663e+02] [ 3.49240938e-02 -9.99389966e-01 -6.78639894e-05 1.21093888e+02] [ 4.91993997e-03 1.04024736e-04 9.99987892e-01 9.64141858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.53028169299995 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:185.48, Y:121.09, Z:0.97 [[-9.99287082e-01 -3.74314671e-02 4.92058091e-03 1.85477198e+02] [ 3.74315898e-02 -9.99299190e-01 -6.71825562e-05 1.21094240e+02] [ 4.91964726e-03 1.17050505e-04 9.99987892e-01 9.65146526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.560281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:185.49, Y:121.09, Z:0.97 [[-9.99214062e-01 -3.93325126e-02 4.92059004e-03 1.85488895e+02] [ 3.93326617e-02 -9.99226169e-01 -6.65066251e-05 1.21093904e+02] [ 4.91939821e-03 1.27085549e-04 9.99987892e-01 9.66446427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.59028169299995 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:185.50, Y:121.09, Z:0.97 [[-9.99167049e-01 -4.05092187e-02 4.92059902e-03 1.85496870e+02] [ 4.05093854e-02 -9.99179156e-01 -6.58357486e-05 1.21094021e+02] [ 4.91922693e-03 1.33549531e-04 9.99987892e-01 9.66862984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.620281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:185.50, Y:121.10, Z:0.97 [[-9.99162027e-01 -4.06328788e-02 4.92060786e-03 1.85500493e+02] [ 4.06330503e-02 -9.99174135e-01 -6.51683469e-05 1.21095388e+02] [ 4.91919207e-03 1.34825569e-04 9.99987892e-01 9.66354552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.65028169299995 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:185.50, Y:121.10, Z:0.97 [[-9.99180140e-01 -4.01850109e-02 4.92063080e-03 1.85500376e+02] [ 4.01851857e-02 -9.99192247e-01 -6.33869632e-05 1.21096113e+02] [ 4.91920336e-03 1.34401468e-04 9.99987892e-01 9.65282580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.680281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:185.49, Y:121.10, Z:0.96 [[-9.99196621e-01 -3.97730941e-02 4.92065311e-03 1.85493257e+02] [ 3.97732726e-02 -9.99208728e-01 -6.16050074e-05 1.21096350e+02] [ 4.91920976e-03 1.34154963e-04 9.99987892e-01 9.64495370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.71028169299996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:185.51, Y:121.09, Z:0.96 [[-9.99222533e-01 -3.91167049e-02 4.92067486e-03 1.85514717e+02] [ 3.91168843e-02 -9.99234640e-01 -5.98157226e-05 1.21094356e+02] [ 4.91924857e-03 1.32712251e-04 9.99987892e-01 9.64654827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.740281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:185.50, Y:121.09, Z:0.96 [[-9.99243042e-01 -3.85892454e-02 4.92068289e-03 1.85501750e+02] [ 3.85894217e-02 -9.99255149e-01 -5.91483963e-05 1.21094603e+02] [ 4.91930020e-03 1.30782684e-04 9.99987892e-01 9.64536606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.77028169299996 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:185.53, Y:121.09, Z:0.96 [[-9.99251336e-01 -3.83738868e-02 4.92070365e-03 1.85533667e+02] [ 3.83740692e-02 -9.99263443e-01 -5.73669862e-05 1.21094011e+02] [ 4.91928067e-03 1.31503385e-04 9.99987892e-01 9.63971234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.80028169299993 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:185.50, Y:121.09, Z:0.96 [[-9.99288493e-01 -3.73937714e-02 4.92070365e-03 1.85501305e+02] [ 3.73939420e-02 -9.99300600e-01 -5.73669862e-05 1.21093800e+02] [ 4.91940728e-03 1.26678338e-04 9.99987892e-01 9.62874811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.83028169299996 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:185.52, Y:121.09, Z:0.96 [[-9.99354830e-01 -3.55768165e-02 4.92072369e-03 1.85515126e+02] [ 3.55769737e-02 -9.99366938e-01 -5.55936425e-05 1.21091859e+02] [ 4.91958641e-03 1.19506682e-04 9.99987892e-01 9.63505837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.86028169299993 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:185.51, Y:121.09, Z:0.96 [[-9.99387931e-01 -3.46345251e-02 4.92073115e-03 1.85509481e+02] [ 3.46346742e-02 -9.99400038e-01 -5.49254263e-05 1.21091961e+02] [ 4.91968121e-03 1.15536112e-04 9.99987892e-01 9.64834984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.89028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:185.52, Y:121.09, Z:0.97 [[-9.99398879e-01 -3.43171447e-02 4.92075043e-03 1.85520721e+02] [ 3.43172988e-02 -9.99410987e-01 -5.31397822e-05 1.21091702e+02] [ 4.91967565e-03 1.15759024e-04 9.99987892e-01 9.67813675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.92028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:185.51, Y:121.09, Z:0.97 [[-9.99397149e-01 -3.43674882e-02 4.92075755e-03 1.85507071e+02] [ 3.43676462e-02 -9.99409257e-01 -5.24723602e-05 1.21089059e+02] [ 4.91965399e-03 1.16674127e-04 9.99987892e-01 9.69804135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.95028169299997 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:185.52, Y:121.09, Z:0.97 [[-9.99372408e-01 -3.50795734e-02 4.92077598e-03 1.85515536e+02] [ 3.50797488e-02 -9.99384515e-01 -5.06824696e-05 1.21086469e+02] [ 4.91952524e-03 1.21968924e-04 9.99987892e-01 9.68785851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.98028169299994 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:185.53, Y:121.08, Z:0.97 [[-9.99319636e-01 -3.65520394e-02 4.92078281e-03 1.85529479e+02] [ 3.65522360e-02 -9.99331743e-01 -5.00104881e-05 1.21083542e+02] [ 4.91932245e-03 1.29889152e-04 9.99987892e-01 9.66526877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.01028169299997 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:185.54, Y:121.08, Z:0.96 [[-9.99262173e-01 -3.80906179e-02 4.92078729e-03 1.85537015e+02] [ 3.80908353e-02 -9.99274280e-01 -4.95657986e-05 1.21081311e+02] [ 4.91910417e-03 1.37907671e-04 9.99987892e-01 9.63096307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.04028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:185.53, Y:121.08, Z:0.96 [[-9.99180328e-01 -4.01803092e-02 4.92079171e-03 1.85526288e+02] [ 4.01805541e-02 -9.99192434e-01 -4.91236901e-05 1.21077209e+02] [ 4.91879165e-03 1.48636713e-04 9.99987892e-01 9.57450575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.07028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:185.51, Y:121.07, Z:0.96 [[-9.99163337e-01 -4.06006266e-02 4.92080881e-03 1.85509007e+02] [ 4.06008854e-02 -9.99175443e-01 -4.73461367e-05 1.21074705e+02] [ 4.91867360e-03 1.52482670e-04 9.99987892e-01 9.55639016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.10028169299994 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:185.53, Y:121.07, Z:0.95 [[-9.99143317e-01 -4.10903512e-02 4.92082545e-03 1.85532037e+02] [ 4.10906247e-02 -9.99155423e-01 -4.55480027e-05 1.21071897e+02] [ 4.91854102e-03 1.56690809e-04 9.99987892e-01 9.54197769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.130281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:185.54, Y:121.07, Z:0.95 [[-9.99146482e-01 -4.10133314e-02 4.92082956e-03 1.85539728e+02] [ 4.10136061e-02 -9.99158587e-01 -4.50999775e-05 1.21069940e+02] [ 4.91853881e-03 1.56759482e-04 9.99987892e-01 9.54313577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.16028169299994 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:185.54, Y:121.07, Z:0.96 [[-9.99218741e-01 -3.92134388e-02 4.92083557e-03 1.85537126e+02] [ 3.92136951e-02 -9.99230846e-01 -4.44337809e-05 1.21068195e+02] [ 4.91879310e-03 1.48565079e-04 9.99987892e-01 9.55102593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.190281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:185.55, Y:121.07, Z:0.96 [[-9.99268121e-01 -3.79342591e-02 4.92085101e-03 1.85547303e+02] [ 3.79345086e-02 -9.99280227e-01 -4.26531408e-05 1.21066529e+02] [ 4.91892713e-03 1.44048141e-04 9.99987892e-01 9.55482119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.22028169299995 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:185.54, Y:121.06, Z:0.96 [[-9.99320727e-01 -3.65221932e-02 4.92085668e-03 1.85542854e+02] [ 3.65224289e-02 -9.99332833e-01 -4.19880029e-05 1.21064756e+02] [ 4.91910714e-03 1.37762157e-04 9.99987892e-01 9.55742251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.250281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:185.54, Y:121.06, Z:0.96 [[-9.99364626e-01 -3.53005568e-02 4.92087122e-03 1.85537663e+02] [ 3.53007865e-02 -9.99376732e-01 -4.02096063e-05 1.21063139e+02] [ 4.91922362e-03 1.33526566e-04 9.99987892e-01 9.55457777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.28028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:185.53, Y:121.06, Z:0.96 [[-9.99394576e-01 -3.44422160e-02 4.92088517e-03 1.85525281e+02] [ 3.44424440e-02 -9.99406682e-01 -3.84219501e-05 1.21061780e+02] [ 4.91928886e-03 1.31088624e-04 9.99987892e-01 9.55297176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.310281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:185.53, Y:121.06, Z:0.95 [[-9.99416488e-01 -3.38004199e-02 4.92089858e-03 1.85526393e+02] [ 3.38006490e-02 -9.99428594e-01 -3.66200699e-05 1.21058787e+02] [ 4.91932453e-03 1.29730864e-04 9.99987892e-01 9.53249673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.34028169299995 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:185.54, Y:121.06, Z:0.95 [[-9.99408208e-01 -3.40443653e-02 4.92091140e-03 1.85544729e+02] [ 3.40446063e-02 -9.99420314e-01 -3.48081007e-05 1.21056447e+02] [ 4.91924383e-03 1.32742990e-04 9.99987892e-01 9.50534212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.370281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:185.55, Y:121.05, Z:0.95 [[-9.99401890e-01 -3.42293228e-02 4.92091608e-03 1.85549630e+02] [ 3.42295693e-02 -9.99413996e-01 -3.41337558e-05 1.21054129e+02] [ 4.91920078e-03 1.34327498e-04 9.99987892e-01 9.47310366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.40028169299995 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:185.54, Y:121.05, Z:0.95 [[-9.99412535e-01 -3.39170999e-02 4.92092063e-03 1.85538732e+02] [ 3.39173460e-02 -9.99424641e-01 -3.34639982e-05 1.21052600e+02] [ 4.91922434e-03 1.33460228e-04 9.99987892e-01 9.46697765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.430281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:185.55, Y:121.05, Z:0.95 [[-9.99471924e-01 -3.21194272e-02 4.92093220e-03 1.85547470e+02] [ 3.21196604e-02 -9.99484030e-01 -3.16658253e-05 1.21049952e+02] [ 4.91941024e-03 1.26409568e-04 9.99987892e-01 9.48484951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.46028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:185.54, Y:121.05, Z:0.95 [[-9.99533979e-01 -3.01265396e-02 4.92093505e-03 1.85539258e+02] [ 3.01267508e-02 -9.99546086e-01 -3.12165270e-05 1.21047915e+02] [ 4.91964182e-03 1.17049804e-04 9.99987892e-01 9.50044686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.490281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:185.54, Y:121.05, Z:0.95 [[-9.99601567e-01 -2.77937300e-02 4.92094584e-03 1.85542590e+02] [ 2.77939218e-02 -9.99613674e-01 -2.94120521e-05 1.21045793e+02] [ 4.91986222e-03 1.07372050e-04 9.99987892e-01 9.51559985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.52028169299996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:185.54, Y:121.04, Z:0.95 [[-9.99676671e-01 -2.49466866e-02 4.92095599e-03 1.85541402e+02] [ 2.49468529e-02 -9.99688779e-01 -2.76012324e-05 1.21044205e+02] [ 4.92011305e-03 9.51700571e-05 9.99987892e-01 9.51714555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.55028169299993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:185.54, Y:121.05, Z:0.95 [[-9.99818677e-01 -1.83955561e-02 4.92096549e-03 1.85536783e+02] [ 1.83956519e-02 -9.99830785e-01 -2.57892433e-05 1.21045402e+02] [ 4.92060720e-03 6.47398011e-05 9.99987892e-01 9.51694929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.58028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:185.51, Y:121.05, Z:0.95 [[-9.99887345e-01 -1.41803006e-02 4.92097435e-03 1.85508031e+02] [ 1.41803544e-02 -9.99899453e-01 -2.39699978e-05 1.21046902e+02] [ 4.92081947e-03 4.58138628e-05 9.99987892e-01 9.52394902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.61028169299993 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:185.50, Y:121.05, Z:0.95 [[-9.99966933e-01 -6.47437609e-03 4.92098265e-03 1.85502389e+02] [ 6.47434561e-03 -9.99979041e-01 -2.21255739e-05 1.21050445e+02] [ 4.92102276e-03 9.73530012e-06 9.99987892e-01 9.50913809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.64028169299996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:185.48, Y:121.05, Z:0.95 [[-9.99984308e-01 -2.67709236e-03 4.92099034e-03 1.85480694e+02] [ 2.67702510e-03 -9.99996417e-01 -2.02549782e-05 1.21053687e+02] [ 4.92102694e-03 -7.08104574e-06 9.99987892e-01 9.48894197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.67028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:185.49, Y:121.06, Z:0.95 [[-9.99987498e-01 8.87416004e-04 4.92099741e-03 1.85490637e+02] [-8.87517107e-04 -9.99999606e-01 -1.83622186e-05 1.21057447e+02] [ 4.92097917e-03 -2.27294584e-05 9.99987892e-01 9.47499796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.70028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:185.49, Y:121.06, Z:0.95 [[-9.99987360e-01 1.03169418e-03 4.92099996e-03 1.85493129e+02] [-1.03179353e-03 -9.99999468e-01 -1.76501095e-05 1.21057403e+02] [ 4.92097913e-03 -2.27273423e-05 9.99987892e-01 9.47487467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.73028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:185.48, Y:121.06, Z:0.95 [[-9.99978086e-01 4.42837499e-03 4.92100241e-03 1.85481164e+02] [-4.42851197e-03 -9.99990194e-01 -1.69401160e-05 1.21062070e+02] [ 4.92087913e-03 -3.87324628e-05 9.99987892e-01 9.47785783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.76028169299997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:185.49, Y:121.07, Z:0.95 [[-9.99940737e-01 9.71115299e-03 4.92100824e-03 1.85494223e+02] [-9.71134453e-03 -9.99952844e-01 -1.50307578e-05 1.21071925e+02] [ 4.92063021e-03 -6.28194735e-05 9.99987892e-01 9.49320335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.79028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:185.48, Y:121.08, Z:0.95 [[-9.99918243e-01 1.18021708e-02 4.92101032e-03 1.85480894e+02] [-1.18023842e-02 -9.99930349e-01 -1.43156051e-05 1.21077604e+02] [ 4.92049861e-03 -7.23940891e-05 9.99987892e-01 9.48951099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.82028169299997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:185.50, Y:121.08, Z:0.95 [[-9.99901516e-01 1.31431506e-02 4.92101515e-03 1.85497661e+02] [-1.31433707e-02 -9.99913622e-01 -1.23997953e-05 1.21083295e+02] [ 4.92042711e-03 -7.70773004e-05 9.99987892e-01 9.46844844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.85028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:185.50, Y:121.09, Z:0.94 [[-9.99893550e-01 1.37357819e-02 4.92101685e-03 1.85503407e+02] [-1.37360057e-02 -9.99905657e-01 -1.16832175e-05 1.21089177e+02] [ 4.92039210e-03 -7.92770895e-05 9.99987892e-01 9.43425285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.880281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:185.48, Y:121.10, Z:0.94 [[-9.99899342e-01 1.33075065e-02 4.92101793e-03 1.85484417e+02] [-1.33077228e-02 -9.99911448e-01 -1.12087737e-05 1.21101175e+02] [ 4.92043300e-03 -7.66951879e-05 9.99987892e-01 9.36917901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.91028169299994 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:185.48, Y:121.11, Z:0.94 [[-9.99912691e-01 1.22635341e-02 4.92102117e-03 1.85479825e+02] [-1.22637295e-02 -9.99924798e-01 -9.53429937e-06 1.21106783e+02] [ 4.92053417e-03 -6.98835394e-05 9.99987892e-01 9.36482558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.940281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:185.51, Y:121.11, Z:0.94 [[-9.99944312e-01 9.33577085e-03 4.92102416e-03 1.85505996e+02] [-9.33592128e-03 -9.99956419e-01 -7.59820970e-06 1.21111670e+02] [ 4.92073876e-03 -5.35400807e-05 9.99987892e-01 9.37764073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.97028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:185.51, Y:121.12, Z:0.94 [[-9.99973140e-01 5.43165296e-03 4.92102416e-03 1.85513691e+02] [-5.43175612e-03 -9.99985248e-01 -7.59820974e-06 1.21115098e+02] [ 4.92091029e-03 -3.43278088e-05 9.99987892e-01 9.40199010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.000281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:185.54, Y:121.12, Z:0.94 [[-9.99975686e-01 -4.94080558e-03 4.92102485e-03 1.85542491e+02] [ 4.94083034e-03 -9.99987794e-01 -7.12470194e-06 1.21118508e+02] [ 4.92099998e-03 1.71894202e-05 9.99987892e-01 9.41122295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.03028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:185.56, Y:121.12, Z:0.94 [[-9.99939159e-01 -9.87224766e-03 4.92102485e-03 1.85555565e+02] [ 9.87233214e-03 -9.99951267e-01 -7.12470193e-06 1.21119488e+02] [ 4.92085537e-03 4.14577233e-05 9.99987892e-01 9.39106835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.060281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:185.57, Y:121.12, Z:0.94 [[-9.99891650e-01 -1.38734466e-02 4.92102547e-03 1.85570315e+02] [ 1.38735818e-02 -9.99903757e-01 -6.66389726e-06 1.21120480e+02] [ 4.92064431e-03 6.16090739e-05 9.99987892e-01 9.37330224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.09028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:185.60, Y:121.12, Z:0.93 [[-9.99797088e-01 -1.95337050e-02 4.92102605e-03 1.85599005e+02] [ 1.95339110e-02 -9.99809195e-01 -6.20736636e-06 1.21121405e+02] [ 4.92020834e-03 8.99207780e-05 9.99987892e-01 9.34574611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.120281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:185.60, Y:121.12, Z:0.93 [[-9.99760146e-01 -2.13408863e-02 4.92102632e-03 1.85598141e+02] [ 2.13411153e-02 -9.99772253e-01 -5.98221148e-06 1.21121360e+02] [ 4.92003323e-03 9.90394132e-05 9.99987892e-01 9.34084765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.15028169299995 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:185.62, Y:121.12, Z:0.94 [[-9.99726701e-01 -2.28540400e-02 4.92102784e-03 1.85615072e+02] [ 2.28542961e-02 -9.99738807e-01 -4.19222931e-06 1.21121118e+02] [ 4.91983831e-03 1.08275544e-04 9.99987892e-01 9.36380917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.180281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:185.62, Y:121.12, Z:0.94 [[-9.99704583e-01 -2.38019062e-02 4.92102818e-03 1.85621352e+02] [ 2.38021760e-02 -9.99716688e-01 -3.74781161e-06 1.21120378e+02] [ 4.91972320e-03 1.13384474e-04 9.99987892e-01 9.37404493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.21028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:185.64, Y:121.12, Z:0.94 [[-9.99680609e-01 -2.47883562e-02 4.92102848e-03 1.85637001e+02] [ 2.47886401e-02 -9.99692714e-01 -3.30643922e-06 1.21117492e+02] [ 4.91959828e-03 1.18680221e-04 9.99987892e-01 9.44413227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.240281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:185.62, Y:121.12, Z:0.95 [[-9.99683464e-01 -2.46729545e-02 4.92102874e-03 1.85619816e+02] [ 2.46732391e-02 -9.99695569e-01 -2.86760983e-06 1.21115915e+02] [ 4.91960138e-03 1.18551017e-04 9.99987892e-01 9.45528187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.27028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:185.64, Y:121.11, Z:0.95 [[-9.99674079e-01 -2.50503284e-02 4.92102913e-03 1.85641472e+02] [ 2.50506263e-02 -9.99686184e-01 -1.10436972e-06 1.21113980e+02] [ 4.91951250e-03 1.22170852e-04 9.99987892e-01 9.45118325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.30028169299993 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:185.63, Y:121.11, Z:0.94 [[-9.99672204e-01 -2.51250302e-02 4.92102919e-03 1.85634641e+02] [ 2.51253323e-02 -9.99684309e-01 -4.45230908e-07 1.21112154e+02] [ 4.91948685e-03 1.23197409e-04 9.99987892e-01 9.43940153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.33028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:185.64, Y:121.11, Z:0.94 [[-9.99664937e-01 -2.54125358e-02 4.92102872e-03 1.85637618e+02] [ 2.54128500e-02 -9.99677041e-01 1.31199627e-06 1.21110055e+02] [ 4.91940609e-03 1.26368921e-04 9.99987892e-01 9.43577972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.36028169299993 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:185.62, Y:121.10, Z:0.94 [[-9.99646702e-01 -2.61200073e-02 4.92102762e-03 1.85619050e+02] [ 2.61203387e-02 -9.99658806e-01 3.07442917e-06 1.21104578e+02] [ 4.91926829e-03 1.31612251e-04 9.99987892e-01 9.41001746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.39028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:185.62, Y:121.10, Z:0.94 [[-9.99639532e-01 -2.63929711e-02 4.92102587e-03 1.85622563e+02] [ 2.63933145e-02 -9.99651636e-01 4.84900015e-06 1.21101659e+02] [ 4.91918358e-03 1.34729436e-04 9.99987892e-01 9.35913381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.42028169299994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:185.63, Y:121.10, Z:0.94 [[-9.99661026e-01 -2.55659155e-02 4.92102539e-03 1.85634467e+02] [ 2.55662511e-02 -9.99673130e-01 5.29466068e-06 1.21098427e+02] [ 4.91928149e-03 1.31105037e-04 9.99987892e-01 9.36307911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.45028169299997 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:185.62, Y:121.10, Z:0.94 [[-9.99700898e-01 -2.39561677e-02 4.92102501e-03 1.85624522e+02] [ 2.39564855e-02 -9.99713002e-01 5.62699137e-06 1.21095563e+02] [ 4.91947789e-03 1.23515773e-04 9.99987892e-01 9.35375424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.48028169299994 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:185.61, Y:121.09, Z:0.93 [[-9.99770969e-01 -2.08277189e-02 4.92102233e-03 1.85605992e+02] [ 2.08280076e-02 -9.99783074e-01 7.40656725e-06 1.21089631e+02] [ 4.91980057e-03 1.09899961e-04 9.99987892e-01 9.31695775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.51028169299997 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:185.62, Y:121.09, Z:0.93 [[-9.99813758e-01 -1.86610172e-02 4.92101897e-03 1.85618360e+02] [ 1.86612885e-02 -9.99825863e-01 9.20676259e-06 1.21087542e+02] [ 4.91999023e-03 1.01037602e-04 9.99987892e-01 9.34937340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.54028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:185.60, Y:121.09, Z:0.94 [[-9.99863409e-01 -1.57780763e-02 4.92101808e-03 1.85596182e+02] [ 1.57783148e-02 -9.99875515e-01 9.65691168e-06 1.21085728e+02] [ 4.92025312e-03 8.73009653e-05 9.99987892e-01 9.39274212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.57028169299997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:185.59, Y:121.08, Z:0.95 [[-9.99942143e-01 -9.56530171e-03 4.92101446e-03 1.85586590e+02] [ 9.56547286e-03 -9.99954250e-01 1.12434898e-05 1.21081915e+02] [ 4.92068177e-03 5.83146695e-05 9.99987892e-01 9.46657195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.60028169299994 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:185.54, Y:121.08, Z:0.95 [[-9.99966245e-01 -6.57968285e-03 4.92101026e-03 1.85540070e+02] [ 6.57982575e-03 -9.99978353e-01 1.28498502e-05 1.21079832e+02] [ 4.92081919e-03 4.52288066e-05 9.99987892e-01 9.45471450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.630281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:185.59, Y:121.08, Z:0.94 [[-9.99973518e-01 -5.36167190e-03 4.92100043e-03 1.85591022e+02] [ 5.36181639e-03 -9.99985625e-01 1.61685444e-05 1.21078479e+02] [ 4.92084300e-03 4.25536169e-05 9.99987892e-01 9.43238682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.66028169299994 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:185.58, Y:121.08, Z:0.94 [[-9.99981943e-01 -3.44917982e-03 4.92100908e-03 1.85576670e+02] [ 3.44928485e-03 -9.99994051e-01 1.28559824e-05 1.21077263e+02] [ 4.92093546e-03 2.98297123e-05 9.99987892e-01 9.40651768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.690281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:185.43, Y:121.08, Z:0.94 [[-9.99987694e-01 6.29176918e-04 4.92100355e-03 1.85431557e+02] [-6.29112162e-04 -9.99999802e-01 1.47064311e-05 1.21075032e+02] [ 4.92101183e-03 1.16103869e-05 9.99987892e-01 9.35911263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.72028169299995 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:185.57, Y:121.07, Z:0.93 [[-9.99987682e-01 6.48502444e-04 4.92098037e-03 1.85569205e+02] [-6.48403129e-04 -9.99999790e-01 2.17766700e-05 1.21073959e+02] [ 4.92099345e-03 1.85856227e-05 9.99987892e-01 9.34263024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.750281693 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:185.56, Y:121.07, Z:0.93 [[-9.99986661e-01 1.56877552e-03 4.92100155e-03 1.85560426e+02] [-1.56872230e-03 -9.99998770e-01 1.46726876e-05 1.21072641e+02] [ 4.92101851e-03 6.95280694e-06 9.99987892e-01 9.32819470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.78028169299995 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:185.56, Y:121.07, Z:0.93 [[-9.99985746e-01 2.07172895e-03 4.92099522e-03 1.85558337e+02] [-2.07167258e-03 -9.99997854e-01 1.65522705e-05 1.21071851e+02] [ 4.92101896e-03 6.35734365e-06 9.99987892e-01 9.32650832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.810281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:185.56, Y:121.07, Z:0.94 [[-9.99985053e-01 2.38299815e-03 4.92098814e-03 1.85564530e+02] [-2.38293624e-03 -9.99997161e-01 1.84428257e-05 1.21070958e+02] [ 4.92101812e-03 6.71614903e-06 9.99987892e-01 9.35572120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.84028169299995 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:185.57, Y:121.07, Z:0.94 [[-9.99985743e-01 2.07297395e-03 4.92098633e-03 1.85567023e+02] [-2.07290597e-03 -9.99997851e-01 1.89140633e-05 1.21070115e+02] [ 4.92101496e-03 8.71305165e-06 9.99987892e-01 9.37452991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.870281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:185.55, Y:121.07, Z:0.94 [[-9.99986659e-01 1.57045336e-03 4.92098448e-03 1.85554321e+02] [-1.57037699e-03 -9.99998767e-01 1.93841754e-05 1.21069275e+02] [ 4.92100885e-03 1.16561160e-05 9.99987892e-01 9.40093514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.90028169299995 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:185.57, Y:121.07, Z:0.94 [[-9.99987599e-01 7.66045049e-04 4.92097627e-03 1.85573950e+02] [-7.65949596e-04 -9.99999706e-01 2.12810483e-05 1.21068826e+02] [ 4.92099113e-03 1.75115646e-05 9.99987892e-01 9.39680481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.930281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:185.58, Y:121.07, Z:0.94 [[-9.99985584e-01 -2.14858688e-03 4.92097310e-03 1.85584043e+02] [ 2.14872111e-03 -9.99997691e-01 2.19900406e-05 1.21069648e+02] [ 4.92091450e-03 3.25635224e-05 9.99987892e-01 9.35999580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.96028169299996 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:185.58, Y:121.07, Z:0.93 [[-9.99980364e-01 -3.88008653e-03 4.92097097e-03 1.85578762e+02] [ 3.88024403e-03 -9.99992472e-01 2.24581164e-05 1.21069360e+02] [ 4.92084678e-03 4.15522437e-05 9.99987892e-01 9.33401756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.990281693 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:185.59, Y:121.07, Z:0.93 [[-9.99966592e-01 -6.52685351e-03 4.92096294e-03 1.85589298e+02] [ 6.52705112e-03 -9.99978698e-01 2.40985599e-05 1.21068295e+02] [ 4.92070082e-03 5.62171315e-05 9.99987892e-01 9.30149003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.02028169299996 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:185.60, Y:121.07, Z:0.93 [[-9.99946049e-01 -9.14783622e-03 4.92096060e-03 1.85595487e+02] [ 9.14806787e-03 -9.99958155e-01 2.45658486e-05 1.21066674e+02] [ 4.92052996e-03 6.95818049e-05 9.99987892e-01 9.30680875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.05028169299993 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:185.62, Y:121.07, Z:0.93 [[-9.99917059e-01 -1.19020635e-02 4.92095702e-03 1.85622495e+02] [ 1.19023319e-02 -9.99929164e-01 2.52638049e-05 1.21065039e+02] [ 4.92030775e-03 8.38325735e-05 9.99987892e-01 9.32992065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.08028169299996 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:185.63, Y:121.06, Z:0.93 [[-9.99840768e-01 -1.71529233e-02 4.92095461e-03 1.85629661e+02] [ 1.71532575e-02 -9.99852872e-01 2.57243489e-05 1.21060560e+02] [ 4.91978935e-03 1.10130655e-04 9.99987892e-01 9.33754072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.11028169299993 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:185.63, Y:121.06, Z:0.94 [[-9.99798388e-01 -1.94670892e-02 4.92095219e-03 1.85633544e+02] [ 1.94674537e-02 -9.99810491e-01 2.61797573e-05 1.21058732e+02] [ 4.91950998e-03 1.21972888e-04 9.99987892e-01 9.35006583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.14028169299996 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:185.63, Y:121.06, Z:0.93 [[-9.99757098e-01 -2.14832180e-02 4.92094182e-03 1.85633850e+02] [ 2.14836159e-02 -9.99769200e-01 2.80022078e-05 1.21057384e+02] [ 4.91920449e-03 1.33715030e-04 9.99987892e-01 9.34379009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.17028169299994 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:185.65, Y:121.06, Z:0.93 [[-9.99720857e-01 -2.31082916e-02 4.92093077e-03 1.85645050e+02] [ 2.31087181e-02 -9.99732958e-01 2.98252444e-05 1.21056368e+02] [ 4.91892746e-03 1.43533321e-04 9.99987892e-01 9.31419836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.20028169299997 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:185.66, Y:121.05, Z:0.93 [[-9.99658924e-01 -2.56479973e-02 4.92092655e-03 1.85659847e+02] [ 2.56484579e-02 -9.99671024e-01 3.05052452e-05 1.21052511e+02] [ 4.91852529e-03 1.56709018e-04 9.99987892e-01 9.34133860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.23028169299994 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:185.67, Y:121.05, Z:0.94 [[-9.99633969e-01 -2.66028553e-02 4.92092372e-03 1.85672779e+02] [ 2.66033297e-02 -9.99646068e-01 3.09553275e-05 1.21049439e+02] [ 4.91835855e-03 1.61856953e-04 9.99987892e-01 9.35649256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.26028169299997 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:185.67, Y:121.05, Z:0.94 [[-9.99608986e-01 -2.75256223e-02 4.92091942e-03 1.85674382e+02] [ 2.75261111e-02 -9.99621084e-01 3.16249987e-05 1.21046352e+02] [ 4.91818431e-03 1.67066407e-04 9.99987892e-01 9.36944935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.29028169299994 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:185.68, Y:121.04, Z:0.94 [[-9.99537622e-01 -3.00054361e-02 4.92090730e-03 1.85679120e+02] [ 3.00059637e-02 -9.99549719e-01 3.34095674e-05 1.21039728e+02] [ 4.91768904e-03 1.81050686e-04 9.99987892e-01 9.35661791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.32028169299997 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:185.69, Y:121.04, Z:0.93 [[-9.99514777e-01 -3.07570308e-02 4.92089455e-03 1.85686926e+02] [ 3.07575763e-02 -9.99526873e-01 3.51933050e-05 1.21036485e+02] [ 4.91748390e-03 1.86531018e-04 9.99987892e-01 9.33063861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.35028169299994 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:185.67, Y:121.03, Z:0.93 [[-9.99522812e-01 -3.04947989e-02 4.92089134e-03 1.85674985e+02] [ 3.04953434e-02 -9.99534908e-01 3.56364740e-05 1.21033327e+02] [ 4.91751594e-03 1.85683740e-04 9.99987892e-01 9.29170056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.380281693 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:185.67, Y:121.03, Z:0.93 [[-9.99554819e-01 -2.94270184e-02 4.92087956e-03 1.85667597e+02] [ 2.94275576e-02 -9.99566915e-01 3.71951318e-05 1.21030525e+02] [ 4.91765385e-03 1.81988040e-04 9.99987892e-01 9.27200192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.41028169299994 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:185.67, Y:121.02, Z:0.93 [[-9.99655878e-01 -2.57664548e-02 4.92086718e-03 1.85667738e+02] [ 2.57669574e-02 -9.99667976e-01 3.87660135e-05 1.21024294e+02] [ 4.91823447e-03 1.65548448e-04 9.99987892e-01 9.29823702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.440281693 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:185.66, Y:121.02, Z:0.93 [[-9.99730764e-01 -2.26756294e-02 4.92085425e-03 1.85657755e+02] [ 2.26761024e-02 -9.99742863e-01 4.03428395e-05 1.21020715e+02] [ 4.91867412e-03 1.51917773e-04 9.99987892e-01 9.32169581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.47028169299995 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:185.64, Y:121.02, Z:0.93 [[-9.99809122e-01 -1.89078021e-02 4.92084076e-03 1.85638613e+02] [ 1.89082373e-02 -9.99821222e-01 4.19265752e-05 1.21017883e+02] [ 4.91916828e-03 1.34962997e-04 9.99987892e-01 9.32910952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.500281693 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:185.65, Y:121.02, Z:0.94 [[-9.99868954e-01 -1.54227100e-02 4.92082658e-03 1.85649893e+02] [ 1.54231109e-02 -9.99881056e-01 4.35290760e-05 1.21016139e+02] [ 4.91956994e-03 1.19417826e-04 9.99987892e-01 9.35834518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.53028169299995 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:185.64, Y:121.01, Z:0.93 [[-9.99939031e-01 -9.88537728e-03 4.92082248e-03 1.85637334e+02] [ 9.88571341e-03 -9.99951134e-01 4.39879670e-05 1.21014337e+02] [ 4.92014718e-03 9.26311258e-05 9.99987892e-01 9.33746830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.560281693 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:185.62, Y:121.01, Z:0.93 [[-9.99961915e-01 -7.20793082e-03 4.92080530e-03 1.85624219e+02] [ 7.20824361e-03 -9.99974019e-01 4.58323245e-05 1.21012833e+02] [ 4.92034710e-03 8.13009423e-05 9.99987892e-01 9.32339235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.59028169299995 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:185.62, Y:121.01, Z:0.93 [[-9.99978205e-01 -4.40169272e-03 4.92079076e-03 1.85617768e+02] [ 4.40197898e-03 -9.99990310e-01 4.73442879e-05 1.21010101e+02] [ 4.92053468e-03 6.90044735e-05 9.99987892e-01 9.31701367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.620281693 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:185.62, Y:121.01, Z:0.93 [[-9.99979818e-01 -4.01866214e-03 4.92077196e-03 1.85620268e+02] [ 4.01895301e-03 -9.99991923e-01 4.92231583e-05 1.21010199e+02] [ 4.92053440e-03 6.89985161e-05 9.99987892e-01 9.31688988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.65028169299995 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:185.61, Y:121.01, Z:0.93 [[-9.99987873e-01 2.02591040e-04 4.92075239e-03 1.85607103e+02] [-2.02341996e-04 -9.99999978e-01 5.11079739e-05 1.21005996e+02] [ 4.92076263e-03 5.01116793e-05 9.99987892e-01 9.29198257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.680281693 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:185.61, Y:121.01, Z:0.93 [[-9.99985422e-01 2.22322504e-03 4.92073196e-03 1.85614593e+02] [-2.22299113e-03 -9.99997528e-01 5.30041139e-05 1.21005248e+02] [ 4.92083764e-03 4.20645977e-05 9.99987892e-01 9.29876773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.71028169299996 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:185.60, Y:121.00, Z:0.93 [[-9.99980552e-01 3.83182005e-03 4.92071072e-03 1.85603380e+02] [-3.83159624e-03 -9.99992658e-01 5.49078926e-05 1.21004149e+02] [ 4.92088499e-03 3.60526480e-05 9.99987892e-01 9.28131817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.740281693 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:185.59, Y:121.00, Z:0.93 [[-9.99975845e-01 4.90886563e-03 4.92068867e-03 1.85593320e+02] [-4.90864547e-03 -9.99987951e-01 5.68171267e-05 1.21002225e+02] [ 4.92090829e-03 3.26618381e-05 9.99987892e-01 9.28658478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.77028169299996 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:185.60, Y:121.00, Z:0.93 [[-9.99973406e-01 5.38281208e-03 4.92066565e-03 1.85600285e+02] [-5.38258817e-03 -9.99985512e-01 5.87458288e-05 1.20999503e+02] [ 4.92091057e-03 3.22583498e-05 9.99987892e-01 9.28994162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.80028169299993 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:185.62, Y:120.99, Z:0.93 [[-9.99977815e-01 4.48966324e-03 4.92064179e-03 1.85619128e+02] [-4.48941900e-03 -9.99989921e-01 6.06801299e-05 1.20993932e+02] [ 4.92086463e-03 3.85879609e-05 9.99987892e-01 9.31761414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.83028169299996 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:185.62, Y:120.99, Z:0.93 [[-9.99980575e-01 3.82574538e-03 4.92063585e-03 1.85617429e+02] [-3.82549075e-03 -9.99992681e-01 6.11583309e-05 1.20991703e+02] [ 4.92083381e-03 4.23332960e-05 9.99987892e-01 9.34864816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.86028169299993 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:185.62, Y:120.99, Z:0.94 [[-9.99982349e-01 3.33018868e-03 4.92061454e-03 1.85621870e+02] [-3.32991983e-03 -9.99994454e-01 6.28269828e-05 1.20990003e+02] [ 4.92079648e-03 4.64406218e-05 9.99987892e-01 9.36331855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.89028169299996 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:185.63, Y:120.99, Z:0.93 [[-9.99981804e-01 3.48989171e-03 4.92058941e-03 1.85632046e+02] [-3.48961540e-03 -9.99993909e-01 6.47371260e-05 1.20988013e+02] [ 4.92078537e-03 4.75649834e-05 9.99987892e-01 9.34207768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.92028169299994 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:185.62, Y:120.98, Z:0.93 [[-9.99980411e-01 3.86860414e-03 4.92056363e-03 1.85622678e+02] [-3.86832305e-03 -9.99992516e-01 6.66408478e-05 1.20982736e+02] [ 4.92078461e-03 4.76052126e-05 9.99987892e-01 9.32187330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.95028169299997 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:185.61, Y:120.98, Z:0.93 [[-9.99979425e-01 4.11553790e-03 4.92053707e-03 1.85609219e+02] [-4.11525042e-03 -9.99991530e-01 6.85474366e-05 1.20980106e+02] [ 4.92077750e-03 4.82967840e-05 9.99987892e-01 9.33489977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.98028169299994 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:185.61, Y:120.98, Z:0.93 [[-9.99979735e-01 4.03970473e-03 4.92050948e-03 1.85610970e+02] [-4.03940685e-03 -9.99991839e-01 7.04737922e-05 1.20977923e+02] [ 4.92075402e-03 5.05964243e-05 9.99987892e-01 9.34622838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.01028169299997 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:185.63, Y:120.98, Z:0.94 [[-9.99980988e-01 3.71648235e-03 4.92048095e-03 1.85625049e+02] [-3.71617102e-03 -9.99993092e-01 7.24126438e-05 1.20976500e+02] [ 4.92071608e-03 5.41259184e-05 9.99987892e-01 9.36348193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.04028169299994 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:185.64, Y:120.97, Z:0.93 [[-9.99985064e-01 2.37939520e-03 4.92045178e-03 1.85638008e+02] [-2.37905819e-03 -9.99997167e-01 7.43432463e-05 1.20973343e+02] [ 4.92061473e-03 6.26360948e-05 9.99987892e-01 9.34575075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.07028169299997 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:185.62, Y:120.97, Z:0.93 [[-9.99986495e-01 1.67324566e-03 4.92042593e-03 1.85623996e+02] [-1.67289187e-03 -9.99998598e-01 7.60164897e-05 1.20970776e+02] [ 4.92054622e-03 6.77841226e-05 9.99987892e-01 9.32678799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.10028169299994 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:185.64, Y:120.97, Z:0.93 [[-9.99987570e-01 8.06207343e-04 4.92039554e-03 1.85637444e+02] [-8.05833621e-04 -9.99999672e-01 7.79349716e-05 1.20968581e+02] [ 4.92045676e-03 7.39689827e-05 9.99987892e-01 9.32584628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.130281693 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:185.65, Y:120.97, Z:0.93 [[-9.99987889e-01 1.06833829e-04 4.92036435e-03 1.85651689e+02] [-1.06442188e-04 -9.99999991e-01 7.98570197e-05 1.20966247e+02] [ 4.92037283e-03 7.93323182e-05 9.99987892e-01 9.31639286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.16028169299994 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:185.64, Y:120.96, Z:0.94 [[-9.99986439e-01 -1.70659688e-03 4.92033266e-03 1.85636203e+02] [ 1.70701984e-03 -9.99998540e-01 8.17635294e-05 1.20962519e+02] [ 4.92018594e-03 9.01615261e-05 9.99987892e-01 9.36235162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.190281693 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:185.64, Y:120.96, Z:0.94 [[-9.99985265e-01 -2.29371993e-03 4.92030435e-03 1.85644571e+02] [ 2.29415821e-03 -9.99997365e-01 8.34331204e-05 1.20960687e+02] [ 4.92010002e-03 9.47198476e-05 9.99987892e-01 9.37304948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.22028169299995 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:185.65, Y:120.96, Z:0.94 [[-9.99985659e-01 -2.11502204e-03 4.92027107e-03 1.85646862e+02] [ 2.11546759e-03 -9.99997759e-01 8.53515537e-05 1.20957390e+02] [ 4.92007953e-03 9.57590037e-05 9.99987892e-01 9.37775149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.250281693 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:185.64, Y:120.95, Z:0.94 [[-9.99986764e-01 -1.50461157e-03 4.92023712e-03 1.85641888e+02] [ 1.50505916e-03 -9.99998864e-01 8.72657578e-05 1.20953524e+02] [ 4.92010023e-03 9.46698506e-05 9.99987892e-01 9.36722879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.28028169299995 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:185.65, Y:120.95, Z:0.93 [[-9.99987585e-01 7.88085301e-04 4.92020233e-03 1.85651140e+02] [-7.87656018e-04 -9.99999686e-01 8.91854730e-05 1.20946959e+02] [ 4.92027107e-03 8.53089388e-05 9.99987892e-01 9.33379019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.310281693 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:185.64, Y:120.94, Z:0.93 [[-9.99982696e-01 3.22482292e-03 4.92017134e-03 1.85643817e+02] [-3.22441487e-03 -9.99994797e-01 9.08632892e-05 1.20944031e+02] [ 4.92043876e-03 7.49970432e-05 9.99987892e-01 9.31508290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.34028169299995 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:185.64, Y:120.94, Z:0.93 [[-9.99965406e-01 6.70662371e-03 4.92013511e-03 1.85643734e+02] [-6.70624834e-03 -9.99977509e-01 9.27845917e-05 1.20941399e+02] [ 4.92064672e-03 5.97857340e-05 9.99987892e-01 9.30993259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.370281693 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:185.65, Y:120.94, Z:0.93 [[-9.99928374e-01 1.09105520e-02 4.92009795e-03 1.85654439e+02] [-1.09102180e-02 -9.99940477e-01 9.47150555e-05 1.20939441e+02] [ 4.92083848e-03 4.10289304e-05 9.99987892e-01 9.32324592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.40028169299995 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:185.67, Y:120.94, Z:0.93 [[-9.99776973e-01 2.05376824e-02 4.92006010e-03 1.85671377e+02] [-2.05374555e-02 -9.99789080e-01 9.66418946e-05 1.20938720e+02] [ 4.92100716e-03 -4.42517432e-06 9.99987892e-01 9.32730167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.430281693 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:185.71, Y:120.94, Z:0.93 [[-9.99675070e-01 2.50109427e-02 4.92002183e-03 1.85707884e+02] [-2.50107606e-02 -9.99687177e-01 9.85524658e-05 1.20940199e+02] [ 4.92094762e-03 -2.45330450e-05 9.99987892e-01 9.33579413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.46028169299996 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:185.71, Y:120.94, Z:0.93 [[-9.99553162e-01 2.94833744e-02 4.92002650e-03 1.85713949e+02] [-2.94832475e-02 -9.99565270e-01 9.83188904e-05 1.20941515e+02] [ 4.92078638e-03 -4.67834013e-05 9.99987892e-01 9.34114738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.490281693 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:185.70, Y:120.94, Z:0.93 [[-9.99443103e-01 3.30042161e-02 4.91998890e-03 1.85700654e+02] [-3.30041228e-02 -9.99455211e-01 1.00165642e-04 1.20942158e+02] [ 4.92061443e-03 -6.22700580e-05 9.99987892e-01 9.33091544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.52028169299996 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:185.72, Y:120.95, Z:0.93 [[-9.99315148e-01 3.66746444e-02 4.91995042e-03 1.85722466e+02] [-3.66745865e-02 -9.99327256e-01 1.02021138e-04 1.20945274e+02] [ 4.92038214e-03 -7.84858790e-05 9.99987892e-01 9.29371190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.55028169299993 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:185.71, Y:120.95, Z:0.93 [[-9.99269628e-01 3.78946453e-02 4.91991632e-03 1.85710589e+02] [-3.78945942e-02 -9.99281737e-01 1.03640128e-04 1.20946818e+02] [ 4.92030993e-03 -8.28737997e-05 9.99987892e-01 9.30564121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.58028169299996 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:185.73, Y:120.95, Z:0.93 [[-9.99228405e-01 3.89665159e-02 4.91987669e-03 1.85727104e+02] [-3.89664687e-02 -9.99240513e-01 1.05488331e-04 1.20949036e+02] [ 4.92025062e-03 -8.63032846e-05 9.99987892e-01 9.30493429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.61028169299993 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:185.73, Y:120.95, Z:0.93 [[-9.99207586e-01 3.94967889e-02 4.91983635e-03 1.85729459e+02] [-3.94967390e-02 -9.99219694e-01 1.07337125e-04 1.20950739e+02] [ 4.92023685e-03 -8.70654228e-05 9.99987892e-01 9.31400599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.64028169299996 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:185.73, Y:120.95, Z:0.93 [[-9.99210932e-01 3.94120330e-02 4.91980076e-03 1.85727416e+02] [-3.94119741e-02 -9.99223040e-01 1.08944532e-04 1.20954484e+02] [ 4.92027200e-03 -8.50404929e-05 9.99987892e-01 9.31230194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.67028169299994 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:185.72, Y:120.96, Z:0.93 [[-9.99223332e-01 3.90964170e-02 4.91975929e-03 1.85721972e+02] [-3.90963453e-02 -9.99235440e-01 1.10786084e-04 1.20956420e+02] [ 4.92032918e-03 -8.16445683e-05 9.99987892e-01 9.31299542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.70028169299997 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:185.73, Y:120.96, Z:0.93 [[-9.99253692e-01 3.83125903e-02 4.91971695e-03 1.85726216e+02] [-3.83125000e-02 -9.99265800e-01 1.12635441e-04 1.20957821e+02] [ 4.92042025e-03 -7.59352758e-05 9.99987892e-01 9.30510183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.73028169299994 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:185.70, Y:120.96, Z:0.93 [[-9.99382116e-01 3.48020698e-02 4.91967382e-03 1.85702885e+02] [-3.48019279e-02 -9.99394223e-01 1.14488717e-04 1.20955580e+02] [ 4.92067804e-03 -5.67961572e-05 9.99987892e-01 9.32363675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.76028169299997 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:185.72, Y:120.95, Z:0.93 [[-9.99459065e-01 3.25173126e-02 4.91963525e-03 1.85715107e+02] [-3.25171349e-02 -9.99471171e-01 1.16122773e-04 1.20954596e+02] [ 4.92080961e-03 -4.39124856e-05 9.99987892e-01 9.33638679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.79028169299994 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:185.71, Y:120.95, Z:0.93 [[-9.99547654e-01 2.96695880e-02 4.91959593e-03 1.85713074e+02] [-2.96693678e-02 -9.99559761e-01 1.17765254e-04 1.20953230e+02] [ 4.92092418e-03 -2.82493177e-05 9.99987892e-01 9.34368530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.82028169299997 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:185.70, Y:120.95, Z:0.94 [[-9.99623595e-01 2.69901082e-02 4.91958188e-03 1.85701012e+02] [-2.69898526e-02 -9.99635701e-01 1.18349588e-04 1.20952383e+02] [ 4.92098394e-03 -1.44737491e-05 9.99987892e-01 9.38795541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.85028169299994 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:185.71, Y:120.95, Z:0.93 [[-9.99733756e-01 2.25436493e-02 4.91953571e-03 1.85706076e+02] [-2.25433306e-02 -9.99745860e-01 1.20238317e-04 1.20949577e+02] [ 4.92099607e-03 9.30358398e-06 9.99987892e-01 9.30904286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.880281693 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:185.69, Y:120.95, Z:0.93 [[-9.99765479e-01 2.10899330e-02 4.91949464e-03 1.85692215e+02] [-2.10895885e-02 -9.99777583e-01 1.21895864e-04 1.20947477e+02] [ 4.92097124e-03 1.81171589e-05 9.99987892e-01 9.30231817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.91028169299994 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:185.70, Y:120.95, Z:0.93 [[-9.99796468e-01 1.95658482e-02 4.91944670e-03 1.85696490e+02] [-1.95654759e-02 -9.99808570e-01 1.23801086e-04 1.20945950e+02] [ 4.92092724e-03 2.75245729e-05 9.99987892e-01 9.31745781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.940281693 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:185.67, Y:120.94, Z:0.93 [[-9.99848833e-01 1.66766435e-02 4.91939774e-03 1.85674803e+02] [-1.66762268e-02 -9.99860934e-01 1.25716918e-04 1.20941738e+02] [ 4.92081015e-03 4.36609217e-05 9.99987892e-01 9.29586292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.97028169299995 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:185.70, Y:120.94, Z:0.93 [[-9.99862651e-01 1.58265633e-02 4.91934759e-03 1.85700327e+02] [-1.58261268e-02 -9.99874751e-01 1.27649383e-04 1.20940219e+02] [ 4.92075170e-03 4.97776311e-05 9.99987892e-01 9.30228074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.000281693 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:185.68, Y:120.94, Z:0.93 [[-9.99865955e-01 1.56163914e-02 4.91929667e-03 1.85680880e+02] [-1.56159428e-02 -9.99878055e-01 1.29582491e-04 1.20936772e+02] [ 4.92072040e-03 5.27456652e-05 9.99987892e-01 9.30656091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.03028169299995 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:185.69, Y:120.93, Z:0.94 [[-9.99862625e-01 1.58282369e-02 4.91925161e-03 1.85693630e+02] [-1.58277826e-02 -9.99874724e-01 1.31271001e-04 1.20934322e+02] [ 4.92071314e-03 5.33921230e-05 9.99987892e-01 9.36066743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.060281693 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:185.72, Y:120.93, Z:0.93 [[-9.99850164e-01 1.65967165e-02 4.91920579e-03 1.85720139e+02] [-1.65962632e-02 -9.99862264e-01 1.32966374e-04 1.20931413e+02] [ 4.92073504e-03 5.13060167e-05 9.99987892e-01 9.33774516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.09028169299995 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:185.70, Y:120.93, Z:0.94 [[-9.99829732e-01 1.77851023e-02 4.91916000e-03 1.85703793e+02] [-1.77846551e-02 -9.99841832e-01 1.34639186e-04 1.20928892e+02] [ 4.92077652e-03 4.71306976e-05 9.99987892e-01 9.35874422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.120281693 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:185.72, Y:120.93, Z:0.93 [[-9.99796862e-01 1.95457617e-02 4.91910699e-03 1.85721826e+02] [-1.95453264e-02 -9.99808963e-01 1.36548754e-04 1.20926840e+02] [ 4.92083621e-03 4.03754641e-05 9.99987892e-01 9.33785719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.15028169299995 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:185.71, Y:120.92, Z:0.93 [[-9.99757222e-01 2.14779026e-02 4.91905317e-03 1.85708522e+02] [-2.14774813e-02 -9.99769323e-01 1.38460896e-04 1.20923259e+02] [ 4.92089231e-03 3.27784083e-05 9.99987892e-01 9.31522065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.180281693 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:185.73, Y:120.92, Z:0.94 [[-9.99687048e-01 2.45277393e-02 4.91899861e-03 1.85728693e+02] [-2.45273455e-02 -9.99699150e-01 1.40373017e-04 1.20918459e+02] [ 4.92096176e-03 1.96791089e-05 9.99987892e-01 9.42058623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.21028169299996 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:185.75, Y:120.92, Z:0.94 [[-9.99635034e-01 2.65631959e-02 4.91895038e-03 1.85746701e+02] [-2.65628186e-02 -9.99647136e-01 1.42043172e-04 1.20917480e+02] [ 4.92098778e-03 1.13301450e-05 9.99987892e-01 9.44310197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.240281693 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:185.76, Y:120.92, Z:0.94 [[-9.99562465e-01 2.91664851e-02 4.91889516e-03 1.85755448e+02] [-2.91661300e-02 -9.99574568e-01 1.43930096e-04 1.20916669e+02] [ 4.92100044e-03 4.01985596e-07 9.99987892e-01 9.43823313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.27028169299996 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:185.76, Y:120.92, Z:0.94 [[-9.99382084e-01 3.48030951e-02 4.91883968e-03 1.85763500e+02] [-3.48027990e-02 -9.99394189e-01 1.45802027e-04 1.20915091e+02] [ 4.92093415e-03 -2.54774548e-05 9.99987892e-01 9.40492418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.30028169299993 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:185.78, Y:120.92, Z:0.94 [[-9.99241849e-01 3.86203585e-02 4.91878377e-03 1.85777297e+02] [-3.86200995e-02 -9.99253955e-01 1.47664466e-04 1.20915254e+02] [ 4.92081699e-03 -4.24114044e-05 9.99987892e-01 9.39712170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.33028169299996 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:185.77, Y:120.92, Z:0.94 [[-9.99079862e-01 4.26055863e-02 4.91872744e-03 1.85774895e+02] [-4.26053664e-02 -9.99091968e-01 1.49517386e-04 1.20915228e+02] [ 4.92063136e-03 -6.01843759e-05 9.99987892e-01 9.39492549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.36028169299993 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:185.81, Y:120.92, Z:0.94 [[-9.98914220e-01 4.63269650e-02 4.91867054e-03 1.85813395e+02] [-4.63267812e-02 -9.98926327e-01 1.51366349e-04 1.20916889e+02] [ 4.92040184e-03 -7.66641751e-05 9.99987892e-01 9.39650700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.39028169299996 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:185.81, Y:120.92, Z:0.94 [[-9.98592250e-01 5.28140749e-02 4.91861359e-03 1.85813195e+02] [-5.28139607e-02 -9.98604357e-01 1.53194997e-04 1.20919811e+02] [ 4.91983981e-03 -1.06792128e-04 9.99987892e-01 9.41485538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.42028169299994 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:185.84, Y:120.92, Z:0.94 [[-9.98440666e-01 5.56061461e-02 4.91855665e-03 1.85835300e+02] [-5.56060569e-02 -9.98452774e-01 1.55001759e-04 1.20922302e+02] [ 4.91956558e-03 -1.18741481e-04 9.99987892e-01 9.42403190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.45028169299997 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:185.86, Y:120.93, Z:0.94 [[-9.98286178e-01 5.83139301e-02 4.91849939e-03 1.85857603e+02] [-5.83138648e-02 -9.98298286e-01 1.56797896e-04 1.20925102e+02] [ 4.91927301e-03 -1.30287537e-04 9.99987892e-01 9.40748380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.48028169299994 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:185.83, Y:120.93, Z:0.94 [[-9.98174608e-01 6.01935247e-02 4.91844226e-03 1.85832522e+02] [-6.01934735e-02 -9.98186716e-01 1.58569859e-04 1.20926877e+02] [ 4.91906861e-03 -1.37777717e-04 9.99987892e-01 9.39850390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.51028169299997 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:185.84, Y:120.93, Z:0.94 [[-9.98152592e-01 6.05575196e-02 4.91838436e-03 1.85835055e+02] [-6.05574641e-02 -9.98164700e-01 1.60345975e-04 1.20927033e+02] [ 4.91906780e-03 -1.37795133e-04 9.99987892e-01 9.39838007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.54028169299994 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:185.86, Y:120.93, Z:0.94 [[-9.98077854e-01 6.17770815e-02 4.91832523e-03 1.85862655e+02] [-6.17770320e-02 -9.98089962e-01 1.62139493e-04 1.20930758e+02] [ 4.91894755e-03 -1.42011698e-04 9.99987892e-01 9.38103223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.57028169299997 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:185.85, Y:120.94, Z:0.94 [[-9.98025539e-01 6.26165650e-02 4.91826597e-03 1.85854122e+02] [-6.26165169e-02 -9.98037647e-01 1.63917510e-04 1.20936450e+02] [ 4.91887855e-03 -1.44370823e-04 9.99987892e-01 9.41664280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.60028169299994 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:185.88, Y:120.94, Z:0.94 [[-9.97990606e-01 6.31708917e-02 4.91821395e-03 1.85878396e+02] [-6.31708427e-02 -9.98002714e-01 1.65463748e-04 1.20940087e+02] [ 4.91884337e-03 -1.45556454e-04 9.99987892e-01 9.42154549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.630281693 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:185.87, Y:120.94, Z:0.94 [[-9.97969434e-01 6.35044871e-02 4.91816169e-03 1.85874297e+02] [-6.35044345e-02 -9.97981542e-01 1.67002922e-04 1.20942660e+02] [ 4.91884002e-03 -1.45661265e-04 9.99987892e-01 9.42839248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.66028169299994 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:185.87, Y:120.95, Z:0.94 [[-9.98002166e-01 6.29880110e-02 4.91810160e-03 1.85874890e+02] [-6.29879435e-02 -9.98014274e-01 1.68754226e-04 1.20946302e+02] [ 4.91896509e-03 -1.41364023e-04 9.99987892e-01 9.41455239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.690281693 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:185.85, Y:120.95, Z:0.94 [[-9.98109226e-01 6.12681456e-02 4.91804071e-03 1.85854715e+02] [-6.12680487e-02 -9.98121334e-01 1.70510386e-04 1.20953169e+02] [ 4.91924821e-03 -1.31130768e-04 9.99987892e-01 9.43555376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.72028169299995 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:185.84, Y:120.96, Z:0.95 [[-9.98189900e-01 5.99394426e-02 4.91797866e-03 1.85841686e+02] [-5.99393208e-02 -9.98202008e-01 1.72281624e-04 1.20956506e+02] [ 4.91946264e-03 -1.22810524e-04 9.99987892e-01 9.46323162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.750281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:185.83, Y:120.96, Z:0.95 [[-9.98257530e-01 5.88023706e-02 4.91792323e-03 1.85831306e+02] [-5.88022273e-02 -9.98269637e-01 1.73849738e-04 1.20959193e+02] [ 4.91963621e-03 -1.15638029e-04 9.99987892e-01 9.47236194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.78028169299995 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:185.84, Y:120.96, Z:0.95 [[-9.98296957e-01 5.81291619e-02 4.91786678e-03 1.85844109e+02] [-5.81290027e-02 -9.98309065e-01 1.75432057e-04 1.20962837e+02] [ 4.91974871e-03 -1.10737403e-04 9.99987892e-01 9.48491628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.810281693 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:185.82, Y:120.97, Z:0.95 [[-9.98306919e-01 5.79578429e-02 4.91780149e-03 1.85824802e+02] [-5.79576727e-02 -9.98319026e-01 1.77243733e-04 1.20968861e+02] [ 4.91980745e-03 -1.08080683e-04 9.99987892e-01 9.45450272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.84028169299995 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:185.82, Y:120.97, Z:0.94 [[-9.98286103e-01 5.83152831e-02 4.91774369e-03 1.85821351e+02] [-5.83151093e-02 -9.98298210e-01 1.78832998e-04 1.20972041e+02] [ 4.91980342e-03 -1.08252265e-04 9.99987892e-01 9.43143502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.870281693 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:185.83, Y:120.98, Z:0.94 [[-9.98282416e-01 5.83783711e-02 4.91768485e-03 1.85826075e+02] [-5.83781903e-02 -9.98294523e-01 1.80436854e-04 1.20975720e+02] [ 4.91983146e-03 -1.06958603e-04 9.99987892e-01 9.41167424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.90028169299995 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:185.82, Y:120.98, Z:0.94 [[-9.98378683e-01 5.67082245e-02 4.91762544e-03 1.85820847e+02] [-5.67080154e-02 -9.98390789e-01 1.82041636e-04 1.20982381e+02] [ 4.92003520e-03 -9.71222904e-05 9.99987892e-01 9.37668101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.930281693 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:185.83, Y:120.99, Z:0.94 [[-9.98401562e-01 5.63039899e-02 4.91756544e-03 1.85829751e+02] [-5.63037681e-02 -9.98413668e-01 1.83648313e-04 1.20985389e+02] [ 4.92010468e-03 -9.35227018e-05 9.99987892e-01 9.37903997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.96028169299996 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:185.82, Y:120.99, Z:0.94 [[-9.98406439e-01 5.62174495e-02 4.91749611e-03 1.85819832e+02] [-5.62172175e-02 -9.98418545e-01 1.85486334e-04 1.20987071e+02] [ 4.92014688e-03 -9.12571986e-05 9.99987892e-01 9.39103378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.990281693 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:185.82, Y:120.99, Z:0.94 [[-9.98453863e-01 5.53687831e-02 4.91742594e-03 1.85816084e+02] [-5.53685319e-02 -9.98465969e-01 1.87328217e-04 1.20989355e+02] [ 4.92025459e-03 -8.52320726e-05 9.99987892e-01 9.40402982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.02028169299996 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:185.80, Y:120.99, Z:0.94 [[-9.98475961e-01 5.49688513e-02 4.91735460e-03 1.85804554e+02] [-5.49685860e-02 -9.98488066e-01 1.89182734e-04 1.20990287e+02] [ 4.92031904e-03 -8.14056165e-05 9.99987892e-01 9.40444293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.05028169299993 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:185.80, Y:120.99, Z:0.94 [[-9.98493839e-01 5.46431553e-02 4.91728202e-03 1.85800508e+02] [-5.46428769e-02 -9.98505944e-01 1.91050679e-04 1.20991791e+02] [ 4.92037494e-03 -7.79315105e-05 9.99987892e-01 9.40703510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.08028169299996 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:185.79, Y:120.99, Z:0.94 [[-9.98525377e-01 5.40637750e-02 4.91720820e-03 1.85794383e+02] [-5.40634803e-02 -9.98537482e-01 1.92932247e-04 1.20992727e+02] [ 4.92044734e-03 -7.31936436e-05 9.99987892e-01 9.40937459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.11028169299993 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:185.82, Y:120.99, Z:0.94 [[-9.98623321e-01 5.22234133e-02 4.91713321e-03 1.85820694e+02] [-5.22230870e-02 -9.98635425e-01 1.94824793e-04 1.20994008e+02] [ 4.92059783e-03 -6.22312936e-05 9.99987892e-01 9.41431533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.14028169299996 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:185.82, Y:120.99, Z:0.94 [[-9.98639952e-01 5.19044070e-02 4.91711460e-03 1.85822316e+02] [-5.19040745e-02 -9.98652056e-01 1.95293416e-04 1.20994488e+02] [ 4.92062319e-03 -6.01904745e-05 9.99987892e-01 9.42556978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.17028169299994 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:185.83, Y:121.00, Z:0.94 [[-9.98644296e-01 5.18207669e-02 4.91703981e-03 1.85826880e+02] [-5.18204242e-02 -9.98656400e-01 1.97158505e-04 1.20995293e+02] [ 4.92065018e-03 -5.79118722e-05 9.99987892e-01 9.44175536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.20028169299997 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:185.80, Y:121.00, Z:0.94 [[-9.98633261e-01 5.20330098e-02 4.91696437e-03 1.85797239e+02] [-5.20326605e-02 -9.98645364e-01 1.99022329e-04 1.20996532e+02] [ 4.92065940e-03 -5.70924199e-05 9.99987892e-01 9.43821784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.23028169299994 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:185.83, Y:121.00, Z:0.94 [[-9.98612244e-01 5.24348241e-02 4.91688738e-03 1.85825474e+02] [-5.24344704e-02 -9.98624347e-01 2.00906587e-04 1.20998757e+02] [ 4.92065795e-03 -5.71866079e-05 9.99987892e-01 9.41966976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.26028169299997 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:185.82, Y:121.00, Z:0.94 [[-9.98598581e-01 5.26943822e-02 4.91686811e-03 1.85821443e+02] [-5.26940293e-02 -9.98610684e-01 2.01377165e-04 1.20999688e+02] [ 4.92064847e-03 -5.79946409e-05 9.99987892e-01 9.40006477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.29028169299994 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:185.82, Y:121.00, Z:0.94 [[-9.98608797e-01 5.25004277e-02 4.91679062e-03 1.85820681e+02] [-5.25000632e-02 -9.98620900e-01 2.03251723e-04 1.20999635e+02] [ 4.92068067e-03 -5.51628594e-05 9.99987892e-01 9.40927709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.32028169299997 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:185.82, Y:121.00, Z:0.95 [[-9.98729676e-01 5.01483890e-02 4.91671212e-03 1.85821828e+02] [-5.01479867e-02 -9.98741777e-01 2.05133101e-04 1.20997593e+02] [ 4.92081290e-03 -4.16906986e-05 9.99987892e-01 9.48097822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.35028169299994 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:185.83, Y:121.00, Z:0.95 [[-9.98814223e-01 4.84352574e-02 4.91664290e-03 1.85831542e+02] [-4.84348263e-02 -9.98826324e-01 2.06779084e-04 1.20997059e+02] [ 4.92088775e-03 -3.16028540e-05 9.99987892e-01 9.51055595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.380281693 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:185.82, Y:121.00, Z:0.95 [[-9.98896144e-01 4.67153090e-02 4.91657329e-03 1.85821685e+02] [-4.67148490e-02 -9.98908244e-01 2.08421052e-04 1.20995928e+02] [ 4.92094204e-03 -2.14859943e-05 9.99987892e-01 9.52298444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.41028169299994 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:185.81, Y:120.99, Z:0.95 [[-9.98954728e-01 4.54453485e-02 4.91649279e-03 1.85811640e+02] [-4.54448638e-02 -9.98966826e-01 2.10302975e-04 1.20993899e+02] [ 4.92097049e-03 -1.33461939e-05 9.99987892e-01 9.48399828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.440281693 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:185.79, Y:120.99, Z:0.94 [[-9.98984884e-01 4.47775676e-02 4.91642124e-03 1.85791495e+02] [-4.47770667e-02 -9.98996982e-01 2.11962538e-04 1.20988267e+02] [ 4.92098115e-03 -8.39555052e-06 9.99987892e-01 9.43928030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.47028169299995 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:185.81, Y:120.99, Z:0.94 [[-9.98945064e-01 4.56573055e-02 4.91635354e-03 1.85806771e+02] [-4.56568076e-02 -9.98957161e-01 2.13521426e-04 1.20986556e+02] [ 4.92097539e-03 -1.11688325e-05 9.99987892e-01 9.41043820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.500281693 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:185.81, Y:120.99, Z:0.94 [[-9.98887731e-01 4.68948967e-02 4.91626906e-03 1.85814502e+02] [-4.68944043e-02 -9.98899829e-01 2.15449066e-04 1.20985596e+02] [ 4.92096379e-03 -1.53360805e-05 9.99987892e-01 9.44579848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.53028169299995 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:185.84, Y:120.98, Z:0.95 [[-9.98801536e-01 4.86962200e-02 4.91619518e-03 1.85836573e+02] [-4.86957412e-02 -9.98813635e-01 2.17121898e-04 1.20984932e+02] [ 4.92093580e-03 -2.25360831e-05 9.99987892e-01 9.51273800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.560281693 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:185.84, Y:120.98, Z:0.95 [[-9.98546626e-01 5.36699791e-02 4.91617427e-03 1.85840893e+02] [-5.36695582e-02 -9.98558727e-01 2.17594403e-04 1.20981118e+02] [ 4.92076701e-03 -4.65707441e-05 9.99987892e-01 9.49384146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.59028169299995 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:185.84, Y:120.98, Z:0.95 [[-9.98392500e-01 5.64645761e-02 4.91609031e-03 1.85842332e+02] [-5.64641799e-02 -9.98404602e-01 2.19474914e-04 1.20980012e+02] [ 4.92063975e-03 -5.84608995e-05 9.99987892e-01 9.48292481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.620281693 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:185.87, Y:120.98, Z:0.95 [[-9.98236709e-01 5.91549285e-02 4.91600568e-03 1.85866208e+02] [-5.91545556e-02 -9.98248812e-01 2.21354474e-04 1.20980573e+02] [ 4.92049104e-03 -6.98399698e-05 9.99987892e-01 9.47809292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.65028169299995 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:185.87, Y:120.98, Z:0.95 [[-9.98099537e-01 6.14259564e-02 4.91592096e-03 1.85865145e+02] [-6.14256018e-02 -9.98111640e-01 2.23220376e-04 1.20980285e+02] [ 4.92034945e-03 -7.91672491e-05 9.99987892e-01 9.46885870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.680281693 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:185.86, Y:120.98, Z:0.95 [[-9.97956352e-01 6.37099283e-02 4.91583607e-03 1.85858081e+02] [-6.37095923e-02 -9.97968455e-01 2.25074320e-04 1.20976978e+02] [ 4.92018880e-03 -8.85715646e-05 9.99987892e-01 9.46656740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.71028169299996 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:185.88, Y:120.98, Z:0.95 [[-9.97922423e-01 6.42391787e-02 4.91576100e-03 1.85875045e+02] [-6.42388411e-02 -9.97934527e-01 2.26702165e-04 1.20975755e+02] [ 4.92017079e-03 -8.95516160e-05 9.99987892e-01 9.47574315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.740281693 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:185.88, Y:120.97, Z:0.95 [[-9.97915319e-01 6.43494539e-02 4.91567459e-03 1.85878659e+02] [-6.43491085e-02 -9.97927422e-01 2.28560620e-04 1.20974925e+02] [ 4.92019422e-03 -8.82351331e-05 9.99987892e-01 9.48603967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.77028169299996 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:185.88, Y:120.97, Z:0.95 [[-9.97946094e-01 6.38704124e-02 4.91558795e-03 1.85883261e+02] [-6.38700520e-02 -9.97958197e-01 2.30409033e-04 1.20974666e+02] [ 4.92026761e-03 -8.40230639e-05 9.99987892e-01 9.48386487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.80028169299993 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:185.88, Y:120.97, Z:0.95 [[-9.98016610e-01 6.27589352e-02 4.91551180e-03 1.85876369e+02] [-6.27585535e-02 -9.98028712e-01 2.32022219e-04 1.20973027e+02] [ 4.92038338e-03 -7.69283819e-05 9.99987892e-01 9.50601428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.83028169299996 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:185.87, Y:120.97, Z:0.95 [[-9.98017525e-01 6.27443883e-02 4.91542376e-03 1.85872010e+02] [-6.27439972e-02 -9.98029627e-01 2.33872675e-04 1.20972105e+02] [ 4.92041274e-03 -7.50043061e-05 9.99987892e-01 9.50631113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.86028169299993 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:185.88, Y:120.97, Z:0.95 [[-9.98039213e-01 6.23984618e-02 4.91533451e-03 1.85881124e+02] [-6.23980574e-02 -9.98051315e-01 2.35733747e-04 1.20972569e+02] [ 4.92046549e-03 -7.14358013e-05 9.99987892e-01 9.52119012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.89028169299996 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:185.89, Y:120.97, Z:0.95 [[-9.98062208e-01 6.20295862e-02 4.91524455e-03 1.85885906e+02] [-6.20291682e-02 -9.98074309e-01 2.37594784e-04 1.20973114e+02] [ 4.92051721e-03 -6.77541559e-05 9.99987892e-01 9.52904829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.92028169299994 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:185.90, Y:120.98, Z:0.96 [[-9.98024238e-01 6.26375344e-02 4.91518285e-03 1.85901087e+02] [-6.26371175e-02 -9.98036339e-01 2.38864379e-04 1.20976335e+02] [ 4.92049297e-03 -6.94804459e-05 9.99987892e-01 9.56235536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.95028169299997 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:185.90, Y:120.98, Z:0.96 [[-9.97920830e-01 6.42639737e-02 4.91510388e-03 1.85901920e+02] [-6.42635685e-02 -9.97932932e-01 2.40478408e-04 1.20978512e+02] [ 4.92039812e-03 -7.58837023e-05 9.99987892e-01 9.55272246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.98028169299994 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:185.91, Y:120.98, Z:0.96 [[-9.97801498e-01 6.60909506e-02 4.91501325e-03 1.85906381e+02] [-6.60905586e-02 -9.97813600e-01 2.42316702e-04 1.20981590e+02] [ 4.92028200e-03 -8.30520026e-05 9.99987892e-01 9.56948744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.01028169299997 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:185.89, Y:120.98, Z:0.96 [[-9.97685572e-01 6.78184494e-02 4.91492196e-03 1.85893754e+02] [-6.78180692e-02 -9.97697675e-01 2.44154362e-04 1.20984623e+02] [ 4.92016438e-03 -8.97312338e-05 9.99987892e-01 9.55473421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.04028169299994 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:185.89, Y:120.99, Z:0.95 [[-9.97638217e-01 6.85115543e-02 4.91482955e-03 1.85891497e+02] [-6.85111734e-02 -9.97650319e-01 2.46000668e-04 1.20990479e+02] [ 4.92013515e-03 -9.13010720e-05 9.99987892e-01 9.52233904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.07028169299997 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:185.89, Y:120.99, Z:0.95 [[-9.97720491e-01 6.73027988e-02 4.91474769e-03 1.85889707e+02] [-6.73023953e-02 -9.97732593e-01 2.47625241e-04 1.20992598e+02] [ 4.92026983e-03 -8.37135148e-05 9.99987892e-01 9.49822997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.10028169299994 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:185.88, Y:120.99, Z:0.95 [[-9.97871779e-01 6.50212182e-02 4.91470270e-03 1.85879637e+02] [-6.50207826e-02 -9.97883879e-01 2.48515095e-04 1.20993753e+02] [ 4.92046135e-03 -7.15716156e-05 9.99987892e-01 9.48944929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.130281693 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:185.85, Y:120.99, Z:0.95 [[-9.98423215e-01 5.59189672e-02 4.91461941e-03 1.85851676e+02] [-5.59184133e-02 -9.98435310e-01 2.50151433e-04 1.20994076e+02] [ 4.92091776e-03 -2.50607214e-05 9.99987892e-01 9.48532991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.16028169299994 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:185.85, Y:120.99, Z:0.95 [[-9.98725922e-01 5.02232949e-02 4.91452189e-03 1.85846859e+02] [-5.02226626e-02 -9.98738014e-01 2.52052817e-04 1.20992605e+02] [ 4.92097876e-03 4.91130736e-06 9.99987892e-01 9.50778548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.190281693 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:185.85, Y:120.99, Z:0.95 [[-9.98998620e-01 4.44702861e-02 4.91443491e-03 1.85848790e+02] [-4.44695759e-02 -9.99010707e-01 2.53737564e-04 1.20990335e+02] [ 4.92085687e-03 3.49406395e-05 9.99987892e-01 9.53570778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.22028169299995 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:185.86, Y:120.99, Z:0.95 [[-9.99207955e-01 3.94881317e-02 4.91434715e-03 1.85861932e+02] [-3.94873530e-02 -9.99220038e-01 2.55425962e-04 1.20987695e+02] [ 4.92060044e-03 6.11690920e-05 9.99987892e-01 9.54045176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.250281693 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:185.86, Y:120.99, Z:0.95 [[-9.99346006e-01 3.58247255e-02 4.91425278e-03 1.85861740e+02] [-3.58238936e-02 -9.99358085e-01 2.57228843e-04 1.20985068e+02] [ 4.92031340e-03 8.10129481e-05 9.99987892e-01 9.49481375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.28028169299995 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:185.88, Y:120.98, Z:0.94 [[-9.99389078e-01 3.46023485e-02 4.91416452e-03 1.85878491e+02] [-3.46014936e-02 -9.99401156e-01 2.58904095e-04 1.20983035e+02] [ 4.92018039e-03 8.87084926e-05 9.99987892e-01 9.44019178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.310281693 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:185.87, Y:120.98, Z:0.95 [[-9.99321934e-01 3.64900532e-02 4.91407610e-03 1.85866986e+02] [-3.64892129e-02 -9.99334013e-01 2.60571572e-04 1.20980274e+02] [ 4.92031166e-03 8.10841186e-05 9.99987892e-01 9.48221400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.34028169299995 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:185.84, Y:120.97, Z:0.95 [[-9.99056420e-01 4.31523297e-02 4.91397426e-03 1.85837055e+02] [-4.31515606e-02 -9.99068503e-01 2.62478201e-04 1.20974783e+02] [ 4.92072346e-03 5.01848740e-05 9.99987892e-01 9.54863449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.370281693 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:185.85, Y:120.98, Z:0.96 [[-9.98832463e-01 4.80579318e-02 4.91388310e-03 1.85848597e+02] [-4.80572137e-02 -9.98844550e-01 2.64173873e-04 1.20975713e+02] [ 4.92090100e-03 2.77179096e-05 9.99987892e-01 9.57624545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.40028169299995 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:185.88, Y:120.98, Z:0.96 [[-9.98568307e-01 5.32652863e-02 4.91379060e-03 1.85876767e+02] [-5.32646228e-02 -9.98580397e-01 2.65883455e-04 1.20979405e+02] [ 4.92097732e-03 3.77158860e-06 9.99987892e-01 9.59961709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.430281693 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:185.88, Y:120.98, Z:0.96 [[-9.98547527e-01 5.36534509e-02 4.91369875e-03 1.85879279e+02] [-5.36527838e-02 -9.98559616e-01 2.67570060e-04 1.20979615e+02] [ 4.92097720e-03 3.54780445e-06 9.99987892e-01 9.59949327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.46028169299996 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:185.90, Y:120.98, Z:0.96 [[-9.98263398e-01 5.87030239e-02 4.91359400e-03 1.85899991e+02] [-5.87024086e-02 -9.98275490e-01 2.69480080e-04 1.20983355e+02] [ 4.92093976e-03 -1.94277025e-05 9.99987892e-01 9.61505666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.490281693 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:185.91, Y:120.99, Z:0.96 [[-9.97729099e-01 6.71751670e-02 4.91348920e-03 1.85911483e+02] [-6.71746450e-02 -9.97741196e-01 2.71377559e-04 1.20987588e+02] [ 4.92062042e-03 -5.93006054e-05 9.99987892e-01 9.61102893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.52028169299996 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:185.93, Y:120.99, Z:0.96 [[-9.97506953e-01 7.03970037e-02 4.91339802e-03 1.85928755e+02] [-7.03965127e-02 -9.97519051e-01 2.73018466e-04 1.20990530e+02] [ 4.92042781e-03 -7.35482683e-05 9.99987892e-01 9.61395917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.55028169299993 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:185.93, Y:120.99, Z:0.96 [[-9.97318972e-01 7.30118263e-02 4.91329391e-03 1.85927977e+02] [-7.30113579e-02 -9.97331071e-01 2.74879380e-04 1.20993749e+02] [ 4.92025013e-03 -8.45838389e-05 9.99987892e-01 9.62060155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.58028169299996 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:185.93, Y:121.00, Z:0.96 [[-9.97219104e-01 7.43634306e-02 4.91318955e-03 1.85929112e+02] [-7.43629694e-02 -9.97231203e-01 2.76732327e-04 1.20998152e+02] [ 4.92016469e-03 -8.93966013e-05 9.99987892e-01 9.61510383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.61028169299993 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:185.91, Y:121.01, Z:0.96 [[-9.97354671e-01 7.25225573e-02 4.91308432e-03 1.85914688e+02] [-7.25220647e-02 -9.97366769e-01 2.78587963e-04 1.21005703e+02] [ 4.92035095e-03 -7.84560131e-05 9.99987892e-01 9.59264573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.64028169299996 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:185.90, Y:121.01, Z:0.96 [[-9.97515124e-01 7.02811524e-02 4.91297772e-03 1.85901737e+02] [-7.02806234e-02 -9.97527220e-01 2.80455513e-04 1.21008022e+02] [ 4.92053974e-03 -6.55285211e-05 9.99987892e-01 9.59505544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.67028169299994 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:185.90, Y:121.01, Z:0.96 [[-9.97772887e-01 6.65216422e-02 4.91286917e-03 1.85903600e+02] [-6.65210583e-02 -9.97784981e-01 2.82344217e-04 1.21010784e+02] [ 4.92076908e-03 -4.50938516e-05 9.99987892e-01 9.60512290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.70028169299997 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:185.87, Y:121.01, Z:0.96 [[-9.98467391e-01 5.51247200e-02 4.91275924e-03 1.85872380e+02] [-5.51239887e-02 -9.98479477e-01 2.84244277e-04 1.21011277e+02] [ 4.92095816e-03 1.29977570e-05 9.99987892e-01 9.64017583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.73028169299994 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:185.88, Y:121.01, Z:0.96 [[-9.98751980e-01 4.97026021e-02 4.91264717e-03 1.85878512e+02] [-4.97017958e-02 -9.98764061e-01 2.86168213e-04 1.21011517e+02] [ 4.92079874e-03 4.16436832e-05 9.99987892e-01 9.62745616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.76028169299997 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:185.90, Y:121.01, Z:0.96 [[-9.99003542e-01 4.43597846e-02 4.91253305e-03 1.85901800e+02] [-4.43589040e-02 -9.99015618e-01 2.88113935e-04 1.21011656e+02] [ 4.92047791e-03 6.99122593e-05 9.99987892e-01 9.60522193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.79028169299994 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:185.92, Y:121.01, Z:0.96 [[-9.99209708e-01 3.94439667e-02 4.91250482e-03 1.85921241e+02] [-3.94430244e-02 -9.99221780e-01 2.88594573e-04 1.21010768e+02] [ 4.92006512e-03 9.46024516e-05 9.99987892e-01 9.60570043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.82028169299997 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:185.96, Y:121.01, Z:0.97 [[-9.99550951e-01 2.95595045e-02 4.91246297e-03 1.85963561e+02] [-2.95584394e-02 -9.99563012e-01 2.89305042e-04 1.21009882e+02] [ 4.91886800e-03 1.43970391e-04 9.99987892e-01 9.65253966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.85028169299994 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:185.96, Y:121.01, Z:0.97 [[-9.99632635e-01 2.66544870e-02 4.91255794e-03 1.85964737e+02] [-2.66533948e-02 -9.99644694e-01 2.87683331e-04 1.21008174e+02] [ 4.91848053e-03 1.56641300e-04 9.99987892e-01 9.66358492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.880281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:185.95, Y:121.01, Z:0.97 [[-9.99674555e-01 2.50330254e-02 4.91245005e-03 1.85950953e+02] [-2.50319046e-02 -9.99686611e-01 2.89514127e-04 1.21005152e+02] [ 4.91815795e-03 1.66451925e-04 9.99987892e-01 9.65078756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.91028169299994 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:185.97, Y:121.00, Z:0.96 [[-9.99684325e-01 2.46398071e-02 4.91234079e-03 1.85968339e+02] [-2.46386725e-02 -9.99696379e-01 2.91356194e-04 1.21000220e+02] [ 4.91802826e-03 1.70230664e-04 9.99987892e-01 9.62781564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.940281693 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:185.96, Y:121.00, Z:0.96 [[-9.99635862e-01 2.65332469e-02 4.91225166e-03 1.85959409e+02] [-2.65321278e-02 -9.99647918e-01 2.92851202e-04 1.20996319e+02] [ 4.91829244e-03 1.62412075e-04 9.99987892e-01 9.59174394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.97028169299995 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:185.96, Y:120.99, Z:0.96 [[-9.99506199e-01 3.10359369e-02 4.91214132e-03 1.85960587e+02] [-3.10348631e-02 -9.99518259e-01 2.94690504e-04 1.20991926e+02] [ 4.91892094e-03 1.42097352e-04 9.99987892e-01 9.62228996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.000281693 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:185.94, Y:120.99, Z:0.96 [[-9.99416941e-01 3.37882986e-02 4.91202978e-03 1.85938878e+02] [-3.37872489e-02 -9.99429004e-01 2.96538186e-04 1.20988647e+02] [ 4.91924455e-03 1.30401314e-04 9.99987892e-01 9.60348140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.03028169299995 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:185.94, Y:120.99, Z:0.96 [[-9.99348570e-01 3.57534359e-02 4.91191646e-03 1.85941175e+02] [-3.57524008e-02 -9.99360634e-01 2.98403472e-04 1.20986893e+02] [ 4.91944490e-03 1.22596278e-04 9.99987892e-01 9.63093475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.060281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:185.94, Y:120.98, Z:0.96 [[-9.99278440e-01 3.76626287e-02 4.91180138e-03 1.85944392e+02] [-3.76616074e-02 -9.99290505e-01 3.00285781e-04 1.20982216e+02] [ 4.91962603e-03 1.15082772e-04 9.99987892e-01 9.63494481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.09028169299995 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:185.95, Y:120.98, Z:0.96 [[-9.99271392e-01 3.78491876e-02 4.91168558e-03 1.85953112e+02] [-3.78481593e-02 -9.99283456e-01 3.02168046e-04 1.20979899e+02] [ 4.91960296e-03 1.16049625e-04 9.99987892e-01 9.62909272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.120281693 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:185.94, Y:120.98, Z:0.96 [[-9.99263869e-01 3.80472865e-02 4.91156938e-03 1.85941259e+02] [-3.80462514e-02 -9.99275933e-01 3.04045282e-04 1.20976132e+02] [ 4.91958117e-03 1.16954662e-04 9.99987892e-01 9.62388336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.15028169299995 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:185.94, Y:120.97, Z:0.96 [[-9.99248145e-01 3.84580588e-02 4.91145206e-03 1.85944007e+02] [-3.84570194e-02 -9.99260208e-01 3.05928718e-04 1.20971566e+02] [ 4.91958403e-03 1.16818897e-04 9.99987892e-01 9.60662114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.180281693 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:185.93, Y:120.97, Z:0.96 [[-9.99210332e-01 3.94283159e-02 4.91133340e-03 1.85931703e+02] [-3.94272789e-02 -9.99222395e-01 3.07821874e-04 1.20968572e+02] [ 4.91965123e-03 1.13938285e-04 9.99987892e-01 9.59832401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.21028169299996 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:185.93, Y:120.96, Z:0.95 [[-9.99096111e-01 4.22236987e-02 4.91122094e-03 1.85929674e+02] [-4.22226867e-02 -9.99108177e-01 3.09605812e-04 1.20963977e+02] [ 4.91991371e-03 1.01961019e-04 9.99987892e-01 9.52141754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.240281693 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:185.93, Y:120.96, Z:0.95 [[-9.98979451e-01 4.48992017e-02 4.91112249e-03 1.85930040e+02] [-4.48982144e-02 -9.98991518e-01 3.11159699e-04 1.20962721e+02] [ 4.92014054e-03 9.03415141e-05 9.99987892e-01 9.53014599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.27028169299996 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:185.93, Y:120.96, Z:0.95 [[-9.98845556e-01 4.77853257e-02 4.91100015e-03 1.85930385e+02] [-4.77843638e-02 -9.98857626e-01 3.13078744e-04 1.20962193e+02] [ 4.92035052e-03 7.80482943e-05 9.99987892e-01 9.52352484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.30028169299993 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:185.92, Y:120.96, Z:0.96 [[-9.98548660e-01 5.36326021e-02 4.91089252e-03 1.85920804e+02] [-5.36317026e-02 -9.98560735e-01 3.14758095e-04 1.20959807e+02] [ 4.92070574e-03 5.09217469e-05 9.99987892e-01 9.63450189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.33028169299996 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:185.92, Y:120.96, Z:0.96 [[-9.98363088e-01 5.69826986e-02 4.91078380e-03 1.85920876e+02] [-5.69818314e-02 -9.98375165e-01 3.16445268e-04 1.20958781e+02] [ 4.92083649e-03 3.61018211e-05 9.99987892e-01 9.61988966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.36028169299993 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:185.96, Y:120.96, Z:0.96 [[-9.98050266e-01 6.22217984e-02 4.91067394e-03 1.85958094e+02] [-6.22209862e-02 -9.98062347e-01 3.18140889e-04 1.20960600e+02] [ 4.92095406e-03 1.19736230e-05 9.99987892e-01 9.59019714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.39028169299996 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:185.95, Y:120.96, Z:0.96 [[-9.97861045e-01 6.51860387e-02 4.91068938e-03 1.85950830e+02] [-6.51852636e-02 -9.97873128e-01 3.17902538e-04 1.20960533e+02] [ 4.92096778e-03 -2.88202269e-06 9.99987892e-01 9.57319991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.42028169299994 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:185.95, Y:120.96, Z:0.96 [[-9.97658694e-01 6.82130218e-02 4.91057386e-03 1.85948531e+02] [-6.82122746e-02 -9.97670779e-01 3.19676966e-04 1.20960573e+02] [ 4.92094218e-03 -1.60329086e-05 9.99987892e-01 9.56809103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.45028169299997 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:185.96, Y:120.96, Z:0.96 [[-9.97284838e-01 7.34768013e-02 4.91044926e-03 1.85958640e+02] [-7.34761085e-02 -9.97296926e-01 3.21579646e-04 1.20962743e+02] [ 4.92080459e-03 -4.00941978e-05 9.99987892e-01 9.62030170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.48028169299994 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:185.98, Y:120.97, Z:0.96 [[-9.97083475e-01 7.61605739e-02 4.91033994e-03 1.85976686e+02] [-7.61599055e-02 -9.97095564e-01 3.23240214e-04 1.20966094e+02] [ 4.92069634e-03 -5.16735497e-05 9.99987892e-01 9.60817920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.51028169299997 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:185.99, Y:120.97, Z:0.96 [[-9.96713334e-01 8.08604979e-02 4.91021527e-03 1.85990373e+02] [-8.08598772e-02 -9.96725426e-01 3.25123177e-04 1.20971390e+02] [ 4.92042602e-03 -7.29847978e-05 9.99987892e-01 9.62792059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.54028169299994 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:186.00, Y:120.97, Z:0.96 [[-9.96463445e-01 8.38838142e-02 4.91009109e-03 1.85997835e+02] [-8.38832210e-02 -9.96475538e-01 3.26987771e-04 1.20973542e+02] [ 4.92021465e-03 -8.60428959e-05 9.99987892e-01 9.64254506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.57028169299997 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:185.99, Y:120.97, Z:0.96 [[-9.96223352e-01 8.66886684e-02 4.90996699e-03 1.85990766e+02] [-8.66881001e-02 -9.96235447e-01 3.28840723e-04 1.20974855e+02] [ 4.91998992e-03 -9.80369029e-05 9.99987892e-01 9.64484910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.60028169299994 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:186.01, Y:120.98, Z:0.96 [[-9.95967478e-01 8.95805616e-02 4.90984197e-03 1.86006182e+02] [-8.95800193e-02 -9.95979574e-01 3.30696973e-04 1.20981901e+02] [ 4.91972633e-03 -1.10460308e-04 9.99987892e-01 9.64424822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.630281693 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:186.01, Y:120.99, Z:0.97 [[-9.95901629e-01 9.03096903e-02 4.90971643e-03 1.86012582e+02] [-9.03091477e-02 -9.95913725e-01 3.32550443e-04 1.20985950e+02] [ 4.91968650e-03 -1.12204778e-04 9.99987892e-01 9.65250710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.66028169299994 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:186.01, Y:120.99, Z:0.97 [[-9.95990600e-01 8.93231240e-02 4.90959095e-03 1.86009442e+02] [-8.93225603e-02 -9.96002695e-01 3.34392687e-04 1.20990587e+02] [ 4.91983482e-03 -1.05485261e-04 9.99987892e-01 9.66919660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.690281693 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:186.02, Y:120.99, Z:0.97 [[-9.96100922e-01 8.80843349e-02 4.90946474e-03 1.86018223e+02] [-8.80837471e-02 -9.96113016e-01 3.36235488e-04 1.20993076e+02] [ 4.91999881e-03 -9.75195713e-05 9.99987892e-01 9.67792284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.72028169299995 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:186.00, Y:120.99, Z:0.97 [[-9.96207286e-01 8.68731352e-02 4.90933788e-03 1.85997380e+02] [-8.68725237e-02 -9.96219379e-01 3.38077637e-04 1.20993668e+02] [ 4.92014740e-03 -8.96911665e-05 9.99987892e-01 9.67749132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.750281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:186.00, Y:121.00, Z:0.97 [[-9.96529364e-01 8.30970907e-02 4.90920956e-03 1.85995252e+02] [-8.30964242e-02 -9.96541454e-01 3.39930915e-04 1.20998861e+02] [ 4.92047810e-03 -6.91866212e-05 9.99987892e-01 9.65704401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.78028169299995 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:185.99, Y:121.00, Z:0.97 [[-9.96677938e-01 8.12956907e-02 4.90907924e-03 1.85993286e+02] [-8.12949932e-02 -9.96690026e-01 3.41802533e-04 1.21000527e+02] [ 4.92061739e-03 -5.84165197e-05 9.99987892e-01 9.66358019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.810281693 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:185.98, Y:121.00, Z:0.96 [[-9.96848211e-01 7.91804724e-02 4.90894778e-03 1.85982070e+02] [-7.91797399e-02 -9.96860297e-01 3.43680312e-04 1.21002889e+02] [ 4.92074791e-03 -4.60921039e-05 9.99987892e-01 9.64267485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.84028169299995 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:185.96, Y:121.00, Z:0.96 [[-9.96852460e-01 7.91269588e-02 4.90883160e-03 1.85959375e+02] [-7.91262176e-02 -9.96864546e-01 3.45331733e-04 1.21002785e+02] [ 4.92076523e-03 -4.41724902e-05 9.99987892e-01 9.63608612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.870281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:185.97, Y:121.01, Z:0.96 [[-9.96857361e-01 7.90652012e-02 4.90869605e-03 1.85974229e+02] [-7.90644498e-02 -9.96869446e-01 3.47247914e-04 1.21006928e+02] [ 4.92078434e-03 -4.19467128e-05 9.99987892e-01 9.64651342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.90028169299995 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:186.00, Y:121.01, Z:0.96 [[-9.96853739e-01 7.91108675e-02 4.90855914e-03 1.85998170e+02] [-7.91101071e-02 -9.96865823e-01 3.49172530e-04 1.21010047e+02] [ 4.92079819e-03 -4.02426968e-05 9.99987892e-01 9.64519665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.930281693 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:185.99, Y:121.01, Z:0.97 [[-9.96816556e-01 7.95780122e-02 4.90850848e-03 1.85986650e+02] [-7.95772541e-02 -9.96828640e-01 3.49883236e-04 1.21011300e+02] [ 4.92078485e-03 -4.18362240e-05 9.99987892e-01 9.65129307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.96028169299996 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:186.00, Y:121.01, Z:0.96 [[-9.96800009e-01 7.97850250e-02 4.90837268e-03 1.85995191e+02] [-7.97842600e-02 -9.96812093e-01 3.51778100e-04 1.21013948e+02] [ 4.92079186e-03 -4.09584685e-05 9.99987892e-01 9.60971052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.990281693 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:185.99, Y:121.02, Z:0.96 [[-9.96876268e-01 7.88264936e-02 4.90823575e-03 1.85986393e+02] [-7.88257076e-02 -9.96888350e-01 3.53678337e-04 1.21015300e+02] [ 4.92084226e-03 -3.43216151e-05 9.99987892e-01 9.62321253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.02028169299996 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:185.98, Y:121.02, Z:0.97 [[-9.97129871e-01 7.55508470e-02 4.90809783e-03 1.85984082e+02] [-7.55500119e-02 -9.97141950e-01 3.55582041e-04 1.21016130e+02] [ 4.92093477e-03 -1.62453752e-05 9.99987892e-01 9.69785810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.05028169299993 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:185.96, Y:121.01, Z:0.97 [[-9.97263597e-01 7.37646944e-02 4.90797604e-03 1.85962316e+02] [-7.37638295e-02 -9.97275674e-01 3.57255183e-04 1.21014625e+02] [ 4.92095793e-03 -5.75351903e-06 9.99987892e-01 9.67345231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.08028169299996 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:185.97, Y:121.02, Z:0.97 [[-9.97373983e-01 7.22568377e-02 4.90783446e-03 1.85967388e+02] [-7.22559450e-02 -9.97386058e-01 3.59189718e-04 1.21015213e+02] [ 4.92095958e-03 3.62626285e-06 9.99987892e-01 9.65942983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.11028169299993 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:185.97, Y:121.02, Z:0.96 [[-9.97464077e-01 7.10023205e-02 4.90769093e-03 1.85967965e+02] [-7.10014030e-02 -9.97476150e-01 3.61140224e-04 1.21015234e+02] [ 4.92094645e-03 1.17714588e-05 9.99987892e-01 9.64537927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.14028169299996 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:185.97, Y:121.01, Z:0.97 [[-9.97663343e-01 6.81452162e-02 4.90754662e-03 1.85966117e+02] [-6.81442546e-02 -9.97675413e-01 3.63090673e-04 1.21013948e+02] [ 4.92088149e-03 2.78211483e-05 9.99987892e-01 9.66327405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.17028169299994 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:185.97, Y:121.01, Z:0.97 [[-9.97787323e-01 6.63051709e-02 4.90740121e-03 1.85969039e+02] [-6.63041774e-02 -9.97799390e-01 3.65045453e-04 1.21013009e+02] [ 4.92080634e-03 3.88565243e-05 9.99987892e-01 9.67642829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.20028169299997 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:185.99, Y:121.01, Z:0.97 [[-9.98105070e-01 6.13366814e-02 4.90725479e-03 1.85993743e+02] [-6.13356182e-02 -9.98117131e-01 3.67003216e-04 1.21011419e+02] [ 4.92052584e-03 6.53182642e-05 9.99987892e-01 9.67278844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.23028169299994 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:186.01, Y:121.01, Z:0.97 [[-9.98231145e-01 5.92494829e-02 4.90721858e-03 1.86006270e+02] [-5.92483921e-02 -9.98243203e-01 3.67486739e-04 1.21009436e+02] [ 4.92037100e-03 7.60918974e-05 9.99987892e-01 9.69897304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.26028169299997 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:186.02, Y:121.01, Z:0.97 [[-9.98325247e-01 5.76421951e-02 4.90707428e-03 1.86016868e+02] [-5.76410754e-02 -9.98337303e-01 3.69403596e-04 1.21006842e+02] [ 4.92020854e-03 8.59358970e-05 9.99987892e-01 9.66272694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.29028169299994 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:185.97, Y:121.00, Z:0.97 [[-9.98475857e-01 5.49716814e-02 4.90693022e-03 1.85968996e+02] [-5.49705202e-02 -9.98487909e-01 3.71307492e-04 1.20997930e+02] [ 4.91992189e-03 1.01005059e-04 9.99987892e-01 9.72279689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.32028169299997 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:185.97, Y:121.00, Z:0.97 [[-9.98453685e-01 5.53729429e-02 4.90680166e-03 1.85971499e+02] [-5.53717782e-02 -9.98465737e-01 3.72998589e-04 1.20998194e+02] [ 4.91992737e-03 1.00723482e-04 9.99987892e-01 9.72267309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.35028169299994 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:186.09, Y:121.01, Z:0.97 [[-9.98494579e-01 5.46305808e-02 4.90665097e-03 1.86094340e+02] [-5.46293975e-02 -9.98506629e-01 3.74970449e-04 1.21005280e+02] [ 4.91980838e-03 1.06358574e-04 9.99987892e-01 9.73128580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.380281693 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:186.11, Y:121.00, Z:0.97 [[-9.98445823e-01 5.55145144e-02 4.90679386e-03 1.86113459e+02] [-5.55133510e-02 -9.98457875e-01 3.73091183e-04 1.21002127e+02] [ 4.91993895e-03 1.00118764e-04 9.99987892e-01 9.72073651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.41028169299994 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:186.10, Y:121.00, Z:0.97 [[-9.98340826e-01 5.73717690e-02 4.90667454e-03 1.86098917e+02] [-5.73706203e-02 -9.98352879e-01 3.74653892e-04 1.20998557e+02] [ 4.92008721e-03 9.25333143e-05 9.99987892e-01 9.71696821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.440281693 meters Centerline goodness : 0.998051 Centerline is valid? [True, True] Translation: X:186.11, Y:121.00, Z:0.97 [[-9.97984197e-01 6.32729646e-02 4.90653738e-03 1.86111242e+02] [-6.32718784e-02 -9.97996256e-01 3.76441709e-04 1.20996996e+02] [ 4.92052452e-03 6.52370406e-05 9.99987892e-01 9.73695072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.47028169299995 meters Centerline goodness : 0.997463 Centerline is valid? [True, True] Translation: X:186.11, Y:121.00, Z:0.98 [[-9.97735725e-01 6.70771903e-02 4.90641667e-03 1.86113644e+02] [-6.70761424e-02 -9.97747788e-01 3.78008429e-04 1.20997684e+02] [ 4.92072212e-03 4.80490111e-05 9.99987892e-01 9.78029106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.500281693 meters Centerline goodness : 0.997004 Centerline is valid? [True, True] Translation: X:186.13, Y:121.00, Z:0.98 [[-9.97510639e-01 7.03452418e-02 4.90629599e-03 1.86125451e+02] [-7.03442257e-02 -9.97522704e-01 3.79568307e-04 1.20999012e+02] [ 4.92084247e-03 3.34938316e-05 9.99987892e-01 9.81061499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.53028169299995 meters Centerline goodness : 0.995687 Centerline is valid? [True, True] Translation: X:186.14, Y:121.00, Z:0.98 [[-9.97153473e-01 7.52388290e-02 4.90615776e-03 1.86139425e+02] [-7.52378634e-02 -9.97165542e-01 3.81346703e-04 1.21000761e+02] [ 4.92094354e-03 1.11323612e-05 9.99987892e-01 9.78944296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.560281693 meters Centerline goodness : 0.994937 Centerline is valid? [True, True] Translation: X:186.15, Y:121.00, Z:0.98 [[-9.96984493e-01 7.74457991e-02 4.90604603e-03 1.86149056e+02] [-7.74448531e-02 -9.96996564e-01 3.82778746e-04 1.21002451e+02] [ 4.92095564e-03 1.67645986e-06 9.99987892e-01 9.79064950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.59028169299995 meters Centerline goodness : 0.992626 Centerline is valid? [True, True] Translation: X:186.15, Y:121.01, Z:0.98 [[-9.96684326e-01 8.12175208e-02 4.90590868e-03 1.86150409e+02] [-8.12166120e-02 -9.96696400e-01 3.84531121e-04 1.21005762e+02] [ 4.92093218e-03 -1.51851397e-05 9.99987892e-01 9.82744847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.620281693 meters Centerline goodness : 0.991594 Centerline is valid? [True, True] Translation: X:186.18, Y:121.01, Z:0.98 [[-9.96494762e-01 8.35112178e-02 4.90578844e-03 1.86180421e+02] [-8.35103292e-02 -9.96506837e-01 3.86059027e-04 1.21009730e+02] [ 4.92089198e-03 -2.49782095e-05 9.99987892e-01 9.83765725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.65028169299995 meters Centerline goodness : 0.990597 Centerline is valid? [True, True] Translation: X:186.17, Y:121.01, Z:0.98 [[-9.96308375e-01 8.57062236e-02 4.90565156e-03 1.86168725e+02] [-8.57053531e-02 -9.96320452e-01 3.87790636e-04 1.21010259e+02] [ 4.92083704e-03 -3.40815399e-05 9.99987892e-01 9.82746776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.680281693 meters Centerline goodness : 0.989136 Centerline is valid? [True, True] Translation: X:186.17, Y:121.01, Z:0.98 [[-9.96043300e-01 8.87337628e-02 4.90551467e-03 1.86167127e+02] [-8.87329205e-02 -9.96055379e-01 3.89514545e-04 1.21012890e+02] [ 4.92072736e-03 -4.73072904e-05 9.99987892e-01 9.78504209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.71028169299996 meters Centerline goodness : 0.987912 Centerline is valid? [True, True] Translation: X:186.18, Y:121.02, Z:0.98 [[-9.95950432e-01 8.97701226e-02 4.90539384e-03 1.86179806e+02] [-8.97692853e-02 -9.95962511e-01 3.91030317e-04 1.21016188e+02] [ 4.92069121e-03 -5.09068865e-05 9.99987892e-01 9.78968863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.740281693 meters Centerline goodness : 0.983595 Centerline is valid? [True, True] Translation: X:185.31, Y:120.95, Z:0.97 [[-9.95915536e-01 9.01564418e-02 4.90525540e-03 1.85306811e+02] [-9.01556008e-02 -9.95927615e-01 3.92759406e-04 1.20951117e+02] [ 4.92068910e-03 -5.10810527e-05 9.99987892e-01 9.72401475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.77028169299996 meters Centerline goodness : 0.984601 Centerline is valid? [True, True] Translation: X:186.17, Y:121.02, Z:0.98 [[-9.96141971e-01 8.76191420e-02 4.90505857e-03 1.86169582e+02] [-8.76182582e-02 -9.96154047e-01 3.95202379e-04 1.21021284e+02] [ 4.92082123e-03 -3.60950110e-05 9.99987892e-01 9.80427464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.80028169299993 meters Centerline goodness : 0.983333 Centerline is valid? [True, True] Translation: X:186.16, Y:121.02, Z:0.98 [[-9.96205961e-01 8.68885138e-02 4.90610663e-03 1.86159976e+02] [-8.68876874e-02 -9.96218040e-01 3.81732498e-04 1.21022844e+02] [ 4.92072010e-03 -4.59960684e-05 9.99987892e-01 9.82061937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.83028169299996 meters Centerline goodness : 0.982139 Centerline is valid? [True, True] Translation: X:186.17, Y:121.02, Z:0.98 [[-9.96327556e-01 8.54829397e-02 4.90597191e-03 1.86165818e+02] [-8.54820878e-02 -9.96339634e-01 3.83456038e-04 1.21024256e+02] [ 4.92079321e-03 -3.73249044e-05 9.99987892e-01 9.82480541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.86028169299993 meters Centerline goodness : 0.978149 Centerline is valid? [True, True] Translation: X:185.32, Y:120.96, Z:0.97 [[-9.96762210e-01 8.02560225e-02 4.90583622e-03 1.85320793e+02] [-8.02550988e-02 -9.96774283e-01 3.85184267e-04 1.20956265e+02] [ 4.92092474e-03 -9.78124933e-06 9.99987892e-01 9.74311008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.89028169299996 meters Centerline goodness : 0.977210 Centerline is valid? [True, True] Translation: X:186.11, Y:121.01, Z:0.98 [[-9.97495847e-01 7.05547214e-02 4.90566957e-03 1.86109088e+02] [-7.05536699e-02 -9.97507910e-01 3.87295132e-04 1.21013082e+02] [ 4.92076970e-03 4.02122948e-05 9.99987892e-01 9.82702376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.92028169299994 meters Centerline goodness : 0.975488 Centerline is valid? [True, True] Translation: X:186.10, Y:121.01, Z:0.98 [[-9.97687893e-01 6.77848812e-02 4.90694547e-03 1.86097015e+02] [-6.77838793e-02 -9.97699959e-01 3.70391988e-04 1.21010246e+02] [ 4.92076628e-03 3.69238027e-05 9.99987892e-01 9.83365470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.95028169299997 meters Centerline goodness : 0.973154 Centerline is valid? [True, True] Translation: X:186.12, Y:121.01, Z:0.98 [[-9.97843918e-01 6.54479907e-02 4.90681046e-03 1.86115313e+02] [-6.54469518e-02 -9.97855981e-01 3.72172009e-04 1.21009397e+02] [ 4.92064808e-03 5.02337876e-05 9.99987892e-01 9.82134110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.98028169299994 meters Centerline goodness : 0.971427 Centerline is valid? [True, True] Translation: X:186.11, Y:121.01, Z:0.98 [[-9.97916435e-01 6.43328403e-02 4.90667485e-03 1.86110192e+02] [-6.43317791e-02 -9.97928496e-01 3.73951416e-04 1.21006288e+02] [ 4.92056801e-03 5.75171413e-05 9.99987892e-01 9.82582706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.01028169299997 meters Centerline goodness : 0.962401 Centerline is valid? [True, True] Translation: X:185.14, Y:120.93, Z:0.97 [[-9.97950537e-01 6.38016518e-02 4.90653898e-03 1.85135970e+02] [-6.38005755e-02 -9.97962597e-01 3.75725754e-04 1.20927363e+02] [ 4.92051430e-03 6.19157081e-05 9.99987892e-01 9.72399970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.04028169299994 meters Centerline goodness : 0.962870 Centerline is valid? [True, True] Translation: X:185.27, Y:120.94, Z:0.98 [[-9.97930880e-01 6.41083950e-02 4.90635779e-03 1.85271783e+02] [-6.41073109e-02 -9.97942939e-01 3.78077061e-04 1.20935276e+02] [ 4.92050302e-03 6.27613700e-05 9.99987892e-01 9.75074188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.07028169299997 meters Centerline goodness : 0.957557 Centerline is valid? [True, True] Translation: X:185.23, Y:120.93, Z:0.98 [[-9.97616221e-01 6.88316804e-02 4.90672306e-03 1.85228022e+02] [-6.88306769e-02 -9.97628287e-01 3.73275503e-04 1.20928893e+02] [ 4.92077890e-03 3.46526271e-05 9.99987892e-01 9.79804464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.10028169299994 meters Centerline goodness : 0.954081 Centerline is valid? [True, True] Translation: X:185.20, Y:120.93, Z:0.98 [[-9.97333962e-01 7.28072466e-02 4.90642608e-03 1.85204331e+02] [-7.28062723e-02 -9.97346031e-01 3.77139075e-04 1.20925868e+02] [ 4.92086304e-03 1.89150147e-05 9.99987892e-01 9.77776050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.130281693 meters Centerline goodness : 0.952279 Centerline is valid? [True, True] Translation: X:185.19, Y:120.92, Z:0.98 [[-9.97049110e-01 7.66094259e-02 4.90598301e-03 1.85188757e+02] [-7.66084695e-02 -9.97061180e-01 3.82833906e-04 1.20924419e+02] [ 4.92089390e-03 5.86435495e-06 9.99987892e-01 9.77626303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.16028169299994 meters Centerline goodness : 0.146131 Centerline is valid? [True, False] Translation: X:187.92, Y:121.19, Z:0.93 [[ 9.95749551e-01 -8.71824190e-02 2.96994442e-02 1.87917527e+02] [ 8.82572312e-02 9.95408975e-01 -3.70355773e-02 1.21193272e+02] [-2.63342421e-02 3.94993502e-02 9.98872519e-01 9.32207582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.190281693 meters Centerline goodness : 0.147201 Centerline is valid? [False, False] Translation: X:187.92, Y:121.18, Z:0.93 [[ 9.95543091e-01 -8.90768175e-02 3.09721569e-02 1.87924832e+02] [ 8.97221845e-02 9.95763799e-01 -2.01093763e-02 1.21183922e+02] [-2.90496734e-02 2.27986402e-02 9.99317937e-01 9.27551957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.22028169299995 meters Centerline goodness : 0.126406 Centerline is valid? [False, False] Translation: X:187.93, Y:121.18, Z:0.93 [[ 9.95930691e-01 -8.48556021e-02 3.03576319e-02 1.87926406e+02] [ 8.53415280e-02 9.96237574e-01 -1.50837777e-02 1.21179382e+02] [-2.89634705e-02 1.76131639e-02 9.99425282e-01 9.27085764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.250281693 meters Centerline goodness : 0.125139 Centerline is valid? [False, False] Translation: X:187.93, Y:121.18, Z:0.93 [[ 9.96298861e-01 -8.05535581e-02 2.99950772e-02 1.87926944e+02] [ 8.08853154e-02 9.96673105e-01 -1.00144016e-02 1.21175133e+02] [-2.90885911e-02 1.24034982e-02 9.99499878e-01 9.26777813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.28028169299995 meters Centerline goodness : 0.086639 Centerline is valid? [False, False] Translation: X:187.93, Y:121.17, Z:0.93 [[ 9.96976771e-01 -7.20560073e-02 2.90731946e-02 1.87928504e+02] [ 7.20984372e-02 9.97397436e-01 -4.12410530e-04 1.21167784e+02] [-2.89678131e-02 2.50729561e-03 9.99577200e-01 9.27139779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.310281693 meters Centerline goodness : 0.086225 Centerline is valid? [False, False] Translation: X:187.93, Y:121.16, Z:0.93 [[ 9.97287381e-01 -6.77202840e-02 2.88416760e-02 1.87928754e+02] [ 6.76194500e-02 9.97701224e-01 4.45834295e-03 1.21164564e+02] [-2.90772957e-02 -2.49599090e-03 9.99574050e-01 9.26996223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.34028169299995 meters Centerline goodness : 0.087038 Centerline is valid? [False, False] Translation: X:187.93, Y:121.16, Z:0.93 [[ 9.97570293e-01 -6.34612931e-02 2.87432625e-02 1.87928556e+02] [ 6.32175478e-02 9.97956328e-01 9.31179340e-03 1.21161295e+02] [-2.92754591e-02 -7.47208989e-03 9.99543453e-01 9.26890405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.370281693 meters Centerline goodness : 0.085930 Centerline is valid? [False, False] Translation: X:187.93, Y:121.16, Z:0.93 [[ 9.97826190e-01 -5.94023973e-02 2.85350502e-02 1.87928946e+02] [ 5.90204883e-02 9.98157958e-01 1.40454133e-02 1.21158297e+02] [-2.93168187e-02 -1.23307287e-02 9.99494111e-01 9.26583122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.40028169299995 meters Centerline goodness : 0.085421 Centerline is valid? [False, False] Translation: X:187.93, Y:121.16, Z:0.93 [[ 9.97813460e-01 -5.94960167e-02 2.87840741e-02 1.87928452e+02] [ 5.91328108e-02 9.98161389e-01 1.33098635e-02 1.21162447e+02] [-2.95230352e-02 -1.15786777e-02 9.99497036e-01 9.26586069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.430281693 meters Centerline goodness : 0.084327 Centerline is valid? [False, False] Translation: X:187.93, Y:121.16, Z:0.93 [[ 9.97806350e-01 -5.95812802e-02 2.88541123e-02 1.87928859e+02] [ 5.92293834e-02 9.98161027e-01 1.29013496e-02 1.21164835e+02] [-2.95697293e-02 -1.11640373e-02 9.99500373e-01 9.25688993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.46028169299996 meters Centerline goodness : 0.083110 Centerline is valid? [False, False] Translation: X:187.94, Y:121.17, Z:0.92 [[ 9.97942566e-01 -5.77210814e-02 2.79089909e-02 1.87936063e+02] [ 5.73348273e-02 9.98250455e-01 1.44480706e-02 1.21168165e+02] [-2.86941211e-02 -1.28181874e-02 9.99506049e-01 9.20200237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.490281693 meters Centerline goodness : 0.082346 Centerline is valid? [False, False] Translation: X:187.94, Y:121.17, Z:0.92 [[ 9.97936324e-01 -5.77875044e-02 2.79945986e-02 1.87936440e+02] [ 5.74133655e-02 9.98252470e-01 1.39897041e-02 1.21170818e+02] [-2.87541073e-02 -1.23535697e-02 9.99510175e-01 9.19373713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.52028169299996 meters Centerline goodness : 0.082718 Centerline is valid? [False, False] Translation: X:187.94, Y:121.17, Z:0.92 [[ 9.98161497e-01 -5.37701582e-02 2.79713378e-02 1.87936279e+02] [ 5.32699721e-02 9.98411889e-01 1.83305530e-02 1.21168957e+02] [-2.89125530e-02 -1.68068199e-02 9.99440641e-01 9.19747898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.55028169299993 meters Centerline goodness : 0.084716 Centerline is valid? [False, False] Translation: X:187.94, Y:121.17, Z:0.92 [[ 9.98150986e-01 -5.38168999e-02 2.82551085e-02 1.87935722e+02] [ 5.33152540e-02 9.98411540e-01 1.82176097e-02 1.21169671e+02] [-2.91906417e-02 -1.66774968e-02 9.99434724e-01 9.19462662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.58028169299996 meters Centerline goodness : 0.083982 Centerline is valid? [False, False] Translation: X:187.94, Y:121.17, Z:0.92 [[ 9.98143888e-01 -5.38824551e-02 2.83806253e-02 1.87936228e+02] [ 5.33828109e-02 9.98410458e-01 1.80785419e-02 1.21170769e+02] [-2.93096293e-02 -1.65299485e-02 9.99433693e-01 9.18259205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.61028169299993 meters Centerline goodness : 0.084770 Centerline is valid? [False, False] Translation: X:187.94, Y:121.17, Z:0.92 [[ 9.98138172e-01 -5.39676333e-02 2.84197688e-02 1.87936996e+02] [ 5.34725449e-02 9.98408835e-01 1.79021051e-02 1.21171838e+02] [-2.93406825e-02 -1.63490971e-02 9.99435757e-01 9.17022887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.64028169299996 meters Centerline goodness : 0.083750 Centerline is valid? [False, False] Translation: X:187.94, Y:121.17, Z:0.92 [[ 9.98136061e-01 -5.39256456e-02 2.85732145e-02 1.87938404e+02] [ 5.34256674e-02 9.98409903e-01 1.79823424e-02 1.21171181e+02] [-2.94974898e-02 -1.64222814e-02 9.99429941e-01 9.15675072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.67028169299994 meters Centerline goodness : 0.074364 Centerline is valid? [False, False] Translation: X:187.94, Y:121.17, Z:0.92 [[ 9.98134373e-01 -5.38702724e-02 2.87361791e-02 1.87938462e+02] [ 5.33635406e-02 9.98410752e-01 1.81191459e-02 1.21170406e+02] [-2.96665935e-02 -1.65518781e-02 9.99422798e-01 9.15211688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.70028169299997 meters Centerline goodness : 0.073714 Centerline is valid? [False, False] Translation: X:187.94, Y:121.17, Z:0.91 [[ 9.98126596e-01 -5.39843714e-02 2.87921062e-02 1.87939672e+02] [ 5.34813927e-02 9.98407270e-01 1.79628551e-02 1.21171430e+02] [-2.97159616e-02 -1.63893615e-02 9.99424009e-01 9.14183916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.73028169299994 meters Centerline goodness : 0.075593 Centerline is valid? [False, False] Translation: X:187.94, Y:121.17, Z:0.91 [[ 9.98123871e-01 -5.40459372e-02 2.87710659e-02 1.87940792e+02] [ 5.35530455e-02 9.98409266e-01 1.76354719e-02 1.21173423e+02] [-2.96784244e-02 -1.60616072e-02 9.99430446e-01 9.12932496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.76028169299997 meters Centerline goodness : 0.087975 Centerline is valid? [False, False] Translation: X:187.94, Y:121.18, Z:0.91 [[ 9.98123302e-01 -5.40359192e-02 2.88096149e-02 1.87941533e+02] [ 5.35541775e-02 9.98416122e-01 1.72393971e-02 1.21176053e+02] [-2.96955307e-02 -1.56641688e-02 9.99436246e-01 9.11748607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.79028169299994 meters Centerline goodness : 0.075326 Centerline is valid? [False, False] Translation: X:187.94, Y:121.18, Z:0.91 [[ 9.98322387e-01 -4.99599419e-02 2.92645766e-02 1.87940895e+02] [ 4.93547347e-02 9.98559454e-01 2.10505625e-02 1.21177237e+02] [-3.02741045e-02 -1.95709024e-02 9.99350018e-01 9.11412261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.82028169299997 meters Centerline goodness : 0.089153 Centerline is valid? [False, False] Translation: X:187.94, Y:121.18, Z:0.91 [[ 9.98308890e-01 -5.00568872e-02 2.95578671e-02 1.87940161e+02] [ 4.94655857e-02 9.98567295e-01 2.04086603e-02 1.21181281e+02] [-3.05371134e-02 -1.89120498e-02 9.99354701e-01 9.11334174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.85028169299994 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 470.880281693 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 470.91028169299994 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 470.940281693 meters Centerline goodness : 0.066306 Centerline is valid? [False, False] Translation: X:188.02, Y:121.20, Z:0.91 [[ 9.98156020e-01 -5.19883063e-02 3.13333167e-02 1.88021215e+02] [ 5.13775087e-02 9.98479145e-01 1.99937346e-02 1.21203491e+02] [-3.23251036e-02 -1.83470388e-02 9.99308998e-01 9.05935892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.97028169299995 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 471.000281693 meters Centerline goodness : 0.063500 Centerline is valid? [False, False] Translation: X:188.02, Y:121.20, Z:0.90 [[ 9.98115314e-01 -5.26465249e-02 3.15303413e-02 1.88022427e+02] [ 5.20463709e-02 9.98453051e-01 1.95622229e-02 1.21204857e+02] [-3.25114485e-02 -1.78843145e-02 9.99311341e-01 9.04591086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.03028169299995 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 471.060281693 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 471.09028169299995 meters Centerline goodness : 0.552611 Centerline is valid? [False, False] Translation: X:188.03, Y:121.21, Z:0.90 [[ 9.98149765e-01 -5.17045454e-02 3.19950959e-02 1.88027683e+02] [ 5.10769975e-02 9.98491817e-01 2.01303471e-02 1.21208674e+02] [-3.29876719e-02 -1.84588878e-02 9.99285286e-01 8.98953735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.120281693 meters Centerline goodness : 0.568493 Centerline is valid? [False, False] Translation: X:188.03, Y:121.21, Z:0.90 [[ 9.98137689e-01 -5.17964883e-02 3.22223006e-02 1.88028701e+02] [ 5.11830468e-02 9.98497322e-01 1.95804403e-02 1.21212556e+02] [-3.31880789e-02 -1.78947399e-02 9.99288912e-01 8.97905828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.15028169299995 meters Centerline goodness : 0.752045 Centerline is valid? [False, False] Translation: X:188.03, Y:121.21, Z:0.90 [[ 9.98132178e-01 -5.18239774e-02 3.23485695e-02 1.88029361e+02] [ 5.12166025e-02 9.98500464e-01 1.93308862e-02 1.21214588e+02] [-3.33018651e-02 -1.76379957e-02 9.99289691e-01 8.96754270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.180281693 meters Centerline goodness : 0.756723 Centerline is valid? [False, False] Translation: X:188.04, Y:121.22, Z:0.89 [[ 9.98236492e-01 -5.00011357e-02 3.19967572e-02 1.88035474e+02] [ 4.93602248e-02 9.98570292e-01 2.05168024e-02 1.21216548e+02] [-3.29768746e-02 -1.89012538e-02 9.99277373e-01 8.92078718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.21028169299996 meters Centerline goodness : 0.751981 Centerline is valid? [False, False] Translation: X:188.04, Y:121.22, Z:0.89 [[ 9.98238153e-01 -4.99002648e-02 3.21022203e-02 1.88036027e+02] [ 4.92658766e-02 9.98580227e-01 2.02584159e-02 1.21218026e+02] [-3.30675428e-02 -1.86411797e-02 9.99279262e-01 8.91312767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.240281693 meters Centerline goodness : 0.751981 Centerline is valid? [False, False] Translation: X:188.04, Y:121.22, Z:0.89 [[ 9.98238153e-01 -4.99002648e-02 3.21022203e-02 1.88036027e+02] [ 4.92658766e-02 9.98580227e-01 2.02584159e-02 1.21218026e+02] [-3.30675428e-02 -1.86411797e-02 9.99279262e-01 8.91312767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.27028169299996 meters Centerline goodness : 0.763328 Centerline is valid? [False, False] Translation: X:188.04, Y:121.22, Z:0.89 [[ 9.98237229e-01 -4.97821971e-02 3.23135871e-02 1.88036556e+02] [ 4.91516093e-02 9.98590574e-01 2.00245970e-02 1.21219229e+02] [-3.32649119e-02 -1.84010334e-02 9.99277163e-01 8.90283720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.30028169299993 meters Centerline goodness : 0.762369 Centerline is valid? [False, False] Translation: X:188.04, Y:121.22, Z:0.89 [[ 9.98233530e-01 -4.97338817e-02 3.25016993e-02 1.88036610e+02] [ 4.91038141e-02 9.98595316e-01 1.99050370e-02 1.21219997e+02] [-3.34459994e-02 -1.82739180e-02 9.99273451e-01 8.89806067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.33028169299996 meters Centerline goodness : 0.748441 Centerline is valid? [False, False] Translation: X:188.04, Y:121.22, Z:0.89 [[ 9.98206585e-01 -4.99425804e-02 3.30053333e-02 1.88036895e+02] [ 4.93003188e-02 9.98583831e-01 1.99952651e-02 1.21218920e+02] [-3.39572073e-02 -1.83322319e-02 9.99255141e-01 8.89277299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.36028169299993 meters Centerline goodness : 0.725010 Centerline is valid? [False, False] Translation: X:188.04, Y:121.22, Z:0.89 [[ 9.98201914e-01 -5.00978940e-02 3.29110850e-02 1.88038737e+02] [ 4.94481646e-02 9.98571016e-01 2.02683204e-02 1.21217531e+02] [-3.38794557e-02 -1.86044834e-02 9.99252749e-01 8.87811310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.39028169299996 meters Centerline goodness : 0.737988 Centerline is valid? [False, False] Translation: X:188.05, Y:121.22, Z:0.88 [[ 9.98132484e-01 -5.19450105e-02 3.21443618e-02 1.88047881e+02] [ 5.13521848e-02 9.98499818e-01 1.90017684e-02 1.21216481e+02] [-3.30831865e-02 -1.73155991e-02 9.99302593e-01 8.81145479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.42028169299994 meters Centerline goodness : 0.707078 Centerline is valid? [False, False] Translation: X:188.05, Y:121.21, Z:0.88 [[ 9.98141914e-01 -5.18134903e-02 3.20637114e-02 1.88049677e+02] [ 5.12110443e-02 9.98500691e-01 1.93338844e-02 1.21214609e+02] [-3.30173940e-02 -1.76559443e-02 9.99298814e-01 8.79367071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.45028169299997 meters Centerline goodness : 0.729637 Centerline is valid? [False, False] Translation: X:188.05, Y:121.21, Z:0.88 [[ 9.98148664e-01 -5.16782016e-02 3.20719103e-02 1.88051092e+02] [ 5.10666368e-02 9.98502822e-01 1.96039090e-02 1.21212992e+02] [-3.30369877e-02 -1.79298110e-02 9.99293290e-01 8.77808052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.48028169299994 meters Centerline goodness : 0.719443 Centerline is valid? [False, False] Translation: X:188.05, Y:121.21, Z:0.88 [[ 9.98150311e-01 -5.16117194e-02 3.21276669e-02 1.88053888e+02] [ 5.09870415e-02 9.98499658e-01 1.99688587e-02 1.21210656e+02] [-3.31100916e-02 -1.82938278e-02 9.99284273e-01 8.76396875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.51028169299997 meters Centerline goodness : 0.727022 Centerline is valid? [False, False] Translation: X:188.05, Y:121.21, Z:0.88 [[ 9.98153077e-01 -5.15374561e-02 3.21609202e-02 1.88054788e+02] [ 5.09076696e-02 9.98501001e-01 2.01037271e-02 1.21209818e+02] [-3.31488060e-02 -1.84293595e-02 9.99280499e-01 8.75137160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.54028169299994 meters Centerline goodness : 0.479481 Centerline is valid? [False, False] Translation: X:188.10, Y:121.21, Z:0.88 [[ 9.98308695e-01 -5.13295878e-02 2.72951169e-02 1.88104863e+02] [ 5.07843014e-02 9.98503124e-01 2.03092761e-02 1.21211396e+02] [-2.82967263e-02 -1.88887634e-02 9.99421087e-01 8.79858330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.57028169299997 meters Centerline goodness : 0.603245 Centerline is valid? [False, False] Translation: X:188.10, Y:121.21, Z:0.88 [[ 9.98310279e-01 -5.11832497e-02 2.75111134e-02 1.88104891e+02] [ 5.06359893e-02 9.98512177e-01 2.02343493e-02 1.21212173e+02] [-2.85058415e-02 -1.88071065e-02 9.99416685e-01 8.79340004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.60028169299994 meters Centerline goodness : 0.663400 Centerline is valid? [False, False] Translation: X:188.11, Y:121.21, Z:0.88 [[ 9.98313944e-01 -5.10454352e-02 2.76339139e-02 1.88105577e+02] [ 5.05023287e-02 9.98523515e-01 2.00076050e-02 1.21213972e+02] [-2.86144098e-02 -1.85782940e-02 9.99417862e-01 8.78254642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.630281693 meters Centerline goodness : 0.678467 Centerline is valid? [False, False] Translation: X:188.11, Y:121.22, Z:0.88 [[ 9.98324919e-01 -5.08365203e-02 2.76225234e-02 1.88106942e+02] [ 5.02990773e-02 9.98537604e-01 1.98155314e-02 1.21215742e+02] [-2.85894810e-02 -1.83929514e-02 9.99422003e-01 8.76818132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.66028169299994 meters Centerline goodness : 0.620395 Centerline is valid? [False, False] Translation: X:188.11, Y:121.22, Z:0.88 [[ 9.98333658e-01 -5.05112560e-02 2.79019907e-02 1.88108370e+02] [ 4.99683410e-02 9.98554033e-01 1.98244543e-02 1.21216731e+02] [-2.88630034e-02 -1.83972038e-02 9.99414063e-01 8.76045541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.690281693 meters Centerline goodness : 0.512151 Centerline is valid? [False, False] Translation: X:188.11, Y:121.22, Z:0.88 [[ 9.98337945e-01 -5.03637278e-02 2.80150244e-02 1.88109049e+02] [ 4.98146953e-02 9.98558958e-01 1.99625370e-02 1.21215768e+02] [-2.89800414e-02 -1.85337982e-02 9.99408153e-01 8.75314110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.72028169299995 meters Centerline goodness : 0.594268 Centerline is valid? [False, False] Translation: X:188.11, Y:121.21, Z:0.87 [[ 9.98343094e-01 -4.99347404e-02 2.85935054e-02 1.88110733e+02] [ 4.93629166e-02 9.98573223e-01 2.03671380e-02 1.21212480e+02] [-2.95697366e-02 -1.89219327e-02 9.99383606e-01 8.74132973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.750281693 meters Centerline goodness : 0.635360 Centerline is valid? [False, False] Translation: X:188.11, Y:121.21, Z:0.87 [[ 9.98345586e-01 -4.98376112e-02 2.86758177e-02 1.88111818e+02] [ 4.92603220e-02 9.98575611e-01 2.04980376e-02 1.21212061e+02] [-2.96565454e-02 -1.90515454e-02 9.99378571e-01 8.72848393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.78028169299995 meters Centerline goodness : 0.614638 Centerline is valid? [False, False] Translation: X:188.11, Y:121.21, Z:0.87 [[ 9.98347699e-01 -4.97417080e-02 2.87686218e-02 1.88113188e+02] [ 4.91611426e-02 9.98579474e-01 2.05479087e-02 1.21212633e+02] [-2.97498432e-02 -1.90996591e-02 9.99374880e-01 8.71295758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.810281693 meters Centerline goodness : 0.577235 Centerline is valid? [False, False] Translation: X:188.12, Y:121.21, Z:0.87 [[ 9.98436290e-01 -4.80510189e-02 2.85670327e-02 1.88119940e+02] [ 4.74396482e-02 9.98638206e-01 2.17074353e-02 1.21211226e+02] [-2.95711947e-02 -2.03182812e-02 9.99356149e-01 8.66954824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.84028169299995 meters Centerline goodness : 0.489998 Centerline is valid? [False, False] Translation: X:188.12, Y:121.21, Z:0.87 [[ 9.98445449e-01 -4.77847024e-02 2.86933492e-02 1.88120902e+02] [ 4.71708185e-02 9.98651021e-01 2.17037339e-02 1.21211082e+02] [-2.96917490e-02 -2.03165055e-02 9.99352610e-01 8.66265292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.870281693 meters Centerline goodness : 0.476207 Centerline is valid? [False, False] Translation: X:188.12, Y:121.21, Z:0.87 [[ 9.98452032e-01 -4.75881387e-02 2.87907731e-02 1.88122067e+02] [ 4.69764483e-02 9.98663247e-01 2.15622858e-02 1.21211907e+02] [-2.97783960e-02 -2.01764198e-02 9.99352870e-01 8.65190230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.90028169299995 meters Centerline goodness : 0.494031 Centerline is valid? [False, False] Translation: X:188.13, Y:121.21, Z:0.86 [[ 9.98554696e-01 -4.58120809e-02 2.81028975e-02 1.88131025e+02] [ 4.51829949e-02 9.98722459e-01 2.26262236e-02 1.21211913e+02] [-2.91035493e-02 -2.13237487e-02 9.99348929e-01 8.59519561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.930281693 meters Centerline goodness : 0.481908 Centerline is valid? [False, False] Translation: X:188.13, Y:121.21, Z:0.86 [[ 9.98569243e-01 -4.56741758e-02 2.78089300e-02 1.88134268e+02] [ 4.50487850e-02 9.98726508e-01 2.27149657e-02 1.21211650e+02] [-2.88110028e-02 -2.14297076e-02 9.99355139e-01 8.56575620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.96028169299996 meters Centerline goodness : 0.473642 Centerline is valid? [False, False] Translation: X:188.15, Y:121.21, Z:0.85 [[ 9.98562471e-01 -4.63418502e-02 2.69337201e-02 1.88145675e+02] [ 4.57450888e-02 9.98702730e-01 2.23661440e-02 1.21211215e+02] [-2.79352683e-02 -2.11019066e-02 9.99386977e-01 8.48725974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.990281693 meters Centerline goodness : 0.473288 Centerline is valid? [False, False] Translation: X:188.15, Y:121.21, Z:0.85 [[ 9.98562956e-01 -4.64503980e-02 2.67279619e-02 1.88148085e+02] [ 4.58541948e-02 9.98694648e-01 2.25031593e-02 1.21210321e+02] [-2.77383532e-02 -2.12452321e-02 9.99389426e-01 8.46788622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.02028169299996 meters Centerline goodness : 0.483877 Centerline is valid? [False, False] Translation: X:188.15, Y:121.21, Z:0.85 [[ 9.98563226e-01 -4.65400942e-02 2.65613150e-02 1.88150089e+02] [ 4.59431077e-02 9.98687007e-01 2.26603817e-02 1.21209242e+02] [-2.75810565e-02 -2.14075145e-02 9.99390316e-01 8.45231918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.05028169299993 meters Centerline goodness : 0.478507 Centerline is valid? [False, False] Translation: X:188.15, Y:121.21, Z:0.84 [[ 9.98561873e-01 -4.65807904e-02 2.65408178e-02 1.88151950e+02] [ 4.59793968e-02 9.98681331e-01 2.28362643e-02 1.21208465e+02] [-2.75695505e-02 -2.15830920e-02 9.99386857e-01 8.43616534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.08028169299996 meters Centerline goodness : 0.464152 Centerline is valid? [False, False] Translation: X:188.16, Y:121.21, Z:0.84 [[ 9.98552907e-01 -4.67330305e-02 2.66104403e-02 1.88155263e+02] [ 4.61302915e-02 9.98674488e-01 2.28312090e-02 1.21208173e+02] [-2.76421394e-02 -2.15706228e-02 9.99385121e-01 8.41982524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.11028169299993 meters Centerline goodness : 0.466460 Centerline is valid? [False, False] Translation: X:188.16, Y:121.21, Z:0.84 [[ 9.98550908e-01 -4.67969785e-02 2.65730672e-02 1.88156882e+02] [ 4.61940022e-02 9.98670671e-01 2.28692866e-02 1.21208066e+02] [-2.76079564e-02 -2.16086305e-02 9.99385245e-01 8.40417752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.14028169299996 meters Centerline goodness : 0.372131 Centerline is valid? [False, False] Translation: X:188.16, Y:121.21, Z:0.84 [[ 9.98477491e-01 -4.85296767e-02 2.62215505e-02 1.88164355e+02] [ 4.79644651e-02 9.98611755e-01 2.17709011e-02 1.21208234e+02] [-2.72416833e-02 -2.04800521e-02 9.99419060e-01 8.36146982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.17028169299994 meters Centerline goodness : 0.477153 Centerline is valid? [False, False] Translation: X:188.17, Y:121.21, Z:0.83 [[ 9.98475984e-01 -4.87165397e-02 2.59308483e-02 1.88166879e+02] [ 4.81485043e-02 9.98595728e-01 2.20973583e-02 1.21205161e+02] [-2.69709412e-02 -2.08151500e-02 9.99419480e-01 8.34499292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.20028169299997 meters Centerline goodness : 0.453196 Centerline is valid? [False, False] Translation: X:188.19, Y:121.20, Z:0.84 [[ 9.98173549e-01 -5.60845270e-02 2.24519781e-02 1.88192591e+02] [ 5.55565145e-02 9.98179221e-01 2.34886301e-02 1.21200974e+02] [-2.37284467e-02 -2.21983756e-02 9.99471957e-01 8.38399837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.23028169299994 meters Centerline goodness : 0.457575 Centerline is valid? [False, False] Translation: X:188.20, Y:121.20, Z:0.84 [[ 9.98169227e-01 -5.63872724e-02 2.18785250e-02 1.88196838e+02] [ 5.58630326e-02 9.98152935e-01 2.38755262e-02 1.21196685e+02] [-2.31843897e-02 -2.26096148e-02 9.99475507e-01 8.35942566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.26028169299997 meters Centerline goodness : 0.464123 Centerline is valid? [False, False] Translation: X:188.20, Y:121.19, Z:0.83 [[ 9.98175683e-01 -5.64651757e-02 2.13773079e-02 1.88200893e+02] [ 5.59419203e-02 9.98137502e-01 2.43316377e-02 1.21192230e+02] [-2.27113829e-02 -2.30913614e-02 9.99475353e-01 8.33428185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.29028169299994 meters Centerline goodness : 0.463401 Centerline is valid? [False, False] Translation: X:188.20, Y:121.19, Z:0.83 [[ 9.98192330e-01 -5.62578419e-02 2.11453975e-02 1.88203631e+02] [ 5.57253373e-02 9.98133573e-01 2.49811560e-02 1.21187533e+02] [-2.25113171e-02 -2.37576639e-02 9.99464263e-01 8.31324268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 9803.36 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%| | 0/15722 [00:00